JP7018087B2 - Correction server, mobile terminal, correction method, and program - Google Patents

Description

The present invention relates to a correction server, a mobile terminal, a correction method, and a program.

A technique for measuring the position of a moving object such as a UAV (Unmanned Aerial Vehicle) or a terminal device is known. Patent Document 1 discloses a technique related to positioning by GNSS (Global Navigation Satellite System) (for example, GPS (Global Positioning System)) or RTK (Real Time Kinematic).

Japanese Unexamined Patent Publication No. 2005-241517

The position of the moving object in motion changes over time. Therefore, in order to measure the position of the moving object more accurately, it is necessary to perform the positioning process at a higher speed. The positioning process of a moving object may need to be more optimal from a viewpoint other than high speed.

An object of the present invention is to provide a technique for more optimal positioning processing of a moving body.

The correction server according to one aspect of the present invention is a correction server that communicates with a mobile terminal and a data center in a positioning system, and is a transmission unit that transmits information about an area corresponding to the movement route of the mobile terminal to the data center. And, in response to the transmission of information about the area, a receiving unit that receives narrow area positioning information that is positioning information in the area from the data center, the narrow area positioning information, and the mobile terminal received from the mobile terminal. It is provided with a calculation unit for calculating correction information of the positioning information based on the positioning information of the above.

The correction method according to one aspect of the present invention is a correction method implemented in a correction server that communicates with a mobile terminal and a data center via a communication unit, and provides information on an area corresponding to the movement route of the mobile terminal. The communication unit transmits information to the data center, specific area positioning information including information for correcting positioning information in the area from the data center, and positioning information from the mobile terminal to the mobile terminal. The control unit of the correction server calculates the corrected positioning information obtained by correcting the positioning information of the mobile terminal based on the reception by the unit and the positioning information of the specific area and the positioning information of the mobile terminal. ,including.

In the program according to one aspect of the present invention, the communication unit transmits information about an area corresponding to the movement route of the mobile terminal to the correction server that communicates with the mobile terminal and the data center via the communication unit. The communication unit receives the specific area positioning information including the information for correcting the positioning information in the area from the data center and the positioning information of the mobile terminal from the mobile terminal, and the specification. Based on the area positioning information and the positioning information of the mobile terminal, the control unit of the correction server calculates the corrected positioning information obtained by correcting the positioning information of the mobile terminal.

According to the present invention, it is possible to provide a technique for more optimal positioning processing of a moving body.

It is a figure which shows the system configuration of the positioning system which concerns on one Embodiment. It is a block diagram which shows the outline of the hardware composition of the mobile terminal which concerns on one Embodiment. It is a block diagram which shows the outline of the hardware composition of the correction server which concerns on one Embodiment. It is a conceptual diagram for demonstrating an example of the control of the positioning process by the mobile terminal which concerns on one Embodiment. It is a conceptual diagram for demonstrating another example of control of a positioning process by a mobile terminal which concerns on one Embodiment. It is a sequence diagram which shows an example of the control of the correction processing of the positioning position of a mobile terminal by the positioning system which concerns on one Embodiment.

The positioning system according to the embodiment will be described below. It should be noted that the following embodiments are examples for explaining the present invention, and the present invention is not intended to be limited only to the embodiments thereof. Further, the present invention can be modified in various ways as long as it does not deviate from the gist thereof. Further, those skilled in the art can adopt an embodiment in which each element described below is replaced with an equal one, and such an embodiment is also included in the scope of the present invention. Further, in the following, in order to facilitate understanding, an embodiment in which the present invention is realized by using an information processing apparatus will be described as an example, but as described above, the present invention is not limited thereto.

A configuration of a positioning system according to an embodiment will be described with reference to FIG. 1. The positioning system 1 includes GNSS satellites 10a, 10b, 10c, reference stations 20a, 20b, 20c, mobile terminals 30a, 30b, 30c, a data center 40, correction servers 50a, 50b, 50c, and a control server 60. The mobile terminals 30a, 30b, 30c, the correction servers 50a, 50b, 50c, and the control server 60 are configured to be communicable via the network N1. The reference stations 20a, 20b, and 20c are connected to the data center 40 by a dedicated line (including the network N2). The correction servers 50a, 50b, and 50c are connected to the data center 40 by a dedicated line.

