JPH0743447A - Measuring apparatus for direction of three-dimensional position - Google Patents

Abstract

PURPOSE:To obtain positions and bearings of both communication and position measuring antennas from an encoder value, three-dimensional position, etc., by placing both the antennas in the same traveling body, and inputting a position measuring radio wave to a GPS receiver and a communication radio wave to a satellite communication unit and a satellite tracking unit. CONSTITUTION:Satellite position measuring and communicating antennas 1, 2 are placed in the same traveling body 3, and a horizontally rotating encoder is mounted at a rotary central shaft 11 of the antenna 1 to obtain an encoder value. A position measuring radio wave is input to a GPS receiver, its output, the encoder value and orbital data of the satellite are input to a bearing computer, which calculates three-dimensional coordinates of the body 3. Communicating radio wave is input to a satellite communicating unit and a satellite tracking unit. The tracking unit always directs the antenna 2 toward the satellite, and the encoder value is input to the tracking unit. Accordingly, an angle of a reference point with the position of the body 3 as a center and the satellite can be decided from the encoder value. Thus, the three-dimensional coordinates and its bearing can be decided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional position / direction measuring device.

[0002]

2. Description of the Related Art Recently, the use of communication systems and positioning systems using artificial satellites is increasing, and as communication capabilities and positioning performance are improved, the application of systems in which communication functions and positioning functions are mixed is also expanding. It is expected to be. Under such circumstances, the [satellite positioning system] and the [satellite communication system] are still used independently, and the antennas are also installed separately and used as individual functions.

Problems to be Solved by the Invention The conventional satellite utilization method described above has the following problems.

<A> In order to improve the accuracy in positioning using satellites, a relative measuring method called differential must be adopted. However, in order to adopt this measurement method, it is necessary to perform data communication with the satellite positioning location serving as a reference point by some method. For that reason, conventionally, data communication is performed using wired or wireless, but this method requires the user to consider the distance from the reference point side and the radio wave environment each time, and expertise in measurement work is required. It was necessary and careful pre-planning was required, so it could not be implemented easily.

<B> In satellite positioning, the three-dimensional position can be obtained, but the azimuth cannot be measured. Therefore, extra work such as moving the positioning device and knowing the direction from the positions of two points was required.

<C> The satellite positioning antenna and the satellite communication antenna each have an elevation angle necessary for receiving radio waves. Therefore, when both antennas are used in a mixed manner, it is necessary to install the antennas with a certain distance so that they do not interfere with each other. This requires a large space and expertise in antenna installation.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned conventional problems, and provides a three-dimensional position / direction measuring device which can instantly know the three-dimensional coordinates and direction and is easy to handle. The purpose is to provide.

[0007]

In order to achieve the above-mentioned object, the three-dimensional position and direction measuring apparatus of the present invention comprises a mobile satellite communication antenna and a satellite positioning antenna. Is mounted on the same mobile body, the positioning radio wave received by the positioning antenna is input to the GPS receiver, and the communication radio wave received by the communication antenna is input to the mobile satellite communication device and the satellite tracking device. The configuration is such that the installation position and the azimuth of both antennas can be obtained from the encoder value obtained by the above, the three-dimensional position obtained by GPS, and the orbital position of the communication satellite.
It features a three-dimensional position and orientation measuring device.

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a three-dimensional position and direction measuring apparatus of the present invention will be described below with reference to the drawings.

<A> Arrangement of Antenna The apparatus of the present invention is constructed by mounting the satellite positioning antenna 1 and the mobile satellite communication antenna 2 on the same moving body 3 such as a truck. The satellite positioning antenna 1 is attached to a rotating shaft and configured to automatically track a satellite. In this case, the one antenna is arranged so that the other antenna is not located within the elevation angle range.

