JPH09311176A - Position measuring device and position measuring method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely measure the position information of a necessary point by extracting a position measuring data from the position measuring signal of a satellite, arithmetically calculating the extraction data for position measurement when an external trigger signal is inputted, and outputting the data of the trigger signal input position. SOLUTION: A CPU 10 extracts a position measuring data from each channel by interrupting processing every about 1ms by the interruption signal from a counter 22, stores it in a prescribed buffer, and also performs a satellite capturing processing every 20m. When the generation of external triggers by sensors 20a, 20b and an invent detecting circuit 21 is detected by the interrupting processing, the CPU 10 interrupts the interrupting processing and satellite capturing processing on and after it to reduce the load of the CPU 10, and enhances the arithmetic speed to perform a position measuring operation. According to this method, the position measurement result of this point can be quickly calculated with a time precision within about 1 ms. The position measurement result is displayed on an indicator 15 through a display interface 14.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning device and a positioning method for receiving a signal from a positioning satellite and positioning a receiving point.

[0002]

2. Description of the Related Art Conventionally, in a positioning system such as GPS, information for observing the distance from each positioning satellite to a receiving point and information for calculating the position of each positioning satellite are provided to each positioning satellite. The positioning point is extracted from the positioning signal transmitted from the satellite, and the positioning of the reception point is performed using the signals from the positioning satellites of the number required for the three-dimensional positioning.

Radio waves transmitted from such positioning satellites have improved noise immunity, and even if all the satellites use the same carrier, radio waves from desired satellites can be selectively received. The signal transmitted from the satellite is subjected to spread spectrum modulation by a pseudo noise code such as a C / A code. Therefore, a C / A code corresponding to the number of the satellite to be received is generated, and its phase and carrier frequency are changed to search for a signal from a desired satellite and selectively receive it.

Further, the pseudo-range from the positioning satellite to the receiving point is obtained from the C / A code phase, the orbit information of the satellite is extracted from the superimposed navigation message, and the C / A
The position of each satellite is calculated at the time when the code phase is calculated, and the position of the reception point is calculated from the position information of each satellite and the pseudo range. Since the load on the CPU is considerably heavy in these arithmetic processes, the positioning result of the reception point is obtained at a constant time interval and is output.

[0005]

The positioning calculation of the receiving point is performed at a so-called arbitrary timing defined by the positioning device, or according to UTC (Coordinated Universal Time) in synchronization with time information and output processing. Alternatively, it is performed at a timing synchronized with GPS time. That is, in any case, the positioning calculation of the reception point is performed at a timing that suits the convenience of the positioning device.

However, when performing positioning of a moving body by using such a conventional GPS receiver, it may not be suitable for the purpose of positioning simply by obtaining the position information of the receiving point at constant time intervals. For example, when a positioning device is installed in a maintenance vehicle of a railway and the vehicle is run at high speed on the track to be inspected and positioned, an abnormal point that causes an abnormal impact on the vehicle body or axle is located, or on a general motorway or The exact position of the abnormal point is not required when, for example, a vehicle for maintenance is run on a course for special vehicles or a track for competition, and an abnormal point where an abnormal impact is generated on the vehicle body or axle is located. That is, in most cases, the position observed at the timing of the positioning device deviates from the position actually desired to be collected. For example, when the above maintenance vehicle is driven at 50 km / h and positioning is performed every second, since 50 km / h≈13.9 m / s, an error of maximum 13.9 m occurs only due to the deviation of the positioning timing.

An object of the present invention is to provide a positioning device and a positioning method capable of positioning a predetermined point at arbitrary timing.

Another object of the present invention is to provide a positioning apparatus and a positioning method that can accurately obtain the position information of a point where the position information should be collected.

[0009]

The positioning device and the positioning method of the present invention receive positioning signals from positioning satellites and set positioning data at a fixed cycle, as described in claims 1 and 9. And the external trigger signal is read, and when the external trigger signal is input, the positioning calculation is performed based on the extracted positioning data to output the data of the position where the external trigger signal is input or Record.

