JP6764693B2 - Satellite signal processing method and satellite signal processing equipment - Google Patents

Description

The present invention relates to a satellite signal processing method and a satellite signal processing device.

As a technique for stably receiving a signal from an artificial satellite, for example, the technique described in Patent Document 1 is known.
The signal processing device described in Patent Document 1 arranges a plurality of receiving means for receiving a signal including the orbit schedule and time of the artificial satellite in different directions, and stores the orbit schedule of the artificial satellite received by the receiving means in the orbit schedule. Remember in the means. The signal processing device selects one or more of the signals received by the plurality of receiving means according to the comparison between the orbit schedule of the artificial satellite stored in the orbit schedule storage means and the orbit of the observed artificial satellite.

Japanese Unexamined Patent Publication No. 2011-160072

When a vehicle receives a satellite signal of a positioning satellite such as a GPS (Global Positioning System) satellite, the arrangement of obstacles existing between the vehicle and the positioning satellite changes as the vehicle moves. Therefore, the influence of obstacles cannot be predicted in advance.
Therefore, according to the conventional signal processing device, if a satellite signal is received from a positioning satellite in the direction represented by the orbit schedule, this satellite signal is adopted regardless of the presence or absence of the influence of obstacles. As a result, for example, a satellite signal whose propagation path extends around an obstacle may be adopted, and a highly reliable satellite signal cannot be selected.
An object of the present invention is to acquire a highly reliable satellite signal by using an antenna provided in a vehicle.

In the satellite signal processing method according to one aspect of the present invention, an image region in which the sky is captured in a captured image taken around the vehicle is detected. In addition, the azimuth and elevation angles of the plurality of positioning satellites are calculated based on the orbit information of each of the plurality of positioning satellites. Of the satellite signals received from the plurality of positioning satellites by the antennas provided on the vehicle, the satellite signals transmitted from the positioning satellites whose line of sight with the vehicle is not blocked are used in the image area and the azimuth and elevation angles of the positioning satellites. Select based on.

According to the present invention, a highly reliable satellite signal can be acquired by using an antenna provided in a vehicle.

It is a block diagram which shows an example of the schematic structure of the vehicle equipped with the satellite signal processing apparatus of an embodiment. This is an example of a captured image taken around the vehicle. This is an example of a binary image of the captured image of FIG. 2A. It is explanatory drawing of an example of the determination method of the effectiveness of a positioning satellite. It is a flowchart of an example of the satellite signal processing method which concerns on 1st Embodiment. It is explanatory drawing of the satellite signal processing apparatus which concerns on 2nd Embodiment. It is a flowchart of an example of the satellite signal processing method which concerns on 2nd Embodiment. It is explanatory drawing of the satellite signal processing apparatus which concerns on 3rd Embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First Embodiment)
(Constitution)
See FIG. The vehicle 1 includes the satellite signal processing device according to the embodiment. The satellite signal processing device includes a camera 10, a receiving module 11, a controller 12, and a storage device 13.
The camera 10 generates a captured image of the field of view of the surroundings from the vehicle 1 by photographing the surroundings of the vehicle 1. Hereinafter, the captured image of the surroundings of the vehicle 1 taken by the camera 10 may be referred to as a “surrounding image”.
The camera 10 may be, for example, a single camera that captures a peripheral image of the field of view seen from the vehicle 1 in front of the vehicle 1. The camera 10 may be a plurality of cameras that capture peripheral images of each of the front, side, and rear views of the vehicle 1 from the vehicle 1. For example, the camera 10 may be an in-vehicle camera installed in the vehicle 1.
The camera 10 outputs the generated surrounding image to the controller 12.

The receiving module 11 is provided in the vehicle 1 and receives satellite signals transmitted from a plurality of positioning satellites 2a, 2b, 2c, 2d .... Hereinafter, the positioning satellites 2a, 2b, 2c, 2d ... May be collectively referred to as "positioning satellite 2".
The positioning satellite 2 may be, for example, a GPS satellite that transmits a GPS signal as a satellite signal, and is not limited to this, and is a positioning satellite used in other satellite positioning systems such as GLONASS (Global Navigation Satellite System). There may be. The receiving module 11 includes an antenna 20 for receiving satellite signals transmitted from a plurality of positioning satellites 2. The receiving module 11 outputs the received satellite signal to the controller 12.

