WO2005024458A1 - 三次元測位システム - Google Patents
三次元測位システム Download PDFInfo
- Publication number
- WO2005024458A1 WO2005024458A1 PCT/JP2004/010448 JP2004010448W WO2005024458A1 WO 2005024458 A1 WO2005024458 A1 WO 2005024458A1 JP 2004010448 W JP2004010448 W JP 2004010448W WO 2005024458 A1 WO2005024458 A1 WO 2005024458A1
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- WO
- WIPO (PCT)
- Prior art keywords
- correction data
- positioning device
- dimensional
- positioning
- corrected
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
Definitions
- the present invention relates to a three-dimensional positioning system using a GPS positioning method.
- GPS positioning method that receives radio waves from GPS satellites and obtains a three-dimensional position (Global Positioning System) are used.
- the GPS positioning can be roughly divided into a single positioning method and a relative positioning method. When high accuracy is required, the relative positioning method is used.
- the relative positioning method includes a differential method, a static method, a kinematic method, a real-time kinematic method, and the like.
- the relative positioning method basically uses correction data obtained at a reference station (fixed station) whose position is known, for example, the amount of propagation delay when a radio wave passes through the ionosphere and atmospheric layer. An error based on the above is removed (for example, see Japanese Patent Application Laid-Open No. 6-18649).
- the reference stations are arranged at considerable intervals (distances). In the range of 200 km, the same correction data is distributed. Therefore, when the measurement position (point) is far away from the reference station, there is a problem that a measurement error is inevitably generated. is there.
- an object of the present invention is to provide a three-dimensional positioning system that can improve measurement accuracy with an inexpensive configuration. Disclosure of the invention
- the first three-dimensional positioning system of the present invention measures the three-dimensional position by receiving a radio wave from a GPS satellite by a positioning device that is a mobile station, and performs correction data from a fixed station provided on the ground side.
- Correction data obtained by correcting the correction data on the pseudorange and the ionospheric change rate from the fixed stations arranged at a plurality of locations based on the bilinear interpolation method or by averaging the correction data is used for correction in the positioning device. It is characterized by being used.
- the second three-dimensional positioning system of the present invention includes the first three-dimensional positioning system.
- a feature is that a range where positioning can be performed by a positioning system is divided into a plurality of areas in advance, and correction correction data is created according to an area where a positioning device is located.
- the third three-dimensional positioning system of the present invention is the positioning device of the first or second three-dimensional positioning system, wherein a pseudo-range to a GPS satellite and a carrier phase fraction are obtained at predetermined time intervals.
- Ambiguity which is the difference between the ambiguities, and the average value of the ambiguities obtained at predetermined time intervals is calculated.Then, the ambiguity related to this average value is corrected based on the correction data.
- the feature is that the distance to the GPS satellite is calculated by adding the above carrier wave phase fraction to the corrected ambiguity.
- the fourth three-dimensional positioning system of the present invention measures the three-dimensional position by receiving radio waves from GPS satellites by a positioning device as a mobile station, and corrects the position from a fixed station provided on the ground side. Using a system designed to improve the measurement accuracy of the three-dimensional position in the positioning device using the data,
- the range where positioning can be performed is divided into a plurality of areas in advance, and correction data on the pseudorange and the ionospheric change rate from fixed stations located in each of these areas is received.
- Provision of a distribution facility that creates corrected correction data that is corrected based on the bilinear interpolation method or by averaging according to the position of the positioning device, and that distributes the corrected correction data to the positioning device. It is characterized.
- the fifth three-dimensional positioning system of the present invention is a mobile station-based positioning system.
- the positioning device receives radio waves from GPS satellites to measure the three-dimensional position, and uses correction data from a fixed station provided on the ground to improve the measurement accuracy of the three-dimensional position in the positioning device.
- Three-dimensional positioning system receives radio waves from GPS satellites to measure the three-dimensional position, and uses correction data from a fixed station provided on the ground to improve the measurement accuracy of the three-dimensional position in the positioning device.