Since the GNSS satellites 10a, 10b, and 10c have the same configuration, they may be collectively referred to as the GNSS satellite 10 without distinguishing between the GNSS satellites 10a, 10b, and 10c in the following description. Since the reference stations 20a, 20b, and 20c have the same configuration, they may be collectively referred to as the reference station 20 without distinguishing the reference stations 20a, 20b, and 20c in the following description. Since the mobile terminals 30a, 30b, and 30c have the same configuration, they may be collectively referred to as the mobile terminal 30 in the following description without distinguishing the mobile terminals 30a, 30b, and 30c. Since the correction servers 50a, 50b, and 50c each have the same configuration, the correction servers 50a, 50b, and 50c may be collectively referred to as the correction server 50 without distinguishing them in the following description. Further, the positioning system 1 shown in FIG. 1 includes three GNSS satellites 10, three reference stations 20, three mobile terminals 30, one data center 40, three correction servers 50, and one control server 60. Although configured, the number of devices included in the positioning system 1 is not limited to this, and any number of devices can be included in each.

The network N1 is a communication network for communication between devices. For example, the network N1 may be any of the Internet, LAN, leased line, packet communication network, telephone line, corporate network, other communication line, a combination thereof, and the like. The network N1 also includes a wired and / or wireless communication network. As the mobile communication system, any communication technology such as the 5th generation (5G) or the 4th generation (4G) is adopted.

The GNSS satellite 10 is an artificial satellite in GNSS. The GNSS satellite 10 transmits a GNSS signal used in positioning processing.

The reference station 20 is a reference station (also referred to as a reference station) required for positioning processing of the mobile terminal 30 by RTK. The reference station 20 is installed at a position where coordinate values (for example, latitude, longitude, and altitude) are known as position information. Each reference station 20 performs positioning processing based on GNSS signals received from a plurality of GNSS satellites 10, and calculates the distance from each GNSS satellite 10 to the reference station 20 (hereinafter referred to as "pseudo distance"). Each reference station 20 transmits the pseudo-distance information calculated by the positioning process to the data center 40.

The mobile terminal 30 is composed of a UAV, a vehicle, or a mobile body such as a mobile terminal (including a built-in communication module, a smartphone, a tablet, and a personal computer). The mobile terminal 30 performs positioning processing (hereinafter, also referred to as “single positioning processing”) using GNSS signals received from a plurality of GNSS satellites 10. The mobile terminal 30 transmits the positioning information of the mobile terminal 30 obtained by the independent positioning process to the correction server 50.

The data center 40 stores and manages the known position information of all the reference stations 20 in the positioning system 1 and the correction information of the pseudo distance received from the reference station 20 (hereinafter referred to as “pseudo distance correction information”). The pseudo-distance correction information is information for correcting the pseudo-distance from the reference station 20 to the GNSS satellite 10 to the actual distance, and is calculated by comparing the actual distance with the pseudo-distance. The data center 40 transmits the known position information of the reference station 20 necessary for the processing described later by the correction server 50 and the pseudo-distance correction information to the correction server 50.

The correction server 50 is composed of a computer such as a server device. The correction server 50 corrects the positioning information of the mobile terminal 30 obtained by the independent positioning process of the mobile terminal 30. Specifically, the correction server 50 corrects the positioning information obtained by the independent positioning process by the mobile terminal 30 based on the pseudo-distance correction information received from the data center 40 and the known position information of the reference station 20. Then, more accurate positioning information (hereinafter referred to as "corrected positioning information") is output. The correction is performed by an arbitrary method, and for example, a method in FKP (Flaken Korlek-tur Parameter) is adopted.

