JPH112673A - Carrier-phase relative position measuring instrument and its program recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a carrier-phase relative position measuring instrument which can output measured results in an early stage when the instrument makes relative position measurement based on the carrier phase of a signal transmitted from a geodetic satellite by shortening the initialization performed for deciding an integer bias. SOLUTION: A carrier-phase relative position measuring instrument sets the intersections between carrier phase position lines P1-B with P2-B as candidate positions and finds the residues from carrier phase position lines S1-b at each candidate position. At the same time, the instrument extracts the candidate positions at which the residues did not exceed, for example, a 1/5 cycle over a prescribed period of time and uses the average value of the positions as a position measured value. In addition, the instrument decides a correct candidate position by comparing the residual pattern of the candidate positions left as a result of the screening with the residual pattern of the candidate positions by simulation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning device that receives a signal transmitted from a positioning satellite and performs positioning of a receiving point, and more particularly to a positioning device based on relative positioning using a carrier phase and a program recording medium therefor. .

[0002]

2. Description of the Related Art Conventionally, relative positioning is generally performed in GPS when high positioning accuracy that cannot be obtained by single positioning is required.

Conventionally, relative positioning uses (1) a method using a C / A code, (2) a method using data obtained by smoothing a C / A code with a carrier phase, and (3) a direct use of a carrier phase. There was a formula.

In the method of (1), a base station provided at a known point performs independent positioning, and an error in the C / A code phase of each satellite is obtained from a difference between the positioning result and the known point. This is broadcast and the mobile station performs relative positioning using the error information of the C / A code, and the positioning accuracy is 5 to 10 m. In the method (2), the C / A code phase and the carrier phase are observed at a fixed period in order to suppress the variation of the C / A code phase, and the averaged C / A obtained last time is used.
The code phase is corrected (extrapolated) by the amount of change in the carrier phase observed last time and this time, and a weighted average of the corrected C / A code phase and the C / A code phase obtained this time is obtained. The C / A code is smoothed by the carrier phase, and a positioning accuracy of about 50 cm can be obtained.
The method of (3) performs a positioning operation based on a double phase difference between carriers obtained from observation values of the base station and the mobile station.
A positioning accuracy of about cm is obtained.

[0005] Each of the relative positioning methods has advantages and disadvantages, but for applications requiring positioning accuracy of about 5 cm (3)
Will be adopted. However, when performing relative positioning based on such a carrier phase in a mobile object, OTF (On The Flyc
alibration), which is an initialization process for obtaining an integer bias of the carrier phase.

A general method used to determine an integer bias is to assume a correct integer bias, and for each candidate position obtained by an integer bias of about 1 to 5 cycles before and after the integer value. Residuals are obtained, candidate positions where the residuals are minimized are selected from the residuals, and the candidate positions are determined as correct answers.

[0007]

However, when such an initialization process is performed, there is a case where a candidate position where the residual is minimized accidentally occurs due to the influence of noise or the like.
It is necessary to continue the observation over a certain period of time and use a statistical method such as averaging so as not to be affected by noise. Therefore, conventionally, observation has been continued for about 15 to 30 minutes to finally select a candidate position having the minimum residual among a large number of candidate positions. Therefore, the positioning result cannot be obtained until 15 to 30 minutes have passed since the power was turned on.
With the receiving point fixed, there was no choice but to wait, and surveying work could not be started. As a method of shortening this initialization processing, the carrier phase is extracted from both the L1 band of 1575.42 MHz and the L2 band of 1227.6 MHz in GPS, and the phase difference at the frequency (beat frequency) of the difference is extracted. In some cases, the number of candidate positions within a certain range is reduced to obtain a shorter time required for the initialization process.

[0008] It is an object of the present invention to provide a carrier phase relative positioning device and a program recording medium thereof, in which the initialization process can be shortened and the result of relative positioning can be output early.

