JPH06289120A - Avm system - Google Patents

Abstract

PURPOSE:To provide an AVM system which can remove a position measuring error peculiar to GPS and improve GPS position measuring accuracy in each mobile station by computing a GPS position measuring error from the absolute position of a reference point and its GPS position measuring position and correcting the GPS position measuring position of each mobile station using the GPS position measuring error. CONSTITUTION:In an Automatic Vehicle Monitoring System(AVM) system where a mobile station 100 has a GPS location device 120 and a radio equipment 110, and a base station 10 has a monitoring device 13 and a radio equipment 11, the GPS location device 12 is connected to the monitoring device 13 of the base station 10. The AVM system has an error computing means for computing the position measuring error caused by the GPS location device 12 from the position of the base station 10 whose position is measured by the GPS location device 12 and the absolute position of the base station 10, and the position measured by the GPS location device 120 of the mobile station 100 is corrected by the error computing means.

Description

Detailed Description of the Invention

[0001]

The present invention relates to an AVM system (Aut).
automatic vehicle monitoring
System), that is, a system for grasping the position of a mobile station at a base station, and more specifically, an AVM system whose main purpose is to perform dynamic position management of commercial vehicles such as taxis and logistics business vehicles by GPS. Regarding

[0002]

2. Description of the Related Art A GPS system is used in the space of about 2010 over the earth.
A total of 18 orbiting satellites (GPS satellites) are arranged at equal intervals, 3 on each of 0 km of 6 orbital planes, and position measurement is designed so that radio waves from 4 satellites can always be received from anywhere on the earth. System. When the current position of the mobile station is measured by the GPS system, it is performed as follows.

From the GPS satellites, data such as orbit information of each satellite and accurate time information is sent. To measure the current position of the vehicle, the mobile station receives and analyzes data from three or more satellites, and draws a spherical surface with each satellite as the center and the distance to the vehicle as a radius. Next, the radio wave from the fourth satellite is received and the point where the three spherical surfaces intersect at one point is calculated. If the obtained intersection is calculated by latitude and longitude, the current position will be obtained.

In the conventional GPS-AVM system, the current position of the mobile station (= GPS positioning position) obtained by the above-mentioned method is used as it is as the coordinate indicating the current position of the mobile station.

[0005]

[Problems to be Solved by the Invention] However, the above-mentioned GP
It is not accurate to directly use the S positioning position as the coordinates indicating the current position of the mobile station. This is because the GPS positioning position includes positioning errors peculiar to GPS as shown below.

(1) As described above, in the GPS system, it is necessary to accurately measure the arrival required time of the radio wave transmitted from each satellite. However, the time required for the radio waves emitted from each satellite to reach the ground is affected by the state of the propagation path, such as the distribution of electron density in the ionosphere and the presence of clouds. That is, the conventional AVM system has a problem that the positioning accuracy varies depending on the state of the propagation path even when positioning the same point.

(2) As described above, the GPS satellite transmits a radio wave emission time signal and a signal indicating the orbital position of each GPS satellite. However, for military reasons, the signal transmission timing is regular. It is designed to be shifted artificially. Therefore, there is a problem that the GPS positioning position determined by the conventional GPS-AVM system includes the artificial positioning error.

As described above, since the GPS positioning position determined by the GPS system includes the positioning error peculiar to the GPS system shown in (1) and (2) above, the base station (and the mobile station). ), It is necessary to remove the positioning error in order to accurately grasp the current position of the mobile station.

The present invention has been made in view of the above problems, and it is based on an absolute position (reference point) and a GPS positioning position.
An object of the present invention is to provide a GPS-AVM system capable of calculating a positioning error, correcting the GPS positioning position measured by each mobile station using the GPS positioning error, and improving the GPS positioning accuracy.

[0010]

In order to achieve the above object, an AVM system according to the present invention includes a GPS location device and a radio device on the mobile station side, and a monitor device and a radio device on the base station side. In the AVM system including, a GPS location device is connected to the monitor device on the base station side, and the GPS is determined from the position of the base station located by the location device and the absolute position of the base station. An error calculating means for calculating a positioning error by the location device is provided, and the position measured by the GPS location device of the mobile station is corrected by the error calculating means.