The controller 12 selects one of the satellite signals received from the plurality of positioning satellites 2 and measures the current position of the vehicle 1 based on the selected satellite signals. The controller 12 includes a satellite signal processing unit 30, an orbit information acquisition unit 31, and a positioning unit 32.
The satellite signal processing unit 30 processes the satellite signal input from the receiving module 11 to the controller 12 and selects a signal to be used for positioning the vehicle 1 from the satellite signals received from the plurality of positioning satellites 2. The satellite signal processing unit 30 includes a signal receiving unit 40, an effective region detection unit 41, an effectiveness determination unit 42, a signal selection unit 43, and a signal output unit 44.

The signal receiving unit 40 receives satellite signals of a plurality of positioning satellites 2 input from the receiving module 11 to the controller 12, respectively.
The effective domain detection unit 41 receives the ambient image input from the camera 10 to the controller 12. The effective domain detection unit 41 does not block the line of sight between the vehicle 1 and the positioning satellite 2 (that is, the line of sight between the antenna 20 and the positioning satellite 2) in the image area in which the sky is captured in the surrounding image. The range of azimuth and elevation is detected as an image area.
Hereinafter, the image area in which the sky is reflected in the surrounding image may be referred to as the "first effective area". In addition, an image area in the surrounding image that does not show the sky may be referred to as an "invalid area". The invalid area includes a range in which the line of sight between the vehicle 1 and the sky is blocked by an obstacle and a range below the horizon.

An example of a method for detecting the first effective region will be described with reference to FIGS. 2A and 2B. The effective domain detection unit 41 receives the ambient image 50 shown in FIG. 2A from the camera 10.
For example, the effective region detection unit 41 may detect the region having the largest area among the continuous regions in which the brightness change is less than a predetermined threshold value in the surrounding image 50 as the first effective region.
For example, the effective region detection unit 41 sets a relatively large brightness among the brightness included in the brightness distribution of the surrounding image 50 as a threshold value, and sets the peripheral image 50 into a region having a brightness equal to or higher than the threshold value and a region having a brightness below the threshold value. Convert to separate binary images. FIG. 2B shows an example of the binary image 51 of the surrounding image 50. The effective region detection unit 41 detects the region 52 having the largest area among the continuous regions having brightness equal to or higher than the threshold value as the first effective region. The area 53 other than the first effective area 52 in the surrounding image 50 becomes an invalid area.
Further, the effective domain detection unit 41 may set the threshold range based on the brightness of the region that is assumed not to be blocked by obstacles because the elevation angle is relatively large. The effective region detection unit 41 may detect the region having the largest area among the continuous regions having brightness within the threshold range as the first effective region.

See FIG. The effectiveness determination unit 42 received the effectiveness of each positioning satellite 2, that is, the positioning satellite 2, based on the orbit information 33 of each of the first effective region and the plurality of positioning satellites 2 detected by the effective region detection unit 41. It is determined whether or not the satellite signal is a candidate to be used for positioning the vehicle 1.
The orbit information 33 may be, for example, a database that stores the satellite positions of the plurality of positioning satellites 2 at each time in association with the identification information of the positioning satellites 2.

For example, the orbit information acquisition unit 31 extracts a parameter for calculating the position of the positioning satellite 2 at an arbitrary moment from the satellite signal received by the signal receiving unit 40, and based on this parameter, the position of the positioning satellite 2 at each time. The orbit information 33 may be acquired by calculating in advance. For example, the orbit information acquisition unit 31 may calculate the position of the positioning satellite 2 based on both the almanac and the ephemeris used in GPS. The orbit information acquisition unit 31 may calculate the position of the positioning satellite 2 based on either the almanac or the ephemeris.
Alternatively, the track information acquisition unit 31 may acquire the calculated track information 33 via a vehicle-to-vehicle communication, a road-to-vehicle communication, or a public communication network such as the Internet by using a communication device (not shown).
The orbit information acquisition unit 31 stores the acquired orbit information 33 in the storage device 13.