[0009]

SUMMARY OF THE INVENTION The present invention receives signals from a plurality of positioning satellites, extracts a code phase, a carrier phase, and navigation data, respectively, and uses a reference satellite and a plurality of candidate position determining satellites. The carrier phase position line determined by the positional relationship with the position is determined, and the carrier phase position line passing near the estimated position of the reception point is assumed to have an integer bias, and corresponds to the intersection of the carrier phase position lines corresponding to several cycles before and after the carrier phase position line. According to claim 1 and claim 4, wherein a candidate position is obtained and a carrier phase relative positioning is performed by obtaining a residual of each candidate position with respect to another carrier phase position line passing near each candidate position. Extracting a candidate position where the residual does not exceed a predetermined cycle over a predetermined time or a candidate position where the rate of change of the residual does not exceed a predetermined value,
The average value of the candidate positions is obtained as the current position of the reception point.

According to a second aspect of the present invention, a process of repeatedly discarding the candidate positions sequentially from the candidate position in which the residual exceeds a predetermined cycle is repeated when the remaining candidate positions become equal to or smaller than a predetermined number. Find the positional relationship pattern of
Assuming the estimated position of the reception point or its vicinity as the correct position, determine candidate positions corresponding to several cycles before and after the position,
The residual of each candidate position is calculated backward from the positional relationship between the receiving point and each positioning satellite, and the process of discarding candidate positions whose residual exceeds a predetermined cycle over time is repeated, and the number of remaining candidate positions becomes a predetermined number. A pattern of the positional relationship between the candidate positions when the following condition is satisfied is obtained, and a candidate position obtained by observation corresponding to the candidate position assumed to be the correct position is obtained as a correct integer bias by comparing the two patterns.

Further, as described in claims 3 and 6,
A candidate position having the smallest change rate of the residual is obtained as a correct integer bias.

First, the operation of the configuration according to the first and fourth aspects will be described. FIG. 2 shows carrier phase position lines (P1-B) and (P2-B) determined by a certain reference satellite B and certain satellites P1 and P2 for determining a candidate position, and a reference satellite B and a certain one for residual error checking. It is a figure showing an example of a carrier phase position line (S1-B) determined by satellite S1. In the figure, (P1-B) 0 is a position line of the integer bias assumed by the reference satellite B and the candidate position determining satellite P1, and (P2-B) 0 is an assumed integer by the reference satellite B and the candidate position determining satellite P2. It is a position line of the bias, and a position line for several cycles before and after the bias line is drawn, and its intersection is set as a candidate position. In this case, the distance (deviation) between the intersection of the position lines (P1-B) and (P2-B) and the position line (S1-B) passing in the vicinity of each intersection is the residual error. , Residuals are indicated by thick lines for some candidate positions. The position indicated by O is a candidate position corresponding to the assumed integer bias, and here the residual is 0. When a certain period of time has elapsed from the state shown in FIG. 2, the carrier phase position line is displaced as each satellite moves. At this time, the true position of the receiving point does not naturally change even if the positional relationship between the satellites changes. In addition, since the carrier phase position line does not necessarily move in parallel due to the change in the positional relationship between the satellites, each carrier phase position line rotates around the true position.

FIG. 3 is a diagram showing an example of each carrier phase position line and a residual after a lapse of a predetermined time from the state shown in FIG. 2 when O is a true position, and FIG. 4 is a diagram shown in FIG. FIG. 10 is a diagram illustrating an example of each carrier phase position line and a residual after a lapse of a fixed time from the state. FIG. 5 is a diagram illustrating an observation result of a temporal change of a residual at six candidate positions, and FIG. 6 is a diagram illustrating an example of a temporal change of a residual of the six candidate positions by simulation. FIG. 7 is a diagram illustrating a relationship between six candidate positions and each carrier phase position line when the simulation illustrated in FIG. 6 is performed. In FIG. 7, the position line (P1-
The intersection of (B) and (P2-B) is the candidate position, and the perpendicular drawn from these candidate positions to the position line (S1-B) is the residual. 5 and 6, the vertical axis represents the residual, and the horizontal axis represents the elapsed time (second). Generally, the residual takes a value of 0 to 0.5, and the residual at a candidate position that is not the correct answer increases or decreases in the range of 0 to 0.5 as the carrier phase position line rotates. Therefore, the residual that is not a correct candidate position will eventually exceed a predetermined cycle (for example, 1/5 cycle).
On the other hand, the residual of the correct candidate position falls to a certain value of less than 0.5 cycle (for example, 1/5 cycle), and
It does not exceed that value over time. And the candidate position far from the true position changes the residual faster, so
Exceeds the predetermined cycle (1/5 cycle) early. Therefore, by performing a process for discarding candidate points whose residuals exceed a predetermined cycle (for example, 1/5 cycle) (hereinafter, this process is referred to as “shaking off”) for a predetermined time, candidate points farther from the true position are discarded earlier. The probability that the candidate point is closer to the true position is higher. Therefore,
If the average value of the remaining candidate positions is obtained after performing the shaking-off process for a certain period of time, a highly accurate positioning result close to the true position can be obtained. According to the observation result shown in FIG. 5, immediately after the start of the shaking-off process, the residual is 1/5 =
Candidate positions (2), (3), and (5) exceeding 0.2 cycles are discarded first, and after approximately 121 seconds, the candidate positions
Since the residual of (6) exceeds 0.2, the candidate position (6) is discarded. At this point, candidate positions (1) and (4) remain.