Further, as described in claims 2 and 10, when the positioning signal is received from the positioning satellite, the positioning data is extracted at a constant cycle, and the external trigger signal is detected, immediately before that. Alternatively, the positioning calculation is performed based on the positioning data extracted immediately thereafter, and the data of the position where the external trigger signal is generated is output or recorded.

Further, as described in claims 3 and 11, the positioning signal from the positioning satellite is received, the positioning calculation is performed in a fixed cycle to obtain the positioning result, and the external trigger signal in the fixed cycle. Of the occurrence timing of
Positioning results obtained immediately before and immediately after the external trigger signal is generated are proportionally distributed at the generation timing of the external trigger signal, and are output or recorded as data of the position at which the external trigger signal is generated.

Further, as described in claim 4 and claim 12, the positioning signal from the positioning satellite is received, the positioning calculation is performed at a constant cycle to obtain the position data and velocity data of the receiving point, The position where the external trigger signal is generated is detected by detecting the generation timing of the external trigger signal in a fixed cycle, and the generation timing of the external trigger signal and the positioning data and velocity data obtained immediately before or after the external trigger signal is generated. Calculate and output or record the data.

Further, as described in claims 5 to 8, each positioning data in claims 1 to 4 is once recorded, and later,
The positioning data is read and positioning calculation is performed to obtain the data of the position where the external trigger signal is generated, and this is output.

Further, as described in claims 13 and 14, the correction information received at the time of the positioning calculation broadcast from the differential GPS base station is received, and the positioning calculation is performed by the correction information and the positioning data. The positioning accuracy is improved by performing.

In this way, the positioning data is extracted at a constant cycle, the external trigger signal is read, and positioning is performed based on the positioning data extracted when the external trigger signal is generated or at timings before and after the external trigger signal. By performing the calculation, positioning is performed based on the positioning data at the time when the external trigger signal is generated, which is approximately equal to the position of the reception point when the external trigger signal is generated. Position data will be obtained.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION The configuration of a positioning device according to a first embodiment of the present invention will be described with reference to FIGS.

FIG. 1 is a block diagram showing the configuration of the positioning device. In FIG. 1, a VCO 2 generates a local oscillation frequency signal based on a reference signal generated by a reference signal oscillator 3, and a frequency conversion circuit 1 uses a signal generated by the VCO 2 to generate a GPS signal.
The signal from the antenna is frequency-converted. The AD converter 4 converts this into digital data. Carrier NC
O6 generates a signal of a frequency based on the control data from the CPU, and the multiplier 5 multiplies the output data of the AD converter 4 by the output data of the carrier NCO 6 to generate a signal from which the carrier component has been removed. CPU 10 is I / O
The C / A code and its phase data are supplied to PRN code generation circuit 8 via port 9. In response, PRN code generation circuit 8 generates a designated C / A code at a designated phase. The correlator 7 determines whether the signal from which the carrier has been
/ A code is correlated. The CPU 10 reads the correlation data via the I / O port 9. The counter 22 is a free-run counter having a cycle of 6 seconds, counts at intervals shorter than 1 ms, and digits of 1 ms or more are used as information of elapsed time in units of 1 ms. In the example shown in FIG. 1, only one channel is shown and other channels are omitted, but at least a plurality of sets of carrier NCO 6, multiplier 5, PRN code generation circuit 8 and correlator 7 are provided for each reception channel. Then, the CPU 10 simultaneously searches and tracks a plurality of satellites using these plurality of receiving channels. The clock circuit 16 includes a reference oscillator,
The reference oscillation signal is divided to measure the current time. CP
U10 executes the program written in advance in the ROM 11, reads the correlation data from the correlator 7 of each reception channel, performs a predetermined loop filter operation, and executes each PR.
C for the N code generation circuit 8 and each carrier NCO 6
By supplying the / A code phase data and the carrier frequency data respectively, the C / A code phase and the carrier frequency are synchronized, and the navigation message data is further extracted. The CPU 10 also extracts satellite orbit information (ephemeris) from the navigation message data, and C /
The position information of each satellite is calculated from the time when the A code phase is calculated and the orbit information of the satellite, and the position information of each satellite and C /
The position of the reception point is calculated from the A code phase (pseudo distance). In addition, the present time is obtained from the time information included in the navigation message, and the clocked contents of the present time of the clock circuit 16 are corrected. The data transmission interface 13 is an interface circuit for transmitting various types of data, and includes a CPU
10 transmits the positioning result and time information to the host device via the data transmission interface 13. Receiver circuit 18
Receives an electric wave from a differential GPS base station by an antenna 17 and receives correction data of pseudo range for each satellite. The CPU 10 is the interface 19
The correction data is read via the and used for positioning calculation. The event detection circuit 21 includes several sensors 2
Based on the detection results of 0a and 20b, it is determined whether or not it is the timing to perform the positioning, and when the positioning is to be performed, the internal latch circuit is set. When the latch circuit in the event detection circuit 21 is in the set state, the CPU 10 reads the state by the processing every 1 ms as described later,
Start the positioning calculation process. After reading the latch circuit, reset it. The sensors 20a and 20b are, for example, an impact sensor, an optical sensor, an image sensor, or the like, and detect a position to be positioned. The display 15 displays the positioning result and the like, and the CPU 10 displays the positioning result and the like on the display 15 via the display interface 14.

