JP6739244B2 - Positioning server, positioning system, positioning method, and positioning program - Google Patents

Description

The present invention relates to a positioning server, a mobile body, a positioning system, a positioning method, and a positioning program. In particular, the present invention relates to a positioning server that can use a moving body as a reference point, a moving body, a positioning system, a positioning method, and a positioning program.

In order to perform positioning with a high-accuracy (centimeter-class) positioning reinforcement method, an electronic reference point is required around (near) the object to be positioned. The electronic reference point is fixed to the determined position coordinates, receives the positioning signal from the positioning satellite, and uses the positioning signal received from the positioning satellite to calculate the pseudo range from each positioning satellite, the carrier phase, etc. Information) and send it to the satellite ground station. The satellite ground station, based on the positioning information and the true position coordinates of the electronic reference point, information for correcting errors such as ionospheric delay amount, troposphere delay amount, satellite clock error, and satellite orbit error (hereinafter, Reinforcement information) is calculated and transmitted to the positioning target object via the positioning reinforcement satellite. The positioning target object corrects the error of its own position coordinate calculated from the positioning signal received from each positioning satellite based on this reinforcement information (see Patent Document 1).

JP, 2014-52380, A

However, in Japan, it is possible to utilize the electronic reference point network established by the Geospatial Information Authority of Japan, but in countries and regions where the electronic reference point is not yet developed or insufficient, an electronic reference point is installed near the positioning object. It is assumed that it has not been done. For this reason, in a country or region where the electronic reference points are undeveloped or underdeveloped, there is a problem that reinforcement information cannot be provided to a positioning target object unlike the system described in Patent Document 1 above.

An object of the present invention is to provide a highly accurate electronic reference point network even in an area where the electronic reference points are insufficient or lacking.

The positioning server according to the present invention is
A mobile device that receives mobile positioning information calculated based on a positioning signal received from a positioning satellite by a mobile body, and a reference point positioning information calculated based on a positioning signal received by an electronic reference point from a positioning satellite, and a communication device.
An arithmetic unit for calculating true coordinates representing an accurate position of the moving body based on the moving body positioning information and the reference point positioning information.

The positioning server according to the present invention is a reference calculated by a communication device based on a positioning signal received from a positioning satellite by a moving body, and a positioning signal calculated based on a positioning signal received from a positioning satellite by an electronic reference point. Receive point positioning information. Then, the arithmetic device calculates true coordinates indicating the accurate position of the moving body based on the moving body positioning information and the reference point positioning information. Therefore, the moving body can be used as a new electronic reference point, and a highly accurate electronic reference point network can be constructed even in an area where the electronic reference point is insufficient or lacking.

The block diagram of the positioning system 10 which concerns on Embodiment 1. FIG. 3 is a configuration diagram of a moving body 130 according to the first embodiment. The block diagram of the positioning server 150 which concerns on Embodiment 1. The flowchart of the positioning method 510 and positioning process S100 of the positioning system 10 which concerns on Embodiment 1. FIG. FIG. 6 is a flowchart of mobile processing S10 that is an operation of the mobile 130 according to the first embodiment. The flowchart of the positioning server process S20 by the positioning program 520 of the positioning server 150 which concerns on Embodiment 1. The figure which shows the method (a), (b) which installs the new movable reference point in the area|region R1 by the positioning system 10 which concerns on Embodiment 1. The figure which shows the method of compensating the fixed type|system|group reference point which was missing by the positioning system 10 which concerns on Embodiment 1 with a movable type|system|group reference point.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each drawing, the same or corresponding parts are designated by the same reference numerals. In the description of the embodiments, description of the same or corresponding parts will be appropriately omitted or simplified.

Embodiment 1.
***Composition explanation***
The configuration of positioning system 10 according to the present embodiment will be described with reference to FIG.
As shown in FIG. 1, the positioning system 10 includes a positioning satellite 110, a positioning augmentation satellite 120, a moving body 130, an electronic reference point 140, a positioning server 150, and a satellite ground station 160.