Further, as the candidate position is farther from the true position, the change in the residual is faster (the change rate of the residual is large). Discarding process (hereinafter this process is also referred to as "shaking off")
Is performed for a predetermined time, the probability that a candidate position farther from the true position is discarded earlier is increased. Therefore, if the average value of the remaining candidate positions is obtained after performing the shaking-off process for a certain period of time, a highly accurate positioning result close to the true position can be obtained.

For convenience of explanation, FIGS. 2 to 4 show two dimensions, so that the candidate positions of the two candidate position determining satellites P1 and P2 and the reference satellite B are distributed on a two-dimensional plane. However, actually, the candidate positions of the three candidate position determining satellites P1, P2, and P3 and the reference satellite B are distributed in a three-dimensional space. Also, in the examples shown in FIGS. 2 to 4, one set of carrier phase position lines for residual check is shown, so that each residual at each candidate position takes one value. When there are a plurality of satellites Si, the residual of each candidate position is obtained by the number.

In the paragraph of the processing of integer-valued biases from p156 to p157 of the new revised edition GPS-accurate positioning system by satellite-edited by the Geodetic Society of Japan (November 15, 1989, issued by the Japan Surveying Association), candidate positions (grid The point) continues observation for a time sufficient to rotate in space with the true solution as a fixed point along with the movement of the satellite, and if data processing is performed by the least square method, the position of the unknown point and the integer value bias can be simultaneously Although it is described that the decision can be made, what is stated here is that a plurality of candidate positions are assumed, observation is continued, residuals are obtained for each candidate position, and the residual This is for statistically selecting candidate positions, and is not related to “shaking off” of the present invention.

Next, the operation of the configuration according to the second and fifth aspects will be described. Since the candidate positions as shown in FIGS. 2 to 4 are obtained by observation, these candidate positions cannot be directly back calculated.
Since the positional relationship between each positioning satellite and the receiving point is already known to a certain degree of accuracy from other information by single positioning, a candidate position for simulation is determined from now on, assuming a carrier phase position line near the receiving point, FIG.
It is possible to back-calculate the residual of each candidate position and simulate the change as shown in FIG. However, it does not matter in what order the candidate positions are shaken off, but it is important what kind of pattern the positional relationship of the candidate positions reduced to some extent by the shake-off. Therefore, the simulation is started from a certain point of time, and the candidate positions whose residuals exceed, for example, 1/5 cycle are sequentially discarded. For example, when the number of candidate positions decreases to three or less, the remaining candidate positions are reduced. Predict the pattern of the positional relationship.

For example, as shown in FIG.
When three candidate positions indicated by 20 remain, it is clear that any of the three candidate positions is the correct candidate position,
With just this information, the correct answer cannot be determined. On the other hand, when a simulation was performed assuming that pii was the correct answer, and the pattern of the three candidate positions at the time when three candidate positions remained remained as shown in FIG. By comparing the pattern of the positional relationship of the candidate positions by observation with the pattern of the positional relationship of the candidate positions by the simulation shown in FIG. 9, P10 in FIG. 8 is determined to be the correct candidate position (integer bias).

