JPH05232210A - Positioning method and control method of moving body utilizing gas satellite - Google Patents

Abstract

PURPOSE:To perform a positioning operation with high accuracy by a method wherein a propagation distance error which has been measured by a fixed reference station is transmitted to a mobile station and a piece of information on the position of the mobile station is obtained from a piece of information on the distance, between a GPS satellite and the mobile station, which has been measured by the mobile station and from the propagation distance error. CONSTITUTION:A fixed reference station A is composed of a GPS receiver 1, an interface 2 for positioning data processing use and a fixed wireless apparatus 3. The interface 2 computes the true distance between GPS satellites 4a to 4c and the fixed reference station by using a piece of starting data S1, for the GPS satellites, which is obtained from the receiver 1. At the same time, a propagation distance error included in the measured distance, between the GPS satellites and the fixed reference station, which is obtained by the receiver 1 is drawn; it is formed as a piece of data so that satellite numbers for the satellites 4a to 4c and the propagation distance error coincide with the frame format of a control channel 5. A piece of information on an error which is transmitted through the control channel 5 from the reference station A is received and demodulated by a wireless apparatus 3 in a mobile station B; it is input to an interface 2; the propagation error is eliminated by using a piece of information S2 on an error; a piece of new data in obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a highly accurate position information for a moving body in a cellular phone system, a mobile phone system, an MCA radio system, a paging system, etc., which has at least one base station in each cell. The present invention relates to a positioning method and a mobile body management method using a GPS satellite, which provide the operation of the mobile body and manage the operation of the mobile body.

[0002]

2. Description of the Related Art Conventional GPS (Global Posi)
In the single positioning system using the satellite positioning system, the distance between a plurality of GPS satellites and the mobile station is calculated from the difference between the time when the GPS satellite emits the radio wave and the time when the mobile station receives the radio wave, and the distance is calculated. The position of the mobile station can be determined by drawing a spherical surface having a radius and finding the intersection.

However, since there is a time lag due to the limitation of the stability of the clock of the receiver, when performing two-dimensional positioning, the number of GPS satellites required for positioning calculation is at least three. By the way, in positioning using GPS satellites, even if three GPS satellites are used, the positioning error may reach 100 m or more due to propagation delay due to the atmosphere or ionosphere, orbit error of GPS satellites, clock shift, etc. There is.

As a countermeasure, a GPS receiver is installed in a fixed reference station whose position is already known, and a GPS satellite-fixed calculated from the measured distance between the GPS satellite and the fixed reference station, orbit information of the GPS satellite and the true position of the fixed reference station. The difference in the true distance between the reference stations is transmitted as error information to the mobile stations existing within a radius of several hundred km from the fixed reference station, and the mobile station propagates the propagation distance included in the distance measured between the GPS satellite and the mobile station. The differential positioning method (DG) which performs positioning calculation after eliminating the error using the error information transmitted from the fixed reference station
PS) has been proposed.

[0005]

The conventional differential positioning system (DGPS) is mainly intended for ships navigating along the coast, and the fixed reference station is installed in the coastal area of the continent or an island on the ocean. Has a wide area of less than about 1000 km. Therefore, the closer to the limit of the applicable range, the propagation path between the GPS satellite and the fixed reference station and the GPS satellite-
There arises a problem that the correlation of the propagation paths between mobile stations is lowered and the positioning accuracy is deteriorated.

In addition, the differential positioning system (DGPS) proposed so far requires a new communication channel for transmitting error information from the fixed reference station to the mobile station between the mobile station and the fixed reference station. ,
Also, there is a drawback that enormous cost is required to newly construct the equipment of the fixed reference station.

On the other hand, regarding the number of GPS satellites that can be received, the number of GPS satellites that can be received depends on the influence of buildings and topography around the mobile station.
The biggest problem is that the radio waves from satellites are cut off.
This phenomenon is called shadowing, but shadowing frequently occurs in urban areas with high-rise buildings, and in mountainous areas with large trees on both sides of a narrow road.
The current G that constantly requires 3 GPS satellites for positioning calculation
The current situation is that a positioning system using PS satellites can hardly be used in such a place.

