JP7369737B2 - Positioning system, server, reference station, information distribution method, program, positioning target device and mobile object - Google Patents

Description

The present invention relates to a positioning system, a server, a reference station, an information distribution method, a program, a positioning target device, and a mobile object that measure the position of a positioning target.

Traditionally, real-time cinematography uses a reference station (fixed station) placed at a known position (reference point) to receive radio waves from a GNSS (Global Navigation Satellite System) satellite and measure the position of the target in real time. The tick (RTK) positioning method is known (for example, see Patent Document 1). In this RTK positioning method, a reference station that receives radio waves from an artificial satellite transmits observation data to a positioning target. At the positioning target, the position coordinates of the positioning target are calculated using the observation data received from the reference station and the observation data of the positioning target. According to the RTK positioning method, it is said that it is possible to position a positioning target with high accuracy of several centimeters.

As a method of the above-mentioned RTK positioning method, an RRS (Real Reference Station) method is known, which uses a reference station in which an RTK receiver is placed at an existing electronic reference point, a mobile communication base station, or the like.

International Publication No. 2016/147569

In the conventional RRS positioning system described above, due to geographical factors such as the difference in the amount of crustal deformation between the reference station and the positioning target and the difference between the altitude of the reference station and the altitude of the positioning target (altitude difference), the RTK positioning method cannot be used. There is a problem in that an error occurs in the coordinates of the positioning target to be measured.

A server according to one aspect of the present invention is a server used for position measurement of a positioning target. This server includes a reference station communication unit that receives observation data generated by the reference station receiving radio waves from an artificial satellite from a reference station located at a known position coordinate, and a communication unit that receives observation data received from the reference station. a correction information creation unit that performs error correction to reduce positioning errors due to geographical factors of the reference station and the positioning target, and creates positioning correction information including observation data on which the error correction has been performed; and a correction information transmitting unit that transmits the positioning correction information including the observed observation data to the positioning target.

A reference station according to yet another aspect of the present invention is a reference station that is placed at a known position coordinate and used for position measurement of a positioning target. This reference station includes an observation data generation unit that receives radio waves from an artificial satellite and generates observation data, and an error correction unit that performs error correction on the observation data to reduce positioning errors due to geographical factors of the reference station and the positioning target. a correction information creation unit that creates positioning correction information that includes the observation data that has undergone the error correction; and a correction information transmitter that sends the positioning correction information that includes the observation data that has undergone the error correction to the positioning target. It is equipped with a section and a section.

A positioning target device according to another aspect of the present invention includes a request transmitting unit that transmits a correction information request requesting positioning correction information including observation data subjected to the error correction to any of the servers; an information receiving unit that receives positioning correction information including observation data subjected to the error correction, and observation data generated by the positioning correction information received from the server and the positioning target receiving radio waves from the artificial satellite. and a location information calculation unit that calculates location information of the positioning target based on the location information.

A positioning target device according to another aspect of the present invention includes a request transmitting unit that transmits a correction information request requesting positioning correction information including observation data subjected to the error correction to the reference station; an information receiving unit that receives positioning correction information including error-corrected observation data; and an information receiving unit that receives positioning correction information that includes error-corrected observation data, and based on the positioning correction information received from the reference station and observation data generated by the positioning target receiving radio waves from the artificial satellite. and a position information calculation unit that calculates position information of the positioning target.

A mobile body according to still another aspect of the present invention is a mobile body including any of the above-mentioned positioning target devices.

An information distribution method according to still another aspect of the present invention is an information distribution method for distributing information used for position measurement of a positioning target. This information distribution method includes receiving observation data generated by the reference station receiving radio waves from an artificial satellite from a reference station located at a known position coordinate, and for the observation data received from the reference station. Performing error correction to reduce positioning errors due to geographical factors of the reference station and the positioning target, and creating positioning correction information including observation data subjected to the error correction, and observation data subjected to the error correction. and transmitting the positioning correction information including the positioning correction information to the positioning target.

An information distribution method according to still another aspect of the present invention is an information distribution method for distributing information used for position measurement of a positioning target. This information distribution method involves generating observation data by receiving radio waves from artificial satellites, and performing error correction on the observation data to reduce positioning errors due to geographical factors of the reference station and the positioning target. , creating positioning correction information including the observation data subjected to the error correction, and transmitting the positioning correction information including the observation data subjected to the error correction to the positioning target.

A program according to yet another aspect of the present invention is a program executed in a computer or processor included in a server used for position measurement of a positioning target. This program includes a program code for receiving observation data generated by the reference station receiving radio waves from an artificial satellite from a reference station located at a known position coordinate, and a program code for receiving the observation data received from the reference station. , a program code for performing error correction to reduce positioning errors due to geographical factors of the reference station and the positioning target, and creating positioning correction information including observation data subjected to the error correction; and a program code for transmitting the positioning correction information including observed observation data to the positioning target.

A program according to yet another aspect of the present invention is a program executed in a computer or processor provided in a reference station used for position measurement of a positioning target. This program includes a program code for receiving satellite radio waves and generating observation data, and error correction for the observation data to reduce positioning errors due to geographical factors of the reference station and the positioning target. and a program code for creating positioning correction information including the observed data subjected to the error correction, and a program for transmitting the positioning correction information including the observed data subjected to the error correction to the positioning target. Contains code and.

In each of the server, the positioning target device, the reference station, the information distribution method, and the program, the geographical factor is a difference in the amount of crustal deformation between the reference station and the positioning target, and the observation data The error correction may include correction for reducing a positioning error caused by a difference in the amount of crustal deformation between the reference station and the positioning target.

とし、前記基準局Ｂの今期座標を

とし、前記測位対象Ｒから前記人工衛星ｋまでの単位ベクトルの転置を

とし、前記基準局Ｂから前記人工衛星ｋまでの単位ベクトルの転置を

とし、前記誤差補正前の観測データを

としたとき、前記基準局Ｂと前記測位対象Ｒとの間の地殻変動量の差に起因した測位誤差を低減するための補正を行った前記誤差補正後の観測データ

は次式（１）で算出されてもよい。

In each of the server, the positioning target device, the reference station, the information distribution method, and the program, the epoch coordinates of the positioning target R are x _R , the epoch coordinates of the reference station B are x _B , and the positioning The current coordinates of target R

and the current coordinates of the reference station B are

Then, the transposition of the unit vector from the positioning target R to the artificial satellite k is

and the transposition of the unit vector from the reference station B to the artificial satellite k is

Then, the observed data before the error correction is

When, the observation data after the error correction is corrected to reduce the positioning error caused by the difference in the amount of crustal movement between the reference station B and the positioning target R.

may be calculated using the following equation (1).

In each of the server, the positioning target device, the reference station, the information distribution method, and the program, the geographical factor is such that the radio waves from the artificial satellite are transmitted to the troposphere due to the altitude difference between the reference station and the positioning target. The error correction for the observation data is the difference in propagation delay when the radio waves from the artificial satellite propagate in the troposphere due to the altitude difference between the reference station and the positioning target. It may also include correction for reducing positioning errors due to differences in amounts.

とし、前記人工衛星ｋから前記基準局Ｂへの電波が前記対流圏を伝搬する際の伝搬遅延量を

とし、前記誤差補正前の観測データを

としたとき、前記基準局Ｂと前記測位対象Ｒとの間の高度差による前記人工衛星ｋからの電波が前記対流圏を伝搬する際の伝搬遅延量の差に起因した測位誤差を低減するための補正を行った前記誤差補正後の観測データ

は次式（２）で算出されてもよい。

In each of the server, the positioning target device, the reference station, the information distribution method, and the program, the amount of propagation delay when radio waves from the artificial satellite k to the positioning target R propagate through the troposphere is determined.

The amount of propagation delay when the radio wave from the artificial satellite k to the reference station B propagates through the troposphere is

Then, the observed data before the error correction is

Correction for reducing a positioning error caused by a difference in propagation delay when radio waves from the artificial satellite k propagate in the troposphere due to the altitude difference between the reference station B and the positioning target R. Observation data after the above error correction

may be calculated using the following equation (2).

In each of the server, the positioning target device, the reference station, the information distribution method, and the program, the difference in propagation delay amount when radio waves from the artificial satellite to the positioning target propagate in the troposphere is determined by the positioning target. It may be calculated based on the GNSS position information of the target.

The reference station may be a base station for mobile communication, an access point device for wireless LAN, or a reference station located at a reference point of the Geospatial Information Authority of Japan.

A positioning system according to still another aspect of the present invention includes any of the servers described above and the reference station.
A positioning system according to still another aspect of the present invention includes any one of the above servers and the positioning target device.
A positioning system according to still another aspect of the present invention includes any one of the above servers, the reference station, and the positioning target device.
A positioning system according to still another aspect of the present invention includes the reference station and the positioning target device.

According to the present invention, in an RRS type positioning system, it is possible to reduce positioning errors due to geographical factors of the reference station and the positioning target even if the positioning target does not have an error correction function.