In addition, when viewed from a satellite at a distance of about 20,000 m,
The distance between points separated by about several hundred meters is relatively very small, and even when observations are made at different reception points by several meters to several hundred meters, the above-mentioned shaking-off to a predetermined number is performed. The remaining pattern of the candidate positions (not the value of the integer bias but the positional relationship of the remaining candidate positions) has the same result. Therefore, assuming a carrier phase position line for simulation in the vicinity of the reception point, it is only necessary to determine candidate positions corresponding to several cycles before and after the simulation, and perform simulation even if the positioning accuracy by single positioning is low. Not be.

Next, the operation of the configuration according to the third and sixth aspects will be described. As described above, the candidate position having the smallest change rate of the residual is correctly determined from the relationship that the change in the residual is faster (the change rate of the residual is larger) as the candidate position is farther from the true position. Candidate position (integer bias)
Can be considered. If the correct candidate position is extracted by this method, the correct candidate position can be extracted earlier as compared with the case of extracting based on only the residual value, for example. For example, in the example shown in FIG. 5, the candidate position (1) is natural, but the candidate position (2) is also 1/5
Within a cycle. However, looking at the rate of change of the residual, the candidate position (2) is larger than (1), so that (1) can be extracted as the correct candidate position.

[0021]

FIG. 1 is a diagram showing a configuration of a carrier phase relative positioning apparatus according to a first embodiment of the present invention, wherein (A) is a configuration of a base station, and (B) is a configuration of a mobile station. Is shown. The base station receives the GPS antenna 1, G as shown in FIG.
It comprises a PS receiver 2, a data transmitter 3, and a data transmission antenna 4. Here, the GPS receiver 2 performs the independent positioning, obtains the C / A code phase error of each satellite from the positioning result and the known position data of the base station, and determines the distance from the GPS antenna 1 to each satellite. (Carrier phase) information is obtained. The data transmitter 3 encodes the information and broadcasts it from the data transmission antenna 4 to a predetermined service area.

On the other hand, the mobile station has the configuration shown in FIG. 2B. The GPS antenna 11 receives signals from a plurality of satellites, and the L1 band amplifier circuit 12 amplifies the signal, and the mixer circuit 1
4 mixes this signal with the signal from the local oscillation circuit 13 and converts it into an intermediate frequency signal. Intermediate frequency amplifier circuit 1
5 amplifies this, sampler 16 samples it at a predetermined period, and AD converter 17 converts the value into digital data. On the other hand, the data receiver 19 receives data broadcast from the base station by the data receiving antenna 18. The CPU 21 executes a program previously written in the ROM 22 to perform relative positioning. RAM 23
Is used as a working area when executing the program. When performing relative positioning, the CPU 21 reads data received by the data receiver 19 via the interface 20. The CPU 21 outputs the positioning result to the outside via the interface 24.

FIGS. 10 and 11 show the CPU shown in FIG.
21 is a flowchart illustrating a processing procedure of a first embodiment. As shown in FIG. 10, first, a C / A code phase, a carrier phase, and navigation data are respectively extracted from a received signal from a satellite to perform independent positioning. At the start of the determination of the integer bias (that is, when the integer bias is not being determined or has not been determined), a satellite (reference satellite B) to be used as a reference for determining a carrier phase position line is subsequently selected. For example, the satellite having the largest elevation angle is determined among the receivable satellites. Subsequently, three candidate position determination satellites P1, P2, and P3 are selected. For example, GDOP (Geometorical Dilution of Precisio)
The positioning accuracy is made as high as possible by selecting the three satellites of the combination that maximizes n). The other receivable satellites Si (S1, S2,...) Are selected as residual check satellites. If the receiving unit is for eight channels and there are eight or more satellites in the field of view, there are four residual check satellites S1, S2, S3, and S4. Thereafter, a candidate for an error of each C / A code phase received from the base station is performed, and the C / A code phase is smoothed by the carrier phase to determine the position of the reception point with 1 m accuracy. Then, the carrier phase position lines (P1-B), (P2-B), (P3-B) passing through the nearest neighborhood of the determined position.
For each of the three, an integer bias is assumed. Incidentally, the decimal part is a measured value of the carrier phase. Then, candidate positions corresponding to five cycles before and after the assumed integer bias are obtained. Since these candidate positions are the intersections of the three carrier phase position lines in three dimensions, 11 × 11 × 11
= 1331 points will be obtained.