Further, when the mobile station travels on a road lined with buildings and trees on both sides, it is noted that the signals of GPS satellites located in front of or behind the road can be received, and it is described in JP-A-63-171377. In the conventional mobile station positioning method described above, a method of performing positioning by two GPS satellites by estimating the traveling direction of the moving body has been proposed. However, in this conventional method, the moving body moves in a completely straight line. It is assumed that it is performed, and it does not consider the actual movement of the moving body such as the speed change or the moving direction change of the moving body at all and is considered to be impractical.

However, when a fixed reference station is installed in a base station of an existing MCA radio system or a base station or control station of a cellular land mobile communication system, the former has a zone radius of 20 to 30 km and the latter has a cell radius of several. Hundred meters
Since the propagation path between the GPS satellite and the fixed reference station and the propagation path between the GPS satellite and the mobile station are as narrow as about 10 km and the propagation path between the GPS satellite and the mobile station is extremely high. Distance and G
The common error component of the propagation distance error of the PS satellite-mobile station distance can be almost completely removed, and the positioning accuracy is always 5
It is possible to perform extremely highly accurate positioning of -10 m. Here, the present invention is to provide a positioning method and a mobile body management method using GPS satellites, which are effective for solving the problems of the conventional techniques.

[0010]

The solution of the above-mentioned problems can be achieved by adopting the novel characteristic construction methods listed below the present invention. That is, the first feature of the present invention is to manage a base station or a plurality of base stations arranged in each cell of a cellular land mobile communication system in a GPS satellite positioning system using a plurality of GPS satellites. The control station is used as a fixed reference station, and the mobile station is provided with a mobile station to measure the G measured at the fixed reference station.
A propagation distance error obtained from the distance between the PS satellite and the fixed reference station and the true distance between the GPS satellite and the fixed reference station is transmitted from the fixed reference station to the mobile station using a control channel of a land mobile communication system. This is a positioning method using a GPS satellite that performs high-precision positioning by obtaining position information of the mobile station from the distance information between the GPS satellite and the mobile station measured by the mobile station and the propagation distance error.

A second feature of the present invention is that, in the first feature, when the mobile station can receive only signals from two GPS satellites, the movement obtained by the azimuth detecting means and the speed detecting means included in the mobile station. Even when the mobile station makes a curvilinear motion using the traveling direction data of the station,
GP that performs high-precision binary positioning by the number of GPS satellites
This is a positioning method using the S satellite.

The third feature of the present invention is to manage a base station or a plurality of base stations arranged in each cell of a cellular land mobile communication system in a GPS satellite positioning system using a plurality of GPS satellites. The control station is used as a fixed reference station, and a mobile station is provided in the moving body, and the distance is calculated from the distance between the GPS satellite and the fixed reference station and the true distance between the GPS satellite and the fixed reference station measured at the fixed reference station. Propagation distance error is transmitted from the fixed reference station to the mobile station using the control channel of the land mobile communication system, and the distance information between the GPS satellite and the mobile station measured at the mobile station and the propagation distance error. Or, if the mobile station has two G
When only signals from PS satellites can be received, the latitude and the latitude of the mobile station obtained respectively using the traveling direction data of the mobile station obtained by the azimuth detecting means and the speed detecting means included in the mobile station are also used. The position information of longitude is periodically transmitted to the mobile management station via the control channel via the fixed reference station by the mobile station together with the identification number given to the mobile station, and the mobile management station uses the data to transmit the mobile station. Is a mobile body management method using a GPS satellite that manages the operation of.

[0013]

Since the present invention adopts the above-described construction method, the conventional differential positioning system (DGPS) using GPS satellites blocks the signals from the satellites in the urban area by the buildings around the existing mobile station. While the positioning time rate is lowered, the base station or control station located in each cell of the land mobile communication system is used as a fixed reference station, and the propagation distance error data obtained by the fixed reference station is used for the land reference. The control channel of the mobile communication system is used to notify the mobile station to improve the positioning time rate. In addition, the azimuth detecting means and speed detecting means of the mobile station and two GPS satellites
Perform original positioning.