FIG. 2 is a flow chart showing the procedure of the interrupt processing performed by the CPU 10 every 1 ms. The interrupt signal every 1 ms is given from the 6-second counter. In this process, first, the correlation data is read from the correlator 7 of each channel and stored in a predetermined area of the RAM 12. Subsequently, it is detected whether or not an external trigger is generated, that is, whether or not the latch circuit in the event detection circuit 21 is set, and if the latch circuit is set, an interrupt signal given in this 1 ms cycle. Mask and flag F1
Set and start the positioning calculation. The flag F1 invalidates the processing every 20 ms, as described later. Therefore, after the external trigger is generated, the interrupt process every 1 ms and the process every 20 ms are prohibited, and the CPU concentrates on the positioning calculation process.

FIG. 3 shows the contents of satellite acquisition processing performed every 20 ms. While the flag F1 is in the reset state,
The carrier frequency and the C / A code phase for each reception channel are calculated from the correlation data stored in the interrupt processing every 1 ms, and the carrier frequency and the C / A code phase are calculated for each channel.
The control data of the A code phase is given. By performing feedback control in this way, tracking or searching for signals from the same satellite is continued. The satellite number is assigned to each reception channel by a process not shown in the figure.

FIG. 4 is a flow chart showing the procedure of the positioning calculation process, which is activated when an external trigger is detected in the interrupt process every 1 ms shown in FIG. In this process, first, the position of each satellite at that time is calculated based on the time at which the correlation data, which is the basic data for obtaining the C / A code phase, is sampled and the orbit information of each satellite. Next, the C / A code phase of each satellite is set as a pseudo distance from each satellite to the reception point, and the correction data received from the differential GPS base station is corrected to this pseudo distance. The position of the receiving point is calculated from the satellite position information. This is the positioning result at the point where the external trigger occurred. This positioning result is displayed on the display 1
5, and stored in a predetermined area of the RAM 12. After that, the interrupt mask of 1 ms is released, and the flag F1
Also resets and returns to the normal state.

FIG. 5 is a flowchart showing the processing contents involved in the extraction of the navigation message. In this process, the satellite orbit information is extracted from the navigation message included in the received signal, and the orbit information of the satellite is updated to the latest one for each satellite number.