An AVM system according to the present invention is an AVM system including a GPS location device and a wireless device on the mobile station side and a monitor device and a wireless device on the base station side. GPS location on monitor
A location device is connected, and an error calculation means for calculating a positioning error by the GPS location device from the position of the base station located by the location device and the absolute position of the base station, and A display is connected to the GPS location device of the mobile station, and the current position of the mobile station corrected by the error calculating means is displayed on the display.

Further, the AVM system according to the present invention is provided with a GPS location device, a radio device, etc. on the mobile station side,
In an AVM system including a monitor device and a radio device on the base station side, a data base indicating an absolute position of a predetermined location is connected to the monitor device of the base station, and a radio device on the mobile station side is connected to the radio device. An operation unit for notifying the base station that the vehicle has arrived at the predetermined location is connected to the GPS location.
An error calculation means for calculating a positioning error of the GPS location device from the position of the mobile station measured by the position device and the database, It is characterized in that it is corrected by the error calculating means.

[0013]

In the AVM system according to the present invention, a GPS location device is connected to the monitor device on the base station side, and the position of the base station measured by the GPS location device and the absolute position of the base station are determined. From the position and the GPS
When the error calculation means for calculating the positioning error by the localization device is provided, the GPS positioning position of each mobile station which is located by the GPS localization device of the mobile station and transmitted from the mobile station is It is corrected based on the GPS positioning error calculated by the error calculating means.

In the AVM system according to the present invention, the error calculating means is provided and the GPS of the mobile station is
When the display is connected to the location device, the GPS positioning error calculated by the error calculating means is transmitted from the base station to the mobile station, and the GPS location of the mobile station is transmitted to the mobile station. The GPS positioning position of the mobile station, which is located by the positioning device, is corrected based on the GPS positioning error. Then, the GPS positioning position corrected based on the GPS positioning error (= the true current position of the mobile station) is displayed on the display, and the navigation is displayed.
It is used for application systems.

Further, in the AVM system according to the present invention, a data base indicating an absolute position of a predetermined location is connected to the monitor device on the base station side, and the predetermined location is provided on the radio equipment on the mobile station side. The operation unit for notifying the base station side that the mobile station has arrived at the position of the mobile station located by the GPS location device and the database.
When the monitor device is provided with an error calculating means for calculating a positioning error of the GPS location device from the GPS location, a signal indicating that the mobile device has arrived at the predetermined location from an arbitrary mobile station and the GPS location. -When the measured position of the predetermined place determined by the positioning device is transmitted, the base station compares the measured position with the absolute position of the predetermined place stored in the database. The GPS positioning error is calculated by the error calculating means. Then, the calculated GPS positioning error is transmitted to all the mobile stations, and the G of each mobile station positioned by the GPS location device is measured based on the GPS positioning error received by each mobile station.
The PS positioning position (current position) is corrected. After that, the corrected GPS positioning position (= the true current position of each mobile station)
Is transmitted to the base station and displayed on the display or the like of the base station.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments (first to third embodiments) of an AVM system according to the present invention will be described below with reference to the drawings. First, a first embodiment will be described based on FIGS. 1 and 2. FIG. 1 is a block diagram schematically showing the system configuration of the AVM system according to the first embodiment. In FIG. 1, 10 indicates a base station and 100 indicates a mobile station.

The base station 10 comprises a wireless device 11, a GPS location device 12, a monitor device 13 and the like. An antenna 11 a is connected to the wireless device 11, an antenna 12 a is connected to the GPS location device 12, and the wireless device 11 and the GPS location device 12 are connected to a monitor device 13, respectively. The mobile station 100 includes a wireless device 110, a GPS location device 120, and the like. The radio 110 has antennas 110a, G
An antenna 120a is connected to the PS location device 120, and the GPS location device 120 is connected to the wireless device 110.

The operation of the AVM system configured as described above will be described with reference to FIG. FIG. 2A shows the base station 10.
3 is a flowchart showing the operation of the (monitor device 13), and FIG. 6 (b) is a flowchart showing the operation of the mobile station 100.
It is First, the operation of the base station 10 will be described with reference to the flowchart of (a).

First, in step 51, the GPS location show
GPS position of the base station 10 (X_k ,
Y_k ) Is calculated. Next, this GPS positioning position (X
_k , Y _k ) With respect to the absolute position (X, Y) of the base station 10
GPS positioning error (X_d , Y_d ) Is calculated (step
52). However, X_d = X-X_k And Y_d = Y-Y
_k Is.

