JP7295400B2 - POSITIONING SYSTEM, POSITIONING DEVICE AND POSITIONING METHOD - Google Patents

Description

The present invention relates to a positioning system, a positioning device and a positioning method.

Conventionally, a positioning device receives positioning augmentation information distributed via a quasi-zenith satellite or the like, calculates a rough position based on the positioning information received from a GPS satellite or the like, and uses the positioning augmentation information corresponding to the rough position. There is known a technique of correcting the approximate position using the correction amount calculated by the method (for example, see Patent Document 1, etc.). Positioning augmentation information delivered via quasi-zenith satellites and the like includes orbit errors, satellite clock errors, grid ionospheric delay errors, grid tropospheric delay errors, and the like.

JP 2014-052380 A

In the above technology, the positioning device needs to have a correction function, so there is a risk that the positioning device will be expensive. Therefore, it is conceivable to reduce the cost of the positioning device by providing the server with a correction function so that the server corrects the position information obtained by the positioning device.

However, when the positioning augmentation information is transmitted to the server at predetermined time intervals (for example, one second), the data volume (transmission volume) is as large as about 600B, which may increase the communication cost.

In one aspect, an object of the present invention is to provide a positioning system, a positioning device, and a positioning method capable of reducing communication costs when correcting the position of a mobile station device.

In one aspect, the positioning system is a positioning system that includes a reference station device, a mobile station device attached to a positioning target, and a position coordinate correction device, and measures the position of the mobile station device. Then, the reference station side device calculates a first position coordinate of the reference station side device based on the positioning signal received from the GNSS satellite using the receiver, and performs reference reception with higher position detection accuracy than the receiver. calculating second position coordinates of the reference station device based on the positioning signals received from the GNSS satellites using a device, and calculating reference coordinates of the reference station device based on the second position coordinates; , the calculated first position coordinates of the reference station side device and the reference coordinates of the reference station side device are transmitted to the position coordinate correction device, and the mobile station side device receives the positioning signal from the GNSS satellite; and transmits the calculated position coordinates of the mobile station device to the position coordinate correction device, and the position coordinate correction device receives the calculated position coordinates of the reference station device and the reference coordinates of the reference station device, and corrects the received position coordinates of the mobile station device using the calculated difference.

Communication costs for correcting the position of the mobile station device can be reduced.

1 is a schematic diagram of a positioning system according to a first embodiment; FIG. It is a figure for demonstrating the utilization scene of a positioning system. FIG. 3(a) is a diagram showing the hardware configuration of the reference station side apparatus according to the first embodiment, and FIG. 3(b) is a diagram showing the hardware configuration of the mobile station side apparatus according to the first embodiment. FIG. 4 is a diagram showing; It is a figure which shows the hardware constitutions of the server based on 1st Embodiment. 3 is a functional block diagram of a server according to the first embodiment; FIG. FIG. 6(a) is a flow chart showing processing of the reference station side device according to the first embodiment, and FIG. 6(b) is a flow chart showing processing of the mobile station side device according to the first embodiment. . FIG. 7(a) is a diagram showing a data frame of data transmitted from the reference station apparatus according to the first embodiment, and FIG. 7(b) is a diagram showing data frames transmitted from the mobile station apparatus according to the first embodiment. FIG. 4 shows a data frame of data to be transmitted; FIGS. 8A and 8B are diagrams for explaining position coordinate data transmitted to the server in the first embodiment. 4 is a flow chart showing processing of the server according to the first embodiment; FIG. 10(a) is a diagram for explaining the correction of the mobile station position coordinates in the first embodiment, and FIG. 10(b) is a diagram schematically showing the processing of FIG. 10(a). . It is a figure which shows the difference model which concerns on 1st Embodiment. It is a figure which shows the example of the positioning augmentation information in the past. It is a figure for demonstrating a modification. FIG. 10 is a functional block diagram of a reference station device and a server according to the second embodiment; 9 is a flow chart showing processing of the reference station apparatus according to the second embodiment; FIG. 10 is a diagram showing a data frame of data transmitted from the reference station device according to the second embodiment; 9 is a flow chart showing processing of a server according to the second embodiment; FIG. 11 is a diagram for explaining correction of mobile station position coordinates in the second embodiment;

<<1st Embodiment>>
The positioning system according to the first embodiment will be described in detail below with reference to FIGS. 1 to 11. FIG. FIG. 1 schematically shows the configuration of a positioning system 100 of this embodiment. 2 schematically shows a usage scene of the positioning system 100. As shown in FIG.

As shown in FIG. 1 , the positioning system 100 includes a server 10 as a position coordinate correction device and a positioning device, a reference station device 20 and a plurality of mobile station devices 30 . The server 10, the reference station device 20, and the mobile station device 30 are wirelessly connected to a network 80 such as the Internet. Note that the network 80 may be a network such as Wi-Fi that can be used in an unlicensed band.

As shown in FIG. 2, the mobile station side device 30 is assumed to be mounted on a car 65 collected at a wharf before being loaded, as an example. The server 10 corrects the information obtained from the mobile station device 30 using the information obtained from the reference station device 20 provided near the wharf, and manages the accurate position information of the car 65 as the positioning object. .

The reference station side device 20 has a hardware configuration as shown in FIG. 3(a). As shown in FIG. 3A, the reference station side device 20 includes a CPU (Central Processing Unit) 90, a ROM (Read Only Memory) 92, a RAM (Random Access Memory) 94, a storage unit (for example, a HDD (Hard Disk Drive)). ) 96, a network interface 97, a reference receiver 93, common receivers 95 ₁ to 95 _N and the like. Each component of the reference station side device 20 is connected to the bus 98 .