Further, the position information (latitude and longitude in which the mobile station is located) of the mobile station thus obtained is transferred from the mobile station to the base station using the upstream channel of the control channel of the land mobile communication system. By notifying, the mobile management station connected to the base station by the fixed network line can easily perform operation management of many mobile stations by using the position information of the mobile station notified from the mobile station. ..

[0015]

【Example】

(Embodiment 1) A first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a configuration of a GPS satellite positioning system to which the present embodiment is applied, and FIG. 2 is a configuration of a mobile station for highly accurate positioning when only signals from the limited GPS satellites can be received. FIG. 3 is a diagram for explaining the principle of highly accurate positioning performed by the mobile station having the configuration of FIG.

In the figure, A is a fixed reference station, B and B'are mobile stations, 1 is a GPS receiver having an antenna 1a for receiving signals Sa, Sb, Sc from GPS satellites, and 2 and 2'are data processing interfaces. 3 is each station A, B, B '
Radios 4a, 4b, which have an antenna 3a provided in
4c is a GPS satellite and 5 is a fixed reference station A and mobile stations B and B '.
It is a control channel that performs transmission between and.

In FIG. 1, a fixed reference station A that uses a base station of a land mobile communication system comprises a GPS receiver 1, an interface 2 for processing positioning data, and a fixed radio 3. The GPS receiver 1 represents a normal GPS receiver which is currently being developed and commercialized, and in the fixed reference station A, all the GPS satellites 4a, 4b, 4 are in the visible range.
The signals Sa, Sb, Sc from c ... can be received.

In the data processing interface 2, the GPS
The orbit data S1 of the GPS satellites 4a to 4c obtained from the receiver 1 is used to calculate the true distance between the GPS satellite and the fixed reference station, and at the same time, the measured distance between the GPS satellite and the fixed reference station obtained by the GPS receiver 1 is calculated. , The satellite number of the GPS satellites 4a, 4b, 4c ..
And the propagation distance error concerning each of the GPS satellites 4a to 4c ..
Convert to data so that it matches the frame format of.

For example, an integer value from 1 to 32 is added to the identification numbers of the GPS satellites 4a to 4n within ± 0.02m steps.
When the propagation distance error data S2 of 655.32 m is prepared, 21-bit data is required for each GPS satellite 4a to 4n, and this data is transmitted to the mobile station B through the control channel 5 using the radio device 3.

On the other hand, the mobile station B similarly comprises a GPS receiver 1, an interface 2 for processing the positioning data S3, and a radio 3. First, the error information S2 transmitted from the fixed reference station A through the control channel 5 is received and demodulated by the wireless device 3 and input to the data processing interface 2.

In the data processing interface 2, the GPS
By deleting the propagation distance error included in the measured distance between the GPS satellite and the mobile station obtained by the receiver 1 using the error information S2 transmitted from the fixed reference station A, new distance data is created. Finally, using that data, GPS
The positioning calculation section inside the receiver 1 performs highly accurate positioning calculation.

Here, due to the influence of surrounding buildings and topography, in the GPS receiver 1, for example, the GPS satellites 4a,
When only signals 4b and 4c of 4b and 4c can be received, a direction sensor such as a vibration gyro which is a direction detecting means, an optical fiber gyro, a geomagnetic sensor, and a vehicle speed sensor which is a speed detecting means, a wheel speed difference sensor, etc. High-precision positioning can be performed by the satellite positioning method using the speed sensor of. The system configuration itself is basically the same as that of FIG. 1, but the configuration of the mobile station B in FIG. 1 is the configuration of the mobile station B ′ in FIG.

First, in the ordinary positioning by the three satellites 4a, 4b, 4c, accurate speed information of the mobile station B '(the traveling direction and traveling speed of the mobile station B') measured by the GPS receiver 1 is obtained. Use the data processing interface 2 '
The direction sensor 6 and the speed sensor 7 are monitored through the.