FIG. 1 is a functional block diagram showing an example of the main configuration of a positioning system according to an embodiment. 5 is a flowchart illustrating an example of positioning processing in the positioning system according to the embodiment. 7 is a flowchart showing another example of positioning processing in the positioning system according to the embodiment. FIG. 3 is a functional block diagram showing another example of the main configuration of the positioning system according to the embodiment.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a functional block diagram showing an example of the main configuration of a positioning system according to an embodiment of the present invention. In FIG. 1, a positioning system 10 includes a server 30 used for position measurement of a positioning target device (hereinafter referred to as "target device") 20, and a plurality of servers arranged at each of a plurality of known position coordinates (reference points) that are different from each other. A reference station (hereinafter also referred to as "base") 40 is provided. Known position coordinates are, for example, known latitude, longitude, and altitude. The known position coordinates may be, for example, a coordinate position (X, Y, Z) in an ECEF (Earth-Centered Earth-Fixed) coordinate system in which a reference point is defined. The positioning system 10 may further include a target device 20. Further, the target device 20 may be a moving device or a temporarily stopped device, or may be a fixed device.

In this embodiment, as a positioning method for the target device 20, an RTK (real-time kinematic) positioning method of an RRS (Real Reference Station) method that can provide a positioning service with an error of several centimeters (centimeter-level positioning service) is used. The present invention uses a positioning method other than the RTK positioning method, in which position information of the current position of the target device is calculated using observation data of one reference station 40 that receives radio waves from an artificial satellite. It can also be applied in cases.

The target device 20 in this embodiment is, for example, a device (hereinafter also referred to as "GNSS user device") that includes a GNSS receiver 210, an observation data generation section 220, a position information calculation section 230, and a server communication section 240. The GNSS receiver 210 receives radio waves from one or more artificial satellites (for example, four artificial satellites) 50 of GNSS (Global Navigation Satellite System) such as GPS (Global Positioning System). The observation data generation unit 220 generates observation data from the radio wave reception signal (also referred to as “GNSS signal”) received by the GNSS receiver 210.

The observation data generated by the observation data generation unit 220 includes, for example, the phase observation value of the carrier wave (carrier) of the radio wave received by the GNSS receiver 210 (hereinafter also referred to as "carrier phase observation data"), and the radio wave concerned. This is pseudorange observation value data (hereinafter also referred to as "pseudorange observation data") calculated based on the reception result (code phase) of a code obtained by modulating the carrier wave. Hereinafter, when carrier phase observation data and pseudorange observation data are not distinguished, they are also referred to as "observation data."

The observation timing when the GNSS receiver 210 receives radio waves from the artificial satellite 50 and the observation data generation unit 220 generates observation data is the observation timing when the plurality of reference stations 40 receives radio waves from the artificial satellite 50 and generates observation data. It does not necessarily have to be synchronized with, and may be separated by a few seconds to about 10-odd seconds. This observation timing is, for example, a 2-second interval, a 1-second interval, or a time interval of less than 1 second. The observation timing may be, for example, 10 minutes, 30 minutes, or 1 hour, or may be changed.

As described later, the position information calculation unit 230 calculates the positioning correction information of one or more reference stations 40 received from the server 30 (for example, the coordinates of the reference station, observation data) and the target device 20 receiving the radio waves of the artificial satellite 50. High-precision position information (for example, latitude, longitude, and altitude) of the target device 20 on the order of several centimeters is calculated based on the observation data and ephemeris data generated. The positioning correction information received from the server 30 has a format corresponding to the target device 20. The format of the positioning correction information may be, for example, a format selected based on the identification information of the target device 20.

The position information of the target device 20 to be calculated may be, for example, a coordinate position (X, Y, Z) in an ECEF (Earth-Centered Earth-Fixed) coordinate system in which a reference point is defined. Further, the high-precision position information calculated by the target device 20 may be transmitted to the server 30 together with the observation data (received RAW data) of the target device 20.

The position information of the target device 20 can be calculated using, for example, the RTK positioning method. First, a baseline vector directed from the reference station 40 to the target device 20 is determined from the observation data of the selected reference station 40, the observation data of the target device 20, and ephemeris. Based on this baseline vector and the known position information of the reference station 40, the position information of the target device 20 is calculated.

The position information calculation unit 230 calculates a plurality of pieces of position information of the target device 20 based on the positioning correction information of the selected one or more reference stations 40, observation data of the target device 20, and ephemeris data, and calculates the plural pieces of position information of the target device 20. Any one positional information calculation result may be selected from the positional information calculation results. When selecting the calculation results of position information, for example, a Kalman filter or optimization processing may be combined with the selection processing.

The server communication unit 240 transmits a correction information request including identification information (ID) to the server 30. The identification information (ID) is processed so as to be automatically included in the correction information request, for example, when the correction information request is transmitted. The identification information (ID) of the target device 20 may be user identification information (UID) or terminal identification information (IMEI) in a mobile communication service.

The server communication unit 240 also receives positioning correction information (for example, observation data and position information of a reference station) in a format compatible with the target device 20 from the server 30 .

The server communication unit 240 may transmit observation data (received RAW data) of the target device 20 and calculation results of the position information of the own device calculated by the target device 20 to the server 30 .

The target device 20 is, for example, a mobile station (also referred to as a "mobile device", "user device", etc.) that can communicate via a mobile communication network, or a mobile base station ("eNodeB", "g-NodeB", etc.). ”, etc.). In this case, positioning correction information (eg, coordinates of a reference station, observation data) of the server 30 can be transmitted from the server 30 to the target device 20 via the mobile communication network. In addition, correction information requests, calculation results of the position information of the own device calculated by the target device 20, observation data of the target device 20 (received RAW data), etc. are sent from the target device 20 to the server 30 via the mobile communication network. can do.

Further, the target device 20 may be a moving body itself, or may be a device built into the moving body (for example, a positioning module device).

A moving object may be, for example, a vehicle that moves on the ground (e.g., a passenger car, truck, bus, agricultural machine, construction machine, heavy machinery, etc.), a drone or aircraft that moves in the sky, or a ship that moves on water such as the sea. good. The moving body may be a movable device (portable device) that is temporarily fixedly installed. For example, mobile objects include devices installed at fixed points and observation points in surveying, devices installed at field boundaries and arbitrary observation points in the agricultural field, and land and buildings at civil engineering and construction sites. It may also be a device installed at a boundary point of a structure or an arbitrary observation point. Note that the target device or a moving object in which the target device is incorporated is also referred to as a "rover."

The target device 20 may be a wireless LAN (eg, Wi-Fi (registered trademark)) terminal device. In this case, the positioning correction information of the server 30 (for example, coordinates of a reference station, observation data) may be transmitted from the server 30 to a wireless LAN terminal device via a wireless LAN access point device (for example, a WiFi router). can. In addition, correction information requests, calculation results of the own device's position information calculated by the target device 20, observation data (received RAW data) of the target device 20, etc. are sent from the target device 20 to a wireless LAN access point device (for example, a WiFi router). ) to the server 30.

The artificial satellite 50 may be a GPS satellite, a satellite of a global orbit satellite group such as GLONASS, Galileo, BeiDou, etc., or a satellite of a specific regional satellite group such as QZSS or IRNSS. Moreover, the artificial satellite 50 may be an artificial satellite of a reinforcement satellite group such as WAAS, EGNOS, MSAS, or GAGAN.

The radio waves received from the artificial satellite 50 are, for example, radio waves of a predetermined frequency in the 1.1 GHz band, 1.2 GHz band, 1.5 GHz band, or 2.4 GHz band. For example, in the case of a GPS satellite, it is possible to receive L1 radio waves (frequency: 1575.42 MHz, wavelength: approximately 0.19 m) and L2 radio waves (frequency: 1227.60 MHz, wavelength: approximately 0.24 m). The radio waves transmitted from the artificial satellite 50 are, for example, code-modulated carrier waves of a predetermined frequency using predetermined data including positioning codes (C/A code, P code), navigation messages, etc. at predetermined time timings. For example, in the case of a GPS satellite, L1 radio waves are code-modulated with positioning codes (C/A code and P code) and navigation messages, and L2 radio waves are code-modulated only with the P code of the positioning code.

The radio waves simultaneously received from the artificial satellite 50 may be radio waves with one frequency, two frequencies (for example, 1.5 GHz, 1.2 GHz), or three or more frequencies. For example, when receiving two-frequency radio waves, if the distance between the reference station 40 and the target device 20 is 10 km or more (for example, if the target device is moving in a wide area of about 20 km to 40 km with the reference station 40 as the center) ), the positional accuracy of the target device 20 measured by the RTK (real-time kinematic) positioning method is as high as several centimeters (for example, 2cm+1ppm×baseline length).

The GNSS receiver 210 of the target device 20 may be compatible with radio waves (signals) of multiple frequencies from multiple types of artificial satellites 50. For example, the GNSS receiver 210 may include QZSS satellites (L1/L2/L5), GPS (L1/L2/L5), GLONASS (G1/G2), Galileo (E1/E5), and BeiDou (B1/B2). , may correspond to three frequencies of five types of artificial satellites.

