WO2006132003A1 - Dispositif de reception gps et procede de correction de localisation gps - Google Patents

Dispositif de reception gps et procede de correction de localisation gps Download PDF

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Publication number
WO2006132003A1
WO2006132003A1 PCT/JP2005/022302 JP2005022302W WO2006132003A1 WO 2006132003 A1 WO2006132003 A1 WO 2006132003A1 JP 2005022302 W JP2005022302 W JP 2005022302W WO 2006132003 A1 WO2006132003 A1 WO 2006132003A1
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WO
WIPO (PCT)
Prior art keywords
mobile station
satellite
density ratio
czno
satellite signal
Prior art date
Application number
PCT/JP2005/022302
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English (en)
Japanese (ja)
Inventor
Nobuaki Kubo
Takashi Suzuki
Akio Yasuda
Original Assignee
National University Corporation Tokyo University Of Marine Science And Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by National University Corporation Tokyo University Of Marine Science And Technology filed Critical National University Corporation Tokyo University Of Marine Science And Technology
Priority to JP2007520025A priority Critical patent/JP5232994B2/ja
Publication of WO2006132003A1 publication Critical patent/WO2006132003A1/fr

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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
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/22—Multipath-related issues

Definitions

  • the present invention relates to a GPS (Global Positioning System), particularly a DGPS (Differential GPS) or R TKGPS (Real Time KGPS (Kinematic GPS)) receiver and a positioning correction method.
  • GPS Global Positioning System
  • DGPS Downlink Prediction System
  • R TKGPS Real Time KGPS (Kinematic GPS)
  • the present invention determines multinos based on satellite signal reception intensity, carrier power-to-noise power density ratio (CZNo), delta pseudorange, rate of change thereof, and a combination of the information, and positioning by multipath.
  • CZNo carrier power-to-noise power density ratio
  • the present invention relates to a GPS receiver capable of correcting an error and a GPS positioning correction method.
  • GPS consists of a satellite in a circular orbit that goes around the earth twice a day at an altitude of 20,000 kilometers above the ground, a control station that controls and tracks the satellite, and a user's receiver.
  • DGPS positioning obtains the difference between the position of the reference station specified by the satellite signal at the reference point and the known absolute position of the reference station, and sends it to the mobile station as correction information (position correction data).
  • the mobile station uses the position correction data to correct the position of the mobile station specified by the satellite signal.
  • KGPS measures the phase of satellite signals at both stations, transmits the phase data observed at the reference station to the mobile station, and determines the position by analyzing the phase data at the mobile station.
  • GPS uses KGPS to determine the position in real time.
  • DGPS DGPS
  • Fig. 9 conceptually shows positioning by DGPS.
  • both the reference station 50 and the mobile station 51 observe satellite signals from the satellites S1 to S4.
  • the satellite signal includes time information, orbit information, and the like!
  • Satellites S1 to S4 are equipped with four atomic clocks that clock time very accurately, and transmit the information of accurate transmission time on the satellite signal.
  • the reference station 50 and the mobile station 51 receive satellite signals transmitted from the satellites S1 to S4, and the difference between the transmission time information included in the satellite signals and the time received by the own station, the propagation speed of radio waves, From
  • the distance between the local station and the satellite can be calculated.
  • the positions of satellites S1 to S4 can be calculated from orbit information and time information.
  • a sphere centered on the position of the satellite can be drawn as shown in FIG. Since the receiving station has a three-dimensional position (three unknowns), the three-dimensional position can be identified from the intersection of three spheres formed by three satellite signal forces.
  • the distance since the receiving station is large and cannot be equipped with an expensive atomic clock, the distance includes a time lag (one unknown) due to the clock of the receiving station as an error. For this reason, there are four unknowns.
  • the four unknowns can be solved by solving the four simultaneous equations and received simultaneously with the three-dimensional position of the receiving station.
  • the amount of clock deviation of the communication station (reference station or mobile station) can be obtained.
  • the distance between the satellite and the receiving station where the satellite information power is also calculated includes an error due to a delay amount due to the troposphere or the ionosphere.
  • the reference station 50 has its absolute position known in advance. Therefore, the position shift calculated based on the satellite signal can be calculated from the calculated position of the reference station and the known absolute position. [0019] Since this positional deviation is common in the mobile station 51, the information on the positional deviation is transmitted as position correction data from the reference station 50 to the mobile station 51, so Based on the signal, the calculated position shift can be corrected. However, the distance from the satellite calculated by the mobile station may include errors due to multinoses.
  • the multipath is a satellite radio wave that reaches the receiving station after being reflected by a building or the like.
  • Multipath increases the time and distance of propagation of radio waves by the amount reflected by a building or the like.
  • Multipath does not occur under the same conditions in the reference station and the mobile station. This is because when a mobile station passes between buildings or the like and is affected by multipath, the reference station is not affected by multipath.
  • Japanese Patent Laid-Open No. 2002-22818 uses the direct satellite wave and the reflected wave to arrive at the same receiving device before and after, and uses the same satellite signal in a plurality of receiving channels of one receiving device. Disclosed is a technique for determining that a satellite signal that is received and has a difference in arrival time and signal strength of! / ⁇ differs from the satellite signal by being affected by multipath.
  • Japanese Patent Laid-Open No. 2003-57327 predicts the position of a mobile station after a predetermined time, calculates in advance the distance (approximate distance) from the satellite at the predicted position, and actually uses the satellite signal at the position.
  • a technique is disclosed in which a pseudo-range is calculated by receiving a signal, and when the difference between the approximate distance and the pseudo-range is equal to or greater than a predetermined threshold, it is determined that the difference is affected by multipath.