FIG. 6 is a schematic timing chart of positioning data extraction processing, satellite acquisition processing, and positioning calculation processing. As described above, the positioning data is extracted (reading the correlation data) from each channel by the 1 ms interrupt process and stored in a predetermined buffer. In addition, satellite acquisition processing is performed every 20 ms. If the occurrence of an external trigger is detected by the 1 ms interrupt process, the subsequent 1 ms interrupt process and satellite acquisition process are interrupted, and the CPU is correspondingly interrupted.
The load of is reduced, and positioning calculation processing is performed at high speed. As a result, after the external trigger is generated, the positioning result at that point can be obtained promptly. As described above, since the presence or absence of the external trigger is detected every 1 ms, 1
Positioning of a point where an external trigger occurs can be performed with time accuracy within ms. For example, if an external trigger occurs while traveling at a speed of 100 km / h, 100 km / h≈2
Since it is 7.7 mm / ms, the delay between the actual generation timing of the external trigger signal and its detection timing is 27.7 mm at the maximum in terms of distance conversion, and practically, the position of the point at the external trigger generation timing can be determined. Will be done.

Next, the configuration of the positioning device according to the second embodiment of the present invention will be described with reference to FIGS.

In the first embodiment, a process of reading correlation data from each reception channel (positioning data extraction process)
And the carrier frequency and C / A for each receive channel
The process of giving control data such as code phase (satellite acquisition process) is performed at different timings, and after detecting the occurrence of an external trigger, the CPU is dedicated to the positioning calculation. In the embodiment, as shown in the timing chart of FIG. 7, processing for satellite acquisition is also performed by an interrupt processing of 1 ms, and satellite acquisition (tracking or search) is continued during positioning calculation processing. .

FIG. 8 is a flow chart showing the procedure of an interrupt process every 1 ms. First, the correlation data is read from each receiving channel as positioning data, stored in a predetermined area in RAM, the carrier frequency and the C / A code phase are calculated for each receiving channel, and the control data is sent to each receiving channel. The satellite acquisition processing is carried out by giving it. After that, the presence or absence of the external trigger is determined, and if the external trigger is generated, the positioning calculation process is activated.

FIG. 9 is a flowchart showing the procedure of the positioning calculation processing. First, the position of each satellite at that time is calculated based on the time when the correlation data was sampled and the orbit information of each satellite. Next, the C / A code phase of each satellite is set as a pseudo distance from each satellite to the reception point, and the pseudo distance is corrected by the correction data received from the differential GPS base station. The position of the reception point is calculated from the information. This is the positioning result at the point where the external trigger occurred.

Next, the configuration of the positioning device according to the third embodiment of the present invention will be described with reference to FIGS. 10 and 11. In the first and second embodiments, the positioning calculation is performed when the external trigger occurs, but in the third embodiment, the positioning calculation is performed.
This positioning calculation is performed by batch processing. FIG. 10 is a flow chart showing the procedure of an interrupt process every 1 ms. Unlike the example shown in FIG. 8, if the occurrence of an external trigger is detected, the C / A code phase of each satellite and the time at which the correlation data used to calculate the C / A code phase are sampled are stored in a predetermined area of the RAM. Write in. Other processes are the same as those shown in FIG. The configuration of the positioning device is basically the same as that shown in FIG. 1, but the device for obtaining the C / A code phase and time information of each satellite and the device for performing positioning calculation are different from each other. In this case, the C / A code phase and time information of each satellite may be written and read using a memory card or the like as a medium.

FIG. 11 is a flow chart showing the procedure of the positioning calculation process. First, the accumulated data (satellite number of each satellite, C / A code phase, time) is read to calculate the position of each satellite. Next, position information of each satellite and C
The position of the receiving point is calculated from the correction data of the / A code phase and the pseudo distance, and this is printed out. By repeating this processing for all the data, position data of a plurality of abnormal points can be obtained as a print result.

In each of the above-described embodiments, the presence or absence of the external trigger is detected in the interrupt processing every 1 ms, but the occurrence of the external trigger may be detected separately from the interrupt processing every 1 ms. You may

Further, in each of the above-described embodiments, an example is shown in which the positioning calculation is performed based on the C / A code phase obtained from the correlation data read by the 1 ms interrupt processing in which the occurrence of the external trigger is detected and the time thereof. However, the occurrence of the external trigger is 1ms
Alternatively, the positioning calculation may be performed separately from the interrupt process, and the positioning calculation may be performed based on the correlation data and the time information read by the 1 ms interrupt process immediately before or after the external trigger occurs. In either case, it is possible to measure the position of the point where the external trigger occurs with a time accuracy of 1 ms or less.