- the range where positioning can be performed is divided into a plurality of areas in advance, and correction data on the pseudorange and the ionospheric change rate from fixed stations located in each of these areas is received.
- a distribution facility that can create corrected correction data that is corrected based on the bilinear interpolation method or by averaging according to the position of the positioning device;
- the pseudorange to the GPS satellite and the fraction of the carrier phase obtained by the positioning device at predetermined time intervals are input to the distribution facility, and the pseudorange determined at predetermined time intervals by the distribution facility is used.
- each ambiguity which is the difference between the distance and the carrier phase fraction
- an average value of the plurality of ambiguities determined at predetermined time intervals is determined, and then the determined ambiguities are calculated.
- the distance to the GPS satellite is calculated by adding the above-mentioned carrier phase fraction to the corrected ambiguity, and then this distance is calculated.
- the three-dimensional position of the positioning device is obtained based on the above, the three-dimensional position is transmitted to the positioning device that is a mobile station.
- the pseudo-range obtained by a plurality of fixed stations installed therearound and Correction data on ionospheric change rate should be averaged based on bilinear interpolation method
- the ambiguity is corrected using the corrected correction data corrected by the above method, so that the measurement accuracy is improved compared to the case where correction is performed based on the correction data from one fixed station, for example.
- the measurement accuracy is not reduced, so that an inexpensive and high-accuracy positioning system can be obtained.
- the three-dimensional positioning system can be operated efficiently.
- the distribution facility calculates the ambiguity based on the pseudorange and the fraction of the carrier phase transmitted from the positioning device, and then corrects the ambiguity using the correction data to correct the accuracy.
- FIG. 1 is a diagram showing a schematic overall configuration of a preferred three-dimensional positioning system of the present invention
- FIG. 2 is a block diagram showing a schematic configuration of a three-dimensional positioning device in the three-dimensional positioning system
- Fig. 3 is a block diagram showing the schematic configuration of a distribution facility in the 3D positioning system.
- Fig. 4 is a block diagram showing the schematic configuration of the high-precision position calculation unit in the three-dimensional positioning system.
- Fig. 5 is a diagram for explaining the positioning operation in the 3D positioning system.
- FIG. 6 is a diagram for explaining correction correction data in the three-dimensional positioning system.
- This three-dimensional positioning system uses a global positioning system (also called GPS), specifically, a differential positioning method (also called DGPS method), and a three-dimensional positioning system that is a mobile station.
- GPS global positioning system
- DGPS method differential positioning method
- the device receives radio waves from GPS satellites, measures its three-dimensional position, and uses correction data from reference stations, which are fixed stations installed at multiple locations, to obtain the three-dimensional positioning device. It is intended to improve the measurement accuracy in the measurement.
- this three-dimensional positioning system includes a three-dimensional positioning device (GPS receiver) that receives radio waves from at least four GPS satellites S and measures its own three-dimensional position.
- GPS receiver three-dimensional positioning device
- reference stations 2 installed at a plurality of locations whose three-dimensional positions are known, and correction data obtained by each of these reference stations 2 will be transmitted to a network line (wireless communication (This may be a line or broadcast-type one-way communication.) 3) and distributes the corrected data obtained by correcting these correction data based on the current position of the positioning device 1- to the positioning device 1 And a distribution facility 4.
- Na Figure 1 shows the wireless antenna 12a of the data communication device 12 (described later), the GPS receiving antenna 2a of the reference station 2, and the wireless antenna 4 of the distribution facility 4. a is shown.