The moving body 130 has an electronic reference point function including a positioning receiver, a communication device, and the like, which will be described later, and moves to the vicinity (periphery) of the positioning target object 170. The moving body 130 stops after moving to the vicinity of the positioning target object 170, and receives the positioning signal 111 from the positioning satellite 110 at the stopped position. The mobile body 130 calculates the positioning information based on this positioning signal as the mobile body positioning information 131, and transmits it to the positioning server 150. Here, the mobile body positioning information 131 is observation data including pseudo range, carrier wave phase, and the like. That is, the mobile body positioning information 131 includes a pseudo distance between the positioning satellite 110, which is the transmission source of the positioning signal 111 used to calculate the mobile body positioning information 131, and the mobile body 130, a carrier phase, and the like.

The electronic reference point 140 is an electronic reference point whose true position coordinates are known in advance. Let the true position coordinates of the electronic reference point 140 be the true reference point coordinates. The electronic reference point 140 may be a fixed reference point or a movable reference point whose true position coordinates are known. The electronic reference point 140 calculates the positioning information based on the positioning signal 111 received from the positioning satellite 110 as the reference point positioning information 141 and transmits it to the positioning server 150. The reference point positioning information 141 includes a pseudo distance and a carrier phase between the positioning satellite 110, which is the transmission source of the positioning signal 111 used to calculate the reference point positioning information 141, and the electronic reference point 140. The positioning system 10 includes at least three electronic reference points 140.

The positioning server 150 calculates the true coordinates 133 representing the accurate position of the mobile body 130 based on the reference point positioning information 141 received from the electronic reference point 140 and the mobile body positioning information 131 received from the mobile body 130. To do. Usually, the position coordinates of the mobile body 130 are obtained from the mobile body positioning information 131. The positioning server 150 uses the reference point positioning information 141 and the true reference point coordinates of the electronic reference point 140 to calculate the mobile body reinforcement information 151 that corrects the position coordinates obtained from the mobile body positioning information 131. Then, the positioning server 150 calculates the true coordinates 133 of the moving body 130 by correcting the position coordinates of the moving body 130 using the moving body reinforcement information 151. Further, the positioning server 150 generates the positioning target reinforcement information 152 based on the true coordinates 133 of the moving body 130 and the moving body positioning information 131 acquired from the moving body 130 thereafter. Then, the positioning server 150 delivers the generated positioning target reinforcement information 152 to the positioning target object 170 via the communication route of the positioning reinforcement satellite 120 such as a quasi-zenith satellite or a geostationary satellite.

The configuration of moving body 130 according to the present embodiment will be described with reference to FIG.
The moving body 130 is a flying body that autonomously flies and moves. In the present embodiment, moving body 130 is a drone or an airplane. The moving body 130 may be a moving body other than a flying body, specifically, a vehicle such as an automobile or a truck, or a ship. In the case of a ship, it is necessary to fix it.
The mobile unit 130 includes a communication device 31, a positioning receiver 32, and a mobile device 33. The moving device 33 includes an IMU 333 (Inertial Measurement Unit).

Before the moving body 130 moves to the vicinity of the positioning target object 170, the communication device 31 receives the position coordinate of the moving destination as the moving destination coordinate 132 from the outside. The communication device 31 transmits the mobile body positioning information 131 generated by the positioning receiver 32, which will be described later, to the positioning server 150 after the mobile body 130 has moved near the positioning target object 170 and stopped. The mobile body positioning information 131 is a position coordinate of the mobile body 130 such as a pseudo distance to each positioning satellite 110 calculated by the positioning receiver 32 described later based on the positioning signal 111 transmitted from the positioning satellite 110, a carrier phase, and the like. This is information for calculation.
The positioning receiver 32 receives the positioning signal 111 from the positioning satellite 110. The positioning receiver 32 generates, as the moving body positioning information 131, the positioning information used to calculate the true coordinates 133 representing the accurate position of the moving body 130 (self) based on the positioning signal 111 received from the positioning satellite 110. To do.
The moving device 33 controls the movement and stop of the moving body 130. For example, the moving device 33 controls the movement to the movement destination coordinate 132 based on the movement destination coordinate 132 and the positioning signal 111. In addition, the mobile device 33 stops the mobile body 130 near the positioning target object 170. The moving device 33 includes an IMU 333 that detects the orientation and orientation of the moving body 130.