Next, the processing contents of the CPU in the positioning device according to the fourth embodiment of the present invention will be described with reference to FIGS. In the fourth embodiment, the positioning calculation is performed every one second, and the position of the external trigger generation time point (point) is obtained.

FIG. 12 shows the contents of the interrupt processing every 1 ms. First, the correlation data is read from the correlator 7 of each channel and stored in a predetermined area of the RAM 12.
Then, it is detected whether or not an external trigger is generated, that is, whether or not the latch circuit in the event detection circuit 21 is set. If the latch circuit is set, the value of the 1-second unit of the 6-second counter is read. , Flag F2 is set. The flag F2 stores that an external trigger has occurred, as will be described later.

FIG. 13 shows the contents of satellite acquisition processing performed every 20 ms. The carrier frequency and C / A code phase for each reception channel are calculated from the correlation data stored in the interrupt processing every 1 ms, Control data of carrier frequency and C / A code phase is given to each channel.
This will continue to track or search for signals from the same satellite. The satellite number is assigned to each reception channel by a process not shown in the figure.

FIG. 14 is a flowchart showing the procedure of the positioning calculation process, which is performed every one second. In this process, first C
The position of each satellite at that time is calculated based on the time when the correlation data, which is the basic data for obtaining the / A code phase, etc., is sampled and the orbit information of each satellite. Next, the C / A code phase of each satellite is set as a pseudo distance from each satellite to the reception point, and the correction data received from the differential GPS base station is corrected to this pseudo distance. The position of the receiving point is calculated from the satellite position information. Further, the velocity of the receiving point is calculated from the direction cosine of each satellite viewed from the receiving point and the relative velocity between the receiving point and each satellite. Then, the position and speed of this receiving point are temporarily stored. If the flag F2 is set,
The position at the time of occurrence of the external trigger is calculated by either of the following method based on proportional distribution or a method based on estimation from elapsed time.

(1) Method based on proportional distribution The position data obtained last time (1 second before) is (x1, y1, z
1) If the position data obtained this time is (x2, y2, z2), and the elapsed time ms from the previous time (1 second before) to the external trigger generation time is t, then (x, y, z) = (x1 + (x2-x1) * t / 1000, y1 + (y2-y1) * t / 1000, z1
+ (z2-z1) * t / 1000) as position data (x, y,
z) is calculated.

The elapsed time t is obtained from the week number extracted from the navigation message, the Z count, and the value of the 6-second counter. In other words, if expressed in GPS time, [week number * 6
04800 + Z count * 6 + 6-second counter value + clock bias] to find the time when the last positioning calculation was performed and the time when the external trigger occurred, and calculate from the difference. Here, the clock bias is 6 seconds and the GPS system time is 6 seconds.
It is a difference from the value of the second counter and is a value for correcting an error amount of the value of the 6-second counter which is a free-run counter. For example, if the previous time (one second before) is 502156799 seconds and the external trigger occurrence time is 502156799.200 seconds, t = 20
It is 0 ms.

(2) Method based on estimation from elapsed time The position data obtained last time (1 second before) is (x1, y1, z
1), speed data is (dx1, dy1, dz1),
Elapsed time from the previous time (1 second before) to the time when the external trigger occurred
If ms is t, (x, y, z) = ((x1 + dx1 * t / 1000), (y1 + dy1 * t / 1000), (z
1 + dz1 * t / 1000)) to obtain the position data (x, y, z) at the time when the external trigger occurs, or the position data obtained this time is (x2, y2, z).
2), speed data is (dx2, dy2, dz2),
Elapsed time from external trigger to current second ms
Is t ', (x, y, z) = ((x2-dx2 * t' / 1000), (y2-dy2 * t '/ 1000),
Use (z2-dz2 * t '/ 1000)) to find the position data (x, y, z) when the external trigger occurs.