Next, at step 53, the radio 11
From the mobile station 100 via the GPS location device 12
GPS positioning position of mobile station 100 calculated by 0 (X _c ,
Y _c ) is received. Next, this GPS positioning position (X
_c , Y _c ) is the GPS positioning error (X
_d, is modified by Y _d), the true current position of the mobile station 100 (X _T, Y _T) is calculated (step 54). _{That, X T = X C -X d} , Y T = Y C -Y d is calculated. Then, in the base station 10, the mobile station 100 based on the true current position (X _T , Y _T ) calculated in step 54.
The position management, display, etc. are performed (step 55).
After that, the operations from step 51 to step 55 described above are repeated.

Next, based on the flowchart of (b)
The operation of the mobile station 100 will be described. In the mobile station 100
Is the operation of step 56 and step 57 shown below.
Is repeated. In step 56, the GPS location show
GPS positioning position (X _C , Y_C ) Is arithmetic
The GPS positioning position (X_C ,
Y_C ) Is transmitted to the base station 10 via the radio 110
It

As described above, the AV according to the first embodiment
In the M system, in the base station 10, the base station 1
Absolute position of 0 (X, Y) and GPS position of base station 10
(X _k , Y_k ) And the GPS positioning error (X
_d , Y_d ) Is used to transmit from the mobile station 100 at regular intervals.
GPS position of mobile station 100 (X_C ,
Y_C) Is corrected, the true current position (X
_T , Y_T ) Is calculated. Therefore, the state of the propagation path of the radio wave
Deterioration of positioning accuracy due to the situation and work due to military reasons
Positioning peculiar to GPS caused by deterioration of artificial positioning accuracy
The error can be removed, and it is always high and stable.
It is possible to secure GPS positioning accuracy. Also the base station
At 10, the true current position (X_T , Y_T ) Based on mobile stations
Since 100 current positions are displayed and managed, move
The accurate current position of station 100 can be displayed and
It is possible to streamline the dynamic position management of the mobile station 100.
It

Next, a second embodiment of the AVM system according to the present invention will be described with reference to FIGS. Figure 3 is the second
FIG. 1 is a block diagram schematically showing a system configuration of an AVM system according to an example. In FIG. 3, 10 indicates a base station and 200 indicates a mobile station. The configuration of the base station 10 is the same as the configuration of the base station 10 in the first embodiment shown in FIG. 1, and detailed description thereof will be omitted here.

The mobile station 200 comprises a radio 210, a GPS location device 220, a display 230 and the like. The radio 210 has an antenna 210a,
An antenna 220a is connected to the GPS location device 220, and the GPS location device 220 is connected to a wireless device 210 and a display 230.

The operation of the AVM system configured as described above will be described with reference to FIG. In FIG. 4, (a) is a flowchart showing the operation of the base station 10,
(B) is a flowchart showing the operation of the mobile station 200. First, the operation of the base station 10 will be described.

First, in step 61, the GPS location device 12 calculates the GPS positioning position (X _K , Y _K ) of the base station 10. Next, in step 62, a GPS positioning error (X _d , Y) is calculated from the absolute position (X, Y) of the base station 10 and the GPS positioning position (X _K , Y _K ).
_d ) is calculated. Where X _d = X−X _K and Y
_d = Y−Y _K. GPS calculated in step 62
The positioning error (X _d , Y _d ) is transmitted from the wireless device 11 to the mobile station 200 in step 63.

At step 64, it is calculated by the mobile station 200.
True current position of the mobile station 200 (X_T , Y_T ) Received
To be done. Then, in step 65, the true current position is
(X _T , Y_T ) Based on the current position of the mobile station 200
And management is performed. After that, the above step 61
The operation from step 65 to step 65 is repeated.

Next, the operation of the mobile station 200 will be described. First, the mobile station 200 is moved by the GPS location device 220.
The GPS positioning position (X _C , Y _C ) of is calculated (step 66). Next, according to the GPS positioning error (X _d , Y _d ) received from the base station 10, the GPS positioning position (X _C , Y
_C ) is modified so that the true current position of mobile station 200 (X _T ,
Y _T ) is calculated (step 67). That is, X _T =
_{X C -X d, Y T =} Y C -Y d is calculated. Then, in step 68, the true current position (X _T , Y _T )
Is displayed on the display 230.