The configuration of positioning server 150 according to the present embodiment will be described with reference to FIG.
The positioning server 150 is a computer, and includes a communication device 51, a computing device 52, and a storage device 53.
The communication device 51 uses the mobile unit positioning information 131 calculated by the mobile unit 130 based on the positioning signal 111 received from the positioning satellite 110, and the reference calculated by the electronic reference point 140 based on the positioning signal 111 received from the positioning satellite 110. The point positioning information 141 is received. The communication device 51 receives the reference point positioning information 141 for each of the at least three electronic reference points 140. In addition, the positioning target reinforcement information 152 calculated by the calculation device 52 described later is transmitted to the positioning target object 170 via the satellite ground station 160 and the positioning reinforcement satellite 120. The positioning target reinforcement information 152 is information for the positioning target object 170 to correct an error of its own position information calculated based on the positioning signal 111 of the positioning satellite 110. Further, this error is a coordinate error caused by an ionospheric delay amount, a troposphere delay amount, a satellite clock error, a satellite orbit error, and the like.
The communication device 51 includes a receiver and a transmitter. Specifically, the communication device 51 is a communication chip or a NIC (Network Interface Card).

The storage device 53 stores the mobile body positioning information 131, the reference point positioning information 141, and the like received by the communication device 51 from the mobile body 130 and the electronic reference point 140.
The storage device 53 has an auxiliary storage device and a memory. The auxiliary storage device is specifically a ROM (Read Only Memory), a flash memory, or an HDD (Hard).
Disk Drive). The memory is, specifically, a RAM (Random Access Memory).

The arithmetic unit 52 calculates the true coordinates 133 of the moving body 130 based on the moving body positioning information 131 and the reference point positioning information 141 of the moving body 130 and the electronic reference point 140 stored in the storage device 53. The arithmetic unit 52 calculates at least three moving body reinforcement information 151 based on the reference point positioning information 141 of each of the at least three electronic reference points 140. The moving body reinforcement information 151 is information for correcting the position coordinates of the moving body 130 obtained from the moving body positioning information 131. The true coordinates 133 of the mobile body 130 are calculated from at least three pieces of mobile body reinforcement information 151 and the mobile body positioning information 131. Further, the computing device 52, based on the mobile body positioning information 131 and the true coordinates 133, the object position representing the position of the positioning target object 170 obtained based on the positioning signal received by the positioning target object 170 from the positioning satellite. Positioning object reinforcement information 152 that corrects is generated. Then, the computing device 52 transmits the positioning target reinforcement information 152 to the positioning target object 170 via the satellite ground station 160 and the positioning reinforcement satellite 120.
The positioning system 10 and the positioning server 150 are also referred to as a reinforcement information generation system and a reinforcement information generation server that generate the positioning target reinforcement information 152 to be provided to the positioning target object 170.

The arithmetic unit 52 is connected to other hardware via a signal line, and controls these other hardware. The arithmetic unit 52 is specifically an IC (Integrated Circuit) that performs processing. The arithmetic unit 52 is a CPU (Central Processing Unit) or the like.
A positioning program 520 that realizes the function of the arithmetic unit 52 is stored in the auxiliary storage device. The positioning program 520 is loaded into the memory, read into the arithmetic unit 52, and executed by the arithmetic unit 52. An OS (Operating System) is also stored in the auxiliary storage device. At least a part of the OS is loaded into the memory, and the arithmetic unit 52 executes the positioning program 520 that realizes the function of the positioning server 150 while executing the OS. The positioning program 520 may be stored in a portable recording medium such as a magnetic disk, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD (Digital Versatile Disc).