The effectiveness determination unit 42 refers to the orbit information 33 of the plurality of positioning satellites 2 at the present time from the storage device 13, and determines whether or not the positioning satellite 2 that is the source of the received satellite signal matches the orbit information 33. To do. For example, when the current position calculated from the orbit information 33 of the source positioning satellite 2 is higher than the horizon, the effectiveness determination unit 42 determines that the positioning satellite 2 matches the orbit information 33. When the current position is below the horizon, the effectiveness determination unit 42 determines that the positioning satellite 2 does not match the orbit information 33.

Next, the effectiveness determination unit 42 calculates the azimuth angles and elevation angles of the plurality of positioning satellites 2 with respect to the vehicle 1, respectively. For example, the effectiveness determination unit 42 reads the position of the vehicle 1 measured in the previous positioning cycle from the storage device 13, and based on the previous positioning result and the current position of the positioning satellite 2 represented by the orbit information 33, the vehicle 1 The azimuth and elevation angles of the positioning satellite 2 with respect to the above may be calculated. Further, for example, the effectiveness determination unit 42 provisionally calculates the position of the vehicle 1 based on the received satellite signal, and determines the azimuth and elevation based on the calculated position of the vehicle 1 and the current position of the positioning satellite 2. It may be calculated.
The effectiveness determination unit 42 is located between the plurality of positioning satellites 2 and the vehicle 1 based on the first effective region detected by the effective region detection unit 41 and the azimuths and elevation angles of the plurality of positioning satellites 2. Determine if the line of sight is blocked.

See FIG. For example, the effectiveness determination unit 42 projects the positions of the plurality of positioning satellites 2 represented by the azimuths and elevation angles of the plurality of positioning satellites 2 on a two-dimensional plane 54 orthogonal to the shooting direction of the surrounding image 50. .. In the illustrated example, the position of the positioning satellite 2a is projected onto the position 57 on the two-dimensional plane 54 in front of the vehicle 1. Further, the position of the positioning satellite 2b is projected on the position 58 on the two-dimensional plane 54.

Then, when the projection position 57 of the positioning satellite 2a projected on the two-dimensional plane 54 is within the range 55 corresponding to the first effective region in the surrounding image 50, the effectiveness determination unit 42 and the positioning satellite 2a It is determined that each line of sight with the vehicle 1 is not blocked. When the projection position 58 of the positioning satellite 2b projected on the two-dimensional plane 54 is within the range 56 corresponding to the invalid region in the surrounding image 50, the validity determination unit 42 determines the positioning satellite 2b and the vehicle 1. It is determined that each line of sight between them is blocked.
By performing the same processing on the side of the vehicle and the rear of the vehicle, it is possible to determine whether or not the line of sight between the positioning satellite 2 and the vehicle 1 is blocked over the entire circumference of the vehicle 1. ..

It is also possible to determine whether or not the line of sight is obstructed over the entire circumference of the vehicle 1 by using only the surrounding image 50 taken by the camera that captures the front of the vehicle.
In this case, the effectiveness determination unit 42 determines the relative position between the same obstacle and the vehicle 1 shown in the surrounding images 50 based on the parallax of the surrounding images 50 in which the front of the vehicle is continuously photographed at different positions. The relationship may be calculated. The effectiveness determination unit 42 detects a region in which the line of sight with the sky is not obstructed in a two-dimensional plane orthogonal to an arbitrary viewing direction based on the relative positional relationship calculated for each of the obstacles around the vehicle 1. You may.
The stereo camera may be used to detect the relative positional relationship between the obstacle around the vehicle 1 and the vehicle 1.

See FIG. When the positioning satellite 2 that is the source of the received satellite signal matches the orbit information 33 and the line-of-sight lines between the positioning satellite 2 and the vehicle 1 are not blocked, the effectiveness determination unit 42 performs this positioning. It is determined that the satellite 2 is effective. That is, the satellite signal received from the positioning satellite 2 is adopted as a candidate used for positioning the vehicle 1. If the positioning satellite 2 that is the source of the received satellite signal does not match the orbit information 33, or if each line of sight between the positioning satellite 2 and the vehicle 1 is blocked, the effectiveness determination unit 42 performs this positioning. It is determined that the satellite 2 is invalid. The satellite signal received from the positioning satellite 2 is not adopted as a candidate used for positioning the vehicle 1.