Each of the plurality of correction servers 50 may be distributed and configured so that edge computing can be realized. That is, in such a configuration, the positioning information of each mobile terminal 30 is corrected by the correction server 50 installed near the mobile terminal 30 where the positioning information is corrected. The correction server 50 is installed near each base station that communicates with the mobile terminal 30, for example. The correction server 50 may be configured to correct the position information of the mobile terminal 30 that communicates with a nearby base station. With such a configuration, the communication load for the positioning position correction process can be reduced, and the correction process can be performed at a higher speed.

The control server 60 is composed of a computer such as a server device. The control server 60 controls the movement of the mobile terminal 30. More specifically, the control server 60 uses weather data, radio wave area information, obstacle information, movement plan information of other mobile terminals, destinations and departure points of mobile terminals (or destinations and departure points of mobile terminals). It is possible to manage the movement route information), waypoints, fuel (or on-board battery) information, and aircraft information of the mobile terminal, and support the movement (for example, flight) of the mobile terminal 30. All of the above weather data, radio area information, obstacle information, movement plan information of other mobile terminals, destinations and departure points of mobile terminals, waypoints, fuel (or on-board battery) information, and aircraft information of mobile terminals. , Or some information is referred to as mobile flight support information. Meteorological data includes, for example, weather, wind direction, wind speed, barometric pressure, and the like. The radio wave area information includes, for example, information indicating whether or not the mobile terminal 30 is within the radio wave area. Obstacle information includes, for example, location information of buildings, towers, airfields, and the like.

With reference to FIG. 2, an example of the main hardware configuration of the mobile terminal 30 when the mobile terminal 30 is a UAV will be described. As shown in FIG. 2, the mobile terminal 30 includes a control unit 31, a communication unit 32, a storage unit 33, an image pickup unit 34, a propulsion unit 35, a signal receiver 36, a sensor 37, and a battery 38.

The control unit 31 mainly includes a CPU (Central Processing Unit) 31a and a memory 31b. The control unit 31 controls the operation of the configuration of the mobile terminal 30. For example, in the control unit 31, the CPU 31a controls the configuration of the mobile terminal 30 by expanding and executing a computer program including various instructions stored in the storage unit 33 or the like in the memory 31b, and the mobile terminal 30 controls the configuration. Realize the functions that it has. Details of the processing executed by the control unit 31 will be described later.

The communication unit 32 is a communication interface for communicating with an external device via the network N. For example, the communication unit 32 receives the data used in the processing by the control unit 31 from the external device, and transmits the data of the processing result by the control unit 31 to the external device.

The storage unit 33 is composed of a storage device such as a semiconductor storage device. The storage unit 33 stores various programs and various data necessary for executing the processing in the control unit 31, and various data obtained by the processing result by the control unit 31.

The image pickup unit 34 is composed of one or a plurality of cameras. The image pickup unit 34 acquires image information (image data) of a still image or a moving image according to control by the control unit 31 or the like.

The propulsion unit 35 is a mechanism for propelling the mobile terminal 30. The propulsion unit 35 has a rotary blade and a drive motor. The drive motor rotates the rotor blades to generate propulsive force for the flight of the mobile terminal 30.

The signal receiver 36 receives a signal used for positioning processing by GNSS or other positioning processing (for example, positioning processing by RTK). The signal receiver 36 receives, for example, GNSS signals transmitted from a plurality of GNSS satellites 10. The signal receiver 36 identifies the position (for example, latitude, longitude, and altitude) of the mobile terminal 30 by positioning processing based on the received GNSS signal. The process of specifying the position of the mobile terminal 30 may be performed by the control unit 31.

The sensor 37 includes sensors such as a compass, barometric altitude sensor, temperature sensor, acceleration sensor, and angular velocity sensor. The information sensed by the sensor 37 is used by the control unit 31 for controlling the operation and posture of the mobile terminal 30, for example. The battery 38 supplies electric power necessary for the operation of the configuration of the mobile terminal 30, such as the propulsion unit 35. The battery 38 is composed of, for example, a lithium ion battery or the like.