***Description of operation***
The positioning method 510 and the positioning process S100 of the positioning system 10 according to the present embodiment will be described with reference to FIG.
The positioning process S100 includes a mobile process S10 and a positioning server process S20.
In the mobile body processing S10, the mobile body 130 receives the positioning signal 111 from the positioning satellite 110, and based on the received positioning signal 111, the mobile body positioning used to calculate the true coordinates 133 representing the accurate position of itself. The information 131 is generated.
The positioning server process S20 has a reception process S21 and a calculation process S22. In the reception process S21, the positioning server 150 receives the mobile body positioning information 131 from the mobile body 130, and also receives the reference point positioning information 141 calculated based on the positioning signal received by the electronic reference point 140 from the positioning satellite. Further, in the calculation process S22, the positioning server 150 calculates the true coordinates 133 of the moving body 130 based on the moving body positioning information 131 and the reference point positioning information 141.

The mobile body processing S10, which is the operation of the mobile body 130 according to the present embodiment, will be described with reference to FIG.
In step S101, the communication device 31 receives the position coordinates of the destination as the destination coordinates 132. In the present embodiment, the movement destination coordinates 132 are position coordinates in the vicinity of the positioning target object 170, but may be position coordinates of a place where a new electronic reference point is desired to be installed due to, for example, lack of the electronic reference point. ..
In step S102, the positioning receiver 32 calculates a rough self-position based on the positioning signal from the positioning satellite 110. Further, the moving device 33 calculates its own orientation and attitude by the IMU 331.
In step S<b>103, the moving device 33 moves the moving body 130 to the movement destination coordinates 132 based on the rough self-position, orientation, and attitude and the movement destination coordinates 132.
In step S104, the moving device 33 stops the moving body 130 when reaching the vicinity of the movement destination coordinate 132. At this time, the moving body 130 does not have to stop at the correct destination coordinate 132.
In step S105, the positioning receiver 32 receives the positioning signal 111 from the positioning satellite 110 at the stopped position. The positioning receiver 32 may repeatedly receive the positioning signal 111 from the positioning satellite 110 at the stopped position. The positioning receiver 32 generates, based on the positioning signal 111, the mobile body positioning information 131 used for calculating the true coordinates 133 representing the accurate position of itself.
In step S106, the communication device 31 transmits the mobile body positioning information 131 to the positioning server 150. At this time, the communication device 31 transmits the identification information of the mobile unit 130 together with the mobile unit positioning information 131.

The positioning server process S20 by the positioning program 520 of the positioning server 150 according to the present embodiment will be described with reference to FIG.
In step S107, the communication device 51 receives the mobile body positioning information 131 and the identification information for identifying the mobile body 130 from the mobile body 130. In addition, the communication device 51 determines the reference point positioning information 141 and the identification information for identifying each electronic reference point 140 from each of at least three electronic reference points 140 within a predetermined range in the vicinity of the moving body 130, and each electronic reference point 140. The true reference point coordinates of the reference point 140 are received. The true reference point coordinates of each electronic reference point 140 may be held in advance by the positioning server 150.

In step S108, the storage device 53 stores the identification information of the mobile body 130 and the mobile body positioning information 131 received by the communication device 51 in association with each other. That is, the storage device 53 stores the identification information of the mobile unit 130 and the pseudo range and the carrier wave phase included in the mobile unit positioning information 131. The storage device 53 also stores the identification information received from each of the at least three electronic reference points 140, the reference point positioning information 141, and the true reference point coordinates in association with each other. That is, the storage device 53 stores information including the identification information, the pseudo distance, the carrier phase, and the true reference point coordinates for each of the at least three electronic reference points 140.

In step S109, the arithmetic unit 52 is based on the identification information of the moving body 130 and the moving body positioning information 131, the identification information of each of the at least three electronic reference points 140, the reference point positioning information 141, and the true reference point coordinates. Then, the true coordinates 133 of the moving body 130 are calculated. The moving body 130 for which the true coordinates 133 have been calculated is also referred to as a movable reference point.
A method of calculating the true coordinates 133 of the moving body 130 will be described below using a specific example.