The reference receiver 93 receives dual-frequency positioning signals (1575.42 MHz band and 1176.45 MHz band signals) transmitted from satellites of the Global Navigation Satellite System (GNSS). Also, the reference receiver 93 reads the difference in the amount of delay of each signal and compares the arrival times of the two radio waves to correct the amount of delay. This enables the reference receiver 93 to perform highly accurate positioning by canceling positioning errors due to ionospheric delay and tropospheric delay.

The common receivers 95 ₁ to 95 _N are the same receivers as the common receivers 195 ₁ to 195 _N mounted on the mobile station side device 30 . Here, the subscripts 1 to N of the common receivers 95 ₁ to 95 _N mean model codes. Therefore, when there are N types of common receivers 195 to be subjected to position management in the server 10 , N common receivers 95 are installed in the reference station device 20 . Note that the common receivers 95 ₁ to 95 _N are inexpensive receivers compared to the reference receiver 93 .

In the reference station side device 20, position coordinates (hereinafter referred to as "high accuracy reference station position coordinates") are calculated from the positioning signals received by the reference receiver 93 at predetermined time intervals (for example, one second intervals). Further, in the reference station side device 20, position coordinates (hereinafter referred to as "reference station position coordinates") are calculated from each of the positioning signals received by the common receivers 95 ₁ to 95 _N . Then, the reference station device 20 transmits data including the calculated position coordinates to the server 10 .

The mobile station device 30 has a hardware configuration as shown in FIG. 3(b). As shown in FIG. 3B, the mobile station device 30 includes a CPU 190, a ROM 192, a RAM 194, a storage unit 196, a network interface 197, a common receiver 195 (one of 195 ₁ to 195 _N ), etc. there is These components of the mobile station side device 30 are connected to the bus 198 . One common receiver 195 is installed in one mobile station device 30 .

The mobile station apparatus 30 calculates position coordinates (hereinafter referred to as "mobile station position coordinates") from the positioning signals received by the common receiver 195 at predetermined time intervals (for example, one second intervals). The mobile station device 30 then transmits data including the calculated mobile station position coordinates to the server 10 .

The server 10 has a hardware configuration as shown in FIG. As shown in FIG. 4, the server 10 includes a CPU 290, a ROM 292, a RAM 294, a storage unit 296, a network interface 297, a portable storage medium drive 299, and the like. These components of the server 10 are connected to the bus 298 . In the server 10, the CPU 290 executes the program (including the positioning program) stored in the ROM 292 or the storage unit 296, or the program (including the positioning program) read from the portable storage medium 291 by the portable storage medium drive 299. By doing so, the function of each part shown in FIG. 5 is realized. 5 may be implemented by an integrated circuit such as ASIC (Application Specific Integrated Circuit) or FPGA (Field Programmable Gate Array).

FIG. 5 shows a functional block diagram of the server 10. As shown in FIG. As shown in FIG. 5, the CPU 290 executes the program so that the server 10 can obtain the reference station information acquisition unit 102 as the first reception unit, the mobile station information acquisition unit 104 as the second reception unit, and the reference coordinate calculation unit 106. , difference calculator 108 , mobile station position corrector 110 as a corrector, and mobile station position manager 112 .

The reference station information acquisition unit 102 acquires data transmitted from the reference station device 20 . The mobile station information acquisition unit 104 acquires data transmitted from the mobile station device 30 .

The reference coordinate calculation unit 106 acquires the high-precision reference station position coordinates obtained from the data acquired by the reference station information acquisition unit 102, and based on the acquired high-precision reference station position coordinates, the true position coordinates (hereinafter referred to as , called “reference coordinates”). At this time, the reference coordinate calculation unit 106 calculates, for example, the average of the high-precision reference station position coordinates obtained so far, and uses it as reference coordinates.

The difference calculation unit 108 calculates the difference between each of the reference station position coordinates of the common receivers 95 ₁ to 95 _N obtained from the data obtained by the reference station information obtaining unit 102 and the reference coordinates. Note that the reference receiver 93 and the common receivers 95 ₁ to 95 _N are located at approximately the same position, but the reference station position coordinates show positions that deviate from the reference coordinates due to the effects of ionospheric delay and tropospheric delay. Sometimes. Therefore, it can be said that the difference between the reference station position coordinates calculated by the difference calculation unit 108 and the reference coordinates means an error due to the effects of the ionospheric delay and the tropospheric delay.

Mobile station position correction section 110 corrects the mobile station position coordinates acquired by mobile station information acquisition section 104 using the difference calculated by difference calculation section 108 .

The mobile station location management unit 112 manages the location of the mobile station device 30 (that is, the location of the car 65) using the corrected mobile station location coordinates.

(Regarding the processing of each device of the positioning system 100)
(Processing of reference station side device 20)
The processing of the reference station device 20 will be described below with reference to the flowchart of FIG. 6(a). The processing in FIG. 6( a ) is processing executed by a control unit implemented by the CPU 90 of the reference station device 20 .

In the process of FIG. 6A, first, in step S10, the control unit waits until a predetermined period of time elapses. In this embodiment, it is assumed that the predetermined time is 1 second. That is, the control unit repeatedly executes the processes of steps S12 and S14 every second.

After shifting to step S12, the control unit calculates position coordinates (high precision reference station position coordinates, reference station position coordinates) from the received signals of the reference receiver 93 and the common receivers 95 ₁ to 95 _N .