An example of the main hardware configuration of the correction server 50 will be described with reference to FIG. As shown in FIG. 3, the correction server 50 includes a control unit 51, a communication unit 54, and a storage unit 55. The control unit 51 mainly includes a CPU 52 and a memory 53. In the control unit 51, the CPU 52 controls the operation of the configuration of the correction server 50 and realizes various functions by expanding and executing the program stored in the storage unit 55 or the like in the memory 53. The communication unit 54 is a communication interface for communicating with an external device. The storage unit 55 is composed of a storage device such as a hard disk. The storage unit 55 stores various programs (including application programs) and various data (information) necessary for executing the processing in the control unit 51, and various data obtained by the processing result by the control unit 51. The correction server 50 may be composed of a single information processing device or may be composed of a plurality of information processing devices distributed on a network.

Since the reference station 20 includes the same hardware as the control unit 31, the communication unit 32, the storage unit 33, and the signal receiver 36 of the mobile terminal 30 described with reference to FIG. 2, the hardware configuration of the reference station 20 is provided. The outline of the above will be omitted here. Since the data center 40 and the control server 60 have the same hardware as the correction server 50 described with reference to FIG. 3, a brief description of the hardware configuration of the data center 40 and the control server 60 will be omitted here. .. The control server 60 may further include a user interface (display function and input function) for user operation.

Next, with reference to FIGS. 4 and 5, an example of controlling the positioning process by the mobile terminal 30 when the mobile terminal 30 is a UAV will be described. In general, the positioning process by RTK can measure the position with high accuracy, but consumes a large amount of power. Therefore, when the small mobile terminal 30 is required to move with a limited power, it is not appropriate to execute the positioning process by RTK for a long time. On the other hand, in general, the positioning process by GNSS consumes less power than RTK, but has lower positioning accuracy than RTK. Therefore, in a situation where the mobile terminal 30 is required to move with a limited power, by controlling the positioning process so as to minimize the usage period of the RTK, high-precision positioning process can be performed and the movement can be performed. It is possible to achieve both without reducing the possible time.

With reference to FIG. 4, an example of controlling the positioning process from the time when the mobile terminal 30 departs from the station (for example, a heliport) to the time when it arrives at the destination (outward route) will be described. In FIG. 4, the horizontal axis represents time and the vertical axis represents altitude conceptually. FIG. 4 shows a predetermined period during flight after the mobile terminal 30 departs from the station, for example, the movable time is divided into period A, period B, and period C.

The period A indicates a period (for example, 15 minutes) from the activation of the positioning function by the GNSS of the mobile terminal 30 until the positioning function stabilizes. In the period A, the control unit 31 of the mobile terminal 30 controls to carry out the positioning process by DGNSS (Differential GNSS). By utilizing the location information (network assist data) received earlier from the control server 60, the mobile terminal 30 is on standby at the station during the period until the positioning function by GNSS stabilizes. 30 can start flying early. That is, no wasted warm-up time is required, and power can be used for the flight for a longer period of time (that is, the flight can be performed for a longer period of time). The network assist data includes the departure place (current location), route information, etc. based on the mobile flight plan information.

The period B indicates a period during which the mobile terminal 30 is cruising to the vicinity of the destination after the period A. Whether or not it is near the destination is determined by the position information of the mobile terminal 30 (position information received from the control server 60 or the position information specified by the mobile terminal 30) and the flight set in advance and stored in the storage unit 33. It may be determined by the control unit 31 based on the plan information (or the route information of the movement). Alternatively, it may be determined whether or not the mobile terminal 30 is near the destination based on the signal received from the control server 60 (or a remote control device (not shown) of the mobile terminal 30). During a safe cruising flight, the mobile terminal 30 is often not required to have high positioning accuracy. Therefore, in the period B, the control unit 31 of the mobile terminal 30 controls to carry out the positioning process by GNSS. By performing the positioning process by GNSS with lower power consumption during the period when high positioning accuracy is not required, the mobile terminal 30 can fly in the power saving mode that does not reduce the movable time.

