JPH11133133A - Gps receiving apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a GPS receiving apparatus capable of knowing a part of measurement results at an observation site in real time. SOLUTION: A GPS receiving apparatus has pairs of GPS receivers 10 and 12 for a fixed station and a mobile station. The GPS receivers 10 on the fixed station side is fixed and installed at a point at which a coordinate value is known. This receiver has a memory card 14 and a communication modem 16. The GPS receivers on the mobile station side are sequentially moved at a point at which the coordinate value is unknown. The receiver has a memory card 19, a computing device 20, and a communication modem 22. The computing device 20 is connected to the GPS receiver 12 on the mobile station side via an I/O port, the decoded orbit and transmission time by this receiver 12 are decoded by the GPS receiver 10 on the fixed station side, and a satellite position is calculated based upon the orbit and transmission time inputted via the communication modems 16 and 22.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a GPS receiver, and more particularly to a technique for simplifying data processing after observation.

[0002]

2. Description of the Related Art A GPS system is a means for receiving, on the earth, radio waves transmitted from a plurality of satellites orbiting the earth to determine the position of the receiving point on the earth. The range of use is expanding for use in car navigation and surveying. Surveying using the GPS system
This method calculates the distance and direction between points on the earth based on the position of the satellite. In this type of survey, GPS receivers are installed at known and unknown points, respectively, There are a static survey for obtaining a distance and a kinematic survey for sequentially moving one GPS receiver installed at an unknown point.

In a survey using such a GPS system, a GPS receiver installed at an observation point receives a radio wave signal from a satellite, decodes the signal, and decodes the phase signal of carrier wave, satellite identification code data, orbit. Data, transmission and reception times, etc. are created, and these data are stored in a storage means such as a memory card, brought back from the observation site, and each data obtained by the observation is calculated and processed by a computer. And the location of unknown points.

However, such conventional surveys have the following problems.

[0005]

That is, in the conventional survey as described above, the coordinates of an unknown point cannot be known unless the data obtained by the observation is brought back and subjected to arithmetic processing. It was not possible to respond to the request to know the measurement results. In this case, if the arithmetic processing is enabled at the observation site, such a problem is eliminated. However, if it were to be able to perform positioning calculations in real time, the arithmetic processing unit would have to be a small computer such as a hand-held type or notebook type, which has relatively low computational power, due to restrictions such as ease of transportation. Absent. However, in order to output measurement results in real time with such a small computer, it is necessary to reduce the amount of calculation, and when performing positioning calculation or the like, data is transmitted between a pair of GPS receivers via communication means. Since transmission and reception are required, it is necessary to consider the time required for this communication, and in practice, it was very difficult to produce a measurement result in real time at the observation site.

SUMMARY OF THE INVENTION The present invention has been made in view of such conventional problems, and an object of the present invention is to allow a part of a measurement result to be known in real time at an observation site, and to be used later. An object of the present invention is to provide a GPS receiving device in which arithmetic processing is simplified.

[0007]

According to the present invention, a pair of GPS receivers for receiving radio signals transmitted from a plurality of satellites are installed at different locations. On the basis of data obtained by decoding the radio signal received at the same time, in a GPS receiving apparatus that determines the installation position of the GPS receiver on the earth, the GPS receiver decodes the signal. An arithmetic processing unit for calculating the position of the satellite based on the orbit data and the transmission time; a carrier phase input from the other GPS receiver to one of the receivers via communication means; a position of the satellite; GPS based on carrier phase and satellite position obtained in
An arithmetic processing device for calculating the installation position of the receiver is provided. One of the GPS receivers connected to the arithmetic processing device may be a mobile station, and the other GPS receiver may be a fixed station. According to the GPS receiver having the above configuration, one of the GPS receivers is provided with the orbit data and transmission time decoded by the receiver and the other GPS receiver.
An arithmetic processing unit that calculates the position of the satellite based on the orbit and transmission time that is decoded by the PS receiver and input via the communication means is provided, so that the position of the satellite can be known in real time at the observation site. it can. In this case, a pair of G
The data exchanged between the PS receivers via the communication line is
Since only the position of the satellite and the phase of the carrier wave are used, the communication time can be reduced. According to the second aspect of the present invention, one of the GPS receivers connected to the arithmetic processing device is a mobile station, and the other GPS receiver is a fixed station. Then, the GPS receiver on the fixed station side can be remotely controlled via the communication line, and the operator on the mobile station side knows the position of the satellite in real time, so that in the kinematic survey, the measurement points can be sequentially switched. When moving, it is possible to avoid a reception failure.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. 1 to 4 show an embodiment of a GPS receiving apparatus according to the present invention. The GPS receiver shown in FIG. 1 is used for kinematic surveying, and has a pair of GPS receivers 10 and 12 on the fixed station side and the mobile station side. The fixed-station-side GPS receiver 10 has a receiving antenna fixedly installed at a point whose coordinate value is known.
4 and a communication modem 16.