7A and 7B are diagrams showing a method in which the computing device 52 sets a new movable reference point by the moving body 130 in the region R1.
As shown in FIG. 7A, fixed reference points b1 to b7 are present in the area R1, and movable reference points a1 to a5 are provided in the area R1 as shown in FIG. 7B. And
For example, a case where the moving body 130 is the movable reference point a1 will be described. At this time, in the storage device 53, identification information and moving body positioning information 131 of the moving body 130 (movable reference point a1), and identification information and reference point positioning information 141 of each of the fixed reference points b1, b2, b7. And true reference point coordinates are stored. The arithmetic unit 52 includes the identification information of the moving body 130 (movable reference point a1) and the moving body positioning information 131, the identification information of each of the fixed reference points b1, b2, and b7, the reference point positioning information 141, and the true reference. The true coordinates 133 of the moving body 130 (movable reference point a1) are calculated based on the point coordinates.
Specifically, the arithmetic unit 52 uses the three fixed reference points b1, b2, and b7 to determine the three fixed reference points from the accurate three-dimensional position (true reference point coordinates), pseudo distance, and carrier phase. The moving body reinforcement information 151 for each of b1, b2, and b7 is generated. Then, the computing device 52 uses the moving body reinforcement information 151 at each of the three fixed reference points b1, b2, b7, the pseudo distance of the moving body 130 (movable reference point a1), the carrier phase, and the like, The true coordinates 133 of the moving body 130 (movable reference point a1) are calculated.

Next, after the arithmetic unit 52 determines the true coordinates 133 of the moving body 130, in step S110, the positioning target reinforcement is performed based on the moving body positioning information 131 of the moving body 130 and the true coordinates 133 of the moving body 130. The information 152 is generated.
In step S111, the communication device 51 transmits the positioning object reinforcement information 152 to the positioning object 170 via the satellite ground station 160 and the positioning augmentation satellite 120.
After that, the positioning target object 170 receives the positioning target reinforcement information 152, and the error of its own position information calculated based on the positioning signal of the positioning satellite 110 (ionosphere delay amount, troposphere delay amount, satellite clock error, and satellite orbit error). Etc.) is corrected based on the positioning target reinforcement information 152.

As described above, the true coordinates 133 of the movable reference point a1 shown in FIG. 7B are calculated from the information of the three fixed reference points b1, b2, b7. Similarly, the movable coordinate point a2 is calculated from the three fixed reference points b5, b6, and b7, and the movable reference point a3 is calculated from the three fixed reference points b2, b3, and b4, and the true coordinates 133 are calculated. Here, after the true coordinate 133 of the movable reference point is calculated, it can be used as a normal electronic reference point. Therefore, as shown in FIG. 7B, the true coordinates 133 of the movable reference point a4 can be calculated from the three movable reference points a1, a2, a3 for which the true coordinates 133 have been calculated. .. Further, the true coordinate 133 of the movable reference point a5 can be calculated from the movable reference point a4 in which the true coordinate 133 is calculated and the two fixed reference points b4 and b5.

In the positioning system 10 according to the present embodiment, from the communication device 31 of the mobile unit 130 to the positioning server 150, in the case of direct communication, an arbitrary line such as a part of the ground line or the Internet is used. The location beyond the positioning server 150 includes both cases of connecting to an existing enterprise and newly installing. As an example of the latter, the positioning server 150 is installed in a flying body flying above, and the positioning target reinforcement information 152 is delivered from the positioning server 150 to the positioning target object 170 directly or via a quasi-zenith satellite.