Next, in step S<b>14 , the control unit transmits data including the calculated high-precision reference station position coordinates and reference station position coordinates to the server 10 . Here, it is assumed that the data transmitted from the reference station side device 20 to the server 10 is data having a data frame as shown in FIG. 7(a). Specifically, as shown in FIG. 7(a), the data transmitted from the reference station apparatus 20 includes "UW (unique word)", "date and time information", "area code", and "measurement result (a)". ”, “measurement result (b-1) to measurement result (bN)”, and “ID”. "UW (unique word)" stores a unique character string that can identify the data, and "date and time information" contains information on the high-precision reference station position coordinates and the date and time when the reference station position coordinates were calculated (measurement date and time). Stored. “Area code” stores the identification information (code) of the area allocated to the reference station device 20 . "Measurement result (a)" stores the high-precision reference station position coordinates, and "Measurement result (b-1) to Measurement result (bN)" stores the reference station position coordinates. Identification information (ID) assigned to the reference station apparatus 20 is stored in "ID".

Here, the position coordinates stored in "measurement result (a)" and "measurement result (b-1) to measurement result (b-N)" are determined by the Degree method or the DMS method as shown in FIG. 8(a). shall be latitude and longitude values expressed in For example, in the case of the Degree method, if the fifth decimal place value of latitude or longitude changes by 1, the position error is about 1 m. Similarly, a change of 1 in the fourth decimal place results in a position error of approximately 10 m. In the case of the DMS method, when the latitude "35 degrees 39 minutes 30.9 seconds" is transmitted in the data frame shown in FIG. I will convert it and send it. In this embodiment, an example will be described in which latitude and longitude expressed in the Degree system are converted into binary numbers and transmitted.

As described above, after steps S12 and S14 are performed, the process returns to step S10, and the control unit of the reference station device 20 repeats the above processing.

(Processing of mobile station device 30)
Next, the processing of the mobile station device 30 will be described along the flowchart of FIG. 6(b). The processing in FIG. 6(b) is processing executed by the control unit implemented by the CPU 190 of the mobile station device 30. FIG.

In the process of FIG. 6B, first, in step S20, the control unit waits until a predetermined time has passed. In this embodiment, it is assumed that the predetermined time is 1 second. That is, the control unit repeatedly executes the processes of steps S22 and S24 every second. Note that the timing at which the determination in step S20 is affirmative in the mobile station device 30 and the timing at which the determination in step S10 is affirmative in the reference station device 20 coincide.

After shifting to step S22, the control unit calculates position coordinates (mobile station position coordinates) from the received signal of the common receiver 195. FIG.

Next, in step S24, the control unit transmits data including the calculated mobile station position coordinates to the server 10. FIG. Here, it is assumed that the data transmitted from the mobile station device 30 to the server 10 is data having a data frame as shown in FIG. 7(b). Specifically, as shown in FIG. 7(b), the data transmitted from the mobile station side device 30 includes "UW (unique word)", "date and time information", "area code", "model code", Includes "measurement result (c)" and "ID". 'UW (unique word)' stores a unique character string that can identify data, and 'date and time information' stores information on the date and time when mobile station position coordinates are calculated (measurement date and time). The "area code" stores identification information (code) of the area where the mobile station apparatus 30 is located. The "model code" stores the model code (one of 1 to N) of the common receiver 195 installed in the mobile station device 30. FIG. "Measurement result (c)" stores the mobile station position coordinates. Identification information (ID) assigned to the mobile station apparatus 30 is stored in "ID".

Here, the mobile station position coordinates stored in "measurement result (c)" are shown in FIG. It is assumed that the latitude and longitude values are represented by the Degree system or the DMS system as shown.

As described above, after steps S22 and S24 are performed, the process returns to step S20, and the control unit of the mobile station device 30 repeats the above processing.

(Processing of server 10)
Next, processing of the server 10 will be described in detail along the flowchart of FIG.

In the process of FIG. 9, first, in step S50, the reference station information acquisition unit 102 determines whether data has been transmitted from the reference station device 20 or not. If the determination in step S50 is negative, the process moves to step S54, but if the decision is affirmative, the process moves to step S52.

When data is transmitted from the reference station device 20, the process moves to step S52, and the reference station information acquisition unit 102 acquires the data. Also, the reference coordinate calculation unit 106 updates the reference coordinates. In this case, the reference coordinate calculation unit 106 calculates, for example, the average of the high-precision reference station position coordinates obtained in the past and the high-precision reference station position coordinates obtained this time, and uses the coordinates as reference coordinates. After that, the process proceeds to step S54. In this embodiment, it is assumed that the reference coordinates (latitude, longitude)=(35.65858, 139.74543) shown in row (1) of FIG. 10A are calculated as the reference coordinates.

Returning to FIG. 9, when moving to step S54, the mobile station information acquisition unit 104 determines whether data has been transmitted from the mobile station device 30 or not. If the determination in step S54 is negative, the process returns to step S50, but if the determination is positive, the process proceeds to step S56.

After moving to step S56, the mobile station information acquisition unit 104 acquires the transmitted data. In this case, mobile station information acquiring section 104 passes the acquired data to mobile station position correcting section 110 .

Next, in step S<b>58 , the difference calculator 108 acquires date and time information included in the data received from the mobile station device 30 .

Next, in step S60, the difference calculation unit 108 calculates the difference between the reference station position coordinates corresponding to the acquired date and time and the model (1 to N) of the mobile station side device 30 and the reference coordinates. For example, if the reference station position coordinates corresponding to the acquired date and time and model are position coordinates (latitude, longitude) = (35.65868, 139.74533) shown in row (2) of FIG. The values (-0.0001, 0.0001) shown in the "(1)-(2)" row of (a) are obtained.

Next, in step S62, mobile station position correction section 110 determines whether or not the difference has been calculated. The case where the difference cannot be calculated is the case where the reference station position coordinates corresponding to the date and time information acquired in step S58 do not exist. Further, the case where the reference station position coordinates do not exist means, for example, the case where the reference station side device 20 is out of order. If the determination in step S62 is affirmative, the process proceeds to step S64.