The period C is a period in which the mobile terminal 30 is flying or hovering in the vicinity of the destination (for example, within 10 m from the destination) after the period B. In period C, high positioning accuracy is required to reach an accurate (or precise) destination. Further, when the destination is a building and the mobile terminal 30 is hovering to image the surface of the wall of the building by the image pickup unit 34 (that is, when hovering near an obstacle, or when the altitude is determined. In the case of changing flight), the mobile terminal 30 may collide with an obstacle or the ground due to an error in the positioning process. In order to prevent such a situation, high positioning accuracy is required. Therefore, in the period C, the control unit 31 of the mobile terminal 30 controls to perform the positioning process by RTK.

With reference to FIG. 5, an example of controlling the positioning process from the state where the mobile terminal 30 is hovering at the destination of the flight to the start of the cruise flight and the landing at the battery station (return route) will be described. In FIG. 5, the horizontal axis represents time and the vertical axis represents altitude conceptually. FIG. 5 shows the movable time during the return flight of the mobile terminal 30 by dividing it into a period D, a period E, and a period F.

The period D is a period during which the mobile terminal 30 is flying near the destination (for example, within 10 m from the destination). For the same reason as in the period C shown in FIG. 4, in the period D, the control unit 31 of the mobile terminal 30 controls to perform the positioning process by the RTK.

The period E indicates a period after the period D until the mobile terminal 30 starts the landing preparation operation. Whether or not to start the landing preparation operation may be determined by the control unit 31 based on the flight plan information preset and stored in the storage unit 33, or the control server 60 (or the figure of the mobile terminal 30). It may be determined based on the signal received from the remote control device (not shown). For the same reason as in the period B shown in FIG. 4, in the period E, the control unit 31 of the mobile terminal 30 controls to carry out the positioning process by GNSS.

The period F is a period from the start of the landing preparation operation of the mobile terminal 30 to the landing. In order for the mobile terminal 30 to perform a landing operation, high positioning accuracy is required. Therefore, in the period F, the control unit 31 of the mobile terminal 30 controls to perform the positioning process by RTK.

As described above, according to the present embodiment, the mobile terminal 30 receives, for example, the position information (for example, corrected positioning information) of the mobile terminal 30 from the control server 60 via the communication unit 32. The mobile terminal 30 is controlled by the control unit 31 to select RTK or GNSS as the positioning method of the mobile terminal 30 based on the movement route information of the mobile terminal 30 and the received position information.

According to the present embodiment, the mobile terminal 30 is, for example, a distance between a position based on the position information of the mobile terminal 30 (for example, corrected positioning information) and a destination based on the movement route information of the mobile terminal 30. The control unit 31 controls to switch the positioning by GNSS to the positioning by RTK according to the above.

According to the present embodiment, the mobile terminal 30 is controlled by the control unit 31 so as to select RTK as the positioning method of the mobile terminal 30, for example, when hovering.

In general, the positioning process by RTK can measure the position with high accuracy, but the power consumption is high. Therefore, when the small mobile terminal 30 is required to move with a limited power, it is not appropriate to execute the positioning process by RTK for a long time. On the other hand, the positioning process by GNSS consumes less power than RTK, but has lower positioning accuracy than RTK. According to the present embodiment, in a situation where the mobile terminal 30 is required to move with a limited electric power, the positioning process is controlled so as to minimize the usage period of the RTK, thereby increasing the required height. It is possible to achieve both accurate positioning processing and not reducing the movable time.

Next, with reference to FIG. 6, an example of control of the correction process of the positioning position of the mobile terminal 30 by the positioning system 1 will be described. In this process, it is premised that the mobile terminal 30 is a UAV, and the flight of the mobile terminal 30 is automatically controlled by the control server 60 based on the preset movement route information. The travel route information includes flight route information of the mobile terminal 30 and flight altitude control information of the mobile terminal 30. Further, in the process shown in FIG. 6, the positioning process of the mobile terminal 30 is performed by the RTK.