***Explanation of the effect of this embodiment***
In the positioning system 10 according to the present embodiment, the number of temporary electronic reference points using the moving body can be changed according to the existence range of the positioning target object (range in which the electronic reference point is desired to be reinforced) and the required positioning accuracy. can do.
FIG. 8 is a diagram showing a method of compensating for a missing fixed type reference point with a movable type reference point. The region R2 of FIG. 8 is wider than the region R1 of FIG. 7, but shows a situation in which the method of implementation of FIG. 7 is applied to a part of the region R2 and sequentially expanded to fill the electronic reference points. ..
In order to construct a reinforcing network with electronic reference points for high-accuracy positioning, it is first necessary to prepare the electronic reference points, but according to the positioning system 10 according to the present embodiment, as shown in FIG. In addition, the electronic reference point can be supplemented. Therefore, even in an area where the electronic reference point is not provided, by temporarily treating a moving body such as a drone as the reference point, it is possible to construct a reinforcement network for high-accuracy positioning. Further, the electronic reference point can be supplemented when the existing electronic reference point is broken or cannot be used due to a disaster or the like.
The movable reference point of the moving body 130 according to the present embodiment has the same function and performance as a normal fixed type reference point, and is a movable type (movable type). It is also possible to operate in the area. Therefore, according to the positioning system 10 according to the present embodiment, it is possible to reduce the total cost and bring excellent convenience.

Further, in the positioning system 10 according to the present embodiment, the moving body 130 moves to the vicinity of the positioning target object and stops, and the information of the positioning signal of each positioning satellite is transmitted to calculate the true position coordinates. .. Therefore, highly accurate positioning target reinforcement information that cannot be obtained only by the electronic reference points fixed at the determined position coordinates can be provided to the positioning target object.

***Other configurations***
In the present embodiment, as shown in FIGS. 7 and 8, the method of setting the electronic reference points in a box shape has been described. If the electronic reference points are provided at intervals of 70 to 100 km, it is possible to provide a positioning system with cm-class accuracy. Therefore, the installation positions of the electronic reference points may not be in the form of a box as long as the electronic reference points are provided at 70 to 100 km intervals.

Further, after the mobile body stops at the destination position, the mobile body needs to be fixed at the stop position. Therefore, the drone, which is a moving body, may have a fixing portion that fixes itself at the stop position.

The positioning system according to the present embodiment is a terrestrial service of relative positioning (DGPS, kinematic system, etc.) that uses an electronic reference point in addition to the communication route of a positioning-enhancing satellite such as a quasi-zenith satellite or a geostationary satellite. Can also be applied in.

As described above, the positioning system 10 according to the present embodiment can provide a highly accurate electronic reference point network even in an area where the electronic reference points are insufficient or missing.

Further, although the embodiment of the present invention has been described, a plurality of parts of this embodiment may be combined and implemented. Alternatively, one part of this embodiment may be implemented. In addition, the contents of this embodiment may be implemented in whole or in part in any combination.
Note that the above-described embodiments are essentially preferable examples, and are not intended to limit the scope of the present invention, its applications, and uses, and various modifications can be made as necessary.

10 positioning system, 31, 51 communication device, 32 positioning receiver, 33 mobile device, 52 arithmetic device, 53 storage device, 110 positioning satellite, 111 positioning signal, 120 positioning augmentation satellite, 130 moving body, 131 moving body positioning information, 132 destination coordinate, 133 true coordinate, 140 electronic reference point, 141 reference point positioning information, 150 positioning server, 151 moving object reinforcement information, 152 positioning object reinforcement information, 160 satellite ground station, 170 positioning object, 510 positioning method 520 positioning program, S100 positioning processing, S10 mobile processing, S20 positioning server processing, S21 reception processing, S22 arithmetic processing, R1, R2 area.

Claims (9)