The signal selection unit 43 selects one of the satellite signals received from the positioning satellite 2 determined to be valid by the validity determination unit 42. For example, the signal selection unit 43 selects four satellite signals from the satellite signals received from the positioning satellite 2 determined to be valid.
The signal output unit 44 outputs the satellite signal selected by the signal selection unit 43 to the positioning unit 32.
The positioning unit 32 receives the satellite signal from the signal output unit 44. The positioning unit 32 measures the current position of the vehicle 1 based on the received satellite signal.

The positioning unit 32 calculates the current position of the positioning satellite 2 based on the orbit data included in the satellite signal received from the signal output unit 44. The orbit data may be, for example, a parameter for calculating the position of the positioning satellite 2 from which the satellite signal is transmitted at an arbitrary moment, and may be, for example, an ephemeris used in GPS.
The positioning unit 32 measures the current position of the vehicle 1 based on the current positions of the four positioning satellites 2 and the propagation time of the satellite signals.

The positioning unit 32 outputs the positioning result to the navigation device 14 provided in the vehicle 1. Further, the positioning unit 32 stores the positioning result in the storage device 13.
The navigation device 14 displays the current position of the vehicle 1 measured by the positioning unit 32 on a map displayed on a display device (not shown). Further, the navigation device 14 calculates a traveling route from the current position of the vehicle 1 to the destination, generates navigation information for guiding the driving to the destination, and notifies the driver.
Further, when the vehicle 1 has an automatic driving function, the automatic traveling of the vehicle 1 from the current position of the vehicle 1 to the destination may be controlled based on the current position of the vehicle 1 measured by the positioning unit 32. ..

(motion)
Next, an example of the operation of the satellite signal processing device according to the first embodiment will be described. See FIG.
In step S1, the camera 10 takes a picture of the surroundings of the vehicle 1 to generate an captured image of the field of view seen from the vehicle 1, that is, a surrounding image. The controller 12 acquires a surrounding image from the camera 10.
In step S2, the effective area detection unit 41 detects the first effective area in the surrounding image.
In step S3, the effectiveness determination unit 42 refers to the orbit information 33 of the plurality of positioning satellites 2 at the present time.

In step S4, the effectiveness determination unit 42 calculates the azimuth angles and elevation angles of the plurality of positioning satellites 2 with respect to the vehicle 1, respectively. Then, the effectiveness determination unit 42 projects the positions of the plurality of positioning satellites 2 represented by the azimuths and elevation angles of the plurality of positioning satellites 2 on a two-dimensional plane orthogonal to the shooting direction of the surrounding image.
In step S5, the receiving module 11 receives satellite signals transmitted from the plurality of positioning satellites 2. The signal receiving unit 40 receives the received satellite signal from the receiving module 11.

In step S6, the effectiveness determination unit 42 determines whether or not the satellite signal received in step S5 is a signal from a positioning satellite that matches the orbit information 33. When the received satellite signal is a signal from a positioning satellite that matches the orbit information 33 (step S6: Y), the process proceeds to step S7. If the received satellite signal is not a signal from a positioning satellite that matches the orbit information 33 (step S6: N), the process ends without using the received satellite signal for positioning the vehicle 1.

In step S7, the effectiveness determination unit 42 determines whether or not the satellite signal received in step S5 is a signal from a positioning satellite whose line of sight from the vehicle 1 is not blocked. When the received satellite signal is a signal from a positioning satellite whose line of sight from the vehicle 1 is not blocked (step S7: Y), the validity determination unit 42 positions the source of the satellite signal received in step S5. Determine that the satellite is valid. After that, the process proceeds to step S8. When the received satellite signal is not a signal from a positioning satellite whose line of sight from the vehicle 1 is not blocked (step S7: N), the process ends without using the received satellite signal for the positioning of the vehicle 1.

In step S8, the signal selection unit 43 selects the satellite signal received in step S5, that is, the satellite signal from a valid positioning satellite.
In step S9, the signal output unit 44 outputs the satellite signal selected by the signal selection unit 43 to the positioning unit 32.
In step S10, the positioning unit 32 measures the current position of the vehicle 1 based on the satellite signal received from the signal output unit 44.
In step S11, the navigation device 14 displays the current position of the vehicle 1 measured by the positioning unit 32.