The plurality of reference stations 40 (hereinafter also referred to as "GNSS reference station devices") are distributed and arranged in areas where the target device 20 may move. The plurality of reference stations 40 are arranged such that the number of reference stations 40 whose distance from the moving target device 20 is a predetermined distance or less (for example, 20 km or less, or 40 km or less) is two or more. The predetermined distance is, for example, a distance at which the positional accuracy of the target device 20 measured by the RTK positioning method is on the order of several cm (for example, 2 cm+1 ppm×baseline length). Each of the plurality of reference stations 40 may be provided at the location of a mobile communication base station or the location of a wireless LAN access point device (for example, a WiFi router). In this case, the reference station 40 may be incorporated into a base station device of a mobile communication base station, or may be incorporated into a wireless LAN access point device. Further, the reference station 40 may be provided at any location that has a line of sight to the artificial satellite 50, such as a utility pole, a convenience store, a home, a school, a hospital, an agricultural cooperative, or various public facilities. Further, the reference station 40 may be a bona fide reference station installed by any entity such as an individual, a corporation, or a public organization.

For example, in the case of Japan, the plurality of reference stations 40 include reference stations of electronic reference points consisting of approximately 1,300 continuous GNSS observation points installed by the Geospatial Information Authority of Japan at approximately 1,300 locations throughout the country, and reference stations of electronic reference points set up by mobile communication carriers throughout the country (for example, It may also include a reference station that is an original reference point that is uniquely installed to correspond to part or all of the LTE area, next-generation 5G area, etc.). The number of locations where independent control point reference stations are installed is not particularly limited; for example, the number of independent reference point reference stations may be approximately 1,000, approximately 1,500, or approximately 3,000 or more locations. It may be provided. These electronic reference points and reference stations located at unique reference points result in a large number of reference stations 40 (for example, about 2,000 or more or about 4,000 or more reference stations) uniformly arranged at high density and at almost equal intervals throughout the country. A reference station network can be realized, centimeter-level high-precision positioning and redundancy of the reference stations 40 can be ensured, and there is no need for a user using the positioning service to prepare a reference station (reference point).

Each of the plurality of reference stations 40 generates observation data by receiving radio waves from one or more artificial satellites (for example, four artificial satellites) 50 of GNSS such as GPS at predetermined observation timings. The observation timing of each of the plurality of reference stations 40 is not necessarily synchronized with the observation timing at which the target device 20 receives radio waves from one or more satellites (for example, four satellites) 50 of GNSS such as GPS and generates observation data. There is no need to be away from the person, and the person may be away from the person for several seconds to more than 10 seconds. This observation timing is, for example, a 2-second interval, a 1-second interval, or a time interval of less than 1 second. The observation timing may be at intervals of several seconds to 10 seconds.

The observation data generated by the reference station 40 is, for example, information used in the RTK positioning method, and is observation data obtained by performing error correction described below on received RAW data generated by the reference station 40 receiving radio waves from the artificial satellite 50. (For example, carrier phase observation data and pseudorange observation data). The observation data of each of the plurality of reference stations 40 may be transmitted from each reference station 40 to the server 30 together with the position coordinate data of the reference station 40, or may be recorded in advance in a database or the like within the server 30. The observation data generated by the reference station 40 includes pseudorange observation data between the artificial satellite 50 and the reference station 40 calculated based on the reception result (code phase) of the code received by the reference station 40 from the artificial satellite 50.

The server 30 includes a reference station information processing section 31 and a positioning target information processing section 32. The reference station information processing section 31 includes a reference station communication section 310, a correction information creation section 311, a reference station information creation section 312, and an information storage section 313. The positioning target information processing unit 32 includes a positioning target communication unit 321, a reference station selection unit 322, and a correction information selection unit 323.

The reference station communication unit 310 receives information including carrier phase observation data from each of the plurality of reference stations 40 via a high-speed communication line (for example, a dedicated optical communication line).

The information received from each of the plurality of reference stations 40 includes, for example, phase observation data (for example, carrier phase observation data and pseudorange observation data) that is received RAW data of radio waves received from the artificial satellite 50 and the position coordinates of the reference station 40. including data.

The correction information creation unit 311 performs error correction, which will be described later, on the phase observation data received from the reference station 40 for each of the plurality of reference stations 40, and uses the error correction to measure the position of the target device 20 based on the error-corrected observation data. Positioning correction information, status information (for example, information identifying whether or not positioning correction information can be used), etc. in a predetermined format are created. The positioning correction information is, for example, information used in the RTK positioning method.

The format of the positioning correction information is, for example, RTCM (Radio Technical Commission for Maritime), which includes phase observation data (for example, carrier phase observation data and pseudorange observation data) used in the RTK positioning method and position coordinate data of the reference station 40. Services) format. The positioning correction information may have multiple types of formats.

The reference station information creation unit 312 creates, for each of the plurality of reference stations 40, the name and position information (for example, longitude, latitude, , altitude), status information (for example, information identifying whether or not the reference station 40 is usable).

The information storage unit (DB) 313 stores a reference station or a reference point for each of the plurality of reference stations 40 in association with a reference station ID (management number) as identification information of the reference station 40, as illustrated in the reference station data table of Table 1. name, known position information (for example, latitude, longitude, altitude [m], ellipsoid height [m], geoid height [m]), and status information are stored in association with each other. The ellipsoid height is the height from the reference ellipsoid surface, and can be measured by GNSS surveying. The geoid height is the height of the virtual mean sea level, and is a value determined from latitude and longitude using an arbitrary geoid model. For example, if altitude and ellipsoid height are given, geoid height is determined by ellipsoid height minus altitude. Furthermore, when the ellipsoid height and geoid height are given, the altitude is determined by the ellipsoid height minus the geoid height.

Further, the information storage unit (DB) 313 stores a plurality of types of formats (DB) in correspondence with the reference station ID for each of the plurality of reference stations 40 according to the type of the target device 20, as illustrated in the correction data table of Table 2. For example, positioning correction information and status information according to three types of RTCM formats are stored in association with each other. The type of target device 20 to which each of the plurality of formats corresponds can be determined based on the identification information (ID) of the target device 20 received from the target device 20.

Further, the information storage unit (DB) 313 stores, for each of the plurality of reference stations 40, mount points (MPs) and targets as a plurality of connection destinations in association with the reference station ID, as illustrated in the correction data table of Table 3. Depending on the type of device 20, positioning correction information and status information in multiple types of formats (for example, three types of RTCM formats) may be stored in association with each other. The mount point (MP) and the type of target device 20 to which each of the plurality of formats corresponds are determined, for example, based on MP designation information that specifies the mount point received from the target device 20, or based on the MP designation information and the target device 20. The determination can be made based on the identification information (ID) of.

In Table 3, for each of the plurality of reference stations 40, the mount point (MP) corresponds to the presence or absence of error correction (semi-dynamic correction, tropospheric delay amount correction) to be described later for the observation data of the reference station 40 included in the positioning correction information. It may be set to For example, MP=X0 is set for positioning correction information that includes observation data on which neither of the error corrections (semi-dynamic correction and tropospheric delay amount correction) described below have been performed. Furthermore, MP=X1 is set for positioning correction information that includes observation data that has undergone only semi-dynamic correction, and MP=X2 is set for positioning correction information that includes observation data that has only undergone tropospheric delay amount correction. Furthermore, MP=X3 is set for positioning correction information including observation data on which both semi-dynamic correction and tropospheric delay amount correction have been performed.

“1” in the status information in Tables 1, 2, and 3 indicates that the corresponding reference station 40 and positioning correction information are available in an active state, and “2” indicates the corresponding reference station 40 and positioning correction information. indicates that it is unavailable. Further, the name and known position information of each reference station 40 in Table 1 and the positioning correction information in Tables 2 and 3 are associated with each other via the reference station ID.

By storing the positioning correction information in multiple types of formats as shown in Tables 2 and 3, the format of the positioning correction information used to calculate the current position of the target device 20 may differ depending on the type of the target device 20. However, the current position of the target device 20 can be reliably calculated by selecting positioning correction information in a corresponding format.

Furthermore, the information storage unit 313 stores various types of information used for error correction to reduce positioning errors due to geographical factors, such as tropospheric delay amount correction and semi-dynamic correction for observation data, which will be described later. For example, the information storage unit 313 may store position information including the altitude (for example, ellipsoid height or altitude) of the reference station 40 and the target device 20, or information periodically (for example, once a year or once every few months) from the Geospatial Information Authority of Japan. A parameter file is stored that records data on the amount of crustal deformation at each position of the reference station 40 and target device 20 to be published.

The positioning target communication unit 321 receives a correction information request including identification information (ID) of the target device (GNSS user device) 20 from the target device 20 via the communication network (eg, the Internet, mobile communication network) 60 . The identification information (ID) of the target device 20 may be user identification information (UID) or terminal identification information (IMEI) in a mobile communication service.

The positioning target communication unit 321 also provides positioning correction information (for example, observation data and position information of a reference station) in a format compatible with the target device 20 so as to respond to a correction information request received from the target device (GNSS user device) 20. ) is transmitted to the target device 20 via a communication network (eg, the Internet, a mobile communication network) 60.

Furthermore, the positioning target communication unit 321 uses a predetermined format (for example, NMEA ( The positioning calculation result may be received from the target device 20 via a communication network (eg, the Internet, a mobile communication network) 60. The correction information creation unit 311 creates positioning correction information based on the observation data (received RAW data) received from the target device 20 for which high-precision position information has been calculated, and the information storage unit 313 Data (received RAW data) and positioning correction information generated for the target device 20 may be stored. In this case, the target device 20 can be added as a reference station.