At step S64, the mobile station position correction unit 110 corrects the mobile station position coordinates using the calculated difference, and calculates the position coordinates of the mobile station apparatus 30. FIG. For example, assume that the mobile station position coordinates obtained in step S56 are position coordinates (latitude, longitude)=(35.68133, 139.76702) shown in row (3) of FIG. 10(a). In this case, the position coordinates of the mobile station device 30 can be obtained from (3)+(1)-(2). Therefore, in the example of FIG. 10(a), the corrected position coordinates of the mobile station apparatus 30 are (latitude, longitude)=(35.68123, 139.76712). FIG. 10(b) schematically shows exchange of data among the reference station device 20, the mobile station device 30, and the server 10 in this embodiment.

Next, in step S68, the mobile station position correction unit 110 updates the difference model. Here, the difference model is used in step S66 when the determination in step S62 is negative, and is as shown in FIG. In FIG. 11, the “latitude difference δ” and the “longitude difference γ” at each time are managed. Using the latitude difference and the longitude difference ((1)-(2) in FIG. 10(a)) corresponding to the "time" included in the date and time information acquired in step S58, the mobile station position correction unit 110 , update the average latitude difference and the average longitude difference at the same time.

Next, in step S70, the mobile station location management unit 112 manages the location of the mobile station device 30 using the corrected mobile station location coordinates (the corrected location coordinates of the mobile station device 30). That is, the position of the vehicle 65 in FIG. 2 is managed using the corrected position coordinates. After that, the process returns to step S50.

By the way, when the determination in step S62 is negative and the process proceeds to step S66, the mobile station position correcting section 110 executes processing for correcting the mobile station position coordinates using the difference model (FIG. 11). In this case, the mobile station position correction unit 110 reads out the “latitude difference δ” and the “longitude difference γ” corresponding to the time when the mobile station position coordinates were obtained from the difference model in FIG. , γ are used to correct the mobile station position coordinates. By doing so, even if the reference station side device 20 is out of order, the mobile station position coordinates can be obtained based on the tendency of the latitude difference and the tendency of the longitude difference (difference model) for each time. can be corrected. After step S66, the process proceeds to step S70.

As described above in detail, the positioning system 100 of the first embodiment includes the reference station side device 20, the mobile station side device 30 mounted on the vehicle 65 which is the positioning target, and the server 10. It is a system for measuring the position of the mobile station side device 30. In this system, the reference station side device 20 calculates the position coordinates of the reference station side device (reference station position coordinates) based on the positioning signals received from the GNSS satellites, and the calculated reference station position coordinates and the high-precision reference station position coordinates. Send to server 10 . Also, the mobile station device 30 calculates the position coordinates of the mobile station device 30 (mobile station position coordinates) based on the positioning signals received from the GNSS satellites, and transmits the calculated position coordinates to the server 10 . Then, the server 10 calculates the difference between the reference station position coordinates and the reference coordinates calculated from the high-accuracy reference station position coordinates, corrects the mobile station position coordinates using the calculated difference, and obtains the corrected mobile station position coordinates. The position coordinates manage the position of the car 65 . As described above, in the first embodiment, since it is sufficient to transmit the reference station position coordinates and the high-precision reference station position coordinates to the server 10 in order to correct the mobile station position coordinates in the server, the transmission data amount (transmission communication cost) can be reduced. For example, conventionally, data as shown in FIG. 12 is acquired as positioning augmentation information in order to correct the approximate position measured by the positioning device. Therefore, if the server corrects the approximate position determined by the positioning device, the positioning augmentation information shown in FIG. 12 must be transmitted to the server. there were. On the other hand, in the first embodiment, since two position coordinates are transmitted to the server 10 as correction data, the amount of data is about 10B, making it possible to reduce communication costs.

In addition, the mobile station position coordinates, which include errors due to the influence of ionospheric delay and tropospheric delay, are corrected using the difference between the reference station position coordinates and the reference coordinates, which represent the error due to the influence of ionospheric delay and tropospheric delay. Position coordinates can be corrected with high accuracy.

Further, in the first embodiment, the reference station apparatus 20 calculates the reference station position coordinates for each model of the common receivers 95 ₁ to 95 _N . Then, the mobile station position coordinates are corrected using the reference station position coordinates corresponding to the model of the common receiver 195 of the mobile station side device 30 . In this way, by using the error (the difference between the reference station position coordinates and the reference coordinates) corresponding to the model of the common receiver 195 of the mobile station device 30, the mobile station position coordinates can be corrected with high accuracy.

Further, in the first embodiment, the server 10 calculates statistical information (average in this embodiment) of the latitude difference and the longitude difference, and uses the calculated statistical information of the difference to determine the mobile station position coordinates. It is corrected (step S66). As a result, for example, even if the latitude difference and the longitude difference corresponding to the date and time when the mobile station position coordinates are obtained cannot be obtained, the mobile station position coordinates can be corrected with high accuracy. Note that the difference statistical information may be other than the average of the differences.

In the above-described first embodiment, the reference coordinates are calculated based on the high-precision reference station position coordinates. and the reference coordinates may deviate greatly. In such a case (when the difference between the reference coordinates and the high-precision reference station position coordinates exceeds a predetermined threshold), the reference coordinates are reset, and the reference coordinates are newly set from the high-precision reference station position coordinates obtained thereafter. You may make it calculate.

(Modification)
In the first embodiment described above, the reference coordinates are calculated using the high precision reference station position coordinates of the reference station device 20, and the difference between the reference coordinates and the reference station position coordinates is used to correct the mobile station position coordinates. Although the case has been described, it is not limited to this. For example, as shown in FIG. 13, the difference (5) between the reference station position coordinates (1) and the high-precision reference station position coordinates (1′) is calculated, and the high-precision reference station position coordinates (1′) and the reference station position coordinates (2) are calculated. ), and using the differences (5) and (6), the mobile station position coordinates (3) may be corrected. In this case, the mobile station position coordinates can be corrected by adding the difference (5) and the difference (6) to the mobile station position coordinates (3). In addition, in this modification, when creating a difference model (FIG. 11), the average value of the difference (5) regarding the latitude at each time, the average value of the difference (6), the difference regarding the longitude at each time (5 ) and the average value of the difference (6) may be obtained.