  • Japanese Patent Laid-Open No. 2001-272451 discloses a satellite in which a reception environment is determined based on a three-dimensional map database, a reference value of the reception intensity is changed according to the reception environment, and the reception intensity is less than the reference value.
  • a technique for determining a signal as a satellite signal affected by multipath is disclosed.
  • the determination of multipath according to the prior art is uncertain or requires a large-scale system.
  • the technology described in Japanese Patent Application Laid-Open No. 2002-22818 is based on the assumption that multipath radio waves are received by a plurality of reception channels of a single reception device on the premise that direct waves and reflected waves arrive back and forth. The arrival times and signal strengths of the satellite signals are compared, but the multipath direct wave does not always reach a detectable level. Providing multiple reception channels also leads to device complexity.
  • the problem to be solved by the present invention is to determine a satellite signal affected by multipath by a simple and reliable method, and to correct the measurement position of the mobile station and the GPS receiver. It is to provide a GPS positioning correction method.
  • the GPS receiver according to the present invention is a GPS receiver having a reference station and a mobile station by DGPS or RTKGPS.
  • the reference station includes receiving means, satellite signal power, position correction data calculating means for calculating the position of the reference station and calculating position correction data indicating a deviation from the absolute position of the reference station, and a satellite signal of the reference station.
  • the mobile station includes receiving means, positioning means for calculating the position of the mobile station from a satellite signal, mobile station received intensity measuring means for measuring the received intensity of the satellite signal in the mobile station, Positioning correction means for performing processing for correcting the position of the own station calculated by the positioning means, and the reference station uses the transmission means to calculate the position correction data calculated by the position correction data calculation means and the reference station. Transmitting the satellite signal reception intensity at the reference station measured by the reception intensity measuring means to the mobile station,
  • the mobile station receives the satellite signal reception intensity at the reference station measured by the reference station reception intensity measurement means for the satellite signal of each satellite by the positioning correction means and the satellite at the mobile station measured by the mobile station reception intensity measurement means. If the difference between the satellite signal reception intensity at the reference station and the satellite signal reception intensity at the mobile station is equal to or greater than a predetermined threshold, the satellite reception signal of the satellite is compared. The signal is excluded from the positioning satellite signal power, and for the positioning satellite signal, the position of the mobile station calculated by the positioning means is corrected by the position correction data also received by the reference local power.
  • the mobile station has a delta pseudo distance calculation means for calculating a delta pseudo distance between a satellite and the mobile station, and the positioning correction means is the reference station reception intensity measurement means for the satellite signal of each satellite.
  • the received signal strength of the satellite signal at the reference station measured by the mobile station is compared with the received signal strength of the satellite signal at the mobile station measured by the mobile station received strength measuring means.
  • the difference between the strength and the satellite signal reception strength at the mobile station is greater than or equal to a predetermined threshold, and the delta pseudorange between the satellite and the mobile station calculated by the delta pseudorange calculating means is greater than or equal to a predetermined threshold.
  • the satellite signal of the satellite can be excluded from the positioning signal power.
  • the mobile station has a delta pseudo-range change rate calculating means for calculating a delta pseudo-range change rate between the satellite and the mobile station, and the positioning correction means is configured to determine the reference station for the satellite signal of each satellite.
  • the satellite signal reception intensity at the reference station measured by the reception intensity measurement means is compared with the satellite signal reception intensity at the mobile station measured by the mobile station reception intensity measurement means, and the satellite signal at the reference station of the satellite signal of a predetermined satellite is compared.
  • the difference between the signal reception intensity and the satellite signal reception intensity at the mobile station is equal to or greater than a predetermined threshold, and the delta pseudorange between the satellite and the mobile station calculated by the delta pseudorange change rate calculation means
  • the satellite signal of the satellite is derived from the positioning satellite signal. Can be excluded.
  • the threshold of the difference between the satellite signal reception intensity at the reference station and the satellite signal reception intensity at the mobile station is such that the decrease in the positioning rate and the number of plots is small, and the positioning error is not improved. , Can be defined within range.
  • a GPS receiver according to the present invention is a GPS receiver having a reference station and a mobile station using DGPS or RTKGPS.
  • the reference station includes receiving means, satellite signal power, position correction data calculating means for calculating the position of the reference station and calculating position correction data indicating a deviation from the absolute position of the reference station, and received satellite signals in the reference station
  • a reference station carrier power-to-noise power density ratio measuring means for measuring a carrier power-to-noise power density ratio (CZNo) and a transmitting means
  • the mobile station includes a receiving means, a satellite signal power, Positioning means for calculating the position, mobile station carrier power to noise power density ratio measuring means for measuring the carrier power to noise power density ratio (CZNo) of the received satellite signal in the mobile station, and the positioning means to calculate Positioning correction means for performing processing for correcting the position of the station,
  • the reference station uses the transmitting means to calculate the position correction data calculated by the position correction data calculating means and the carrier power to noise power density ratio (CZNo) at the reference station measured by the reference station carrier power to noise power density ratio measuring means. ) To the mobile station,
  • the mobile station uses the positioning correction means to measure the carrier power to noise power density ratio (CZNo) at the reference station measured by the reference station carrier power to noise power density ratio measuring means for the satellite signal of each satellite and the mobile station carrier power. Compare the carrier power to noise power density ratio (CZNo) at the mobile station measured by the noise power density ratio measurement means, and compare the carrier power to noise power density ratio (CZNo) at the reference station of the satellite signal of a given satellite.