The positioning target communication unit 321 transmits observation data generated by the target device (GNSS user device) 20 by receiving radio waves from the artificial satellite 50 to the target device 20 via the communication network (for example, the Internet, mobile communication network) 60. It may be received from The observation data received from the target device 20 may be, for example, observation data that is received RAW data generated by the target device 20 receiving radio waves from the artificial satellite 50 (for example, carrier phase observation data or pseudorange observation data). , and identification information (ID) of the target device (GNSS user device) 20.

For example, in order to acquire the approximate position information of the target device (GNSS user device) 20, the positioning target communication unit 321 uses a predetermined format (for example, RTCM format) generated by the target device 20 receiving radio waves from the artificial satellite 50. ) may be periodically received from the target device 20 via a communication network (eg, the Internet, a mobile communication network) 60. The observation data received from the target device 20 includes identification information (ID) of the target device 20. The identification information (ID) of the target device 20 may be, for example, user identification information (UID) or terminal identification information (IMEI) in a mobile communication service.

The reception interval of observation data for acquiring the approximate position information of the target device 20 may be a fixed interval (for example, 10 minutes, 30 minutes, 1 hour, etc.), or may be determined by the moving speed of the target device 20, surrounding reference stations, etc. It may be changed depending on the installation interval of 40, etc. Observation data of the target device 20 that the positioning target communication unit 321 regularly receives from the target device 20 is passed to the reference station selection unit 322 and the correction information creation unit 311.

In addition, the observation data sent from the target device 20 to the server 30 is observation data whose type is limited according to the positioning request accuracy in order to suppress the communication load and positioning processing load via the communication network 60. It may be. For example, if the positioning request accuracy is high, all observation data (received RAW data) of the plurality of satellites observed by the target device 20 is sent to the server 30, and if the positioning request accuracy is low, the target device 20 Part of the observation data (received RAW data) of a plurality of observed satellites may be transmitted to the server 30.

Further, the reference station selection unit 322 selects one or more reference stations 40 based on identification information (for example, UID or IMEI) included in the correction information request received from the target device 20.

For example, the reference station selection unit 322 periodically calculates and acquires approximate position information of the target device 20 based on the observation data of the target device 20 received from the positioning target communication unit 321 and the ephemeris data, and One or more reference stations 40 closest to the device 20 may be selected. This selection of the reference station 40 is performed periodically every time observation data for obtaining approximate position information of the target device 20 is received.

Regarding the reference station to select, in the case of the RTK positioning method, the positioning accuracy basically depends on the baseline length (for example, 2 cm + 1 ppm x baseline length), so it is desirable to select the nearest reference station, but it is always necessary to select the exact closest reference station. There's no need to choose. For this reason, when reference stations are installed in a relatively narrow range, such as every few tens of kilometers, in order to reduce the calculation cost for determining the nearest reference station, the height direction is used instead of the actual distance. Without consideration, the reference station for which the sum of the square of the difference in latitude and the square of the difference in longitude is the minimum can also be defined as the nearest, rather than the distance.

Note that the reference station is selected not only based on the distance from the positioning target but also on the number of artificial satellites 50 used for positioning, the signal condition, the quality of observation data, etc. It's okay.

Ephemeris data is orbit information of the artificial satellite 50 necessary for determining the position of the artificial satellite 50, and is broadcast from the artificial satellite 50. This ephemeris data is regularly updated at predetermined time intervals (for example, 2 hours for GPS and 10 minutes for Galileo).

Note that the selection of the reference stations 40 may be performed to include reference stations 40 located in the predicted movement area of the target device 20. For example, the predicted movement area of the target device 20 may be determined from changes in the approximate position information of the target device 20, and the reference stations 40 may be selected to include the reference stations 40 located in the predicted movement area. Further, the reference station 40 may be selected by selecting the nearest reference station 40 from among normally operating reference stations.

For example, as shown in the reference station selection table in Table 4, the reference station selection unit 322 selects the identification information (management number) of the selected one or more reference stations 40, the identification number of the RTCM format of the positioning correction information, and the target device 20. identification information (for example, IMEI or UID) are stored in association with each other.

Further, the reference station selection unit 322 selects the identification information (management number) of the selected one or more reference stations 40, the identification information of the mount point (MP), and the positioning correction, as shown in the reference station selection table of Table 5, for example. The identification number of the RTCM format of the information and the identification information (for example, IMEI or UID) of the target device 20 may be stored in association with each other.

The correction information selection unit 323 selects the target device 20 from positioning correction information of multiple types of RTCM formats (data formats) corresponding to the selected one or more reference stations 40, for example, based on the reference station selection table of Table 4 or Table 5. positioning correction information in the RTCM format (data format) corresponding to the target device 20 is selected based on the identification information (IMEI) of the target device 20.

Further, the server 30 may perform data processing using highly accurate position information received from a plurality of target devices 20. For example, it is possible to measure the deformation or displacement of a structure using the position information of multiple target devices 20 installed on the structure, or to remove multipath waves from satellite signals used for positioning calculations by creating a three-dimensional map. Data processing may be performed as described above.

In the positioning system 10 having the above configuration, the difference in the amount of crustal deformation between the base (reference station) 40 and the rover (target device) 20 used for positioning and the altitude (for example, ellipsoid height or altitude) between the base 40 and the rover 20 are ) There is a possibility that an error may occur in the coordinates of the rover 20 measured by the RTK positioning method due to geographical factors such as a difference in height (altitude difference).

For example, when trying to obtain the coordinate values of the position of the rover 20, if there is a difference in the amount of crustal deformation since the epoch between the position of the reference point of the base 40 and the position of the rover 20, the amount of crustal deformation will be The difference will be added to the above coordinate values as an offset, causing an error in the position of the rover 20, making it impossible to obtain accurate coordinates of the position of the rover 20.

Furthermore, if there is an altitude difference between the position of the reference point of the base 40 and the position of the rover 20, a difference in propagation delay amount [m] of the satellite signal in the troposphere will occur, and the difference in propagation delay amount will be This will add an error to the value, making it impossible to determine the exact coordinates of the position of the rover 20.

Regarding error correction (hereinafter also referred to as "semi-dynamic correction") to reduce positioning errors due to the difference in the amount of crustal deformation between the position of the reference point and the position of the rover 20, the Geospatial Information Authority of Japan periodically provides information. It is conceivable to save a parameter file that records published data on the amount of crustal deformation in the rover 20 and perform the correction within the rover 20, but it is possible to do so on a regular basis (for example, once a year or once every few months). times), it is necessary to update the parameter file for the amount of crustal deformation, which is not realistic.

Furthermore, regarding error correction for reducing a positioning error due to the altitude difference between the position of the reference point and the position of the rover 20, there are rovers 20 that are not equipped with a positioning engine that is compatible with the error correction.

Therefore, in this embodiment, even if the rover 20 does not have an error correction function for reducing the positioning error caused by the above-mentioned geographical factors, the server 30 performs error correction of semi-dynamic correction, tropospheric delay amount correction, or both on the observation data received from the base 40, creates positioning correction information including the observation data with the error correction, and delivers it to the rover 20. are doing.

Note that a method of changing the coordinates of the ARP (Antenna Reference Point) in the positioning correction information sent to the positioning target is also considered, but if the positioning target moves, the Reference Point used to identify the reference station in the positioning correction information If the above ARP value changes while the Station ID remains unchanged, the ARP value in the receiver of the positioning target may not be updated and a correct positioning result may not be obtained. Alternatively, a method of changing ARP and Reference Station ID at the same time may be considered, but in this case, the positioning calculation in the receiver of the positioning target is initialized, and RTK-Fix may not be maintained.

<Troposphere delay amount correction>
The above-mentioned tropospheric delay amount correction can be performed, for example, as follows.
The superscript k indicates the artificial satellite 50, the subscript R indicates the rover 20, the subscript B indicates the base 40, and if the observed phase value of the code or carrier wave is P (unit: m), then the following Formula (3) holds true.

は、ローバー２０のアンテナと人工衛星ｋとの距離（単位：ｍ））、Ｔｄは人工衛星５０からの電波が対流圏を伝搬する際の伝搬遅延量（単位：ｍ）、νはその他の誤差（単位：ｍ）である。 Here, x ^k is the position of the satellite 50 when the signal was emitted, x is the antenna position, and ρ is a geometric distance function (for example,

is the distance between the antenna of the rover 20 and the artificial satellite k (unit: m)), Td is the amount of propagation delay when the radio waves from the artificial satellite 50 propagate in the troposphere (unit: m), and ν is the other error ( Unit: m).

となる。上記式（４）において、対流圏遅延量Ｔｄの項を左辺に移項すると、

となり、

とおくと、次式（８）を得る。

を得る。 Considering the single difference between antennas,

becomes. In the above equation (4), if the term of the tropospheric delay amount Td is moved to the left side, we get

Then,

Then, the following equation (8) is obtained.

get.

を加えた値をローバー２０へ配信することで、対流圏遅延量の補正を加味した測位結果を得ることが可能となる。 Here, the right side of the above equation (8) is an equation established by the positioning engine without taking into account the amount of tropospheric delay. In other words, there is a difference in the amount of tropospheric delay between the observed phase value of the code or carrier wave (carrier) output by the base 40 GNSS receiver.