<B> Communication Antenna 2 The satellite communication antenna 2 communicates using a geostationary satellite, but since it is mounted on the moving body 3, its direction changes momentarily. For that purpose, for example, an antenna having a strong directivity such as a parabolic antenna is used, and a tracking motor for automatically tracking the satellite from the moving body 3 is attached.

<C> Positioning Antenna 1 The central axis 11 of the positioning antenna 1 is a rotatable axis. The satellite positioning antenna 1 such as GPS needs to simultaneously capture three or more satellites for positioning. For that purpose, an antenna with a small directivity such as a ground plane type antenna is used. A horizontal rotation encoder is attached to the rotation center axis 11 of the positioning antenna 1,
It is configured so that the rotation angle can be coded and taken out.

<D> Measurement of coordinates of mobile unit 3 The positioning antenna 1 can obtain GPS positioning radio waves and encoder values extracted from the horizontal rotation encoder. The GPS positioning radio wave thus received is input to the GPS receiver. The output from the GPS receiver, the encoder value, and the orbit data of the communication satellite are input to the azimuth calculator. As a result of the calculation, the position of the moving body 3 can be calculated. However, only the three-dimensional coordinates can be obtained by this calculation, and the orientation from the reference point is unknown. In addition, in order to know the three-dimensional position with high accuracy, GPS from a specific reference point
It is necessary to always receive correction information. Therefore, the apparatus of the present invention is equipped with a mobile satellite communication device.

<E> Measurement of direction of moving body 3 Satellite communication radio waves are input to this satellite communication device and satellite tracking device. This satellite tracking device controls the automatic tracking motor so that the received radio wave becomes the strongest, and always directs the communication antenna 2 toward the satellite. The latitude and longitude of this communication satellite can be obtained from the orbit and time of the communication satellite, and if the satellite is a geostationary satellite, this value is always constant.
On the other hand, the encoder value obtained from the horizontal rotary encoder is input to the satellite tracking device. Therefore, the angle between the reference point centered on the position of the moving body and the communication satellite can be determined from this encoder value. As a result, it is possible to know how many directions from the true north the reference direction of the antenna viewed from the position of the moving body is. In this way, the three-dimensional coordinate and its direction can be measured.

<F> Correction means When performing highly accurate satellite positioning, the communication antenna 2 can be used to receive a data signal or voice from a reference point. If correction information from the reference point is given to the GPS receiver based on this signal, more accurate positioning can be performed.

[0014]

Since the three-dimensional position and direction measuring apparatus of the present invention is as described above, the following effects can be obtained. <A> As described above, conventionally, the three-dimensional position and the azimuth have been separately calculated. However, according to the device of the present invention, both can be instantly obtained. <B> It is possible to receive the correction information from the reference point by using the communication antenna 2. Therefore, extremely accurate positioning can be performed. <C> A device in which the communication antenna 2 and the positioning antenna 1 are integrated. Therefore, it is easy to move and install and does not require knowledge of the elevation angle and installation position of the antenna. <D> There is no need to consider placing two types of antennas at positions where they do not interfere with each other,
It does not require a large space. <E> The apparatus of the present invention can be used in any area where a communication satellite can be used.

[Brief description of drawings]

FIG. 1 is an explanatory view of an embodiment of a three-dimensional position and orientation measuring device of the present invention.

FIG. 2 is an explanatory diagram of its operation.

[Figure 3] Illustration of the measurement principle

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Satomi Kanda 1-25-1 Nishishinjuku, Shinjuku-ku, Tokyo Taisei Corporation

Claims (1)

[Claims] 1. A mobile satellite communication antenna and a satellite positioning antenna, both antennas are mounted on the same mobile body, and positioning radio waves received by the positioning antenna are input to a GPS receiver, and a communication antenna is provided. The communication radio wave received by is input to the mobile satellite communication device and the satellite tracking device, and from the encoder value obtained by the above device, the three-dimensional position obtained by GPS, and the orbital position of the communication satellite,
Three-dimensional position and orientation measurement device configured to obtain the installation position and orientation of both antennas