On the other hand, GPS satellites 4b usable for positioning,
When there are two 4c, the azimuth data of the azimuth sensor 6, the speed data of the speed sensor 7, the positioning data S3 of the distance from the GPS receiver 1, and the error data S2 from the fixed reference station A received by the wireless device 3 are used. After performing the data processing in the data processing interface 2 ', the positioning calculation is performed by the following method, so that the continuous positioning can be performed with high accuracy.

The positioning method will be described with reference to FIG. The mobile station B ′ equipped with the direction sensor 6 (vibration gyro, optical fiber gyro, geomagnetic sensor, etc.), speed sensor 7 (vehicle speed sensor, wheel speed difference sensor, etc.), and GPS receiver 1 has three GPS satellites 4 a When 4c or more is seen, the error information S2 transmitted from the fixed reference station A via the control channel 5 and the GPS receiver 1 of the own station provide highly accurate position information (latitude and longitude where the mobile station B'is located).
And speed information (the traveling direction and traveling speed of the mobile station B ′) can be obtained. Further, the accuracy of the azimuth sensor 6 and the speed sensor 7 is constantly monitored by this speed information.

Here, when the signal from one GPS satellite 4a is cut off due to the influence of buildings and topography around the mobile station B ', the last time when positioning can be performed by the GPS receiver 1 is t0. , And the geocentric coordinate system at that time (with the center of gravity of the earth as the origin, the equatorial plane as the xy plane, and the longitude 0
Positioning coordinates in (x0, y0, z0) are expressed in a coordinate system in which the direction of degrees is the positive direction of the x axis, the y axis is the direction of 90 degrees east longitude, and the north pole direction is the positive direction of the z axis. , Coordinates (x0,
Geodesic coordinate system centered on y0, z0 (Observation point is the origin, the plane passing through the origin and in contact with the earth's surface is the xy axis,
In the coordinate system in which the east is the positive direction of the x-axis, the north is the positive direction of the y-axis, and the positive direction of the z-axis passes through the origin and is vertically upward in the xy plane, the direction sensor 6 and the velocity are measured at time t0. The velocity vector of the mobile station B ′ measured by the sensor 7 is (v0sin θ0, v0cos θ0, 0), time t0.
The velocity vector of the mobile station B ′ measured by the azimuth sensor 6 and the velocity sensor 7 at + nΔt is (vnsinθ
n, vncos θn, 0), the time t0 from the origin
+ Δt (where Δt = MΔt and n = 1,
2, ..., M), the direction vector (X, Y, Z) of the mobile station B ′ to the moving point is given by the following equation.

[0027]

[Equation 1]

Further, the direction vector (X, Y, Z) converted into the direction vector of the geocentric coordinate system is (α, β, γ).
And the position coordinates of the remaining two GPS satellites 4b and 4c in the geocentric coordinate system at time t0 + Δt are represented by (a1,
b1, c1), (a2, b2, c2) and the position coordinates of the mobile station B'in the geocentric coordinate system are represented by (X, Y, Z), and the following calculation is performed to obtain the mobile station B '. It is possible to continuously perform high-precision positioning corresponding to the traveling state of.

First, the fixed reference station A to the control channel 5
GP at time t0 + Δt when an error factor such as a propagation delay is removed by the error information S3 transmitted via
The distance between S satellite and mobile station is

[Equation 2]

[Equation 3] Given in. However, r1 and r2 represent the distance between the two GPS satellites and the mobile station in which the propagation distance error is removed using the error information S3 transmitted from the fixed reference station A, and r'is the GPS receiver 1 of the mobile station B '. Represents the equivalent propagation distance error caused by the clock shift of.

Here, by taking the difference between both sides of the equations (2) and (3) as in the following equation, the unknown clock shift can be eliminated [at this time, the following equation ( 4)
Is a hyperboloid.]

[Equation 4] On the other hand, the equation of a straight line passing through the point (x0, y0, z0) and having a direction vector (α, β, γ) is

[Equation 5] Given in.

By solving the simultaneous equations of the equations (4) and (5), the mobile station B'at time t0 + Δt.
Can be obtained as an estimated value. After that, by similarly estimating the position of the mobile station B ′ at the time t0 + (k + 1) Δt with reference to the coordinates obtained at the time t0 + kΔt as a reference, the two GPS signals are used regardless of the travel of the mobile station B ′. Highly accurate and continuous positioning can be performed by the satellites 4b and 4c.