[0009] The GPS receiver 12 on the mobile station side is sequentially moved to a measurement point whose coordinate value is unknown together with the receiving antenna, and includes a memory card 18 and an arithmetic processing unit 20.
And a communication modem 22. As shown in FIG. 2, the pair of GPS receivers 10 and 12 have substantially the same configuration, and have an analog signal processing unit and a digital signal processing unit. Each of the receivers 10 and 12 has a processor for calculating the position (orbit data, time) of the satellite.

The analog signal processing unit includes an antenna a composed of a microstrip antenna, an RF amplifier b for amplifying a radio signal from a satellite received by the antenna a, and a radio signal amplified by the RF amplifier b. And Local
A mixer d for mixing the output signal of the oscillator c to convert the frequency of the carrier of the radio signal, and an IF amplifier e for amplifying an intermediate frequency band of the radio signal frequency-converted by the mixer d
And

On the other hand, the digital signal processing section receives a signal output from the IF amplifier e and converts the analog information into digital information by a DSP (Digital Signal Processor) f;
C that performs various data processing upon receiving the output signal of DSPf
PUg. ROM, RAM
, A display unit i, a memory card reader / writer j, a keyboard k, and an I / O port l.

The DSPh counts the carrier phase of a radio signal from a satellite, converts this into carrier phase data, extracts orbital element information from the radio signal, converts it into digitized orbit data, and The transmission time information is extracted from the signal, which is digitized and converted into the transmission time.

The CPU g controls the display unit i, the memory card reader / writer j, and the I / O port 1 according to the procedure stored in the memory h and the input from the keyboard k. As the memory cards 14 and 18, for example, a power source and information can be written and read by the principle of non-contact and electromagnetic induction, and a waterproof type is preferably used. It may be of a contact type connected to the input / output port of the / writer j.

The communication modems 16 and 22 are for transmitting and receiving the position of the satellite and the carrier wave phase between the fixed station and the mobile station.
Are transmitted / received via the communication antenna 24 connected to the communication device. It should be noted that such transmission and reception of data may be performed, for example, by wire using a public line, instead of wirelessly via the communication antenna 24.

The arithmetic processing unit 20 is connected via an I / O port 1 to a GPS receiver 12 on the mobile station side. The orbit and transmission time decoded by the receiver 12 and the GPS signal on the fixed station side are output. Based on the orbit and transmission time decoded by the receiver 10, the satellite position and carrier phase data obtained by the processing unit for calculating and processing the satellite position provided in the GPS receiver 10 at the fixed station are used as the communication modem 16, 22 to calculate the position of the mobile station. The arithmetic processing unit 20 also controls the GPS receiver 12 on the mobile station side, and the GPs on the fixed station side via the communication modems 16 and 22.
The operation of the S receiver 10 is controlled.

3 and 4 show an example of a processing procedure executed by the arithmetic processing unit 20. FIG. The processing procedure shown in FIG. 3 is a main routine. When the procedure starts, first, at step s1, an observation interval T is set. When the setting of the interval T is completed, step s2
The start flag of the kinematic survey is set at, and it is determined at step s3 whether or not the interval T has elapsed.
Step s when it is determined that the interval T has elapsed
4 is executed.

In step s4, the arithmetic processing unit 20
Sends a signal to each of the GPS receivers 10 and 12,
According to the instructions of Ug, the DS of each GPS receiver 10, 12
The reception time, transmission time, Doppler phase data of the carrier, etc. are created by Ph. Then, in the following step s5,
The created data is stored in the memory cards 14 and 18 via the memory card reader / writer j.

Next, in step s6, each GPS
The respective positions of the plurality of satellites being received by the receivers 10 and 12 are calculated. FIG. 4 shows details of the processing procedure performed at this time. When this procedure starts,
First, in step s60, the channel of each of the GPS receivers 10, 12 is set to 1. In the following step s61,
It is determined whether the number of mounted channels is 8 or more. If the number is 8 or less, step s62 is executed.

In step s62, it is determined whether or not the current channel is receiving a radio signal from a satellite.
If it is determined that the radio signal has been received, the three-dimensional position of the satellite is calculated in step s63. The calculations in this case include the GPS receivers 10 and 1 of the fixed station and the mobile station.
2, the satellite number, transmission time, and orbit data are respectively taken into the arithmetic unit 20, and the three-dimensional position of the satellite is calculated using Kepler's equation.

The three-dimensional position of the satellite obtained in this way is stored in the GPS receiver 12 of the mobile station together with the satellite number.
Via the memory card 18. In addition, the satellite position obtained in this way is not only stored in the memory card 18 but also displayed on a display i of the GPS receiver 12 on the mobile station side as a numerical value or a graphic. Can also.