  • CZNo carrier power to noise power density ratio
  • the satellite signal of the satellite is excluded from the satellite signal power for positioning, and the positioning satellite signal is The position of the mobile station calculated by the means is corrected by the position correction data received by the reference local force.
  • the mobile station calculates a delta pseudorange between a satellite and the mobile station.
  • the positioning correction means includes a carrier power to noise power density ratio (CZNo) at the reference station measured by the reference station carrier power to noise power density ratio measuring means for the satellite signal of each satellite and the mobile station carrier.
  • the carrier power to noise power density ratio (CZNo) at the mobile station measured by the power to noise power density ratio measuring means is compared, and the carrier power to noise power density ratio (CZNo) at the reference station of the satellite signal of a given satellite is compared.
  • the difference in carrier power to noise power density ratio (CZNo) in the mobile station is equal to or greater than a predetermined threshold, and the delta pseudorange between the satellite and the mobile station calculated by the delta pseudorange calculation means is a predetermined If the threshold value is exceeded, the satellite signal of the satellite can be excluded from the satellite signal for positioning.
  • CZNo carrier power to noise power density ratio
  • the mobile station has a delta pseudo-range change rate calculating means for calculating a delta pseudo-range change rate between the satellite and the mobile station, and the positioning correction means is configured to determine the reference station for the satellite signal of each satellite.
  • Carrier power to noise power density ratio (CZNo) at the reference station measured by the carrier power to noise power density ratio measuring means and the mobile station carrier power to noise power density ratio measured by the mobile station carrier power to noise power density ratio at the mobile station.
  • the difference between the carrier power to noise power density ratio (CZNo) at the reference station and the carrier power to noise power density ratio (CZNo) at the mobile station of the satellite signal of a given satellite If the delta pseudorange change rate between the satellite and the mobile station calculated by the delta pseudorange change rate calculating means is equal to or greater than a predetermined threshold, the satellite signal of the satellite is used as a positioning satellite. Trust It is possible to make except force.
  • the threshold of the difference between the carrier power-to-noise power density ratio (CZNo) at the reference station and the carrier power-to-noise power density ratio (CZNo) at the mobile station is such that the decrease in the positioning rate and the number of plots is small. Positioning results that do not improve positioning errors can be set within a range that does not increase.
  • the threshold of the difference between the carrier power to noise power density ratio (CZNo) at the reference station and the carrier power to noise power density ratio (CZNo) at the mobile station is 4 decibel hertz (dB Hz)! Can be 7 decibel hertz (dBHz).
  • the GPS receiver of the present invention is a GPS receiver having a reference station and a mobile station using DGPS or RTKGPS.
  • the reference station has receiving means, satellite signal power, position correction data calculation means for calculating position correction data for calculating the position of the reference station and indicating deviation from the absolute position of the reference station, and transmission means.
  • the mobile station includes a receiving means, a satellite signal power, a positioning means for calculating the position of the mobile station, and a carrier power to noise power density ratio measurement for measuring a carrier power to noise power density ratio (CZNo) of the received satellite signal.
  • the reference station transmits the position correction data calculated by the position correction data calculation means to the mobile station by the transmission means,
  • the mobile station uses the positioning correction unit to measure the carrier power to noise power density ratio (cz) measured by the carrier wave power to noise power density ratio measuring unit for the satellite signal of each satellite.
  • cz carrier power to noise power density ratio
  • the satellite signal of the satellite is used as a positioning satellite signal.
  • the position of the mobile station calculated by the positioning means is corrected by the position correction data received by the reference station force.
  • the mobile station has a delta pseudo distance calculation means for calculating a delta pseudo distance between a satellite and the mobile station, and the positioning correction means measures the carrier power to noise power density ratio for the satellite signal of each satellite.
  • the carrier power to noise power density ratio (CZNo) measured by the means and the theoretical carrier power to noise power density ratio corresponding to the elevation angle of the satellite obtained from the means for calculating or storing the theoretical carrier power to noise power density ratio (The difference between the carrier power to noise power density ratio (CZNo) and the theoretical carrier power to noise power density ratio (theoretical CZNo) of the satellite signal of a given satellite is greater than or equal to a predetermined threshold value.
  • the satellite signal of the satellite is used as a positioning satellite.
  • the position of the mobile station calculated by the positioning means for the positioning satellite signal can be corrected by the position correction data received by the reference local power.
  • the mobile station has a delta pseudo-range change rate calculating means for calculating a delta pseudo-range change rate between the satellite and the mobile station, and the positioning correction unit is configured to transmit the carrier wave for the satellite signal of each satellite.
  • the carrier power to noise power density ratio (CZNo) measured by the power to noise power density ratio measuring means and the theoretical carrier power corresponding to the elevation angle of the satellite obtained from the means for calculating or storing the theoretical carrier power to noise power density ratio.
  • the noise power density ratio (theoretical CZNo) is compared, and the difference between the carrier power to noise power density ratio (CZNo) and the theoretical carrier power to noise power density ratio (theoretical CZNo) of the satellite signal of a given satellite If the delta pseudorange change rate between the satellite and the mobile station calculated by the delta pseudorange change rate calculating means is equal to or greater than a predetermined threshold, the satellite signal of the satellite is Satellite signal power for positioning , Tsu the positioning satellite signal, Te leaves with that rub ⁇ to compensation by the position correcting data received location of the mobile station in which the positioning means is calculated from the reference station.