(Embodiment 2) FIG. 4 shows an example of the configuration of a mobile unit management system which uses the position information obtained at the mobile station. In the figure, C is a base station of the land mobile communication system, D is a mobile management station, and 8 is a fixed network line for transmission between the base station C and the mobile management station D.

Each mobile station Bi, Bii, Biii transmits a data frame composed of an identification number given to itself and position data Si-Siii of the point where the mobile station Bi-Bii exists to each control channel 5i, 5iii. , 5ii
The data is transmitted to the base station C using the upstream channel of i, and the base station C transmits the data Si to Siii to the mobile management station D connected by the fixed network line 8. In the mobile management station D, the mobile stations Bi, Bii, Biii transmitted from the base station C are transmitted.
The operation management of each mobile station Bi, Bii, and Biii can be performed by using the identification number and the position data Si to Siii.

Here, the operation management method of the moving body in the system of FIG. 4 will be described. Each control channel 5 of the land mobile communication system using the satellite positioning method using the direction sensor and the speed sensor in the first embodiment.
By using the downlink channels i, 5ii, and 5iii, the mobile station Bi, Bii, and Biii from the base station C can be used.
The error information S2 can be transmitted to.

At the same time, each mobile station Bi, Bii, B
From iii, the identification number given to the local station and the data frame composed of the position data Si to Sii including the latitude and longitude of the existing position of each mobile station Bi, Bii, and Biii are stored in the base station C-each mobile station. Bi, Bii, Bii
Each control channel 5i, 5ii, 5i set between i
By using the upstream channel of ii, each mobile station Bi, Bi
It is possible to periodically transmit from i, Biii to the base station C.

Further, the base station C, with respect to the individual mobile management stations D connected to the local station C via the fixed network line 8, the mobile stations Bi, Bii, Biii managed by the respective mobile management stations D.
And the position data Si to Siii of the point where each mobile station Bi, Bii, Biii exists.
Finally, each mobile management station D uses each of the transmitted data Si to Siii to transmit each mobile station Bi, Bii, Bii.
By confirming the position of i, the operation management of each mobile station Bi, Bii, Biii can be accurately and easily performed. On the contrary, various information is provided to each mobile station Bi, Bii, Biii via each control channel 5i, 5ii, 5iii, and a command is given from the base station C or the mobile management station D to be managed. You can also do it.

However, since the specifications of these embodiments represent such a concrete embodiment, the mobile stations B and B'of the cellular land mobile communication system and MCA radio system.
Between the GPS receiver 1 and the existing GPS receiver 1, the positioning data S3 obtained from the GPS receiver 1 and the error data S2 obtained from the radio device 3 are processed at the same time.
By incorporating a simple data processing interface 2 for connecting the wireless device 3 and the wireless device 3, a highly accurate positioning system can be easily realized.

Here, the fixed reference station A that measures the propagation distance error between the satellite and the receiving station and transmits the error information S2 to the mobile stations B and B'is the base station C of the MCA radio system or the cellular land mobile. The error information S2 derived by the fixed reference station A using the base station C arranged in each cell of the body communication system or a control station managing a plurality of cells is
Transmission is performed between the control station and the base station using the fixed network line 8,
This is realized by notifying the mobile stations B and B'using the control channel 5 of the existing land mobile communication system between the base station and the mobile station.

As described above, the base station C of the existing MCA radio system, or the base station C or the control station of the cellular land mobile communication system, and the mobile stations B and B'are GP.
By installing the S receiver 1 and the data processing interface 2, a highly accurate positioning method can be provided.

Further, the mobile station B thus obtained
i-Biii position information (latitude and longitude where the mobile station is located) Si-Sii is used by using the up channel of the control channel 5 of the land mobile communication system to obtain the mobile stations Bi-B.
By notifying the base station C from iii, the mobile management station D, which is connected to the base station C by the fixed network line 8, receives the location information Si to Sii of the mobile stations Bi to Biii notified from the mobile stations Bi to Biii. , A large number of mobile stations Bi ...
It is possible to easily manage the operation of Biii.