- the positioning device 1 is a radio wave receiver that receives radio waves from the GPS satellite S (specifically, a GPS receiving antenna) 1 1, and at least a modification from the distribution facility 4
- a data communication device for example, a wireless data transceiver is used
- a positioning code C / A code
- Observation data detector that detects pseudo-range data to GPS satellites and carrier-wave phase observation data (for example, a circuit that has a circuit that calculates pseudo-ranges based on positioning codes, a carrier-phase counting circuit, etc.) 13
- a pseudo position calculation unit (for example, a calculation circuit) 14 which inputs data obtained by the observation data detector 13 and independently calculates a pseudo position based on the pseudo distance;
- Math part 1 4 A high-precision position calculation unit (for example, a calculation circuit) 15 that inputs the pseudorange obtained by the above and the carrier phase obtained by the observation data detector 13-to calculate the position with high accuracy;
- a relative position calculation unit 16 for calculating a relative position with respect to the reference station 2, a control unit 17 for controlling the calculation unit and the like, and input devices 18 such as a keyboard connected to the control unit 17; It is composed of a display device 19 such as a liquid crystal display panel that displays the calculated three-dimensional position.
- a storage unit and the like necessary for calculating a three-dimensional position are provided. Since the carrier phase contains noise, the noise is removed using a filter such as a Kalman filter when detecting the carrier phase.
- a filter such as a Kalman filter
- Each reference station 2 uses a two-frequency (L1 band, L2 band) GPS receiver to measure the carrier phase of the signal from the GPS satellite and the arrival time of the signal. The distance from S is determined with high accuracy.
- L1 band, L2 band two-frequency GPS receiver
- the base station 2 receives the frequency signals of the L1 band (1575.742 MHz) and the L2 band (1227.6 MHz) transmitted from the GPS satellite S, and
- the rate of change (also referred to as the rate of change) of the ionospheric delay when radio waves pass through the ionosphere is determined, and the correction data (distance data) related to the pseudorange determined by the positioning code is also determined.
- the ionospheric change rate is also used for correction together with the correction data on the pseudorange.
- this distribution facility 4 has an area including the positioning device 1 (e.g., Japanese land area 100 to 2) based on the position data (pseudo position) input from the positioning device 1.
- the correction data and the ionospheric change rate for the pseudorange transmitted from each reference station 2 are input, and the interpolation data is obtained by using the bilinear surface.
- the correction data for obtaining the correction data by applying the bilinear interpolation method A correction / correction data calculation unit 22 and a data communication device 23 for exchanging data with each positioning device 1 and each reference station 2 are provided.
- the correction data from each reference station 2 and the position data from the positioning device 1 are input via the data communication device 23.
- the high-accuracy position calculation unit 15 will be described in detail based on FIG.
- This high-precision position calculation unit 15 is a pseudo distance from the observation data detector 13!
- An ambiguity calculation unit 31 that inputs 0 and a fraction ⁇ of the carrier phase ⁇ and calculates an ambiguity N that is the difference (p_ ⁇ ), and an ambiguity calculation unit 3 1
- a temporary ambiguity calculation unit 32 that calculates the average of a plurality of ambiguities N to obtain a temporary ambiguity N ', and the correction data sent from the distribution facility 4 to the temporary ambiguity N'
- a high-precision ambiguity calculation unit 33 that performs correction using the corrected correction data and the ionospheric change rate for the calculated pseudo-range to calculate a high-precision high-precision ambiguity N ⁇ .
- the high-precision ambiguity calculation unit 33 corrects the ambiguity so as to eliminate the influence of the ionosphere predicted based on the ionosphere change rate that is the correction data. For example, the ambiguity is corrected using a parameter (coefficient) that cancels out the influence of the ionosphere predicted from the ionospheric change rate.
- radio waves from at least four GPS satellites S are received by the radio receiver 11 1 i and the received signal is transmitted to the observation data detector 13 Where the pseudoranges
- the carrier phase ⁇ is determined based on the L1 band signal.