  • the threshold value of the difference between the carrier power-to-noise power density ratio (CZNo) and the theoretical carrier power-to-noise power density ratio (theoretical CZNo) in the mobile station is such that the decrease in the positioning rate and the number of plots is small. Positioning results that do not improve positioning errors can be set within a range that does not increase.
  • a GPS positioning correction method includes:
  • the difference between the reception strength at the reference station and the reception strength at the mobile station is a predetermined threshold value.
  • a step of calculating the position of the mobile station by removing the satellite signal from the satellite signal for positioning;
  • a GPS positioning correction method includes:
  • a satellite signal in which a difference between a reception intensity at the reference station and a reception intensity at the mobile station is equal to or greater than a predetermined threshold and the delta pseudorange is equal to or greater than a predetermined threshold is excluded from the positioning satellite signal power.
  • a GPS positioning correction method includes:
  • the delta pseudo-range change rate between the satellite and the mobile station due to the satellite signal is compared with a predetermined threshold.
  • a satellite signal in which the difference between the reception intensity at the reference station and the reception intensity at the mobile station is equal to or greater than a predetermined threshold and the delta pseudorange change rate is equal to or greater than the predetermined threshold is excluded from the positioning satellite signal power. Calculating the position of the mobile station;
  • a GPS positioning correction method includes:
  • CZNo carrier power to noise power density ratio
  • a satellite signal in which the difference between the carrier power to noise power density ratio (CZNo) at the reference station and the carrier power to noise power density ratio (CZNo) at the mobile station is equal to or greater than a predetermined threshold is excluded from the positioning satellite signal power. Calculating the position of the mobile station;
  • a GPS positioning correction method includes:
  • the difference between the carrier power to noise power density ratio (CZNo) at the reference station and the carrier power to noise power density ratio (CZNo) at the mobile station is equal to or greater than a predetermined threshold, and the delta pseudorange is a predetermined value.
  • the GPS positioning correction method according to the present invention includes:
  • CZNo carrier power to noise power density ratio
  • CZNo carrier power to noise power density ratio
  • the difference between the carrier power to noise power density ratio (CZNo) at the reference station and the carrier power to noise power density ratio (CZNo) at the mobile station is a satellite signal having a predetermined threshold or more. Comparing the delta pseudorange change rate between the satellite and the mobile station according to the satellite signal with a predetermined threshold;
  • the difference between the carrier power-to-noise power density ratio (CZNo) at the reference station and the carrier power-to-noise power density ratio (CZNo) at the mobile station is greater than or equal to a predetermined threshold, and the delta pseudorange change rate is Calculating the position of the mobile station by removing satellite signals that are equal to or greater than a predetermined threshold and positioning satellite signals; and
  • a GPS positioning correction method includes:
  • a satellite signal for positioning is used as a positioning satellite when a difference between the carrier power to noise power density ratio (CZNo) of the mobile station and the theoretical carrier power to noise power density ratio (theoretical CZNo) corresponding to the elevation angle of the satellite is equal to or greater than a predetermined threshold.
  • the step of calculating the position of the mobile station excluding the signal force and the step of correcting the calculated position of the mobile station by the position correction data are provided.
  • a GPS positioning correction method includes:
  • CZNo carrier power to noise power density ratio
  • the carrier power to noise power density ratio (CZN o) of the mobile station and the theoretical carrier power to noise power density ratio (theoretical CZ corresponding to the elevation angle of the satellite).
  • the satellite signal For a satellite signal in which the difference between the carrier power to noise power density ratio (CZNo) of the mobile station and the theoretical carrier power to noise power density ratio (theoretical CZNo) corresponding to the elevation angle of the satellite is equal to or greater than a predetermined threshold, the satellite signal Comparing the delta pseudorange between the satellite and the mobile station with a predetermined threshold;
  • the difference between the carrier power to noise power density ratio (CZNo) of the mobile station and the theoretical carrier power to noise power density ratio (theoretical CZNo) corresponding to the elevation angle of the satellite is equal to or greater than a predetermined threshold, and the delta Calculating a position of the mobile station by removing satellite signals having pseudo-ranges greater than or equal to a predetermined threshold,
  • the GPS positioning correction method according to the present invention includes:
  • CZNo carrier power to noise power density ratio
  • the carrier power to noise power density ratio (CZN o) of the mobile station and the theoretical carrier power to noise power density ratio (theoretical CZ corresponding to the elevation angle of the satellite).
  • the satellite signal For a satellite signal in which the difference between the carrier power to noise power density ratio (CZNo) of the mobile station and the theoretical carrier power to noise power density ratio (theoretical CZNo) corresponding to the elevation angle of the satellite is equal to or greater than a predetermined threshold, the satellite signal Comparing the delta pseudorange change rate between the satellite and the mobile station with a predetermined threshold;
  • the difference between the carrier power to noise power density ratio (CZNo) of the mobile station and the theoretical carrier power to noise power density ratio (theoretical CZNo) corresponding to the elevation angle of the satellite is equal to or greater than a predetermined threshold, and the delta Calculating a position of the mobile station by removing satellite signals having a pseudorange change rate equal to or greater than a predetermined threshold value,
  • the reference station has reference station reception intensity measuring means for measuring the reception intensity of the satellite signal at the reference station, and the mobile station measures the reception intensity of the satellite signal at the mobile station.
  • Mobile station received intensity measuring means is provided.
  • the reference station of the GPS receiver of the present invention transmits to the mobile station the reception strength of the satellite signal at the strong reference station that the conventional mobile station did not transmit.
  • Multipath does not occur at the reference station when it occurs at the mobile station. This is because a mobile station is a force that moves between buildings, etc.