<<Second embodiment>>
The second embodiment will be described below with reference to FIGS. 14 to 18. FIG. The second embodiment differs from the first embodiment in that the reference station side device 20 calculates the difference between the reference coordinates and the reference station position coordinates and transmits the calculated difference to the server 10 .

FIG. 14 shows a functional block diagram of the reference station device 20 and the server 10 of the second embodiment.

The CPU 90 of the reference station apparatus 20 executes programs to function as a reference coordinate calculation unit 202, a reference station position coordinate calculation unit 206, and a difference calculation/output unit 208 shown in FIG.

The reference coordinate calculation unit 202 acquires positioning signals received by the reference receiver 93 from GNSS satellites and calculates high-precision reference station position coordinates. Also, the reference coordinate calculation unit 202 calculates reference coordinates using the high-precision reference station position coordinates. The calculation processing of the reference coordinates by the reference coordinate calculation unit 202 is the same as the processing of the reference coordinate calculation unit 106 of the first embodiment. The reference coordinate calculator 202 stores the calculated reference coordinates in the reference coordinate DB 250 .

The reference station position coordinate calculator 206 acquires the positioning signals received from the GNSS satellites by the common receivers 95 ₁ to 95 _N and calculates the reference station position coordinates.

The difference calculation/output unit 208 calculates the difference between the reference station position coordinates calculated by the reference station position coordinate calculation unit 206 and the reference coordinates stored in the reference coordinate DB 250 and transmits the difference to the server 10 .

Server 10 functions as reference station information acquiring section 102, mobile station information acquiring section 104, mobile station position correcting section 110, and mobile station position managing section 112 shown in FIG. 14 by CPU 290 executing programs.

The reference station information acquisition unit 102 acquires the difference transmitted from the reference station device 20 and transfers it to the mobile station position correction unit 110 . As in the first embodiment, the mobile station information acquisition unit 104 acquires the mobile station position coordinates transmitted from the mobile station device 30 and transfers them to the mobile station position correction unit 110 .

The mobile station position correction unit 110 corrects the acquired mobile station position coordinates using the acquired difference. Note that the mobile station location management unit 112 is the same as in the first embodiment.

(Regarding the processing of the reference station side device 20)
The processing of the reference station device 20 will be described in detail below with reference to the flowchart of FIG.

In the process of FIG. 15, first, in step S100, the reference coordinate calculation unit 202 waits until a predetermined time (for example, 1 second) elapses. After a predetermined period of time has elapsed due to this standby, the process proceeds to step S102.

After shifting to step S102, the reference coordinate calculator 202 calculates the high-precision reference station position coordinates based on the positioning signal received by the reference receiver 93. FIG. Also, the reference station position coordinate calculation unit 206 calculates the reference station position coordinates based on the positioning signals received by the common receivers 95 ₁ to 95 _N .

Next, in step S104, the reference coordinate calculator 202 calculates reference coordinates using the high-precision reference station position coordinates. The reference coordinate calculator 202 stores the calculated reference coordinates in the reference coordinate DB 250 .

Next, in step S106, the difference calculation/output unit 208 calculates the difference between the reference coordinates and the reference station position coordinates. The number of differences calculated here matches the number of models (N) of the common receivers 95 ₁ to 95 _N that the reference station side device 20 has.

Next, in step S<b>108 , the difference calculation/output unit 208 transmits data including the calculated difference to the server 10 . It is assumed that the data transmitted from the difference calculation/output unit 208 to the server 10 has a data frame as shown in FIG. As shown in FIG. 16, in the second embodiment, data containing N differences is transmitted.

After the processing up to step S108 is executed as described above, the process returns to step S100, and the reference station device 20 repeats the above processing.

(Regarding the processing of the server 10)
The processing of the server 10 will be described in detail below with reference to the flowchart of FIG. The process of FIG. 17 is characterized in that steps S60' to S64' are executed instead of steps S60 to S64 of the process of the first embodiment (FIG. 9). Therefore, the following description will focus on this point.

(Steps S60' to S64')
In step S60′, the mobile station position correction unit 110 acquires the difference corresponding to the acquired date and time and the model (1 to N) of the common receiver 195 of the mobile station device 30. FIG.

Next, in step S62', the mobile station position correction unit 110 determines whether or not the difference has been obtained. If the determination in step S62' is negative, the process proceeds to step S66, but if the determination is affirmative, the process proceeds to step S64'.

After moving to step S64', the mobile station position correction unit 110 corrects the position coordinates (mobile station position coordinates) of the mobile station device 30 using the acquired difference. Here, as shown in row (4) in FIG. 18, it is assumed that the difference in latitude received from the reference station apparatus 20 is "-0.0001" and the difference in longitude is "0.0001". Assume also that the mobile station position coordinates received from the mobile station device 30 are (latitude, longitude)=(35.68133, 139.76702). In this case, the corrected mobile station position coordinates (true position coordinates of the mobile station device 30) are (latitude, longitude)=(35.68123, 139.76712).