By distributing the added value to the rover 20, it is possible to obtain a positioning result that takes into account the correction of the tropospheric delay amount.

を配信する代わりに、誤差補正後の次式（２）の観測データをローバー２０に配信することで、ローバー２０に対流圏遅延量補正機能を設けることなく、ローバー２０において対流圏遅延量補正が行われた高精度測位が可能になる。

In other words, as observation data,

By distributing the observation data of the following equation (2) after error correction to the rover 20 instead of distributing it, the rover 20 can correct the tropospheric delay amount without providing the rover 20 with a tropospheric delay correction function. This enables high-precision positioning.

Note that the tropospheric delay amount Td can be determined using various models. For example, the tropospheric delay amount Td is the propagation delay amount (also referred to as the "dry tropospheric delay amount") when radio waves from the artificial satellite 50 propagate through the troposphere, which is made up of dry atmosphere, in a model that assumes that the tropospheric atmosphere is a dry atmosphere. ). This dry tropospheric delay amount can be calculated, for example, based on the position of the rover 20 and the elevation angle when the satellite 50 is viewed from the rover 20. Furthermore, the season may be taken into account when calculating the amount of dry tropospheric delay.

In addition, the tropospheric delay amount Td is the propagation delay amount (also referred to as the "humid tropospheric delay amount") when radio waves from the artificial satellite 50 propagate through the troposphere, which is a humid atmosphere, in a model where the tropospheric atmosphere is a humid atmosphere. ). This humid tropospheric delay amount is determined based on the vertical delay amount obtained as a result of PPP positioning based on precise history and observation data.

とし、ベース４０の今期座標を、

とし、また、ρを幾何学的距離関数、ｅをアンテナから人工衛星５０に向かう単位ベクトルとすると、

<Semi-dynamic correction>
The above semi-dynamic correction can be performed, for example, as follows.
Let the epochal coordinates of the rover 20 be x _R and the epochal coordinates of the base 40 be x _B . Also, the current coordinates of Rover 20,

And the current coordinates of base 40 are,

Also, if ρ is a geometric distance function and e is a unit vector directed from the antenna to the satellite 50, then

が成り立つ。ここで、上記式（１０）における

は、ローバー２０のアンテナから人工衛星ｋに向かう単位ベクトルの転置を意味する。また、

は内積で、距離（単位：ｍ）が求まる。 holds, and if the pseudorange observation value based on the code or the phase observation value of the carrier wave is P, then

holds true. Here, in the above formula (10),

means the transposition of a unit vector from the antenna of the rover 20 toward the artificial satellite k. Also,

is the inner product to find the distance (unit: m).

By using the above equation (10) and the above equation (11), the following equation (12) can be established.

Furthermore, when the above equation (12) is rearranged, the following equation (13) is obtained, and the solution thereof is found as x= _xR .

に対して、

を加えれば、元期の座標が解として求まることになる。ローバー２０の位置及びベース４０の位置のそれぞれにおける地殻変動量をｄｘ_Ｒ、ｄｘ_Ｂとすると、上記誤差補正前の位相観測値に加える値は、

と表すことができる。 Therefore, the observed phase value before error correction

For,

By adding , the coordinates of the epoch can be found as a solution. If the amounts of crustal deformation at the position of the rover 20 and the position of the base 40 are respectively dx _R and dx _B , the value to be added to the phase observation value before error correction is as follows:

It can be expressed as.

を配信する代わりに、誤差補正後の次式（１４）の位相観測値のデータをローバー２０に配信することで、ローバー２０にセミダイナミック補正機能を設けることなく、ローバー２０においてセミダイナミック補正が行われた高精度測位が可能になる。

In other words, as the data of the phase observation value of the code or carrier wave (carrier),

By distributing the phase observation value data of the following equation (14) after error correction to the rover 20 instead of distributing it, semi-dynamic correction can be performed in the rover 20 without providing a semi-dynamic correction function in the rover 20. This makes it possible to perform high-precision positioning.

In addition, by distributing the data of the phase observation value of the following equation (15) after error correction to the rover 20, the rover 20 can calculate the tropospheric delay amount without providing the rover 20 with a tropospheric delay amount correction function and a semi-dynamic correction function. High-precision positioning in which correction and semi-dynamic correction are performed simultaneously becomes possible.

FIG. 2 is a flowchart illustrating an example of positioning processing via the server 30 according to the embodiment. The example in FIG. 2 is an example in which communication between the server 30 and the rover (target device) 20 is via the mobile communication network 60. In the example of FIG. 2, the mobile station terminal identification information (IMSI) built into the rover 20 can be used for authentication when the rover 20 connects to the server 30.

In FIG. 2, the positioning process of this embodiment is a handover process of the reference station 40, which is executed after a communication connection process (S100) between the rover (target device) 20 in which a predetermined positioning application has been started and the server 30. (S200), and distribution processing (S300) of positioning correction information used in high-precision real-time positioning processing of the current position of the target device 20.

In the handover process (S200) of the reference station 40 in FIG. Receive (S201).

Next, the server 30 converts the carrier phase observation data (received RAW data) received from the rover 20 into observation data in a predetermined format that can be used for positioning processing, and combines the converted observation data of the rover 20 and ephemeris data. Based on this, the approximate position of the rover 20 is calculated and acquired by independent positioning, and one or more reference stations 40 closest to the rover 20 are determined and selected based on the approximate position information of the rover 20 (S202). . If the selected reference station is a reference station different from the previous epoch (the previous high-precision positioning timing), handover of the reference station will occur.

Next, the server 30 performs error correction (semi-dynamic correction, tropospheric delay amount correction, or both correction) on the observation data of the reference station 40 described above for the connected rover 20 and the selected nearest reference station 40. , the observed data after error correction is saved (S203).

For example, the server 30 calculates the amount of crustal deformation at the position of the connected rover 20 and the selected nearest reference station 40 based on a parameter file that records data on the amount of crustal deformation published periodically by the Geospatial Information Authority of Japan. The amount of crustal deformation at the position is calculated, and error-corrected (semi-dynamically corrected) observation data exclusively for the rover 20 is created. The server 30 calculates the amount of tropospheric delay at the position of the connected rover 20 and the amount of tropospheric delay at the position of the selected nearest reference station 40, and performs error correction (tropospheric delay amount correction) exclusively for the rover 20. Create observed observation data. Here, as the information on the position of the rover 20, the approximate position information (coordinate information) of the rover 20 calculated and acquired in step 202 above can be used. Further, as the position information of the reference station 40, coordinate information of the reference station 40 stored in advance in the server 30 can be used.

The handover process (S200) involving acquisition of the rough position information of the rover 20 in S201 to S203, selection of the nearest reference station, and error correction of observation data of the reference station is performed periodically at fixed or irregular time intervals. . In addition, in order to reduce the frequency of communication between the rover 20 and the server 30, the search for the nearest reference station, and the frequency of handovers, reception of the approximate position information of the rover 20, selection of the nearest reference station 40, and error correction of observation data of the reference station are performed. The accompanying handover process may be executed when the positioning mode of the positioning target of the rover 20 is other than Fixed mode (for example, Float mode, code differential positioning mode, independent positioning mode), and may not be executed when it is in Fixed mode. . Further, processing such as periodic reception of general position information of the rover 20 and selection of the reference station 40 may be changed depending on whether the positioning mode of the positioning target is other than Fix mode or when it is in Fix mode. For example, processing such as periodic reception of general position information and selection of a reference station in Fix mode may be executed more frequently than processing such as periodic reception of general position information and selection of reference station in non-Fix mode. The frequency may be lowered.

Next, when the server 30 receives a request for correction information including identification information (for example, IMEI) from the rover 20 (YES in S301), the server 30 performs authentication processing based on the identification information and acquires general position information of the rover 20. Then, without selecting the nearest reference station, positioning correction information in a predetermined RTCM format corresponding to the rover 20 is searched based on the identification information (S302). The server 30 transmits positioning correction information including the above-mentioned error-corrected observation data in a predetermined RTCM format obtained through the search to the rover 20 (S303).

The rover 20 uses the positioning correction information including the above-mentioned observation data after error correction received from the server 30, the observation data of the rover 20, and the ephemeris data to calculate the geographical factors (crustal movement) of the reference station 40 and the rover 20. It is possible to perform high-precision positioning of the rover 20 with reduced positioning errors due to differences in quantity and height.

The server 30 may receive and store the high-precision positioning results calculated by the rover 20 from the rover 20 (S304). In this case, the server 30 can perform data processing using highly accurate position information received from the plurality of rovers 20. For example, the server 30 measures the deformation or displacement of a structure using position information from multiple rovers 20 installed on the structure, creates a three-dimensional map, and collects multipath waves from satellite signals used for positioning calculations. Data processing can be performed, such as removing .

In addition, in the positioning correction information distribution process (S300) in FIG. The type of error correction described above for the data may be determined, and positioning correction information including observation data subjected to error correction specified by the identification information of the MP may be delivered to the rover 20.

In addition, in the positioning correction information distribution process (S300) in FIG. It may be distributed.