  • the present invention also uses a delta pseudorange or a delta pseudorange change rate by a satellite signal to determine a satellite signal affected by multinoses.
  • the “delta pseudorange” is the relative speed between the receiving station and the satellite, that is, the line-of-sight speed.
  • the “delta pseudorange change rate” is the change rate of the relative speed between the receiving station and the satellite, that is, the line-of-sight speed.
  • the “delta pseudorange change rate” indicates the acceleration in the line-of-sight direction of the satellite.
  • the delta pseudorange or delta pseudorange change rate can be easily calculated by measuring the Doppler shift of the satellite signal.
  • the delta pseudorange or the delta pseudorange change rate changes greatly at the same time as the received intensity of the satellite signal changes abruptly.
  • One aspect of the present invention pays attention to this phenomenon, and further calculates a delta pseudorange or a delta pseudorange change rate for a satellite signal whose reception intensity has changed significantly in the mobile station compared to the reference station.
  • satellite signals whose delta pseudorange or delta pseudorange change rate has changed greatly can be reliably identified as satellite signals affected by multipath.
  • the GPS receiver of the present invention has a reference station carrier power to noise power density ratio measuring unit in which the reference station measures the carrier power to noise power density ratio (CZNo) of the received satellite signal at the reference station.
  • a mobile station carrier power to noise power density ratio measuring means for measuring a carrier power to noise power density ratio (CZNo) of a received satellite signal in the mobile station is provided.
  • the reference station of the GPS receiver of the present invention transmits the CZNo in the strong reference station, which is not transmitted by the conventional mobile station, to the mobile station.
  • CZNo has a property that the value increases or decreases when multinois occurs.
  • C / No is a value corresponding to the elevation angle of the satellite.
  • the GPS receiver of the present invention transmits the CZNo of the reference station to the mobile station, the mobile station compares the CZNo of the mobile station and the CZNo of the reference station, and a multipath occurs when the difference is equal to or greater than a predetermined threshold. It is determined that.
  • a delta pseudorange or a delta pseudorange change rate is further calculated for a satellite signal in which CZNo greatly changes in a mobile station as compared with a reference station, and a delta pseudorange or delta pseudorange change is calculated. It is possible to reliably discriminate satellite signals whose rate has changed significantly as satellite signals affected by multipath.
  • the GPS receiver of the present invention includes a carrier power-to-noise power density ratio measuring unit in which a mobile station measures a carrier power-to-noise power density ratio (CZNo) of a received satellite signal, and an elevation angle of the satellite.
  • CZNo carrier power-to-noise power density ratio
  • the carrier power to noise power density ratio fluctuates due to the effects of multipath, and when there is no multipath, the value (theoretical carrier power vs. the carrier power) corresponds to the elevation angle of the satellite and the hardware of the receiver. Noise power density ratio (theoretical CZNo)) is determined.
  • the mobile station observes the carrier power to noise power density ratio (CZNo) and compares it with the theoretical carrier power to noise power density ratio (theoretical CZNo). If it is the threshold value, it is determined that the satellite signal is affected by multipath.
  • CZNo carrier power to noise power density ratio
  • a delta pseudorange or a delta pseudorange change rate is calculated, and a satellite signal whose delta pseudorange or delta pseudorange change rate is also greatly changed is calculated. It can be reliably identified as a satellite signal affected by the path.
  • FIG. 1 is a configuration block diagram showing the configuration of a GPS receiving device according to an embodiment of the present invention.
  • FIG. 2 is a flowchart showing a process flow of a GPS positioning correction method according to an embodiment of the present invention.
  • FIG. 3 is a block diagram showing a configuration of a GPS receiver according to an embodiment of the present invention.
  • FIG. 4 is a flowchart showing a process flow of a GPS positioning correction method according to an embodiment of the present invention.
  • Fig. 5 is a graph showing the relationship between the threshold of the difference in CZNo between the reference station and the mobile station and the decrease in the positioning rate and number of plots.
  • FIG. 6 is a block diagram showing a configuration of a GPS receiver according to an embodiment of the present invention.
  • Fig. 7 is a graph showing the relationship between the elevation angle of the satellite and CZNo.
  • FIG. 8 is a flowchart showing a process flow of a GPS positioning correction method according to an embodiment of the present invention.
  • FIG. 9 is an explanatory diagram schematically showing a positioning method using DGPS.
  • FIG. 1 shows the overall configuration of a GPS receiver according to the first embodiment of the present invention.
  • the GPS receiver 1 has a reference station 2 and a mobile station 3.
  • a reference station 2 and a mobile station 3 are shown, but there are actually at least one each.
  • Reference station 2 is a reference station in DGPS or RTKGPS. Reference station 2 has absolute position information.
  • the reference station 2 includes a receiving unit 4, a position correction data calculating unit 5, a reference station reception intensity measuring unit 6, and a transmitting unit 7.
  • the mobile station 3 includes receiving means 8, positioning means 9, pseudorange Z delta pseudorange change rate calculating means 10, mobile station received intensity measuring means 11, and positioning correction means 12. .
  • the reference station receiving means 4 is means capable of receiving satellite signals.
  • the position correction data calculation means 5 calculates the position of the satellite signal power reference station 2 and calculates position correction data indicating the deviation between the calculated reference station position and the absolute position of the reference station 2. It is.
  • the reference station received intensity measuring means 6 is a means for measuring the received intensity of the satellite signal at the reference station 2.
  • the mobile station receiving means 8 is means for receiving a satellite signal and data from the reference station 2.
  • the positioning means 9 is means for calculating the position of the satellite signal power mobile station 3.