When the mobile station B'runs on a road lined with buildings and trees on both sides, it should be noted that the signals Sb to Sc from the GPS satellites 4b and 4c located in front of or behind the road can be received. 2 GPS satellites 4
b, 4c and error information S2 transmitted from the fixed reference station A,
In addition, the orientation sensor 6 of the mobile station B '(vibration gyro,
Using an optical fiber gyro, a geomagnetic sensor, etc.) and a speed sensor 7 (vehicle speed sensor, wheel speed difference sensor, etc.),
It is possible to provide the mobile station B ′ with means for performing highly accurate positioning even in a place where positioning could not be performed until now.

In these embodiments, the GPS receiver 1 and the positioning data processing interface 2 are provided to the base station C or the control station of the existing land mobile communication system and the mobile stations B, Bi, Bi to Biii as described above. By installing
This enables highly accurate positioning in mobile stations without enormous cost.

(Example of Application) FIG. 5 shows an example of the configuration in which the present embodiment described above is specifically applied to a cellular digital car telephone system. In the figure, D'is a mobility management station, E is a radio network controller, F is a mobile telephone base station (BS), G is a mobile telephone switching center (MSC), 9 is a wireless zone, and 10 is a mobile telephone base station (BS). ) F is a mobile communication network that connects the radio network controller E and the radio network controller E and the mobile telephone switching center G, and 11 is a mobile management station D'and a mobile telephone switching center (MSC) G. It is a fixed telephone network that connects the two.

The positioning method itself using GPS satellites applied in FIG. 5 is the same as the method shown in FIG. Therefore, the fixed reference station in FIG. 5 is installed in the radio network controller E that controls the wireless zone 9, and the system configuration itself of the fixed reference station is the same as the fixed reference station A shown in FIG.

Data processing interface (2 in FIG. 1)
Then, after deriving the propagation distance error included in the measurement distance between the four GPS satellites 4d, 4e, 4f, 4g and the fixed reference station (A in FIG. 1), the respective GPS satellites 4d, 4e, 4f, 4g
Identification number and its GPS satellites 4d, 4e, 4f,
The propagation distance error regarding 4g is converted into data so as to match the frame format of the control channel 5 of the cellular digital mobile telephone system. Then, this data is transferred to each car telephone base station (BS) F connected to the mobile communication network 10, and each car telephone base station (BS) is transferred.
The data is transmitted to each mobile station B existing in each radio zone 9 via each control channel 5 by the radio device F (3 in FIG. 1).

The system configuration itself of the mobile station B is the same as the system configuration shown in the mobile station B shown in FIG. Mobile station B
Then, the propagation distance error included in the measured distance between the GPS satellite and the mobile station, which is obtained by the GPS receiver of the own station B (1 in FIG. 1), is transmitted from each mobile telephone base station (BS) F to the control channel 5. New distance data is created by deleting the error information S3 transmitted via the data, and positioning calculation is performed using the data.

Further, the mobile station B sends a data frame composed of an identification number given to itself and position data (latitude and longitude of the mobile station) Si to Sn of the point where the mobile station B exists to the control channel 5. Is transmitted to each mobile telephone base station (BS) F by using the up channel of the mobile telephone base station (BS) F, and the mobile telephone base station (BS) F transmits the data to the radio network controller E connected to the mobile communication network 10.

Further, the radio network controller E is the mobile communication network 1
After transmitting the position information data Si to Sn to the mobile telephone switching center (MSC) G connected by 0, the mobile telephone switching center (MSC) G is connected to the fixed telephone network 11 by the mobile management station D ′. To the position data Si to Sn of the mobile station B. Finally, the mobile management station D ′ can confirm the position of the mobile station B using the data transmitted from the mobile station B, and can accurately and easily perform the operation management of the mobile station B. The mobile management station D'provides the mobile station B with various information obtained from a traffic information center (not shown) connected to the mobile station D'by another fixed telephone network by tracing the reverse line. It is also possible to give a command from the local station D '.