As described in detail above, according to the second embodiment, the reference station device 20 calculates the position coordinates (reference station position coordinates) of the reference station device 20 based on the positioning signals received from the GNSS satellites, A difference between the calculated reference station position coordinates and the reference coordinates is calculated and transmitted to the server 10 . Also, the mobile station device 30 calculates the position coordinates of the mobile station device 30 (mobile station position coordinates) based on the positioning signals received from the GNSS satellites, and transmits the calculated position coordinates to the server 10 . Then, the server 10 corrects the mobile station position coordinates using the received difference, and manages the position of the car 65 using the corrected mobile station position coordinates. Thus, in the second embodiment, in order to correct the mobile station position coordinates in the server 10, the difference between the reference station position coordinates and the reference coordinates should be transmitted from the reference station side device 20 to the server 10. FIG. As a result, the amount of data to be transmitted can be reduced, and the communication cost can be reduced. In addition, the mobile station position coordinates, which include errors due to the influence of ionospheric delay and tropospheric delay, are corrected using the difference between the reference station position coordinates and the reference coordinates, which represent the error due to the influence of ionospheric delay and tropospheric delay. Position coordinates can be corrected with high accuracy.

In the first and second embodiments described above, the case where the reference coordinates are calculated from the high-precision reference station position coordinates has been described, but the present invention is not limited to this. That is, when the reference coordinates are measured in advance, the above process may be executed using the reference coordinates that have been measured in advance. In this case, the reference receiver 93 of the reference station device 20 may be omitted.

In the above-described first and second embodiments, the case where the position coordinates (mobile station position coordinates) of each mobile station side device 30 are corrected in the server 10 has been described, but the present invention is not limited to this. That is, by providing each mobile station device 30 with the function of correcting the mobile station position coordinates that the server 10 had in the first and second embodiments, each mobile station device 30 can correct the mobile station position coordinates. may be corrected. In this case, the data required for correction may be transmitted from the reference station side device 20 to each mobile station side device 30 .

In the first and second embodiments described above, the case where the object to be measured is a car has been described, but the object to be measured is not limited to this, and other objects may be the object to be measured. For example, the object to be measured may be an information processing terminal, a container, or a chassis of a truck (a portion on which a container is mounted and which is detachable from the body).

Note that the processing functions described above can be realized by a computer. In that case, a program is provided that describes the processing contents of the functions that the processing device should have. By executing the program on a computer, the above processing functions are realized on the computer. A program describing the processing content can be recorded in a computer-readable storage medium (excluding carrier waves).

When a program is distributed, it is sold in the form of a portable storage medium such as a DVD (Digital Versatile Disc) or a CD-ROM (Compact Disc Read Only Memory) on which the program is recorded. It is also possible to store the program in the storage device of the server computer and transfer the program from the server computer to another computer via the network.

A computer that executes a program stores, for example, a program recorded on a portable storage medium or a program transferred from a server computer in its own storage device. The computer then reads the program from its own storage device and executes processing according to the program. The computer can also read the program directly from the portable storage medium and execute processing according to the program. In addition, the computer can also execute processing in accordance with the received program each time the program is transferred from the server computer.

The embodiments described above are examples of preferred implementations of the present invention. However, the present invention is not limited to this, and various modifications can be made without departing from the gist of the present invention.