Subsequently, as shown in FIG. 11, a carrier phase position line (Si-B) ｛(S1-
B), (S2-B)...｝ Are calculated. Then, the candidate position where the residual exceeds 1/5 cycle is discarded. That is, the candidate position is set so that the subsequent residual check is not performed. The above processing is repeated until three minutes have elapsed. For example, a process of calculating the residual of each candidate position every second and sequentially discarding the residual from a position exceeding 1/5 cycle is repeated.

In the case where there are a plurality of residual error checking satellites Si, the residuals of each candidate position are obtained by the number of the satellites Si, and at least one of the plural residuals at one candidate position exceeds 1/5 cycle. , The candidate position is discarded.

If the number of candidate positions remaining (not yet discarded) after three minutes has passed becomes 10 or less,
The arithmetic mean value of the remaining candidate positions is obtained as the position of the receiving point, and this is output. Until three minutes have passed, or if the number of candidate positions remaining after three minutes is not less than 10, code phase, carrier phase, and navigation data are extracted from the received signal, and Repeat dropping.

According to the above method, a positioning result as high as possible can be obtained in a short time of 3 minutes by using only the L1 band signal. Of course, the present invention is not limited to one using only one frequency, but can also be used with one using two frequencies described above. That is, the phase difference between two reference beat frequencies of one reference satellite B and three candidate position determining satellites P1, P2, and P3 is determined, and the intersection of the three sets of phase position lines is determined as a candidate position. And shake it off.

FIG. 12 is a flowchart showing a processing procedure of the CPU according to the second embodiment. In this embodiment, the processing contents from the start of the processing to obtaining the candidate position are the same as those shown in FIG. 10, and FIG. 12 shows the processing contents subsequent thereto. First, a carrier phase position line (Si-B) ｛(S1-B) passing near each candidate position,
(S2-B)... The residual with respect to｝ is calculated. Then, from the residuals of the candidate positions obtained previously or up to the previous time and the residuals obtained this time, a residual change rate indicating how much the residual has changed per fixed time is obtained. This corresponds to the slope of the residual change curve shown in FIG. 5 or FIG. 6. For example, the difference between the residuals at two different points for about one minute is obtained as the residual change rate, or the least squares method. Is used to determine the slope of the change in the residual. Then, candidate positions whose change rate of the residual exceeds a predetermined value are discarded. That is, the candidate position is set so that the subsequent residual check is not performed.
The above processing is repeated until three minutes have elapsed. For example, the rate of change of the residual at each candidate position is calculated every second,
The process of sequentially discarding the data exceeding 002 cycles / sec is repeated. In the example shown in FIG. 5, candidate positions having a large residual change rate, such as (6), (5), and (4), are discarded.

If the number of candidate positions remaining (not yet discarded) after three minutes has passed becomes 10 or less,
The arithmetic mean value of the remaining candidate positions is obtained as the position of the receiving point, and this is output. By the above method, L1
A highly accurate positioning result can be obtained in a short time using only the band signal.

FIGS. 13 and 14 are flowcharts showing the processing procedure of the CPU according to the third embodiment. FIG.
As shown in FIG. 3, first, a C / A code phase, a carrier phase, and navigation data are respectively extracted from a received signal from a satellite to perform independent positioning. At the start of the determination of the integer bias (when the integer bias is not being determined or not after the determination), the satellites serving as references for determining the carrier phase position line (reference satellite B) and the three candidate position determining satellites P1 , P
2, P3, satellite for checking residual error Si (S1, S2 ...
・)). Then, the position L of the receiving point is determined with 1 m accuracy by smoothing the C / A code phase with the carrier phase. Then, the carrier phase position lines (P1-B) and (P2-B) passing through the nearest neighborhood of the determined position L
B) and (P3-B) are each assumed to have an integer bias, and candidate positions corresponding to five cycles before and after that are determined. Since these candidate positions are three-dimensional intersections of 11 carrier phase position lines, 11 × 11 × 11 =
1331 points will be obtained. The processing up to this point is the same as that shown in the first embodiment. Thereafter, simulation candidate positions corresponding to five cycles before and after the simulation carrier phase position line assuming that the integer bias corresponding to the position L is the correct answer are obtained. Therefore, 1331 simulation candidate positions are also obtained.