  • the calculation of the position of the mobile station by the positioning means 9 is the same as the known positioning. That is, the pseudorange is calculated by multiplying the difference between the satellite signal transmission time and the mobile station reception time by the propagation speed of the radio wave, and four or more pseudoranges are calculated from four or more satellite signals transmitted at the same time. The relational expression is obtained to calculate the position of the mobile station, and the position is corrected by the position correction data from the reference station 2.
  • Delta pseudorange Z Delta pseudorange change rate calculating means 10 is a means for calculating the delta pseudorange between the satellite that transmitted the satellite signal and the mobile station or the rate of change thereof.
  • the delta pseudorange is a relative speed between the receiving station and the satellite, that is, a line-of-sight speed.
  • the delta pseudorange change rate is the change rate of the relative speed between the receiving station and the satellite, that is, the line-of-sight speed. In other words, the delta pseudorange change rate indicates the acceleration in the line-of-sight direction of the satellite.
  • the delta pseudorange change rate can be expressed as follows.
  • AP (t) ⁇ AP (t) ⁇ AP (t-epoch) ⁇ / epoch (1)
  • [0094] is the delta pseudorange (m / s) at time t, and epoch is the data acquisition interval (s).
  • Mobile station received intensity measuring means 11 is means for measuring the received intensity of the satellite signal in mobile station 3.
  • the positioning correction unit 12 is a unit that corrects the position of the own station calculated by the positioning unit. [0097]
  • the correction by the positioning correction means 12 includes correction by removing the influence of multinoses.
  • the correction that removes the effects of multipath by the positioning correction means 12 is performed by eliminating the satellite signal force for positioning in advance from satellite signals that have been affected by multinoses.
  • FIG. 2 shows the flow of the GPS positioning correction method according to this embodiment.
  • satellite signals are received by both the reference station 2 and the mobile station 3 (step 100).
  • the position correction data of the reference station 2 is calculated, and the received intensity of the satellite signal at the reference station 2 is measured (step 110).
  • step 110 is executed in the reference station 2 by the position correction data calculating means 5 and the reference station received intensity measuring means 6.
  • step 110 can be executed by any information processing apparatus.
  • step 120 is executed in mobile station 3 by delta pseudo distance Z delta pseudo distance change rate calculating means 10 and mobile station received intensity measuring means 11.
  • step 120 can be executed by any information processing device.
  • the reception strength of the satellite signal at the reference station 2 and the reception strength of the satellite signal at the mobile station 3 are compared (step 130). If the difference is equal to or greater than a predetermined threshold T1, the satellite and the mobile station Is compared with a predetermined threshold T2 (step 140).
  • the satellite signal is processed as a positioning satellite signal (step 160). Used for.
  • step 140 If it is determined in step 140 that the delta pseudorange between the satellite and the mobile station or the rate of change of the delta pseudorange is greater than or equal to the threshold T2, the satellite signal is excluded from the positioning satellite signal power (step 150). On the other hand, even if the difference between the satellite signal reception intensity at the reference station 2 and the satellite signal reception intensity at the mobile station 3 is equal to or greater than the threshold T1, the delta pseudorange or the delta pseudorange change rate between the satellite and the mobile station is the threshold. If it is less than T2, the satellite signal is used for positioning processing (step 160) as a positioning satellite signal.
  • the difference between the satellite signal reception intensity at the reference station 2 and the satellite signal reception intensity at the mobile station 3 is greater than or equal to the threshold T1, and the delta pseudorange or delta pseudorange change rate between the satellite and the mobile station is the threshold.
  • T2 or more the satellite signal is excluded from the positioning satellite signal power, and other satellite signals are used as positioning satellite signals for positioning processing.
  • the positioning correction means 12 performs the process of removing satellite signals affected by the above multipath (steps 130 to 150).
  • the position of the mobile station 3 is also calculated as the positioning satellite signal power, the position correction data of the reference station 2 is input, and the pseudo distance due to the influence of the atmosphere and ionosphere and the satellite position error The error is corrected.
  • step 180 it is determined whether or not the positioning result HDOP is within the allowable range. If the positioning result is outside the HDOP allowable range, it is excluded from the positioning result (step 190). Output as a result (step 200).
  • HDOP is a horizontal component of DOP (Dilution of Precision).
  • DOP is an expansion factor of the measurement error of the distance (pseudo distance) between the satellite and the receiving station to the positioning solution error.
  • An increase in HDOP leads to an increase in “flight” due to multipath. For this reason, HDOP values are evaluated in steps 180-200.
  • the positioning process (steps 160 to 200) is performed by the positioning means 9.
  • the satellite signal affected by the multipath is excluded from the positioning satellite signal, so that an abnormal positioning result called "jump" can be greatly reduced. it can.
  • the satellite signal reception intensity at the reference station that was not transmitted by the conventional reference station is transmitted to the mobile station, and the satellite signal reception intensity and movement at the reference station 2 are transmitted.
  • Compare the satellite signal reception strength at station 3. [0115] This eliminates the change in reception strength that changes in common between the reference station 2 and the mobile station 3 due to the influence of the atmosphere and ionosphere, and the reception strength of the mobile station 3 changes greatly compared to the reference station 2. Only cases can be detected as being affected by multipath.
  • the reflected wave reaches the mobile station 3 by changing the angle and the propagation distance, so that the delta pseudorange or its rate of change also changes greatly.
  • steps 130 to 200 is preferably performed by transmitting the position correction data and the received signal strength of the satellite signal at the reference station 2 from the reference station 2 to the mobile station 3 and thereafter being executed at the mobile station 3.