In addition, the following additional remarks will be disclosed with respect to the above description of the first and second embodiments.
(Appendix 1) A positioning system for measuring the position of the mobile station device, comprising a reference station device, a mobile station device attached to a positioning target, and a position coordinate correction device,
The reference station side device
calculating position coordinates of the reference station device based on positioning signals received from GNSS satellites;
transmitting the calculated position coordinates of the reference station side device and the predetermined reference coordinates of the reference station side device to the position coordinate correction device;
The mobile station side device
calculating the position coordinates of the mobile station side device based on the positioning signal received from the GNSS satellite;
transmitting the calculated position coordinates of the mobile station side device to the position coordinate correction device;
The position coordinate correction device is
calculating a difference between the calculated positional coordinates of the reference station-side device and the predetermined reference coordinates of the reference station-side device, and correcting the received positional coordinates of the mobile station-side device using the calculated difference do,
A positioning system characterized by:
(Appendix 2) The reference station side device
using a plurality of receivers to calculate the position coordinates of each of the reference station-side devices;
transmitting each of the position coordinates of the reference station side device calculated using the plurality of receivers and the reference coordinates to the position coordinate correction device;
The mobile station side device
Transmitting the calculated position coordinates of the mobile station device to the position coordinate correction device in association with the information of the receiver possessed by the mobile station device;
The position coordinate correction device is
correcting the received positional coordinates of the mobile station-side device by using the difference between the positional coordinates of the reference station-side device calculated using the same receiver as that of the mobile station-side device and the reference coordinates; ,
The positioning system according to appendix 1, characterized by:
(Appendix 3) A positioning system that includes a reference station device, a mobile station device attached to a positioning target, and a position coordinate correction device, and measures the position of the mobile station device,
The reference station side device
calculating position coordinates of the reference station device based on positioning signals received from GNSS satellites;
calculating a difference between the calculated positional coordinates of the reference station-side device and predetermined reference coordinates of the reference station-side device;
transmitting the calculated difference to the position coordinate correction device;
The mobile station side device
calculating the position coordinates of the mobile station side device based on the positioning signal received from the GNSS satellite;
transmitting the calculated position coordinates of the mobile station side device to the position coordinate correction device;
The position coordinate correction device is
correcting the received position coordinates of the mobile station device using the received difference;
A positioning system characterized by:
(Appendix 4) The reference station side device
using a plurality of receivers to calculate the position coordinates of each of the reference station-side devices;
calculating a difference between each of the position coordinates of the reference station side device calculated using the plurality of receivers and the reference coordinates;
transmitting the calculated difference corresponding to each of the plurality of receivers to the position coordinate correction device;
The mobile station side device
Transmitting the position coordinates of the mobile station device to the position coordinate correction device in association with the information of the receiver possessed by the mobile station device;
The position coordinate correction device is
correcting the received position coordinates of the mobile station device using a difference corresponding to the same receiver as the receiver possessed by the mobile station device;
The positioning system according to appendix 3, characterized by:
(Appendix 5) The position coordinate correction device
calculating statistical information of the difference;
5. The positioning system according to any one of appendices 1 to 4, wherein the received position information of the mobile station side device is corrected using the calculated statistical information of the difference.
(Appendix 6) A first receiving position coordinates of the reference station device calculated based on positioning signals received from GNSS satellites and predetermined reference coordinates of the reference station device from the reference station device a receiver;
a second receiving unit configured to receive position coordinates of the mobile station device, which are calculated based on the positioning signals received from the GNSS satellites, from the mobile station device attached to the positioning object;
a correction unit that corrects the position coordinates of the mobile station device received by the second reception unit using the difference between the position coordinates of the reference station device received by the first reception unit and the reference coordinates;
Positioning device with.
(Appendix 7) Receive from the reference station device the difference between the position coordinates of the reference station device calculated based on the positioning signals received from the GNSS satellites and the predetermined reference coordinates of the reference station device. a first receiver;
a second receiving unit configured to receive, from a mobile station device mounted on a positioning object, position coordinates of the mobile station device calculated based on positioning signals received from GNSS satellites;
a correction unit that corrects the position coordinates of the mobile station device received by the second reception unit using the difference received by the first reception unit;
Positioning device with.
(Appendix 8) The correction unit
calculating statistical information of the difference;
8. The positioning device according to appendix 6 or 7, wherein the received position information of the mobile station side device is corrected using the calculated statistical information of the difference.
(Appendix 9) The reference station side device
calculating position coordinates of the reference station device based on positioning signals received from GNSS satellites;
transmitting the calculated position coordinates of the reference station-side device and the predetermined reference coordinates of the reference station-side device to a position coordinate correction device;
The mobile station side device attached to the positioning object,
calculating the position coordinates of the mobile station side device based on the positioning signal received from the GNSS satellite;
transmitting the calculated position coordinates of the mobile station side device to the position coordinate correction device;
The position coordinate correction device is
calculating a difference between the calculated positional coordinates of the reference station-side device and the predetermined reference coordinates of the reference station-side device, and correcting the received positional coordinates of the mobile station-side device using the calculated difference do,
A positioning method characterized by:
(Appendix 10) The reference station side device
using a plurality of receivers to calculate the position coordinates of each of the reference station-side devices;
transmitting each of the position coordinates of the reference station side device calculated using the plurality of receivers and the reference coordinates to the position coordinate correction device;
The mobile station side device
Transmitting the calculated position coordinates of the mobile station device to the position coordinate correction device in association with the information of the receiver possessed by the mobile station device;
The position coordinate correction device is
correcting the received positional coordinates of the mobile station-side device by using the difference between the positional coordinates of the reference station-side device calculated using the same receiver as that of the mobile station-side device and the reference coordinates; ,
The positioning method according to appendix 9, characterized by:
(Appendix 11) The reference station side device
calculating position coordinates of the reference station device based on positioning signals received from GNSS satellites;
calculating a difference between the calculated positional coordinates of the reference station-side device and predetermined reference coordinates of the reference station-side device;
transmitting the calculated difference to a position coordinate correction device;
The mobile station side device attached to the positioning object,
calculating the position coordinates of the mobile station side device based on the positioning signal received from the GNSS satellite;
transmitting the calculated position coordinates of the mobile station side device to the position coordinate correction device;
The position coordinate correction device is
correcting the received position coordinates of the mobile station device using the received difference;
A positioning method characterized by:
(Appendix 12) The reference station side device
using a plurality of receivers to calculate the position coordinates of each of the reference station-side devices;
calculating a difference between each of the position coordinates of the reference station side device calculated using the plurality of receivers and the reference coordinates;
transmitting the calculated difference corresponding to each of the plurality of receivers to the position coordinate correction device;
The mobile station side device
Transmitting the position coordinates of the mobile station device to the position coordinate correction device in association with the information of the receiver possessed by the mobile station device;
The position coordinate correction device is
correcting the received position coordinates of the mobile station device using a difference corresponding to the same receiver as the receiver possessed by the mobile station device;
The positioning method according to appendix 11, characterized by:
(Appendix 13) The position coordinate correction device is
calculating statistical information of the difference;
13. The positioning method according to any one of appendices 9 to 12, wherein the received position information of the mobile station apparatus is corrected using the calculated statistical information of the difference.

10 server (position coordinate correction device, positioning device)
20 reference station side device 30 mobile station side device 65 vehicle (positioning object)
95 ₁ to 95 _N common receiver (receiver)
100 positioning system 102 reference station information acquisition unit (first receiving unit)
104 mobile station information acquisition unit (second receiving unit)
110 mobile station position correction unit (correction unit)
195 common receiver (receiver)

Claims (9)