[0049]

As described above, according to the present invention, highly accurate positioning can always be performed easily without being affected by surrounding buildings and topography. Moreover, by utilizing the existing equipment such as the MCA wireless system and the cellular land mobile communication system, there is no need to newly construct a positioning system at a large cost, and users of the land mobile communication system It offers highly accurate and easy location information service, and can also manage the operation of mobile stations.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a GPS satellite positioning system to which an embodiment of the present invention is applied.

FIG. 2 is a diagram showing a configuration of a mobile station when performing positioning with high accuracy when only limited GPS satellite signals can be received in the above.

[Fig. 3] Fig. 3 is a diagram for explaining the principle of high-accuracy positioning performed by the mobile station having the above-mentioned configuration.

FIG. 4 is a diagram showing another embodiment of the present invention, showing an example of the configuration of a mobile management system which is performed by using the position information obtained in the mobile station.

FIG. 5 is a diagram showing a configuration when the embodiment of the present invention is specifically applied to a cellular digital car telephone system.

[Explanation of symbols]

A ... Fixed reference station B, B ', Bi, Bii, Biii ... Mobile station C ... Base station D, D' ... Mobility management station E ... Radio line control station F ... Car telephone base station (BS) G ... Car telephone exchange station (MSC) 1 ... GPS receiver 2, 2 '... Data processing interface 3 ... Radio equipment 4a, 4b, 4c, 4d, 4e, 4f, 4g ... GPS satellites 5, 5i, 5ii, 5iii ... Control channel 6 ... Direction Sensor 7 ... Speed sensor 8 ... Fixed network line 9 ... Wireless zone 10 ... Mobile communication network 11 ... Fixed telephone network Sa-Sc ... GPS satellites 4a-4c signal S1 ... Orbit data S2 ... Error data (information) S3 ... Positioning data Si-Siii ... Position data

Claims (3)

[Claims] 1. In a GPS satellite positioning system using a plurality of GPS satellites, a base station arranged in each cell of a cellular land mobile communication system or a control station managing a plurality of base stations is used as a fixed reference station. In addition to using the mobile station, a mobile station is provided on the mobile body, and the propagation distance error obtained from the distance between the GPS satellite and the fixed reference station measured at the fixed reference station and the true distance between the GPS satellite and the fixed reference station is moved to the land. The latitude of the mobile station, which is transmitted from the fixed reference station to the mobile station using a control channel of the body communication system, is measured from the GPS satellite-the distance information between the mobile station and the propagation distance error. Positioning method using GPS hygiene characterized by performing high-precision positioning by obtaining position information of longitude 2. When the mobile station can receive only signals from two GPS satellites, the mobile station uses the traveling direction data of the mobile station obtained by the azimuth detecting means and the speed detecting means included in the mobile station. The positioning method using a GPS satellite according to claim 1, wherein binary positioning is performed by two GPS satellites to obtain position information of latitude and longitude between the movements even when performing a curvilinear motion. 3. In a GPS satellite positioning system using a plurality of GPS satellites, a base station arranged in each cell of a cellular land mobile communication system or a control station for managing a plurality of base stations is used as a fixed reference station. A mobile station is provided on a mobile body while being used, and a propagation distance error obtained from a distance between the GPS satellite and the fixed reference station measured at the fixed reference station and a true distance between the GPS satellite and the fixed reference station is transferred to the land. Transmitted from the fixed reference station to the mobile station using a control channel of a body communication system, and measured from the GPS satellite-the mobile station distance information and the propagation distance error, or the mobile station. Is only able to receive signals from two GPS satellites due to curvilinear movement or the like, the direction detecting means and speed detecting means provided in the mobile station are By using the traveling direction data of the mobile station obtained in a binary manner as well, the position information of the latitude and longitude of the mobile station obtained respectively is stored in the fixed reference station together with the identification number given to the mobile station. A mobile management method using a GPS satellite, characterized in that the data is periodically transmitted to the mobile management station via the control channel, and the mobile management station uses the data to manage the operation of the mobile station.