FIG. 3 is a flowchart showing another example of positioning processing via the server 30 according to the embodiment. The example in FIG. 3 is an example in which communication between the server 30 and the rover (target device) 20 is based on a general-purpose protocol for positioning via the Internet 60 (for example, Ntrip: The Networked Transport of RTCM via Internet Protocol). It is. Note that in FIG. 3, description of processing parts common to those in FIG. 2 described above will be omitted.

In the connection process (S110) in FIG. 3, when the user operates the rover (target device) 20 to start a predetermined positioning application and input the address and port of the server 30, the rover 20 accesses the server 30, The user identification information (UID) and password input by the user are transmitted to the server 30. The server 30 performs authentication processing based on the user identification information (UID) and password received from the rover 20.

In the handover process (S210) of the reference station 40 in FIG. information (for example, latitude, longitude, altitude, and geoid height) is received (S211). Here, instead of the MP designation information, information designating the reference station 40 used for positioning by the rover 20 may be received. Further, the position information of the rover 20 is received, for example, in a GGA sentence in the NMEA (National Marine Electronics Association) format.

Next, the server 30 determines and selects one or more reference stations 40 closest to the rover 20 based on the position information of the rover 20 (S212). If the selected reference station is a reference station different from the previous epoch (the previous high-precision positioning timing), handover of the reference station will occur.

Next, for the connected rover 20 and the selected nearest reference station 40, the server 30 performs error correction (semi-dynamic correction, tropospheric delay amount correction, or both), and the observed data after error correction is saved (S213).

For example, the server 30 calculates the amount of crustal deformation at the position of the connected rover 20 and the selected nearest reference station 40 based on a parameter file that records data on the amount of crustal deformation published periodically by the Geospatial Information Authority of Japan. The amount of crustal deformation at the position is calculated, and error-corrected (semi-dynamically corrected) observation data exclusively for the rover 20 is created. The server 30 calculates the amount of tropospheric delay at the position of the connected rover 20 and the amount of tropospheric delay at the position of the selected nearest reference station 40, and performs error correction (tropospheric delay amount correction) exclusively for the rover 20. Create observed observation data. Here, as the information on the position of the rover 20, the approximate position information (coordinate information) of the rover 20 acquired in step 211 above can be used. Further, as the position information of the reference station 40, coordinate information of the reference station 40 stored in advance in the server 30 can be used.

Next, when the server 30 receives a correction information request including authentication information (for example, UID and password) from the rover 20 (YES in S311), the server 30 performs authentication processing based on the identification information, and also performs authentication processing based on the identification information. Positioning correction information in RTCM format corresponding to a predetermined MP corresponding to the rover 20 is searched (S312). The server 30 transmits positioning correction information including the above-mentioned error-corrected observation data in the RTCM format corresponding to the predetermined MP obtained by the search to the rover 20 (S313).

The rover 20 uses the positioning correction information including the above-mentioned observation data after error correction received from the server 30, the observation data of the rover 20, and the ephemeris data to calculate the geographical factors (crustal movement) of the reference station 40 and the rover 20. It is possible to perform high-precision positioning of the rover 20 with reduced positioning errors due to differences in volume and height differences.

The server 30 may receive and store the high-precision positioning results calculated by the rover 20 from the rover 20 (S314).

In the positioning system with the above configuration, the server 30 receives observation data from the reference station 40, creates positioning correction information including the observation data after the above-mentioned error correction, and distributes it to the rover 20. The above-described error correction may be performed on the observation data of the own station, and positioning correction information including the error-corrected observation data may be created and distributed to nearby rovers 20.

FIG. 4 is a functional block diagram showing an example of the main configuration of a positioning system according to another embodiment of the present invention. In the positioning system of FIG. 4, the reference station 40 performs the above-mentioned error correction (semi-dynamic correction, tropospheric delay amount correction) on the observation data of its own station without going through a server, and includes the observation data after the error correction. This is a configuration example in which positioning correction information is created and distributed to nearby rovers 20. Note that in FIG. 4, descriptions of parts common to those in FIG. 1 described above will be omitted.

In FIG. 4, the positioning system 10 includes a moving target device (rover) 20 and a reference station (base) 40 located at known position coordinates (reference point). The reference station 40 includes a GNSS receiver 410, an observation data generation section 420, a positioning target communication section 430, a correction information creation section 440, an information storage section 450, and a correction information selection section 460.

The GNSS receiver 410 receives radio waves from one or more GNSS satellites (for example, four satellites) 50 such as GPS. The observation data generation unit 220 generates observation data (received RAW data) from the radio wave reception signal (GNSS signal) received by the GNSS receiver 410.

The positioning target communication unit 430 receives a correction information request from the target device 20 via the communication network 60, and transmits the positioning correction information including the observation data after the above-mentioned error correction through the communication so as to respond to the correction information request. It is transmitted to the target device 20 via the network 60.

The correction information creation unit 440 performs the above-described error correction on the observation data of its own station, and creates positioning correction information including the observation data after the error correction. The information storage unit 450 stores various information similarly to the information storage unit 313 of the server 30 described above. The correction information selection unit 460 selects positioning correction information corresponding to the target device 20 from a plurality of types of positioning correction information including error-corrected observation data corresponding to the own station stored in the information storage unit 450.

Note that the observation data generation unit 420, positioning target communication unit 430, correction information creation unit 440, information storage unit 450, and correction information selection unit 460 in the reference station 40 in FIG. It may be configured with an external MEC (“Multi-access Edge Computing” or “Mobile Edge Computing”) device.

As described above, according to the present embodiment, even if the rover 20 that is the target device (positioning target) does not have an error correction function, the geographical factors of the reference station 40 and the rover 20 (for example, the difference between the reference station 40 and the rover 20) It is possible to reduce positioning errors caused by differences in the amount of crustal deformation and altitude differences between the two locations.

Note that the positioning system of this embodiment is applicable to various use cases. For example, the positioning system of this embodiment can be used to automate the operation and operation of agricultural machinery and improve the sophistication of field maps in the agricultural field, to automate the operation and operation of construction machinery in the construction field, and to use drones to manage the progress of building construction with high precision. It can be applied to automatic control of buses, bus rapid transit systems (BRT) that realize unmanned self-driving buses in the transportation field, and acquisition of highly accurate vehicle position information in MaaS (Mobility as a Service).

Note that the processing steps and components such as servers, target devices (user equipment, mobile stations, communication terminals, terminal devices, etc.), reference stations, base stations, etc., described in this specification can be implemented by various means. . For example, these steps and components may be implemented in hardware, firmware, software, or a combination thereof.

For hardware implementation, entities (e.g., relay communication stations, feeder stations, gateway stations, base stations, base station equipment, relay communication station equipment, terminal equipment (user equipment, mobile stations, communication terminals), management equipment, monitoring equipment) , a remote control device, a server, a hard disk drive device, or an optical disk drive device). , digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), processor, controller, microcontroller, microprocessor, electronic device, book It may also be implemented in other electronic units, computers, or combinations thereof designed to perform the functions described in the specification.

Also, for firmware and/or software implementations, the means used to implement the components, such as processing units, may include programs (e.g., procedures, functions, modules, instructions) that perform the functions described herein. , etc.). In general, any computer/processor readable medium tangibly embodying firmware and/or software code may be used to implement the steps and components described herein. It may be used for implementation. For example, the firmware and/or software code may be stored in memory and executed by a computer or processor, eg, in a controller. The memory may be implemented within the computer or processor, or external to the processor. The firmware and/or software code may also be stored in, for example, random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), electrically erasable PROM (EEPROM), etc. ), flash memory, floppy disks, compact disks (CDs), digital versatile disks (DVDs), magnetic or optical data storage devices, etc. good. The code may be executed by one or more computers or processors and may cause the computers or processors to perform certain aspects of the functionality described herein.

Further, the medium may be a non-temporary recording medium. Further, the code of the program may be read and executed by a computer, processor, or other device or apparatus, and its format is not limited to a specific format. For example, the code of the program may be a source code, an object code, or a binary code, or may be a mixture of two or more of these codes.