- the pseudo distance is input to the pseudo position calculation unit 14 to obtain a pseudo three-dimensional position, and the position data is transmitted to the distribution facility 4 to obtain correction correction data relating to the positioning device 1. . That is, in the distribution facility 4, as shown in FIG. 5, based on the position data sent from the positioning device 1, the area including the positioning device 1 is selected by the area selection unit 21. You. Then, the correction data and the ionosphere change rate relating to the pseudoranges input from a plurality of, for example, four reference stations 2 belonging to this area are input to the correction correction data calculation unit 22. In the corrected correction data calculation unit 22, each data is obtained based on the bilinear interpolation method, that is, as shown in FIG.
- the value determined uniquely according to the three-dimensional position of the positioning device (mobile station) 1 on the bilinear surface is corrected and corrected. It is required as a night.
- the correction correction data obtained above is transmitted from the distribution facility 4 to the positioning device 1 by wireless via the communication device 23, and based on the correction correction data, the high-accuracy position calculation unit 15 generates the correction correction data.
- 0 'to GPS satellite with high accuracy is required.
- the ionospheric change rate of the correction data is input, the ambiguity is corrected based on the change rate as described above. Then, the high-precision distance is input to the relative position calculation unit 16 and the three-dimensional position of the positioning device 1 is obtained with high accuracy.
- 0 and the carrier phase ⁇ from the observation data detector 13 are ambiguously
- the ambiguity N which is the difference (p ⁇ )
- the ambiguity N is input to the ambiguity calculation unit 31 and then the plurality of ambiguities N obtained by the ambiguity calculation unit 31 are used for temporary ambiguity calculation.
- the tentative ambiguity N ' which is input to the unit 32 and is the average value, is obtained.
- the provisional ambiguity N ' is input to the high-precision ambiguity calculation unit 33, and the high-precision high-precision correction is performed based on the correction value for the pseudo distance based on the correction correction data from the distribution facility 4 and the ionospheric change rate.
- the high-precision ambiguity N ⁇ is input to the high-precision distance calculation unit 34, and the carrier phase fraction ⁇ is added to obtain the high-precision high-precision distance P '. Will be done.
- the positioning device 1 As the positioning device 1 according to the first embodiment, a one-frequency type GPS receiver is adopted. Even with such a one-frequency type GPS receiver, the measurement accuracy is not reduced. An inexpensive positioning system with good measurement accuracy can be obtained. Also, the use range of the L2 band is limited due to its weak radio field intensity. Can be done. Further, since the distribution facility for distributing the correction data is provided, the three-dimensional positioning system can be operated efficiently. Next, a three-dimensional measurement system according to a second embodiment of the present invention will be briefly described.
- the correction correction data obtained by the distribution facility 4 is transmitted to the positioning device 1 and the ambiguity in the carrier phase is corrected by the high-accuracy position calculation unit 15 of the positioning device 1.
- the pseudo-range and the carrier phase fraction obtained by the observation data detector 13 of the positioning device 1 are directly transmitted to the distribution facility 4, and the distribution facility 4 is provided with the high-precision position.
- a function equivalent to that of the arithmetic unit 15 may be provided, and the three-dimensional position of the positioning device 1 may be obtained with high accuracy, and the obtained three-dimensional position may be transmitted to the positioning device 1.
- the positioning device receives radio waves from GPS satellites, measures the three-dimensional position, and uses correction data from a reference station provided on the ground to use the data in the positioning device.
- the range in which positioning can be performed is divided into a plurality of areas in advance, and the reference stations located in each of these areas are divided.
- a distribution facility capable of receiving correction data on the pseudorange and the ionospheric change rate from the satellite, and correcting the correction data based on the bilinear interpolation method in accordance with the position of the positioning device, to create a correction data set And transmitting the pseudo-range to the GPS satellite and the carrier phase fraction obtained at predetermined intervals by the positioning device to the distribution facility, and at the distribution facility, Difference der pseudorange and carrier phase fractional determined in constant time intervals After calculating the ambiguities, the average value of the ambiguities obtained at predetermined time intervals is calculated, and then the obtained ambiguities are corrected based on the corrected correction data.