In this way, the position when the external trigger is generated is calculated and output. After that, the flag F2 is reset.

In the above-described embodiment, the position of the external trigger generation point is obtained within 1 second after the external trigger is generated. However, the position and velocity data of each second are once recorded in the medium, The position of the external trigger occurrence point may be obtained later by batch processing.

[0040]

According to the present invention, for example, UTC or GP
Since the positioning calculation is not performed at 1-second intervals synchronized with the S time, but the positioning calculation is substantially performed based on the positioning data at the time when the external trigger is generated, the external trigger is generated. It becomes possible to accurately measure an abnormal point.

In particular, according to the invention described in claims 5, 6, 7 and 8, since the positioning data can be collected regardless of the time required for the positioning calculation, it is shorter than the time interval required for the positioning calculation. Even if external trigger signals are input one after another at a time, the positioning result of each point can be obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a positioning device according to a first embodiment.

FIG. 2 is 1 ms in the positioning device according to the first embodiment.
It is a flow chart which shows the procedure of each interruption processing.

FIG. 3 is a flowchart showing a processing procedure for satellite acquisition in the positioning device according to the first embodiment.

FIG. 4 is a flowchart showing a procedure of positioning calculation processing in the positioning device according to the first embodiment.

FIG. 5 is a flowchart showing the content of navigation message processing in the positioning device according to the first embodiment.

FIG. 6 is 1 ms in the positioning device according to the first embodiment.
It is a figure which shows the timing relationship of an interruption process, a satellite capture process, and a positioning calculation process.

FIG. 7 is a diagram showing a timing relationship of each process in the positioning device according to the second embodiment.

FIG. 8 is 1 ms in the positioning device according to the second embodiment.
It is a flow chart which shows the procedure of each interruption processing.

FIG. 9 is a flowchart illustrating a procedure of a positioning calculation process in the positioning device according to the second embodiment.

FIG. 10 is 1 m in a positioning device according to a third embodiment.
It is a flow chart which shows the contents of the interruption processing for every s.

FIG. 11 is a flowchart showing a procedure of positioning calculation processing in the positioning device according to the third embodiment.

FIG. 12 is a flowchart showing a procedure of positioning data extraction processing in the positioning device according to the fourth embodiment.

FIG. 13 is a flowchart showing a processing procedure for satellite acquisition in the positioning device according to the fourth embodiment.

FIG. 14 is a flowchart showing a procedure of positioning calculation processing in the positioning device according to the fourth embodiment.

Claims (14)