Subsequently, as shown in FIG. 14, a carrier phase position line (Si-B) passing near each candidate position by observation.
Is calculated. Then, the candidate position whose residual exceeds 1/5 cycle is discarded. On the other hand, the residual with respect to the carrier phase position line (Si-B) 'passing through each simulation candidate position is calculated, and the simulation candidate position whose residual exceeds 1/5 cycle is discarded. The above processing is repeated until the remaining number of candidate positions obtained by observation becomes 3 or less and the remaining number of simulation candidate positions becomes 3 or less. If any of the remaining numbers becomes 3 or less, a relative correspondence (pattern matching) between the candidate positions based on the remaining observations and the simulation candidate positions is obtained, and an integer of the candidate positions based on the observation corresponding to the simulation reference candidate positions. The bias is assumed to be the correct answer, and the measured value of the receiving point is obtained by adding this to the decimal part obtained by the measurement, and this is output.

For example, when the three remaining candidate positions obtained by the observation have the relationship shown in FIG. 8 and the three remaining candidate positions obtained by the simulation have the relationship shown in FIG. Since the candidate position corresponding to the observation is P10, (P1-B)
The intersection between 1 and the position line (P2-B) 0 is determined as a correct candidate position, that is, a correct integer bias. Since the decimal part of the phase difference has already been determined by measurement, the positioning result is output with an accuracy of 19 cm or less, which is one wavelength in the L1 band. For example, if the resolution of the decimal part is 1/4, about 5c
A positioning result is obtained with an accuracy of m.

When performing pattern matching, the number of candidate positions does not necessarily have to be the same. For example, the number of remaining candidate positions by observation is four, and the number of remaining candidate positions by simulation is three. Alternatively, when the pattern matching becomes possible, the pattern of the candidate position based on the remaining observations may be matched with the pattern of the simulation candidate position.

Next, a processing procedure of the CPU according to the fourth embodiment is shown as a flowchart in FIG. In this embodiment, the processing contents from the start of the processing to obtaining the candidate position are the same as those shown in FIG. 10, and FIG. 15 shows the processing contents subsequent thereto.

In this example, first, the carrier phase position line (Si-B) ｛(S1-B), (S1-B) passing near each candidate position
2-B)... And calculating the residual. And the residual is 1
Discard candidate positions beyond / 5 cycle. That is, the candidate position is set so that the calculation of the rate of change of the residual and the residual check are not performed thereafter. Also,
As in the case of the second embodiment, how much the residual has changed per fixed time from the residual of each candidate position obtained previously or previously and the residual obtained this time. Is calculated. In the above processing, the candidate position is 1
Repeat until point or 10 minutes have elapsed. 10
If the minutes elapse, the integer bias corresponding to the candidate position having the smallest change rate of the residual is determined as the correct answer for each candidate position remaining at that time. If the candidate position becomes one point by the elapse of 10 minutes, an integer bias corresponding to the candidate position is determined as a correct answer. Then, the measured value of the receiving point is obtained together with the decimal part by the measurement, and this is output.

Each of the embodiments described above can be implemented alone, but they can also be implemented together. For example, when the number of candidate positions falls from 1331 points to 10 points, the first and second embodiments are applied to output the average position of the candidate positions as a positioning value, and then to 3 to 4 points. The pattern matching may be performed by applying the third embodiment when the candidate positions are squeezed up to, and an integer bias with high accuracy may be obtained. Further, the fourth embodiment of extracting the candidate position having the smallest change rate of the residual may be applied in the entire process of the shaking-off process of the candidate position. In this case, the candidate position is 3
If it is possible to extract a candidate position having the smallest change rate of the residual before the number of points is reduced to 4 or 10 points, the positioning value may be output at that time.