The description of the embodiments disclosed herein is also provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to this disclosure will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other variations without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the examples and designs described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

10 Positioning system 20 Positioning target (target device, rover)
30 Server 31 Reference station information processing unit 32 Positioning target information processing unit 40 Reference station (base)
50 Artificial satellite 210 GNSS receiver 220 Observation data generation unit 230 Position information calculation unit 240 Server communication unit 310 Reference station communication unit 311 Correction information creation unit 312 Reference station information creation unit 313 Information storage unit (DB)
321 Positioning target communication unit 322 Reference station selection unit 323 Correction information selection unit 410 GNSS receiver 420 Observation data generation unit 430 Positioning target communication unit 440 Correction information creation unit 450 Information storage unit 460 Correction information selection unit

Claims (32)

A server used for position measurement of a positioning target,
a reference station communication unit that receives observation data generated by the reference station receiving radio waves from an artificial satellite from a reference station located at a known position coordinate;
Error correction is performed on the observation data received from the reference station to reduce positioning errors due to geographical factors of the reference station and the positioning target, and positioning includes observation data after the error correction has been performed. a correction information creation unit that creates correction information;
a correction information transmitting unit that transmits, to the positioning target, the positioning correction information including error-corrected observation data that has been subjected to error correction to reduce positioning errors due to geographical factors of the reference station and the positioning target;
A server characterized by comprising: In the server of claim 1,
The geographical factor is a difference in the amount of crustal movement between the reference station and the positioning target,
The server characterized in that the error correction for the observation data includes correction for reducing a positioning error caused by a difference in the amount of crustal deformation between the reference station and the positioning target. A server used for position measurement of a positioning target,
a reference station communication unit that receives observation data generated by the reference station receiving radio waves from an artificial satellite from a reference station located at a known position coordinate;
Error correction is performed on the observation data received from the reference station to reduce positioning errors due to geographical factors of the reference station and the positioning target, and positioning correction information including the observation data subjected to the error correction is created. a correction information creation unit that
a correction information transmitting unit that transmits the positioning correction information including the observation data subjected to the error correction to the positioning target,
The geographical factor is a difference in the amount of crustal movement between the reference station and the positioning target,
The server characterized in that the error correction for the observation data includes correction for reducing a positioning error caused by a difference in the amount of crustal deformation between the reference station and the positioning target. In the server according to claim 2 or 3 ,
The epochal coordinates of the positioning target R are _xR , the epochal coordinates of the reference station B are _xB , and the current coordinates of the positioning target R are

and the current coordinates of the reference station B are

Then, the transposition of the unit vector from the positioning target R to the artificial satellite k is

and the transposition of the unit vector from the reference station B to the artificial satellite k is

Then, the observed data before the error correction is

When, the observation data after the error correction is corrected to reduce the positioning error caused by the difference in the amount of crustal movement between the reference station B and the positioning target R.

is calculated by the following equation (1).

In any one of the servers of claim 1,
The geographical factor is a difference in propagation delay amount when radio waves from the artificial satellite propagate in the troposphere due to an altitude difference between the reference station and the positioning target,
The error correction for the observation data is performed in order to reduce a positioning error caused by a difference in propagation delay when radio waves from the artificial satellite propagate in the troposphere due to an altitude difference between the reference station and the positioning target. A server characterized in that it includes a correction for. In the server according to any one of claims 2 to 4,
The geographical factor includes a difference in propagation delay amount when radio waves from the artificial satellite propagate in the troposphere due to an altitude difference between the reference station and the positioning target,
The error correction for the observation data is performed in order to reduce a positioning error caused by a difference in propagation delay when radio waves from the artificial satellite propagate in the troposphere due to an altitude difference between the reference station and the positioning target. A server characterized in that it includes a correction for. A server used for position measurement of a positioning target,
a reference station communication unit that receives observation data generated by the reference station receiving radio waves from an artificial satellite from a reference station located at a known position coordinate;
Error correction is performed on the observation data received from the reference station to reduce positioning errors due to geographical factors of the reference station and the positioning target, and positioning correction information including the observation data subjected to the error correction is created. a correction information creation unit for
a correction information transmitting unit that transmits the positioning correction information including the observation data subjected to the error correction to the positioning target,
The geographical factor is a difference in propagation delay amount when radio waves from the artificial satellite propagate in the troposphere due to an altitude difference between the reference station and the positioning target,
The error correction for the observation data is performed in order to reduce a positioning error caused by a difference in propagation delay when radio waves from the artificial satellite propagate in the troposphere due to an altitude difference between the reference station and the positioning target. A server characterized in that it includes a correction for. In the server according to any one of claims 5 to 7 ,
The amount of propagation delay when radio waves from the artificial satellite k to the positioning target R propagate through the troposphere is

The amount of propagation delay when the radio wave from the artificial satellite k to the reference station B propagates through the troposphere is

Then, the observed data before the error correction is

Correction for reducing a positioning error caused by a difference in propagation delay when radio waves from the artificial satellite k propagate in the troposphere due to the altitude difference between the reference station B and the positioning target R. Observation data after the above error correction

is calculated by the following equation (2).