In step 69, the GPS positioning error (X
_d , Y _d ) is updated, that is, whether a new GPS positioning error (X _d1 , Y _d1 ) is transmitted from the base station 10, and if yes, the process proceeds to step 71 via step 70. Go, step 71 if no
Fly to. In step 70, a new true current position (X _T1 , Y _T1 ) of the mobile station 200 is calculated based on the new GPS positioning error (X _d1 , Y _d1 ). In step 71, the true current position (X _T , Y _T ) of the mobile station 200 calculated in step 67 or step 70 or (X
_T1 , Y _T1 ) is transmitted to the base station 10 via the radio 210. After that, the operations from step 66 to step 71 described above are repeated.

As described above, the AV according to the second embodiment
In the M system, the GPS calculated by the base station 10
The positioning error (X _d , Y _d ) is transmitted to the mobile station 200, and the GPS positioning position (X
_C , Y _C ) are corrected, so positioning errors specific to GPS, such as positioning errors caused by the state of the propagation path of radio waves and positioning errors caused by artificially degrading positioning accuracy due to military reasons, are eliminated. Therefore, the true current position (X _T , Y _T ) of the mobile station 200 can be calculated with high accuracy. Further, in the AVM system according to the second embodiment, the current position of the mobile station 200 is displayed and managed based on the true current position (X _T , Y _T ). Since the current position of the mobile station 200 can be accurately grasped, the efficiency of management can be improved.
Since the accurate current position of the vehicle can be displayed on the map drawn as 0, navigation can be performed efficiently and accurately.

Next, a third embodiment of the AVM system according to the present invention will be described with reference to FIGS. Figure 3 is the third
FIG. 1 is a block diagram schematically showing a system configuration of an AVM system according to an embodiment, in which 30 denotes a base station,
Reference numeral 300 denotes a mobile station.

The base station 30 comprises a wireless device 31, a personal computer 34 and a data base 35. The personal computer 34 includes a central processing unit 34b and a display 34a. It is composed of. An antenna 31a is connected to the wireless device 31, and the wireless device 31, the data base 35 and the display 34a are each connected to a central processing unit 34b.

The mobile station 300 comprises a wireless device 310, a GPS location device 320 and an operating section 40. An antenna 310a is connected to the wireless device 310, an antenna 320a is connected to the GPS location device 320, the GPS location device 320 is connected to the operation unit 340, and the operation unit 340 is connected to the wireless device 310. .

The operation of the AVM system configured as described above will be described with reference to FIG. FIG. 6 shows the base station 30 (central processing unit 34 when an arrival signal indicating that the mobile station 300 has arrived at a predetermined location is transmitted.
It is a flowchart showing the operation of b). In the present embodiment, there are provided a number of predetermined locations that serve as reference points for calculating the current location of the mobile station 300. When the vehicle arrives at the predetermined location, the operation unit 340 in the mobile station 300 transmits the arrival signal and the GPS positioning position (X _CA , Y _CA ) of the predetermined location to the base station 30 via the radio 310.

First, in step 81, the mobile station 30
The arrival signal indicating that the mobile station 300 has arrived at a predetermined location from 0, together with the GPS positioning position (X _CA , Y) of the predetermined location.
_It is determined whether the _CA ) has been sent. If the determination is yes, first, the absolute position (X _A , Y _A ) of the predetermined location is read from the data base 35 (step 82). Next, the GPS positioning position (X _CA , Y _CA )
And the absolute position (X _A , Y _A ) of the predetermined location
The positioning error (X _d , Y _d ) is calculated, that is, (X _d , Y
_{d) = (X A -X CA} , Y A -Y CA) is calculated (step 83), the GPS positioning error (X _d, Y _d) is the mobile station 3
Sent to all mobile stations including 00 (step 8)
4).

The GPS transmitted from the base station 30
Upon receiving the positioning error (X _d , Y _d ), each mobile station sets the GP to the GPS positioning position (X _C , Y _C ) of the vehicle.
The S positioning error (X _d , Y _d ) is added as a correction term to calculate the true current position (X _T , Y _T ) of each mobile station. In each mobile station, the GPS positioning error (X _d1 , Y _d1 ) is transmitted from the base station 30 until the updated GPS positioning error is transmitted.
The GPS positioning position (X _C , Y _C ) of the vehicle is corrected using the positioning error (X _d , Y _d ). The true current position (X _T , Y _T ) calculated by each mobile station is transmitted to the base station 30 and displayed on the map drawn on the display 34 a of the base station 30.