[0037]

According to the first and fourth aspects of the present invention, when a process for discarding a candidate position in which the residual exceeds a predetermined cycle or a candidate position in which the rate of change of the residual exceeds a predetermined value is performed for a predetermined time, In other words, a high-precision positioning result close to the true position can be obtained at an early point in time before the determination of one correct candidate position.

According to the second and fifth aspects of the present invention,
The process of discarding candidate positions whose residuals exceed a predetermined cycle is continued, and when the number decreases to a predetermined number, that is, before finding the candidate position with the smallest residual, a correct integer bias of the correct answer is obtained. Highly accurate positioning results will be obtained.

According to the third and sixth aspects of the present invention,
Since the correct integer bias is obtained at the time when the candidate position with the smallest change rate of the residual can be extracted, a highly accurate positioning result can be obtained early.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a carrier phase relative positioning apparatus according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating an example of a plurality of candidate positions and residuals.

FIG. 3 is a diagram illustrating an example of a plurality of candidate positions and residuals.

FIG. 4 is a diagram showing an example of a plurality of candidate positions and residuals.

FIG. 5 is a diagram illustrating an example of a temporal change of a residual due to observation.

FIG. 6 is a diagram illustrating an example of a temporal change of a residual by simulation.

FIG. 7 is a diagram showing an example of each candidate position and residual corresponding to FIGS. 5 and 6;

FIG. 8 is a diagram showing a relationship between three candidate positions remaining by observation.

FIG. 9 is a diagram showing patterns of three remaining candidate positions obtained by simulation.

FIG. 10 is a flowchart illustrating a processing procedure of a CPU in the carrier phase relative positioning device according to the first embodiment.

FIG. 11 is a flowchart showing a processing procedure following FIG. 10;

FIG. 12 is a flowchart illustrating a processing procedure of a CPU in the carrier phase relative positioning device according to the second embodiment.

FIG. 13 is a flowchart illustrating a processing procedure of a CPU in the carrier phase relative positioning device according to the third embodiment.

FIG. 14 is a flowchart showing a processing procedure following FIG. 13;

FIG. 15 is a flowchart illustrating a processing procedure of a CPU in the carrier phase relative positioning apparatus according to the fourth embodiment.

[Explanation of symbols]

 1,11-GPS antenna 4-Data transmission antenna 18-Data reception antenna

Claims (6)