First, in step S10, the control server 60 transmits the above-mentioned network assist data to the mobile terminal 30. The mobile terminal 30 acquires position information (information on the current location, which is the departure point) before positioning by using network assist data. As a modification, the correction server 50 may receive and store network assist data from the control server 60 in advance, and the correction server 50 may transmit the stored network assist data to the mobile terminal 30. The processing by the correction server 50 in this modification may be started, for example, based on the signal received from the mobile terminal 30 (in response to an instruction by the operator), or may be started by a timer. In step S11, the control server 60 transmits to the correction server 50 information about an area through which the mobile terminal 30 passes or stays according to a route based on the preset travel route information of the mobile terminal 30 which is preset and stored. do. The correction server 50 receives information about the area from the control server 60 via the communication unit 54. The information regarding the area through which the mobile terminal 30 passes or stays is information for specifying the route of the mobile terminal 30, for example, the coordinate information (for example, latitude, longitude) of the area through which the mobile terminal 30 passes or stays while moving. , And hourly area information indicated by altitude). Information about the area is transmitted to the correction server 50 (for example, any of the correction servers 50a, 50b, and 50c) installed near the area among the plurality of correction servers 50.

In step S12, the correction server 50 transmits information about the area received in step S11 to the data center 40.

In step S13, the data center 40 has a correction server in step S12 among the known position information of all the reference stations 20 that are stored and managed and the pseudo-distance correction information (hereinafter, also referred to as “wide area positioning information”). Information corresponding to the information about the area received from 50 is transmitted to the correction server 50 as narrow area positioning information (hereinafter, also referred to as “specific area positioning information”). The narrow area positioning information corresponding to the information related to the area received from the correction server 50 is used for the correction of the positioning information by the mobile terminal 30 located in the area among the wide area positioning information stored and managed by the data center 40, which will be described later. Contains information used for. The information used for correcting the positioning information by the mobile terminal 30 located in the area is, for example, the information of each reference station 20 installed in the area from 2 km to 800 m from the position of the mobile terminal 30 where the positioning information is corrected. It may be known position information and pseudo-distance correction information. As described above, the correction server 50 is not all the known position information and the pseudo-distance correction information of the reference station 20 stored and managed by the data center 40, but is the narrow area positioning which is the information necessary for the correction for the mobile terminal 30. Receive information. Therefore, the communication load can be reduced and the transmission speed can be improved as compared with the case where the correction server 50 receives all of the known position information and the pseudo-distance correction information of the reference station 20.

In step S14, the mobile terminal 30 transmits the positioning information obtained by the independent positioning process by GNSS to the correction server 50. The positioning information is transmitted to the correction server 50 installed near the positioning position (or the position closest to the positioning position) of the mobile terminal 30 among the plurality of correction servers 50.

In step S15, the correction server 50 corrects the positioning information based on the narrow area positioning information received from the data center 40 in step S13 and the positioning information received from the mobile terminal 30 in step S14, and is more accurate. Positioning information (that is, corrected positioning information) is calculated. The correction is performed by any method, and for example, the FKP method may be adopted. Further, as described in step S13, according to the present embodiment, the correction server 50 is not the entire wide area positioning information stored and managed by the data center 40, but the narrow area positioning information necessary for calculating the corrected positioning information. And calculate the corrected positioning information. Therefore, it is possible to increase the calculation speed of the corrected positioning information and shorten the positioning time.

In step S16, the correction server 50 transmits the corrected positioning information calculated in step S15 to the control server 60. In step S17, the control server 60 transmits flight control information including the corrected positioning information received in step S16 to the mobile terminal 30 to control the flight of the mobile terminal 30, and controls the flight of the mobile terminal 30. conduct.

As described above, according to the present embodiment, the correction server 50 communicates with the mobile terminal 30 and the data center 40 in the positioning system 1. The correction server 50 transmits information about an area corresponding to the movement route of the mobile terminal 30 to the data center 40 via the communication unit 54. The correction server 50 receives the specific area positioning information including the information for correcting the positioning information of the mobile terminal 30 in the area and the positioning information of the mobile terminal 30 from the mobile terminal 30 via the communication unit 54. The correction server 50 calculates the corrected positioning information corrected for the positioning information by the control unit 51 based on the specific area positioning information and the positioning information of the mobile terminal 30 received from the mobile terminal 30. That is, the correction server 50 acquires the specific area positioning information necessary for calculating the correction information, not the entire wide area positioning information stored and managed by the data center 40, and calculates the corrected positioning information. Therefore, the calculation speed of the corrected positioning information can be improved.