(Effect of the first embodiment)
(1) The camera 10 generates a peripheral image taken from the vehicle 1 around the vehicle 1. The effective area detection unit 41 detects the first effective area in which the sky is captured in the surrounding image. The orbit information acquisition unit 31 acquires the orbit information 33 of each of the plurality of positioning satellites 2. The effectiveness determination unit 42 calculates the azimuth angles and elevation angles of the plurality of positioning satellites 2 with respect to the vehicle 1 based on the orbit information 33. The effectiveness determination unit 42 and the signal selection unit 43 are transmitted from the positioning satellite 2 in which the line of sight with the vehicle 1 is not blocked among the satellite signals received from the plurality of positioning satellites 2 by the antenna 20 provided in the vehicle 1. The satellite signal is selected based on the first effective region and the azimuths and elevation angles of the plurality of positioning satellites 2.

Therefore, the signal selection unit 43 is only a satellite signal transmitted from the positioning satellite 2 in which the line of sight with the vehicle 1 is not blocked even if the arrangement of obstacles around the vehicle 1 changes as the vehicle 1 moves. Can be selected. Therefore, it is possible to exclude the satellite signal whose propagation path extends around the obstacle, and it is possible to select only the highly reliable satellite signal. As a result, a highly reliable satellite signal can be acquired by using the antenna provided in the vehicle 1.

(2) The effectiveness determination unit 42 projects the position of the positioning satellite 2 represented by the azimuth angle and the elevation angle of the positioning satellite 2 onto a two-dimensional plane orthogonal to the shooting direction of the surrounding image. The effectiveness determination unit 42 determines that the line of sight between the positioning satellite 2 and the vehicle 1 is not blocked when the position projected on the two-dimensional plane is within the range corresponding to the first effective region.
By projecting the positioning satellite 2 onto a two-dimensional plane orthogonal to the shooting direction of the surrounding image based on the azimuth and elevation angles of the positioning satellite 2, the range corresponding to the first effective region in which the sky in the surrounding image is captured. It is possible to determine whether or not the position of the positioning satellite 2 is projected on. By determining whether or not the position of the positioning satellite 2 is projected within the range corresponding to the first effective region, the positioning satellite 2 is located in the azimuth and elevation angles where the sky can be seen from the vehicle 1, that is, the vehicle. It can be determined that the line of sight between 1 and the positioning satellite 2 is not blocked.

(Modification example)
(1) As the camera 10, the built-in camera of the portable information terminal device mounted on the vehicle 1 may be used to generate a surrounding image of the surroundings of the vehicle 1 and output to the controller 12. The portable information terminal device may be a smartphone, a tablet terminal, a mobile phone, a portable game machine, a portable music player, or the like capable of communicating with the vehicle 1. The same applies to the second embodiment and the third embodiment described below.
(2) The receiving module 11 and the controller 12 may be provided in the portable information terminal device, and the surrounding image taken by the in-vehicle camera 10 may be received by the portable information terminal device. Then, in the personal digital assistant device, it may be determined whether or not the position of the positioning satellite 2 is projected in the first effective region in the received surrounding image. The same applies to the second embodiment and the third embodiment described below.

(Second Embodiment)
(Constitution)
Subsequently, the satellite signal processing device according to the second embodiment will be described. The satellite signal processing device according to the second embodiment has the same configuration as the satellite signal processing device described with reference to FIG.
See FIG. The receiving module 11 of the satellite signal processing device according to the second embodiment is arranged in the vehicle interior of the vehicle 1. Therefore, there is a range in which the line of sight seen from the receiving module 11 (that is, the line of sight seen from the antenna 20) is blocked by the vehicle body of the vehicle 1.

For example, the area 60 shown in FIG. 5 schematically shows an area in which the line of sight seen from the receiving module 11 is not blocked by the vehicle body of the vehicle 1. Hereinafter, the area where the line of sight seen from the receiving module 11 is not blocked by the vehicle body of the vehicle 1 may be referred to as a second effective area.
The satellite signals from the positioning satellites 2a and 2b arriving from the second effective region 60 reach the receiving module 11 directly without being blocked by the vehicle body of the vehicle 1. Therefore, the propagation path is not extended, so the reliability is high. On the other hand, the satellite signal from the positioning satellite 2c arriving from outside the second effective region 60 goes around the vehicle body of the vehicle 1 and reaches the receiving module 11, so that the propagation path is extended and the reliability is lowered.