- the distance to the GPS satellite is calculated by adding the carrier phase fraction to the corrected ambiguity, and the calculated distance is transmitted to the positioning device.
- the configuration according to the second embodiment has the same effect as the first embodiment, and the distribution facility calculates the three-dimensional position with high accuracy.
- the distribution facility calculates the three-dimensional position with high accuracy.
- the system having such a configuration can be applied to a system in which the position of a terminal device equipped with a positioning device is constantly or centrally monitored at a monitoring facility, or the position of a terminal device at a distribution facility is monitored. It is possible to develop services (ASP: application, service, provider) that add value to information and send it to the terminal device.
- ASP application, service, provider
- the area is selected based on the pseudo position transmitted from the positioning device.
- the station number of the accessed telephone number is used.
- the closest area may be selected.
- the pseudorange and the ionospheric change rate were obtained by the bilinear interpolation method as the correction correction data.
- the average of the pseudorange and the ionospheric change rate obtained at the reference station in each area may be used, and these average values may be used.
- the three-dimensional positioning system of the present invention can be used for accurate measurement of an object position when moving on the ground, for example, and is extremely useful.
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- General Physics & Mathematics (AREA)
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JP2003309452A JP2005077291A (ja) | 2003-09-02 | 2003-09-02 | 三次元測位システム |
JP2003-309452 | 2003-09-02 |
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WO2005024458A1 true WO2005024458A1 (ja) | 2005-03-17 |
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PCT/JP2004/010448 WO2005024458A1 (ja) | 2003-09-02 | 2004-07-15 | 三次元測位システム |
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CN (1) | CN1842722A (ja) |
WO (1) | WO2005024458A1 (ja) |
Cited By (1)
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CN101535833B (zh) * | 2006-12-11 | 2012-03-21 | 丰田自动车株式会社 | 移动体定位装置 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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EP1884798B1 (en) | 2006-08-03 | 2012-01-18 | Casio Computer Co., Ltd. | Method for measuring distance to object |
JP5311865B2 (ja) * | 2008-04-14 | 2013-10-09 | 三菱電機株式会社 | データ送信装置、データ送信方法、データ送信プログラム、測位装置、測位方法及び測位プログラム |
CN108254762B (zh) * | 2016-12-28 | 2021-07-27 | 千寻位置网络有限公司 | 伪距差分定位方法及系统 |
DE102018202225A1 (de) * | 2018-02-14 | 2019-08-14 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Bereitstellen von Roh-Korrekturdaten zur Korrektur atmosphärischer Störungen zur Satellitennavigation sowie Verfahren und Vorrichtung zum Bestimmen von Korrekturdaten zur Korrektur atmosphärischer Störungen zur Satellitennavigation |
DE102018202223A1 (de) * | 2018-02-14 | 2019-08-14 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Bereitstellen einer Integritätsinformation zum Überprüfen von Atmosphärenkorrekturparametern zur Korrektur atmosphärischer Störungen bei einer Satellitennavigation für ein Fahrzeug |
KR102575716B1 (ko) * | 2018-06-08 | 2023-09-07 | 현대자동차주식회사 | 위성 항법 시스템 및 그의 신호 처리 방법 |
JP7369737B2 (ja) | 2021-05-28 | 2023-10-26 | Ales株式会社 | 測位システム、サーバ、基準局、情報配信方法、プログラム、測位対象の装置及び移動体 |
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JP2001324558A (ja) * | 2000-05-12 | 2001-11-22 | Senaa Kk | Gps測地用補正データ配信システム、gps測地装置およびgps測地プログラムを記録した媒体 |
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JP5330630B2 (ja) * | 2001-07-13 | 2013-10-30 | 株式会社ニコン・トリンブル | 高速位置検索方法及び高速位置検出システム |
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- 2004-07-15 CN CNA2004800243775A patent/CN1842722A/zh active Pending
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