  • the processing of steps 130 to 200 is executed by an arbitrary information processing device, and the processing result (positioning result) is transmitted to the mobile station 3. Can do.
  • step 140 that is, the process of comparing the delta pseudorange between the satellite and the mobile station 3 or the rate of change thereof with a predetermined threshold value T2 is more reliably applied to the satellite affected by the multipath. It is an auxiliary one that eliminates the signal.
  • step 140 the process (step 140) of comparing the delta pseudorange between the satellite and the mobile station 3 or its change rate with a predetermined threshold value T2 can be omitted.
  • the satellite signal affected by the multipath can be eliminated only by the magnitude of the difference between the reception strength of the satellite signal at the reference station 2 and the reception strength of the satellite signal at the mobile station 3.
  • a satellite signal whose difference between the reception intensity of the satellite signal at the reference station 2 and the reception intensity of the satellite signal at the mobile station 3 is equal to or greater than the threshold T1 is excluded from the positioning satellite signals, and the other satellite signals are excluded from the positioning satellite signals Can be used.
  • the delta pseudorange Z pseudorange change rate calculating means 10 of the mobile station 3 is not required.
  • FIG. 3 shows the overall configuration of the GPS receiver according to the second embodiment of the present invention.
  • the GPS receiver la of the present embodiment has a reference station 2a and a mobile station 3a.
  • the reference station 2a includes a receiving means 4, a position correction data calculating means 5, a reference station carrier power to noise power density ratio measuring means (reference station CZNo measuring means) 15, and a transmitting means 7.
  • the mobile station 3a includes a receiving means 8, a positioning means 9, a pseudorange Z-delta pseudorange change rate calculating means 10, and a mobile station carrier power to noise power density ratio measuring means (mobile station CZNo measuring means). 16 and positioning correction means 12.
  • the reference station 2a has a reference station CZNo measuring means 15 instead of the reference station received intensity measuring means 6 as compared with the GPS receiving apparatus 1 of the first embodiment.
  • the mobile station 3a is different from the mobile station reception intensity measuring means 11 in that it has a mobile station CZNo measuring means 16, and the rest has the same configuration.
  • the reference station CZNo measuring means 15 is a means for measuring the carrier power to noise power density ratio (CZNo) of the received satellite signal in the reference station 2a.
  • the mobile station CZNo measuring means 16 is a function of the carrier power of the received satellite signal in the mobile station 3a. It is a means to measure the noise power density ratio (CZNo).
  • Fig. 4 shows the flow of processing by the GPS receiver la.
  • the processing by the GPS receiver la is almost the same as that of the GPS receiver 1.
  • the mobile station 3a measures the CZNo (step 230) and transmits the reference station CZNo to the mobile station 3a.
  • the mobile station 3a compares the CZNo of the reference station with the CZNo of the mobile station 3a. If the difference is equal to or greater than the predetermined threshold T3, the satellite is likely to be affected by multipath. It is determined that the signal is a signal, and the delta pseudorange or the rate of change by the satellite signal is compared with a threshold T2 (steps 240 and 250).
  • the satellite signal is used as a positioning satellite signal for positioning processing (step 270).
  • the satellite signal is excluded from the positioning satellite signals (step 260).
  • C / No increases or decreases when multipath occurs, and multipath occurs.
  • V ⁇ sometimes when it becomes a certain value corresponding to the elevation angle of the satellite!
  • the CZNo of the mobile station changes, the CZNo of the reference station becomes a constant value corresponding to the elevation angle of the satellite, and there is a difference between the two.
  • the Delta pseudorange or its rate of change is compared with the predetermined threshold T2 to be more reliably affected by multipath. Satellite signals can be detected.
  • the thresholds Tl and T3 indicate the lower limit of the difference between the CZNo difference between the reception intensity of the satellite signal at the reference station 2 and the reception intensity of the satellite signal at the mobile station 3.
  • thresholds Tl and T3 are set small, many satellite signals are affected by multipath. As a result, the positioning rate decreases and the decrease in the number of plots increases.
  • the threshold values Tl and T3 are preferably set within a range in which the decrease in the positioning rate and the number of plots is small, and the positioning result that does not improve the positioning error due to multipath does not increase.
  • the above range can be determined according to the conditions of the location where the positioning correction according to the present invention is performed and the mechanical performance of the receiving apparatus.
  • Figure 5 shows the relationship between the difference in CZNo between the reference station and the mobile station, the positioning rate, and the number of plots.
  • the horizontal axis in Fig. 5 shows the difference in CZNo between the reference station and the mobile station, and the vertical axis shows the decrease in positioning rate and number of plots.
  • the threshold T3 is set to 10 values from ldBHz to lOdBHz, and the positioning results are compared.
  • the threshold T3 is set to 4 dBHz or more, the reduction in the measurement rate and the number of plots is almost within the usable range.
  • the threshold T7 is set to 7 dBHz or more, the HDOP increases and the improvement of the positioning error due to the elimination of multipath is observed. It becomes impossible.
  • the threshold value T3 in the range of 4 to 7 dBHz can bring about a measurement result in which the positioning rate and the number of plots decrease little, and the positioning result whose positioning error is not improved does not increase.
  • the threshold value T3 should be appropriately determined within the range of 4 to 7 dBHz depending on the location to be measured.
  • the pseudo-range Z-delta pseudo-range change rate calculating means 10 is omitted, and the mobile station carrier power to noise power density ratio measuring means (mobile station CZNo measuring means) Multipath can be detected only by 16.