Therefore, in the satellite signal processing device according to the second embodiment, the second effective range is the range of the azimuth angle and the elevation angle in which the line of sight seen from the antenna 20 arranged in the vehicle interior of the vehicle 1 is not blocked by the vehicle body of the vehicle 1. The area is designated in advance and stored in the storage device 13.
The effectiveness determination unit 42 has an azimuth and elevation angle (that is, a first) of the satellite signals selected based on the azimuth and elevation of the positioning satellite 2 and the first effective region, in which the line of sight seen from the antenna 20 is not blocked by the vehicle body. 2 Positioning satellite 2 with azimuth and elevation within the effective domain) is determined to be valid.

(motion)
Next, an example of the operation of the satellite signal processing device according to the second embodiment will be described. See FIG.
The processing of steps S20 to S26 is the same as the processing of steps S1 to S7 of FIG. In the determination in step S26, if the satellite signal received in step S24 is a signal from a positioning satellite in which the line of sight from the vehicle 1 is not blocked (step S26: Y), the process proceeds to step S27. When the received satellite signal is not a signal from a positioning satellite whose line of sight from the vehicle 1 is not blocked (step S26: N), the process ends without using the received satellite signal for the positioning of the vehicle 1.

In step S27, the effectiveness determination unit 42 determines whether or not the satellite signal received in step S24 is a signal from a positioning satellite having an azimuth angle and an elevation angle in which the line of sight from the antenna 20 is not blocked by the vehicle body. When the received satellite signal is a signal from a positioning satellite having an azimuth angle and an elevation angle in which the line of sight from the antenna 20 is not blocked by the vehicle body (step S27: Y), the effectiveness determination unit 42 receives the signal in step S24. The positioning satellite that is the source of the satellite signal is determined to be valid. After that, the process proceeds to step S28. When the line of sight from the antenna 20 is not a signal from a positioning satellite having an azimuth angle and an elevation angle that are not blocked by the vehicle body (step S27: N), the process ends without using the received satellite signal for positioning the vehicle 1.
The processing of steps S28 to S31 is the same as the processing of steps S8 to S11 of FIG.

(Effect of the second embodiment)
A second effective region, which is a range of azimuth and elevation angles in which the line of sight seen from the antenna 20 arranged in the vehicle interior of the vehicle 1 is not blocked by the vehicle body of the vehicle 1, is stored in the storage device 13 in advance. The effectiveness determination unit 42 has an azimuth and elevation angle (that is, a first) of the satellite signals selected based on the azimuth and elevation of the positioning satellite 2 and the first effective region, in which the line of sight seen from the antenna 20 is not blocked by the vehicle body. 2 Positioning satellite 2 with azimuth and elevation within the effective domain) is determined to be valid.
Therefore, it is possible to exclude the satellite signal whose propagation path extends around the vehicle body of the vehicle 1, and it is possible to select only the highly reliable satellite signal. As a result, a highly reliable satellite signal can be acquired by using the antenna provided in the vehicle interior of the vehicle 1.

(Third Embodiment)
Subsequently, the satellite signal processing device according to the third embodiment will be described. The satellite signal processing device according to the third embodiment has the same configuration as the satellite signal processing device described with reference to FIG. 1, and further, the satellite signal from the positioning satellite 2 is transmitted to different positions in the vehicle interior of the vehicle 1. It is received by a plurality of receiving modules arranged in each. That is, the satellite signals from the positioning satellite 2 are received by a plurality of antennas arranged at different positions in the vehicle interior.

See FIG. 7. The satellite signal processing device includes mobile information terminal devices 70a and 70b in addition to the camera 10, the receiving module 11, the controller 12, and the storage device 13 shown in FIG. In FIG. 7 and the following description, the mobile information terminal device may be referred to as a "mobile terminal". The mobile terminals 70a and 70b may be collectively referred to as "mobile terminal 70".
The mobile terminal 70a includes a camera 71, a receiving module 72 for receiving satellite signals from the positioning satellite 2, a controller 73, and a storage device 74. The receiving module 72 has the same configuration as the receiving module 11, for example, and includes an antenna for receiving a satellite signal from the positioning satellite 2. The mobile terminal 70b also has the same configuration as the mobile terminal 70a.
The camera 10, the receiving module 11, the controller 12, and the storage device 13 may also be components mounted on the mobile terminal.