As described above, the AV according to the third embodiment
In the M system, the absolute position (X
GP from _A , Y _A ) and GPS positioning position (X _CA , Y _CA ).
The S positioning error (X _d , Y _d ) is calculated, and the GPS positioning position (X _C , Y _C ) of each mobile station is corrected based on the GPS positioning error (X _d , Y _d ). Similar to the first and second embodiments, the positioning error peculiar to GPS can be removed and the positioning accuracy can be stabilized. Further, in the base station 30, the current position of each mobile station is displayed on the display 34a based on the true current position (X _T , Y _T ) so that the current position of each mobile station can be accurately grasped. Therefore, it is possible to efficiently manage the current position of the mobile station.

In the third embodiment, the mobile station 30
As a method of transmitting the arrival signal from 0 to the base station 30,
There is a method in which a button is provided on the operation unit 340 for each predetermined location such as a sales office and a parking area, and when the user arrives at the predetermined location, the button corresponding to the predetermined location is pressed.

In the first to third embodiments described above, when communication is performed between the base station and the mobile station (when each mobile station is called from the viewpoint of the base station), the communication method is the
A ring communication method (sequential calling method) or a simultaneous simultaneous sequential issue communication method may be used.

[0040]

As described above in detail, the AVM according to the present invention
In the system, the GPS positioning error is calculated from the absolute position of the reference point (the base station in claims 1 and 2 and the predetermined position in claim 3) and the GPS positioning position of the reference point, and the GPS positioning is performed. Since the GPS positioning position of each mobile station is corrected by the error, the positioning error peculiar to GPS, which is inevitable in the conventional GPS-AVM system, that is, the positioning error caused by the state of the path through which the radio wave propagates,
It is possible to eliminate positioning errors and the like caused by intentionally degrading positioning accuracy for military reasons.
The positioning accuracy can be improved and stabilized at a high level.

[Brief description of drawings]

FIG. 1 is a block diagram schematically showing a system configuration of a first embodiment of an AVM system according to the present invention.

FIG. 2 is a flowchart showing the operation of the AVM system according to the first embodiment, where (a) shows the operation of the base station and (b) shows the operation of the mobile station.

FIG. 3 is a block diagram schematically showing a system configuration of a second embodiment of the AVM system according to the present invention.

FIG. 4 is a flowchart showing the operation of the AVM system according to the second embodiment, where (a) shows the operation of the base station and (b) shows the operation of the mobile station.

FIG. 5 is a block diagram schematically showing a system configuration of a third embodiment of the AVM system according to the present invention.

FIG. 6 is a flowchart showing the operation of the base station which constitutes the AVM system according to the third embodiment, and shows the operation of the base station when an arrival signal is transmitted from the mobile station. .

[Explanation of symbols]

 10, 30 base station 11, 31 wireless device 12 GPS location device 13 monitor device (error calculation means) 34 personal computer (error calculation means) 34a central processing unit (error calculation means) 35 data base 100, 200, 300 Mobile stations 110, 210, 310 Radios 120, 220, 320 GPS location device 240 Display 340 Operation unit

Claims (3)

[Claims] 1. An AVM system having a mobile station side with a GPS location device, a radio device, etc., and a base station side with a monitor device, a radio device, etc. In an AVM system, the base station side monitor device has a GPS location device. A position of the base station to which a device is connected and which is located by the GPS location device;
An error calculating means for calculating a positioning error by the GPS location device from the absolute position of the base station is provided, and the positioning error by the GPS location device of the mobile station is corrected by the error calculating means. AVM to
system. 2. In an AVM system having a mobile station side with a GPS location device, a wireless device, etc., and a base station side with a monitor device, a wireless device, etc. A position of the base station to which a device is connected and which is located by the GPS location device;
An error calculation means for calculating a positioning error by the GPS location device from the absolute position of the base station is provided, and a display is connected to the GPS location device of the mobile station and corrected by the error calculation means. An AVM system, wherein the current location of the mobile station is displayed on the display. 3. An AVM system having a mobile station side equipped with a GPS location device, a radio device, etc., and a base station side provided with a monitor device, a radio device, etc. A database indicating an absolute position is connected, and a radio unit on the mobile station side is connected to an operation unit for informing the base station that the mobile station has arrived at the predetermined location. An error calculating means is provided for calculating a positioning error of the GPS location device from the position of the mobile station that has been positioned and the database, and the position of the mobile station measured by the GPS location device is calculated as the error. AV characterized by being modified by means
M system.