In the server according to any one of claims 5 to 8 ,
A server characterized in that a propagation delay amount when radio waves from the artificial satellite to the positioning target propagate through the troposphere is calculated based on GNSS position information of the positioning target. In the server according to any one of claims 1 to 9 ,
The server characterized in that the reference station is a base station for mobile communication, an access point device for wireless LAN, or a reference station located at a reference point of the Geospatial Information Authority of Japan. A reference station located at known position coordinates and used for position measurement of a positioning target,
an observation data generation unit that receives radio waves from an artificial satellite and generates observation data;
Error correction is performed on the observation data to reduce positioning errors due to geographic factors of the reference station and the positioning target, and positioning correction information is created that includes the observation data after the error correction has been performed. a correction information creation section;
a correction information transmitting unit that transmits, to the positioning target, the positioning correction information including error-corrected observation data that has been subjected to error correction to reduce positioning errors due to geographical factors of the reference station and the positioning target;
A reference station characterized by comprising: The reference station according to claim 11,
The geographical factors include a difference in the amount of crustal deformation between the reference station and the positioning target, and a propagation delay when radio waves from the artificial satellite propagate through the troposphere due to the difference in altitude between the reference station and the positioning target. the difference in quantity or both;
The error correction for the observation data includes a correction for reducing a positioning error caused by a difference in the amount of crustal deformation between the reference station and the positioning target, and a correction for reducing a positioning error due to a difference in altitude between the reference station and the positioning target. A reference station comprising correction for reducing a positioning error caused by a difference in propagation delay amount when radio waves from an artificial satellite propagate through the troposphere, or both corrections. A reference station located at known position coordinates and used for position measurement of a positioning target,
an observation data generation unit that receives radio waves from an artificial satellite and generates observation data;
a correction information creation unit that performs error correction on the observation data to reduce positioning errors due to geographical factors of the reference station and the positioning target, and creates positioning correction information including the observation data subjected to the error correction; and,
a correction information transmitting unit that transmits the positioning correction information including the observation data subjected to the error correction to the positioning target,
The geographical factors include a difference in the amount of crustal deformation between the reference station and the positioning target, and a propagation delay when radio waves from the artificial satellite propagate through the troposphere due to the difference in altitude between the reference station and the positioning target. the difference in quantity or both;
The error correction for the observation data includes a correction for reducing a positioning error caused by a difference in the amount of crustal deformation between the reference station and the positioning target, and a correction for reducing a positioning error due to a difference in altitude between the reference station and the positioning target. including correction for reducing positioning errors due to differences in propagation delay when radio waves from artificial satellites propagate through the troposphere, or both corrections;
A reference station characterized by: In the reference station according to any one of claims 11 to 13 ,
A reference station characterized in that the reference station is a base station for mobile communication, an access point device for wireless LAN, or a reference station located at a reference point of the Geospatial Information Authority of Japan. A positioning system,
A positioning system comprising: the server according to any one of claims 1 to 10 ; and at least one of a reference station and a positioning target device located at known position coordinates. A positioning system,
A positioning system comprising the reference station according to any one of claims 11 to 14 and a positioning target device. A device for positioning,
A correction information request is sent to the server according to claim 1 or 2 , requesting positioning correction information including observation data after error correction has been performed to reduce positioning errors due to geographical factors of the reference station and the positioning target. a request transmitter to transmit;
an information receiving unit that receives, from the server, positioning correction information including error-corrected observation data in which error correction is performed to reduce positioning errors due to geographical factors of the reference station and the positioning target ;
a position information calculation unit that calculates position information of the positioning target based on the positioning correction information received from the server and observation data generated by the positioning target receiving radio waves from the artificial satellite;
A positioning target device comprising: A device for positioning,
A request transmitting unit that transmits a correction information request requesting positioning correction information including the observation data subjected to the error correction to the server according to any one of claims 2 to 9;
an information receiving unit that receives positioning correction information including observation data subjected to the error correction from the server;
a position information calculation unit that calculates position information of the positioning target based on the positioning correction information received from the server and observation data generated by the positioning target receiving radio waves from the artificial satellite;
The geographical factors include a difference in the amount of crustal deformation between the reference station and the positioning target, and a propagation delay when radio waves from the artificial satellite propagate through the troposphere due to the difference in altitude between the reference station and the positioning target. the difference in quantity or both;
The error correction for the observation data includes a correction for reducing a positioning error caused by a difference in the amount of crustal deformation between the reference station and the positioning target, and a correction for reducing a positioning error due to a difference in altitude between the reference station and the positioning target. including correction for reducing positioning errors due to differences in propagation delay when radio waves from artificial satellites propagate through the troposphere, or both corrections;
A positioning target device characterized by: A device for positioning,
A correction information request is transmitted to the reference station according to claim 11 , requesting positioning correction information including observation data after error correction, in which error correction is performed to reduce positioning errors due to geographical factors of the reference station and the positioning target. a request transmitter;
an information receiving unit that receives, from the reference station, positioning correction information including error-corrected observation data in which error correction is performed to reduce positioning errors due to geographical factors of the reference station and the positioning target ;
a position information calculation unit that calculates position information of the positioning target based on the positioning correction information received from the reference station and observation data generated by the positioning target receiving radio waves from the artificial satellite;
A positioning target device comprising: A device for positioning,
A request transmitting unit that transmits a correction information request requesting positioning correction information including the observation data subjected to the error correction to the reference station according to claim 12 or 13;
an information receiving unit that receives positioning correction information including observation data subjected to the error correction from the reference station;
a position information calculation unit that calculates position information of the positioning target based on the positioning correction information received from the reference station and observation data generated by the positioning target receiving radio waves from the artificial satellite;
The geographical factors include a difference in the amount of crustal deformation between the reference station and the positioning target, and a propagation delay when radio waves from the artificial satellite propagate through the troposphere due to the difference in altitude between the reference station and the positioning target. the difference in quantity or both;
The error correction for the observation data includes a correction for reducing a positioning error caused by a difference in the amount of crustal deformation between the reference station and the positioning target, and a correction for reducing a positioning error due to a difference in altitude between the reference station and the positioning target. including correction for reducing positioning errors due to differences in propagation delay when radio waves from artificial satellites propagate through the troposphere, or both corrections;
A positioning target device characterized by: The positioning target device according to claim 17 or 19,
The geographical factors include a difference in the amount of crustal deformation between the reference station and the positioning target, and a propagation delay when radio waves from the artificial satellite propagate through the troposphere due to the difference in altitude between the reference station and the positioning target. the difference in quantity or both;
The error correction for the observation data includes a correction for reducing a positioning error caused by a difference in the amount of crustal deformation between the reference station and the positioning target, and a correction for reducing a positioning error due to a difference in altitude between the reference station and the positioning target. A device for positioning, characterized in that it includes correction for reducing a positioning error caused by a difference in propagation delay when radio waves from an artificial satellite propagate through the troposphere, or correction for both. A mobile body comprising the positioning target device according to any one of claims 17 to 21 . An information distribution method for distributing information used for position measurement of a positioning target, the method comprising:
The server receives, from a reference station located at a known position coordinate, observation data generated by the reference station receiving radio waves from an artificial satellite;
The server performs error correction on the observation data received from the reference station to reduce positioning errors due to geographical factors of the reference station and the positioning target, and the observation after error correction is performed after the error correction is performed. Creating positioning correction information including data;
The server transmits, to the positioning target, the positioning correction information including error-corrected observation data in which error correction is performed to reduce positioning errors due to geographical factors of the reference station and the positioning target;
An information distribution method characterized by comprising: An information distribution method for distributing information used for position measurement of a positioning target, the method comprising:
The server receives, from a reference station located at a known position coordinate, observation data generated by the reference station receiving radio waves from an artificial satellite;
The server performs error correction on the observation data received from the reference station to reduce positioning errors due to geographical factors of the reference station and the positioning target, and performs positioning including observation data subjected to the error correction. Creating correction information;
The server transmits the positioning correction information including the observation data subjected to the error correction to the positioning target;
including;
The geographical factors include a difference in the amount of crustal deformation between the reference station and the positioning target, and a propagation delay when radio waves from the artificial satellite propagate through the troposphere due to the difference in altitude between the reference station and the positioning target. the difference in quantity or both;
The error correction for the observation data includes a correction for reducing a positioning error caused by a difference in the amount of crustal deformation between the reference station and the positioning target, and a correction for reducing a positioning error due to a difference in altitude between the reference station and the positioning target. including correction for reducing positioning errors due to differences in propagation delay when radio waves from artificial satellites propagate through the troposphere, or both corrections;
An information distribution method characterized by: An information distribution method for distributing information used for position measurement of a positioning target, the method comprising:
A reference station located at a known position coordinate and used for position measurement of a positioning target receives radio waves from an artificial satellite and generates observation data;
The reference station performs error correction on the observation data to reduce positioning errors due to geographical factors of the reference station and the positioning target, and positioning correction information includes observation data after the error correction has been performed. and
The reference station transmits, to the positioning target, the positioning correction information including error-corrected observation data in which error correction is performed to reduce positioning errors due to geographical factors of the reference station and the positioning target;
An information distribution method characterized by comprising: An information distribution method for distributing information used for position measurement of a positioning target, the method comprising:
A reference station located at a known position coordinate and used for position measurement of a positioning target receives radio waves from an artificial satellite and generates observation data;
The reference station performs error correction on the observation data to reduce positioning errors due to geographic factors of the reference station and the positioning target, and creates positioning correction information including the observation data subjected to the error correction. and,
The reference station transmits the positioning correction information including the observation data subjected to the error correction to the positioning target,
The geographical factors include a difference in the amount of crustal deformation between the reference station and the positioning target, and a propagation delay when radio waves from the artificial satellite propagate through the troposphere due to the difference in altitude between the reference station and the positioning target. the difference in quantity or both;
The error correction for the observation data includes a correction for reducing a positioning error caused by a difference in the amount of crustal deformation between the reference station and the positioning target, and a correction for reducing a positioning error due to a difference in altitude between the reference station and the positioning target. including correction for reducing positioning errors due to differences in propagation delay when radio waves from artificial satellites propagate through the troposphere, or both corrections;
An information distribution method characterized by: The information distribution method according to claim 23 or 25,
The geographical factors include a difference in the amount of crustal deformation between the reference station and the positioning target, and a propagation delay when radio waves from the artificial satellite propagate through the troposphere due to the difference in altitude between the reference station and the positioning target. the difference in quantity or both;
The error correction for the observation data includes a correction for reducing a positioning error caused by a difference in the amount of crustal deformation between the reference station and the positioning target, and a correction for reducing a positioning error due to a difference in altitude between the reference station and the positioning target. An information distribution method comprising: a correction for reducing a positioning error caused by a difference in propagation delay amount when radio waves from an artificial satellite propagate through the troposphere; or a correction for both. A program executed on a computer or processor included in a server used for position measurement of a positioning target,
A program code for receiving observation data generated by the reference station receiving radio waves from an artificial satellite from a reference station located at a known position coordinate;
Error correction is performed on the observation data received from the reference station to reduce positioning errors due to geographical factors of the reference station and the positioning target, and positioning includes observation data after the error correction has been performed. A program code for creating correction information,
a program code for transmitting, to the positioning target, the positioning correction information including observation data after error correction , which has been corrected to reduce positioning errors due to geographical factors of the reference station and the positioning target;
A program characterized by including. A program executed on a computer or processor included in a server used for position measurement of a positioning target,
A program code for receiving observation data generated by the reference station receiving radio waves from an artificial satellite from a reference station located at a known position coordinate;
Error correction is performed on the observation data received from the reference station to reduce positioning errors due to geographical factors of the reference station and the positioning target, and positioning correction information including the observation data subjected to the error correction is created. The program code for
A program code for transmitting the positioning correction information including the observation data subjected to the error correction to the positioning target,
The geographical factors include a difference in the amount of crustal deformation between the reference station and the positioning target, and a propagation delay when radio waves from the artificial satellite propagate through the troposphere due to the difference in altitude between the reference station and the positioning target. the difference in quantity or both;
The error correction for the observation data includes a correction for reducing a positioning error caused by a difference in the amount of crustal deformation between the reference station and the positioning target, and a correction for reducing a positioning error due to a difference in altitude between the reference station and the positioning target. including correction for reducing positioning errors due to differences in propagation delay when radio waves from artificial satellites propagate through the troposphere, or both corrections;
A program characterized by: A program executed on a computer or processor provided in a reference station used for position measurement of a positioning target,
A program code for receiving satellite radio waves and generating observation data,
Error correction is performed on the observation data to reduce positioning errors due to geographic factors of the reference station and the positioning target, and positioning correction information is created that includes the observation data after the error correction has been performed. The program code for
a program code for transmitting, to the positioning target, the positioning correction information including observation data after error correction , which has been corrected to reduce positioning errors due to geographical factors of the reference station and the positioning target;
A program characterized by including. A program executed on a computer or processor provided in a reference station used for position measurement of a positioning target,
A program code for receiving satellite radio waves and generating observation data,
A program code for performing error correction on the observation data to reduce positioning errors due to geographical factors of the reference station and the positioning target, and creating positioning correction information including the observation data subjected to the error correction. and,
A program code for transmitting the positioning correction information including the observation data subjected to the error correction to the positioning target,
The geographical factors include a difference in the amount of crustal deformation between the reference station and the positioning target, and a propagation delay when radio waves from the artificial satellite propagate through the troposphere due to the difference in altitude between the reference station and the positioning target. the difference in quantity or both;
The error correction for the observation data includes a correction for reducing a positioning error caused by a difference in the amount of crustal deformation between the reference station and the positioning target, and a correction for reducing a positioning error due to a difference in altitude between the reference station and the positioning target. including correction for reducing positioning errors due to differences in propagation delay when radio waves from artificial satellites propagate through the troposphere, or both corrections;
A program characterized by: In the program of claim 28 or 30,
The geographical factors include a difference in the amount of crustal deformation between the reference station and the positioning target, and a propagation delay when radio waves from the artificial satellite propagate through the troposphere due to the difference in altitude between the reference station and the positioning target. the difference in quantity or both;
The error correction for the observation data includes a correction for reducing a positioning error caused by a difference in the amount of crustal deformation between the reference station and the positioning target, and a correction for reducing a positioning error due to a difference in altitude between the reference station and the positioning target. A program comprising: a correction for reducing a positioning error caused by a difference in propagation delay amount when radio waves from an artificial satellite propagate through the troposphere; or a correction for both.

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