The receiving module 11, the mobile terminal 70a, and the mobile terminal 70b are arranged at different positions in the vehicle interior. That is, the receiving module 11, the receiving module 72 of the mobile terminal 70a, and the receiving module 72 of the mobile terminal 70b are arranged at different positions in the vehicle interior.
The region 75 shown in FIG. 7 schematically shows a second effective region in which the line of sight seen from the receiving module 72 of the mobile terminal 70a (that is, the antenna of the receiving module 72 of the mobile terminal 70a) is not blocked by the vehicle body of the vehicle 1. .. The region 76 schematically shows a second effective region in which the line of sight seen from the receiving module 72 of the mobile terminal 70b (that is, the antenna of the receiving module 72 of the mobile terminal 70b) is not blocked by the vehicle body of the vehicle 1.

The mobile terminal 70 transmits the satellite signal received from the positioning satellite 2 to the controller 12 by a wired or wireless communication means (not shown). For example, the controller 12 and the mobile terminal 70 may form a wired or wireless communication network and share satellite signals received by each via the communication network.

The validity determination unit 42 of the controller 12 determines the effectiveness of the positioning satellite 2 that is the source of the satellite signal received by the antenna 20 of the receiving module 11.
Further, the effectiveness determination unit 42 determines the effectiveness of the positioning satellite 2 that is the source of the satellite signal received by the antenna of the reception module 72 of the mobile terminal 70. At this time, the second effective areas 75 and 76 may be designated in advance according to the arrangement positions of the mobile terminals 70a and 70b and stored in the storage device 13.

Based on the second effective areas 75 and 76 stored in the storage device 13, the effectiveness determination unit 42 has an azimuth and elevation angle at which the satellite signal received by the mobile terminal 70 is not blocked by the vehicle body from the line of sight from the receiving module 72. It may be determined whether or not the signal is from the positioning satellite of.
Instead of this, the second effective regions 75 and 76 may be stored in the storage devices 74 of the mobile terminals 70a and 70b, respectively. The controller 73 of the mobile terminal 70 may determine whether or not the received satellite signal is a signal from a positioning satellite having an azimuth angle and an elevation angle in which the line of sight from the receiving module 72 is not blocked by the vehicle body. The mobile terminal 70 may transmit only satellite signals from azimuth and elevation positioning satellites that are not blocked by the vehicle body to the controller 12.

By arranging the plurality of receiving modules 11 and 72 at different positions in the vehicle interior, the second effective regions 60, 75 and 76 in which the line of sight seen from each receiving module is not blocked by the vehicle body of the vehicle 1 are made different. be able to. In this way, by covering the plurality of different second effective regions 60, 75, and 76 by the plurality of receiving modules 11 and 72, the vehicle body given to the satellite signal received by the receiving modules 11 and 72 installed in the vehicle interior. The influence of can be reduced.

Even if the mobile terminal 70 is brought into the vehicle interior, the mobile terminal 70 may not have a line of sight in either direction. For example, the mobile terminal 70 brought into the vehicle interior in a bag is suitable for being used as a means for receiving satellite signals from a positioning satellite because the line of sight in any direction is blocked by the bag. is not.
Therefore, for example, when the mobile terminal 70 detects a communication network with the controller 12, or when the mobile terminal 70 receives a satellite signal, the controller 73 of the mobile terminal 70 captures an image with the camera 71 of the mobile terminal 70. .. The controller 73 determines whether or not the mobile terminal 70 is used for receiving the satellite signal based on the image captured by the camera 71.

For example, when the brightness is less than the threshold value in all the regions in the image captured by the camera 71, the controller 73 causes the mobile terminal 70 to receive the satellite signal because the mobile terminal 70 does not have a line of sight in any direction. Exclude from use.
The controller 73 of the mobile terminal 70 may transmit the image captured by the camera 71 to the controller 12. The controller 12 may determine whether or not the mobile terminal 70 is used for receiving satellite signals.