[Claims] 1. A positioning signal extracted from a positioning satellite is received, positioning data is extracted at a constant cycle, and an external trigger signal is read. When the external trigger signal is input, the extracted positioning data is received. Positioning calculation based on
A positioning device comprising means for outputting or recording data of a position to which an external trigger signal is input. 2. A positioning data extraction means for receiving a positioning signal from a positioning satellite and extracting positioning data at a constant cycle, and when an external trigger signal is detected, immediately before or immediately after the positioning data extraction means. A positioning device comprising means for performing positioning calculation based on the positioning data extracted by the data extracting means, and outputting or recording data at the position where the external trigger signal is generated. 3. A positioning calculation means for receiving a positioning signal from a positioning satellite, performing a positioning calculation in a fixed cycle to obtain a positioning result, and a means for detecting the generation timing of an external trigger signal in the fixed cycle. , The positioning result obtained by the positioning calculation means immediately before and after the external trigger signal is generated is proportionally distributed at the generation timing of the external trigger signal, and is output as data of the position where the external trigger signal is generated. Alternatively, a positioning device comprising means for recording. 4. A positioning calculation means for receiving a positioning signal from a positioning satellite and performing positioning calculation in a fixed cycle to obtain position data and velocity data of a reception point, and generation of an external trigger signal in the fixed cycle. The position where the external trigger signal is generated by means for detecting the timing, the generation timing of the external trigger signal, and the positioning data and velocity data obtained by the positioning calculation means immediately before or after the external trigger signal is generated. Positioning device comprising means for calculating and outputting or recording the above data. 5. The positioning data extracted when a positioning signal from a positioning satellite is received, the positioning data is extracted at a constant cycle and an external trigger signal is read, and the external trigger signal is input. A positioning device comprising: a positioning data recording means for recording the data; and a means for reading the data from the positioning data recording means, performing a positioning calculation, and outputting data at a position to which an external trigger signal is input. 6. A positioning data extracting means for receiving a positioning signal from a positioning satellite and extracting positioning data at a constant cycle, and when an external trigger signal is detected, immediately before or immediately after the positioning data extracting means. Positioning data recording means for recording the positioning data extracted by the data extracting means, and means for reading the data from the positioning data recording means to perform positioning calculation and outputting the data at the position where the external trigger signal is generated. A positioning device comprising: 7. A positioning calculation means for receiving a positioning signal from a positioning satellite, performing a positioning calculation in a constant cycle to obtain a positioning result, and a means for detecting the generation timing of an external trigger signal in the constant cycle. Positioning data recording means for recording the positioning result obtained by the positioning calculation means and the generation timing of the external trigger signal immediately before and after the external trigger signal is generated, and reading data from the positioning data recording means And means for proportionally distributing the positioning results by the positioning calculation means immediately before and after the external trigger signal is generated at the generation timing of the external trigger signal, and outputting it as data of the position at which the external trigger signal is generated. A positioning device comprising. 8. A positioning calculation means for receiving a positioning signal from a positioning satellite and performing positioning calculation in a fixed cycle to obtain position data and velocity data of a reception point, and generation of an external trigger signal in the fixed cycle. A means for detecting timing, a generation timing of the external trigger signal, and a positioning data recording means for recording positioning data and speed data obtained by the positioning calculation means immediately before or after the external trigger signal is generated, respectively. Positioning means for reading the data from the positioning data recording means, calculating the data of the position at which the external trigger signal is generated based on the generation timing of the external trigger signal, the positioning data, and the speed data, and outputting the data. apparatus. 9. A positioning signal is received from a positioning satellite, positioning data is extracted at fixed intervals, an external trigger signal is read, and positioning is performed based on the positioning data when the external trigger signal is input. A positioning method comprising performing a calculation to output or record data at a position where an external trigger signal is input. 10. A positioning signal is received from a positioning satellite, positioning data is extracted at a constant cycle, and when an external trigger signal is detected, positioning is performed based on the positioning data extracted immediately before or immediately after that. A positioning method comprising performing a calculation to output or record data at a position where an external trigger signal is generated. 11. A positioning signal is received from a positioning satellite, positioning calculation is performed in a fixed cycle to obtain a positioning result, and the generation timing of an external trigger signal in the fixed cycle is detected. A positioning method characterized by proportionally distributing the positioning results obtained immediately before and after the occurrence, at the generation timing of the external trigger signal, and outputting or recording it as data of the position at which the external trigger signal occurred. 12. A positioning signal from a positioning satellite is received, positioning calculation is performed in a fixed cycle to obtain position data and velocity data of a reception point, and the generation timing of an external trigger signal in the fixed cycle is detected. , Calculating and outputting or recording the data of the position where the external trigger signal is generated based on the generation timing of the external trigger signal and the positioning data and velocity data obtained immediately before or after the external trigger signal is generated. Characterizing positioning method. 13. The method according to claim 1, further comprising means for receiving correction information at the time of positioning calculation broadcast from the differential GPS base station, and performing the positioning calculation by the correction information and the positioning data. The positioning device according to any one of the above. 14. Receiving correction information at the time of positioning calculation broadcast from a differential GPS base station, and performing the positioning calculation by the correction information and the positioning data.
The positioning method according to any one of claims 9 to 12.