A mobile device that receives mobile positioning information calculated based on a positioning signal received from a positioning satellite by a mobile body, and a reference point positioning information calculated based on a positioning signal received by an electronic reference point from a positioning satellite, and a communication device.
An arithmetic unit for calculating true coordinates representing an accurate position of the moving body based on the moving body positioning information and the reference point positioning information ,
The moving body stops near the positioning target object,
The arithmetic unit is
By calculating moving body reinforcement information that corrects the position coordinates of the moving body obtained from the moving body positioning information based on the reference point positioning information, and correcting the position coordinates using the moving body reinforcement information. An object that calculates the true coordinates and represents the position of the positioning target object obtained based on the positioning signal received from the positioning satellite by the positioning target object based on the mobile body positioning information and the true coordinates. A positioning server that generates positioning target reinforcement information that corrects the position . The electronic reference point has at least three electronic reference points,
The communication device is
Receiving the reference point positioning information for each of the at least three electronic reference points,
The arithmetic unit is
At least three moving body reinforcement information are calculated based on the reference point positioning information of each of the at least three electronic reference points, and the moving body of the moving body is calculated from the at least three moving body reinforcement information and the moving body positioning information. The positioning server according to claim 1 , wherein the true coordinates are calculated. The communication device is
The mobile body positioning information including the pseudo range and carrier phase between the positioning satellite that is the transmission source of the positioning signal used for calculating the mobile body positioning information and the mobile body, and the positioning signal used for calculating the reference point positioning information The positioning server according to claim 1 or 2 , which receives the positioning satellite that is the transmission source of and the reference point positioning information including the pseudo distance and the carrier wave phase between the electronic reference point. Positioning that receives a positioning signal from a mobile device that controls movement and a positioning satellite and that generates positioning information used for calculating true coordinates that represent its own accurate position as mobile positioning information based on the positioning signal A mobile unit with a receiver;
A communication device that receives the mobile body positioning information from the mobile body and also receives the reference point positioning information calculated based on a positioning signal that an electronic reference point receives from a positioning satellite, and the mobile body positioning information and the reference point. A positioning server including an arithmetic device that calculates the true coordinates of the moving body based on positioning information ;
The moving body stops near the positioning target object,
The arithmetic unit is
By calculating moving body reinforcement information that corrects the position coordinates of the moving body obtained from the moving body positioning information based on the reference point positioning information, and correcting the position coordinates using the moving body reinforcement information. An object that calculates the true coordinates and represents the position of the positioning target object obtained based on the positioning signal received from the positioning satellite by the positioning target object based on the mobile body positioning information and the true coordinates. A positioning system that generates positioning target reinforcement information that corrects a position . The positioning system according to claim 4 , wherein the moving body is a vehicle, a ship, or a flying body. The positioning system according to claim 4 , wherein the moving body is a drone that autonomously flies and moves. The positioning receiver is
The positioning system according to any one of claims 4 to 6 , which generates the mobile body positioning information including a pseudo distance between the positioning satellite and the mobile body and a carrier wave phase. The mobile body receives a positioning signal from a positioning satellite, and based on the positioning signal, generates positioning information used for calculating true coordinates representing an accurate position of itself as mobile body positioning information,
A positioning server receives the moving body positioning information from the moving body, and also receives reference point positioning information calculated based on a positioning signal received from a positioning satellite by an electronic reference point, and the moving body positioning information and the reference. Calculating the true coordinates of the moving body based on the point positioning information,
The moving body stops near the object to be positioned,
The positioning server calculates moving body reinforcement information that corrects the position coordinates of the moving body obtained from the moving body positioning information, based on the reference point positioning information, and uses the moving body reinforcement information to calculate the position coordinates. The true coordinates are calculated by correcting the position measurement target object obtained based on the positioning signal received from the positioning satellite by the position measurement target object based on the mobile body positioning information and the true coordinates. Positioning method for generating positioning target reinforcement information for correcting the position of an object that represents the position of. A receiving process of receiving the mobile body positioning information calculated based on the positioning signal received by the mobile body from the positioning satellite, and the reference point positioning information calculated based on the positioning signal received by the electronic reference point from the positioning satellite,
An arithmetic process for calculating true coordinates representing an accurate position of the moving body based on the moving body positioning information and the reference point positioning information;
A process of stopping the moving body near the object to be positioned,
By calculating moving body reinforcement information that corrects the position coordinates of the moving body obtained from the moving body positioning information based on the reference point positioning information, and correcting the position coordinates using the moving body reinforcement information. An object that calculates the true coordinates and represents the position of the positioning target object obtained based on the positioning signal received from the positioning satellite by the positioning target object based on the mobile body positioning information and the true coordinates. A positioning program that causes a positioning server, which is a computer, to perform a process of generating positioning target reinforcement information for correcting a position .

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