[Claims] 1. Receiving signals from a plurality of positioning satellites,
A means for extracting the code phase, carrier phase, and navigation data, respectively, and a carrier phase position line determined by a positional relationship between a reference satellite and a plurality of candidate position determining satellites,
Assuming an integer bias of the carrier phase position line passing in the vicinity of the estimated position of the receiving point, finding candidate positions corresponding to the intersection of the carrier phase position lines corresponding to several cycles before and after that, and passing other candidate positions passing in the vicinity of each candidate position. Means for calculating a residual of each candidate position with respect to a carrier phase position line, wherein the residual position does not exceed a predetermined cycle over a predetermined time or a rate of change of the residual is predetermined. A carrier phase relative positioning apparatus comprising means for extracting candidate positions that do not exceed a value and obtaining an average value of the candidate positions as a current position of a reception point. 2. Receiving signals from a plurality of positioning satellites,
Means for extracting the code phase, carrier phase, and navigation data, means for finding a carrier phase position line determined by the positional relationship between a reference satellite and a plurality of candidate position determining satellites, and reception using the code phase Assuming an integer bias of the carrier phase position line passing near the estimated position of the point, finding candidate positions corresponding to the intersections of the carrier phase position lines corresponding to several cycles before and after the other positions, and finding other carriers passing near each candidate position A means for calculating a residual of each candidate position with respect to the phase position line, wherein the residual is repeated a predetermined number of times from a candidate position where the residual exceeds a predetermined cycle, and the number of remaining candidate positions becomes a predetermined number. Means for obtaining a pattern of the positional relationship between the candidate positions when the following conditions are satisfied, and assuming that the estimated position of the reception point or its vicinity is the correct answer position , Find candidate positions corresponding to several cycles before and after that,
The residual of each candidate position is calculated backward from the positional relationship between the receiving point and each positioning satellite, and the process of discarding candidate positions whose residual exceeds a predetermined cycle over time is repeated, and the number of remaining candidate positions becomes a predetermined number. Means for obtaining a pattern of a positional relationship between candidate positions when the following conditions are satisfied, and means for obtaining a candidate position by observation corresponding to the candidate position assumed to be the correct position as a correct integer bias by comparing the two patterns. The carrier phase relative positioning apparatus characterized by the above-mentioned. 3. Receiving signals from a plurality of positioning satellites,
A means for extracting the code phase, carrier phase, and navigation data, respectively, and a carrier phase position line determined by a positional relationship between a reference satellite and a plurality of candidate position determining satellites,
Assuming an integer bias of the carrier phase position line passing in the vicinity of the estimated position of the receiving point, finding candidate positions corresponding to the intersection of the carrier phase position lines corresponding to several cycles before and after that, and passing other candidate positions passing in the vicinity of each candidate position. Means for calculating a residual of each candidate position with respect to a carrier phase position line, wherein a means for obtaining a candidate position having the smallest change rate of the residual as a correct integer bias is provided. Carrier phase relative positioning device. 4. Receiving signals from a plurality of positioning satellites,
Code phase, carrier phase, and navigation data are each extracted, and a carrier phase position line determined by the positional relationship between the reference satellite and a plurality of candidate position determining satellites is obtained.The carrier phase position passing near the estimated receiving point position Assuming an integer bias of the line, candidate positions corresponding to several cycles before and after the line are determined, and the residual of each candidate position corresponding to the intersection of the carrier phase position line with another carrier phase position line passing near each candidate position is calculated. A candidate position in which the residual does not exceed a predetermined cycle for a predetermined time or a candidate position in which the rate of change of the residual does not exceed a predetermined value is extracted, and the average value of the candidate positions is calculated as the current value of the reception point. A program recording medium for a carrier phase relative positioning device including a processing program to be obtained as a position. 5. Receiving signals from a plurality of positioning satellites,
Extracts the code phase, carrier phase, and navigation data respectively, finds the carrier phase position line determined by the positional relationship between the reference satellite and the plurality of candidate position determination satellites, and estimates the reception point estimated using the code phase. Assuming an integer bias of the carrier phase position line passing in the vicinity of, a candidate position corresponding to the intersection of the carrier phase position line corresponding to several cycles before and after the candidate position is obtained, and the other carrier phase position lines passing in the vicinity of each candidate position are determined. The process of obtaining the residual of each candidate position, repeating the process of sequentially discarding from the candidate positions where the residual exceeds a predetermined cycle, and the pattern of the positional relationship of the candidate positions by observation when the number of remaining candidate positions becomes equal to or less than a predetermined number And repeat the process of sequentially discarding from the candidate positions where the residual exceeds a predetermined cycle, and select the candidate when the number of remaining candidate positions becomes equal to or less than a predetermined number. It determined the pattern of positional relationship between the location, assuming an estimated position or its vicinity of the receiving point and correct position, obtains the candidate position corresponding to the front and back several cycles,
The residual of each candidate position is calculated backward from the positional relationship between the receiving point and each positioning satellite, and the process of discarding candidate positions whose residual exceeds a predetermined cycle over time is repeated, and the number of remaining candidate positions becomes a predetermined number. A carrier phase relative processing pattern including a processing program for obtaining a pattern of a positional relationship between candidate positions when the following conditions are satisfied, and obtaining a candidate position by observation corresponding to the candidate position assumed to be the correct position as a correct integer bias by comparing the two patterns. Program recording medium for positioning device. 6. Receiving signals from a plurality of positioning satellites,
Code phase, carrier phase, and navigation data are each extracted, and a carrier phase position line determined by the positional relationship between the reference satellite and a plurality of candidate position determining satellites is obtained.The carrier phase position passing near the estimated receiving point position Assuming an integer bias of the line, find candidate positions corresponding to several cycles before and after the integer position, and calculate the residual of each candidate position corresponding to the intersection of the carrier phase position line with another carrier phase position line passing near each candidate position. A program recording medium for a carrier phase relative positioning device including a processing program for obtaining a candidate position having the smallest change rate of the residual as a correct integer bias.