According to the present embodiment, the plurality of correction servers 50 are each configured to be distributed. In such a configuration, the position information of each mobile terminal 30 is corrected by the correction server 50 installed near the mobile terminal 30 where the position information is corrected. Therefore, the correction process of the position information of each mobile terminal 30 can be performed at higher speed.

The embodiments described above are for facilitating the understanding of the present invention, and are not for limiting the interpretation of the present invention. Each element included in the embodiment and its arrangement, material, condition, shape, size, and the like are not limited to those exemplified, and can be appropriately changed. Further, it is possible to partially replace or combine the configurations shown in different embodiments.

N Network 1 Positioning system 10 GNSS satellite 20 Reference station 30 Mobile terminal 31, 51 Control unit 31a, 52 CPU
31b, 53 Memory 32, 54 Communication unit 33, 55 Storage unit 34 Imaging unit 35 Propulsion unit 36 Signal receiver 37 Sensor 40 Data center 50 Correction server 60 Control server

Claims (8)

In a positioning system, it is a correction server that communicates between a mobile terminal and a data center that stores correction information for correction of positioning information.
A transmission unit that transmits information about an area corresponding to the movement route of the mobile terminal to the data center, and a transmission unit.
Receiving the specific area positioning information including the correction information for correcting the positioning information in the region and the positioning information of the mobile terminal from the mobile terminal among the corrected information stored from the data center. Department and
A calculation unit for calculating corrected positioning information obtained by correcting the positioning information of the mobile terminal based on the specific area positioning information and the positioning information of the mobile terminal is provided .
The correction information is a correction server including information for correction of a pseudo distance indicating a distance from a satellite to a reference station in the positioning system . The correction server according to claim 1, wherein the information regarding the area transmitted by the transmission unit to the data center is information received from a control server that controls the movement of the mobile terminal. The correction server according to claim 2, wherein the transmission unit transmits the corrected positioning information to the control server. A communication unit that receives the corrected positioning information from the control server,
Based on the mobile flight support information of the mobile terminal and the corrected positioning information, a control unit that selects RTK (Real Time Kinematic) or GNSS (Global Navigation Satellite System) as the positioning method of the mobile terminal is used. The mobile terminal according to claim 3. The mobile terminal according to claim 4, wherein the control unit switches the positioning by GNSS to the positioning by RTK according to the distance between the position of the mobile terminal and the destination based on the route information of the movement. The mobile terminal according to claim 4 or 5, wherein the control unit selects RTK as the positioning method of the mobile terminal when the mobile terminal is hovering. It is a correction method implemented in a correction server that communicates between a mobile terminal and a data center that stores correction information for correction of positioning information via a communication unit.
Information about the area corresponding to the movement route of the mobile terminal is transmitted to the data center by the communication unit, and
Among the correction information for correction stored from the data center, specific area positioning information including the correction information for correction of positioning information in the region, and positioning information from the mobile terminal to the mobile terminal. Is received by the communication unit, and
This includes calculating the corrected positioning information obtained by correcting the positioning information of the mobile terminal based on the specific area positioning information and the positioning information of the mobile terminal by the control unit of the correction server.
The correction information is a correction method including information for correction of a pseudo distance indicating a distance from a satellite to a reference station in the positioning system . To the correction server that communicates between the mobile terminal and the data center that stores the correction information for correction of positioning information via the communication unit.
Information about the area corresponding to the movement route of the mobile terminal is transmitted to the data center by the communication unit, and
Among the correction information for correction stored from the data center, specific area positioning information including the correction information for correction of positioning information in the region, and positioning information from the mobile terminal to the mobile terminal. Is received by the communication unit, and
Based on the specific area positioning information and the positioning information of the mobile terminal, the control unit of the correction server calculates the corrected positioning information corrected for the positioning information of the mobile terminal .
The correction information is a program including information for correction of a pseudo distance indicating a distance from a satellite to a reference station in the positioning system .

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