In this procedure, each GPS receiver 1
Eight channels are prepared at 0 and 12, respectively, and an observation plan is made in advance so that the corresponding channel receives a radio signal from the same satellite. Since the radio signal is received, the search for the satellite number is omitted, but the satellite number assigned to each channel is the GPS receiver 10, 1
If there is a difference between the two, a step of determining whether or not the satellite numbers match can be added to the above procedure.

As described above, the case where the satellite number and the position of the satellite are stored in the memory card 18 and the step s6
If it is determined in step 2 that the current channel has not received a radio signal from the satellite, in step s64, 1 is added to the number of channels, and the process returns to step s61. The subsequent steps are executed. Then, when it is determined in step s61 that the number of mounted channels has become eight or more, the processing of this subroutine ends, and the flow returns to step s7 of the main routine shown in FIG.

In step s7, it is determined whether or not an instruction to terminate the kinematic survey has been issued. If it is determined that the instruction has not been issued, the process returns to step s3, and the subsequent processing procedure is continued. If it is determined in step s7 that the end of the kinematic survey has been instructed, the kinematic survey end flag is set in step s8, and the procedure ends.

According to the GPS receiver configured as described above, the orbit and transmission time decoded by the receiver 12 and the GPS receiver on the fixed station are provided to the GPS receiver 12 on the mobile station side. 10, decrypted by the communication modems 16 and 2
Since the arithmetic processing unit 20 for calculating the satellite position based on the satellite position and the carrier wave phase data input via the control unit 2 is provided, the satellite position can be known in real time at the observation site by the display i or the like. Since the observation data stored in the memory cards 14 and 18 are brought back and the arithmetic processing is performed, the three-dimensional position of each satellite is already obtained, so that the subsequent processing is simplified.

In this case, a pair of GPS receivers 10 and 12
The data transmitted and received between the communication modems 16 and 22 only includes the satellite position and carrier phase data, so that the communication time can be reduced. Further, in the case of the present embodiment, one of the GPS receivers 12 to which the arithmetic processing unit 20 is connected is a mobile station, and the other GPS receiver 10 is a fixed station. When you place
The GPS receiver 10 on the fixed station side can be remotely controlled via the communication modems 16 and 22, and the operator on the mobile station side knows the position of the satellite in real time, so that the kinematic survey can be performed between the measurement points. Can be avoided when moving sequentially.

In the above embodiment, the arithmetic processing unit 20
Is connected to the GPS receiver 12 on the mobile station side, but the arithmetic processing unit 20 is connected to the GPS receiver 10 on the fixed station side.
May be connected. Further, in the above-described embodiment, the case where the present invention is applied to kinematic surveying is illustrated, but the present invention is not limited to this, and can be applied to static surveying.

[0027]

As described above in detail in the embodiments,
According to the GPS receiving apparatus of the present invention, the communication data can be reduced, so that the real-time property can be increased, the data processing can be simplified, and the position calculation of the mobile station can be speeded up, so that the result can be understood quickly.

[0028]

[Brief description of the drawings]

FIG. 1 is a block diagram showing one embodiment of a GPS receiving apparatus according to the present invention.

FIG. 2 is a block diagram illustrating a detailed configuration of a GPS receiver illustrated in FIG. 1;

FIG. 3 is a flowchart illustrating an example of a processing procedure of an arithmetic processing unit of the GPS receiving apparatus illustrated in FIG. 1;

FIG. 4 is a flowchart in the case where the position of a satellite is obtained by the arithmetic processing unit of the GPS receiving apparatus shown in FIG. 1;

[Explanation of symbols]

 Reference Signs List 10 GPS receiver (fixed station) 12 GPS receiver (mobile station) 14, 18 Memory card 16, 22 Communication modem (communication means) 20 Arithmetic processing unit

Claims (2)

[Claims] A pair of GPS receivers for receiving radio signals transmitted from a plurality of satellites are installed at different locations, and are obtained by decoding the radio signals received at the same time by the GPS receiver. In a GPS receiving apparatus for determining an installation position of the GPS receiver on the earth based on data, an operation for calculating a position of a satellite based on orbit data decoded by the receiver and transmission time in the GPS receiver. A processing device is provided, and based on the carrier phase input from the other GPS receiver to one receiver via communication means, the satellite position, the carrier phase obtained by the receiver, and the GPS position based on the satellite position.
A GPS receiver comprising an arithmetic processing unit for calculating an installation position of an S receiver. 2. The GPS according to claim 2, wherein one of the GPS receivers connected to the arithmetic processing unit is a mobile station, and the other GPS receiver is a fixed station.
Receiver.