(Effect of Third Embodiment)
(1) The effectiveness determination unit 42 has an azimuth angle and an azimuth in which the line of sight from the antenna is not blocked by the vehicle body from among the satellite signals received by the plurality of antennas arranged at different positions in the vehicle interior of the vehicle 1. Select the satellite signal of the elevation positioning satellite. By arranging the plurality of antennas at different positions in the vehicle interior, the second effective regions 60, 75, and 76 in which the line-of-sight lines of the respective antennas are not blocked by the vehicle body of the vehicle 1 can be made different.
By covering a plurality of different second effective regions 60, 75 and 76, it is possible to reduce the influence of the vehicle body on the satellite signal received by the antenna installed in the vehicle interior.

(2) The mobile terminal 70 provided with the antenna captures an image with the camera 71 of the mobile terminal 70, and determines whether or not the mobile terminal 70 is used for receiving the satellite signal based on the image captured by the camera 71. For example, the controller 73 of the mobile terminal 70 determines whether or not the mobile terminal 70 has a line of sight in any direction based on the image captured by the camera 71. When it is determined that the mobile terminal 70 does not have a line of sight in either direction, the controller 73 excludes the mobile terminal 70 from being used for receiving satellite signals.
Therefore, the mobile terminal 70, which has no line of sight in any direction even if it is brought into the vehicle interior and is not suitable as a receiving means, can be excluded from being used for receiving satellite signals.

1 ... Vehicle, 2a-2d ... Positioning satellite, 10 ... Camera, 11 ... Reception module, 12 ... Controller, 13 ... Storage device, 14 ... Navigation device, 20 ... Antenna, 30 ... Satellite signal processing unit, 31 ... Orbit information acquisition Unit, 32 ... Positioning unit, 33 ... Orbital information, 40 ... Signal receiving unit, 41 ... Effective area detection unit, 42 ... Effectiveness determination unit, 43 ... Signal selection unit, 44 ... Signal output unit, 50 ... Ambient image, 51 ... Binary image, 52 ... 1st effective area, 53 ... Invalid area, 54 ... 2D plane, 55 ... Range corresponding to 1st effective area, 56 ... Range corresponding to invalid area, 57 ... Projection position, 58 ... Projection position, 60 ... 2nd effective area, 70a ... Mobile information terminal device, 70b ... Mobile information terminal device, 71 ... Camera, 72 ... Reception module, 73 ... Controller, 74 ... Storage device, 75 ... Second effective area, 76 … Second effective area

Claims (3)

The image pickup device generates a captured image of the surroundings of the vehicle from the vehicle.
The controller detects the region having the largest area among the continuous regions in which the brightness change in the captured image is less than a predetermined threshold value as the image region in which the sky is captured.
The controller acquires the orbit information of each of the plurality of positioning satellites.
The controller calculates the azimuth and elevation angles of the plurality of positioning satellites with respect to the vehicle based on the orbit information.
Among the satellite signals received from the plurality of positioning satellites by the antennas arranged in the vehicle, the satellite signals transmitted from the positioning satellites whose line of sight with the vehicle is not obstructed are displayed in the image area and the satellite signals. Select based on the azimuths and elevations of the plurality of positioning satellites.
A satellite signal processing method characterized by this. The position of the positioning satellite represented by the azimuth and elevation angles of the positioning satellite is projected onto a two-dimensional plane orthogonal to the shooting direction of the captured image.
When the position projected on the two-dimensional plane is within the range corresponding to the image area, it is determined that the line of sight between the positioning satellite and the vehicle is not obstructed.
The satellite signal processing method according to claim 1 . An imaging device that captures the surroundings of the vehicle from the vehicle and generates an captured image,
A receiver that receives satellite signals transmitted from multiple positioning satellites, and
The region having the largest area among the continuous regions in which the change in brightness in the captured image is less than a predetermined threshold is detected as an image region in which the sky is captured, and the orbit information of each of the plurality of positioning satellites is acquired to obtain the orbit information. The azimuth and elevation angles of the plurality of positioning satellites with respect to the vehicle are calculated based on the above, and among the satellite signals received from the plurality of positioning satellites, they are transmitted from the positioning satellite whose line of sight with the vehicle is not obstructed. A controller that selects satellite signals based on the image area and the azimuth and elevation angles of the plurality of positioning satellites.
A satellite signal processing device characterized by comprising.