  • FIG. 6 shows the overall configuration of the GPS receiver according to the third embodiment of the present invention.
  • the GPS receiver 21 of this embodiment has a reference station 22 and a mobile station 23.
  • Reference station 22 is a reference station in DGPS or RTKGPS. Base station 22 and mobile station
  • At least one 23 exists.
  • the reference station 22 includes a receiving unit 24, a position correction data calculating unit 25, and a transmitting unit 26.
  • the mobile station 23 has a receiving means 27, a positioning means 28, a delta pseudorange change rate calculating means 29, a CZNo measuring means 30, a theoretical CZNo storage / calculating means 31, and a positioning correction means 32. is doing.
  • the GPS receiver 21 of the third embodiment is different from the GPS receiver 1 of the first embodiment in that the reference station 22 has a reference station reception intensity measuring means, that is, the mobile station 23 moves.
  • the station reception intensity measurement means is not provided, and instead the CZNo measurement means 30 and the theoretical CZNo storage 'calculation means 31 are provided, and the rest has the same configuration.
  • the CZNo measuring means 30 is means for measuring the carrier power to noise power density ratio (CZNo) of the satellite signal received by the mobile station 23.
  • Theoretical CZNo storage 'calculating means 31 is a means for storing or calculating a theoretical carrier power to noise power density ratio depending on the elevation angle of the satellite.
  • the value of CZNo has a property that it becomes a predetermined value according to the elevation angle of the satellite when there is no force multipath in which the value increases or decreases due to the influence of the multipath.
  • Figure 7 shows the relationship between the elevation angle of the satellite and CZNo.
  • Fig. 7 The theoretical values in Fig. 7 are determined from CZNo, which depends on the experimental value force elevation angle.
  • the vertical axis in Fig. 7 shows CZNo, and the horizontal axis shows the elevation angle of the satellite.
  • CZNo can be approximated by the following equation. For 5 ° ⁇ satellite elevation ⁇ 60 °,
  • FIG. 8 shows a flow of the GPS positioning correction method according to this embodiment.
  • satellite signals are first received by both the reference station 22 and the mobile station 23 (step 500).
  • the reference station 22 calculates position correction data.
  • the theoretical CZNo corresponding to the elevation angle of the satellite is calculated and stored (step 510).
  • the CZNo may be calculated by the reference station 22 and transmitted to the mobile station 23 or another information processing device, or may be calculated by the mobile station 23 itself or by any information processing device. Remember or send to mobile station 23.
  • the mobile station 23 measures CZNo at the mobile station (step 520). This measurement is preferably performed by the CZNo measuring means 30.
  • the CZNo of the mobile station 23 is compared with the theoretical CZNo (step 530).
  • This comparison processing is preferably performed by the mobile station 23, but may be performed by an arbitrary information processing apparatus having both theoretical CZNo data and CZNo data of the mobile station 23.
  • a satellite signal whose difference between CZNo of mobile station 23 and theoretical CZNo is less than threshold T4 is used for positioning processing assuming that no multipath has occurred (step 550).
  • the position correction data calculated by the reference station 22 is input and the position measurement result of the mobile station 23 is corrected.
  • For positioning results determine whether HDOP is within the allowable range (Step 570). If the positioning results are outside the allowable range, exclude the positioning result force (Step 580). If within the allowable range, output as positioning results. (Step 590).
  • the above processing is based on the observation that only the CZNo of the mobile station is observed, and CZNo changes when multipath occurs.
  • the observed C / No and the theory when no multipath occurs C / No Compared to No, satellite signals with a threshold value of T4 or higher are judged to have been affected by multipath.
  • the satellite signal power for positioning is immediately excluded as a satellite signal affected by multipath.
  • the satellite signal whose difference between the CZN o of the mobile station 23 and the theoretical CZNo is greater than or equal to the threshold T4 may have been affected by multipath, as in the processing of Figs. Let's say that the satellite signal is high and the delta pseudorange or the rate of change is also determined by the satellite signal.
  • the calculation of the delta pseudorange or the rate of change thereof can be performed by the delta pseudorange Z delta pseudorange change rate calculation means 29.
  • the positioning correction means 32 can determine the difference between the CZNo of the mobile station 23 and the theoretical CZNo and the delta pseudorange change rate.
  • step 570 the HDOP determination in step 570 can be omitted as appropriate.
  • the threshold value T4 is appropriately determined within the range where there is little decrease in the positioning rate and the number of plots, the positioning error is not improved, and the positioning result does not increase.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un dispositif de réception GPS et un procédé de correction de localisation GPS capable de juger d'un signal satellite affecté par un chemin multiple au moyen d'un procédé sûr et simple et de corriger une position mesurée d'une station mobile. Une station de référence (2) comprend un moyen de calcul des données de correction de position (5) et un moyen de mesure (6) de l'intensité de réception de la station de référence. Une station mobile (3) comprend un moyen de localisation (9), un moyen de mesure de l'intensité de réception de la station mobile (11) et un moyen de correction de localisation (12). La station de référence (2) transmet les données de correction de position et l'intensité de réception du signal satellite sur la station de référence à la station mobile (3). La station mobile (3) compare l'intensité de réception sur la station de référence à l'intensité de réception sur la station mobile pour chacun des signaux des satellites. Lorsque la différence est égale ou supérieure à une valeur seuil prédéterminée (T1), le signal du satellite est exclus du signal satellite de localisation.
PCT/JP2005/022302 2005-06-06 2005-12-05 Dispositif de reception gps et procede de correction de localisation gps WO2006132003A1 (fr)

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