A positioning system for measuring the position of the mobile station device, comprising a reference station device, a mobile station device attached to a positioning target, and a position coordinate correction device,
The reference station side device
calculating first position coordinates of the reference station device based on positioning signals received from GNSS satellites using a receiver;
Based on the positioning signal received from the GNSS satellite using a reference receiver having a position detection accuracy higher than that of the receiver, a second position coordinate of the reference station side device is calculated, and the second position coordinate is calculating the reference coordinates of the reference station side device based on
transmitting the calculated first position coordinates of the reference station device and the reference coordinates of the reference station device to the position coordinate correction device;
The mobile station side device
calculating the position coordinates of the mobile station side device based on the positioning signal received from the GNSS satellite;
transmitting the calculated position coordinates of the mobile station side device to the position coordinate correction device;
The position coordinate correction device is
calculating a difference between the calculated first position coordinates of the reference station device and the reference coordinates of the reference station device, and correcting the received position coordinates of the mobile station device using the calculated difference;
A positioning system characterized by: The reference station side device
calculating first position coordinates of each of the reference station devices using a plurality of types of the receivers;
transmitting each of the first position coordinates of the reference station side device calculated using the plurality of types of receivers and the reference coordinates of the reference station side device to the position coordinate correction device;
The mobile station side device
Transmitting the calculated position coordinates of the mobile station device to the position coordinate correction device in association with information on the type of receiver possessed by the mobile station device;
The position coordinate correction device is
a receiver possessed by the mobile station device, among the first position coordinates of the reference station device, which are obtained by calculating the received position coordinates of the mobile station device using the plurality of types of receivers in the reference station device correcting using the difference between the first position coordinates of the reference station side device calculated using the same type of receiver as the reference station side device and the reference coordinates of the reference station side device;
The positioning system according to claim 1, characterized by: A positioning system for measuring the position of the mobile station device, comprising a reference station device, a mobile station device attached to a positioning target, and a position coordinate correction device,
The reference station side device
calculating first position coordinates of the reference station device based on positioning signals received from GNSS satellites using a receiver;
Based on the positioning signal received from the GNSS satellite using a reference receiver having a position detection accuracy higher than that of the receiver, a second position coordinate of the reference station side device is calculated, and the second position coordinate is calculating the reference coordinates of the reference station side device based on
calculating a difference between the calculated first position coordinates of the reference station-side device and the reference coordinates of the reference station-side device;
transmitting the calculated difference to the position coordinate correction device;
The mobile station side device
calculating the position coordinates of the mobile station side device based on the positioning signal received from the GNSS satellite;
transmitting the calculated position coordinates of the mobile station side device to the position coordinate correction device;
The position coordinate correction device is
correcting the received position coordinates of the mobile station device using the received difference;
A positioning system characterized by: The reference station side device
calculating first position coordinates of each of the reference station devices using a plurality of types of the receivers;
calculating a difference between each of the first position coordinates of the reference station side device calculated using the plurality of types of receivers and the reference coordinates of the reference station side device;
transmitting the calculated difference corresponding to each of the plurality of types of receivers to the position coordinate correction device;
The mobile station side device
transmitting the position coordinates of the mobile station device to the position coordinate correction device in association with information on the type of receiver possessed by the mobile station device;
The position coordinate correction device is
correcting the received position coordinates of the mobile station device using a difference corresponding to a receiver of the same type as the receiver of the mobile station device among the differences received from the position coordinate correction device;
The positioning system according to claim 3, characterized by: The position coordinate correction device is
Calculate statistical information of the past data of the difference,
The positioning system according to any one of claims 1 to 4, wherein the received position coordinates of the mobile station side device are corrected using the statistical information of the past data of the calculated difference. From the reference station side device, the first position coordinates of the reference station side device calculated based on the positioning signal received from the GNSS satellite using the receiver, and using a reference receiver having higher position detection accuracy than the receiver a first receiving unit for receiving reference coordinates of the reference station device calculated based on second position coordinates of the reference station device based on positioning signals received from the GNSS satellites;
a second receiving unit configured to receive position coordinates of the mobile station device, which are calculated based on the positioning signals received from the GNSS satellites, from the mobile station device attached to the positioning object;
The positional coordinates of the mobile station device received by the second receiving unit are obtained by using the difference between the first positional coordinates of the reference station device received by the first receiving unit and the reference coordinates of the reference station device. a correcting unit for correcting;
Positioning device with. From the reference station side device, the first position coordinates of the reference station side device calculated based on the positioning signal received from the GNSS satellite using the receiver, and using a reference receiver having higher position detection accuracy than the receiver a reference coordinate of the reference station side device calculated based on a second position coordinate of the reference station side device based on the positioning signal received from the GNSS satellite, and a difference between the reference coordinate of the reference station side device;
a second receiving unit configured to receive position coordinates of the mobile station device, which are calculated based on the positioning signals received from the GNSS satellites, from the mobile station device attached to the positioning object;
a correction unit that corrects the position coordinates of the mobile station device received by the second reception unit using the difference received by the first reception unit;
Positioning device with. The reference station side device
calculating first position coordinates of the reference station device based on positioning signals received from GNSS satellites using a receiver;
Based on the positioning signal received from the GNSS satellite using a reference receiver having a position detection accuracy higher than that of the receiver, a second position coordinate of the reference station side device is calculated, and the second position coordinate is calculating the reference coordinates of the reference station side device based on
transmitting the calculated first position coordinates of the reference station device and the reference coordinates of the reference station device to a position coordinate correction device;
The mobile station side device attached to the positioning object,
calculating the position coordinates of the mobile station side device based on the positioning signal received from the GNSS satellite;
transmitting the calculated position coordinates of the mobile station side device to the position coordinate correction device;
The position coordinate correction device is
calculating a difference between the calculated first position coordinates of the reference station device and the reference coordinates of the reference station device, and correcting the received position coordinates of the mobile station device using the calculated difference;
A positioning method characterized by: The reference station side device
calculating first position coordinates of the reference station device based on positioning signals received from GNSS satellites using a receiver;
Based on the positioning signal received from the GNSS satellite using a reference receiver having a position detection accuracy higher than that of the receiver, a second position coordinate of the reference station side device is calculated, and the second position coordinate is calculating the reference coordinates of the reference station side device based on
calculating a difference between the calculated first position coordinates of the reference station-side device and the reference coordinates of the reference station-side device;
transmitting the calculated difference to a position coordinate correction device;
The mobile station side device attached to the positioning object,
calculating the position coordinates of the mobile station side device based on the positioning signal received from the GNSS satellite;
transmitting the calculated position coordinates of the mobile station side device to the position coordinate correction device;
The position coordinate correction device is
correcting the received position coordinates of the mobile station device using the received difference;
A positioning method characterized by:

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