WO2012128125A1 - Appareil de positionnement, récepteur gnss, dispositif terminal d'informations, procédé et programme de positionnement - Google Patents

Appareil de positionnement, récepteur gnss, dispositif terminal d'informations, procédé et programme de positionnement Download PDF

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Publication number
WO2012128125A1
WO2012128125A1 PCT/JP2012/056431 JP2012056431W WO2012128125A1 WO 2012128125 A1 WO2012128125 A1 WO 2012128125A1 JP 2012056431 W JP2012056431 W JP 2012056431W WO 2012128125 A1 WO2012128125 A1 WO 2012128125A1
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ccir
delay amount
file
positioning
processed
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PCT/JP2012/056431
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English (en)
Japanese (ja)
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貴樹 冨永
真俊 松本
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古野電気株式会社
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    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections

Definitions

  • the present invention relates to a technique for performing positioning by calculating an ionospheric delay amount using an ionosphere model such as NeQuick.
  • Ionospheric delay amount D iono by this ionosphere [M] is derived from Equation 1 below.
  • f is the frequency of radio waves
  • TEC Total Electron Content
  • TECU TEC unit
  • the NeQuick model recommended by the ITU-R is used as the ionosphere model.
  • the NeQuick model is an integrated representation of electron density at a given month, geographical latitude and longitude, height, and universal time based on the shape of the epistein layer (E, F1, F2 layer) of the ionosphere ( (Refer nonpatent literature 1).
  • FIG. 8 shows an example of the NeQuick ionosphere model.
  • the NeQuick ionosphere model shows the distribution characteristics of the electron density with respect to the height [km].
  • the E layer, The F1 layer and the F2 layer are divided into upper and lower parts, and the lower side from the peak of the F2 layer is the bottom side and the upper side of the peak of the F2 layer is the top side.
  • the main variables used in NeQuick are: The main parameters and units shown in FIG. 9A and used in NeQuick are shown in FIG. 9B.
  • the NeQuick model is created using these variables and parameters. For details of the calculation, refer to APPENDIX A. 2 and A. As shown in FIG.
  • sTEC lant along the radio wave path
  • sTEC is a TEC when the line of sight penetrates obliquely when the thickness of the ionosphere through which the line-of-sight vector penetrates changes with the elevation angle of the satellite.
  • the TEC provided by the NeQuick model is a monthly average value, and this monthly average value is distributed to the receiver side as a CCIR file.
  • CCI Using the R file and other parameters, the ionospheric delay is calculated in units of days.
  • the receiver When calculating the ionospheric delay amount using NeQuick or the like in the GNSS receiver, the amount of data necessary for obtaining the electron density is enormous.
  • the receiver has a CCIR file necessary for calculating the ionospheric delay.
  • the CCIR file shows the values of the general variables that form the ionosphere, such as position in the geomagnetic field, season, solar activity, time-of-day, etc. These files are compiled from January to December.
  • an object of the present invention is to reduce the memory space for calculating the ionospheric delay amount in the GNSS receiver, and to reduce the space calculation amount.
  • a positioning device that performs positioning based on a signal received from a positioning satellite by an antenna of a GNSS receiver, the pseudorange measuring unit, and an ionospheric delay amount.
  • a positioning device includes a calculation unit, a pseudo distance correction unit, and a processed CCIR file storage unit.
  • the pseudo distance measuring unit measures a pseudo distance between the positioning satellite and the antenna.
  • the ionosphere delay amount calculation unit calculates the ionosphere delay amount included in the pseudorange.
  • the pseudo distance correcting unit performs positioning calculation by correcting the pseudo distance based on the ionospheric delay amount.
  • the CIR file storage unit stores a processed CCIR file in which a plurality of CCIR files corresponding to different months are collected according to a predetermined condition.
  • the ionosphere delay amount calculation unit calculates the ionosphere delay amount based on the processed CCIR file.
  • the memory space for calculating the ionospheric delay amount in the GNSS receiver can be reduced, and the amount of space calculation can be reduced.
  • the positioning device further includes a CCIR file processing unit that creates the processed CCIR file by collecting a plurality of CCIR files corresponding to different months according to a predetermined condition, and the CCIR file processing unit further includes a plurality of CCIR file processing units.
  • the processed CCIR file may be created by reducing the number of bits of the CCIR file.
  • the positioning device further includes a CCIR file processing unit that creates the processed CCIR file by collecting a plurality of CCIR files corresponding to different months according to a predetermined condition, and the CCIR file processing unit includes a plurality of CCIR file processing units.
  • processed files may be created by collecting different CCIR files whose value difference is equal to or smaller than a predetermined value.
  • collecting different CCIR files whose value differences are equal to or less than a predetermined value includes, for example, taking representative values such as an average value, a median value, and a mode value.
  • the positioning device further includes a CCIR file processing unit that creates the processed CCIR file by collecting a plurality of CCIR files corresponding to different months according to a predetermined condition, and the CCIR file processing unit includes: A processed CCIR file may be created each time the delay amount calculation unit calculates the ionospheric delay amount.
  • a GNSS receiver including the positioning device and an antenna that receives a signal from a positioning satellite.
  • an information terminal device provided with the said GNSS receiver is provided.
  • a positioning method for performing positioning based on a signal received from a positioning satellite by an antenna of a GNSS receiver, and measuring a pseudo distance between the positioning satellite and the antenna.
  • a step an ionospheric delay amount calculating step for calculating an ionospheric delay amount included in the pseudorange, a pseudorange step for performing a positioning operation by correcting the pseudorange based on the ionospheric delay amount, and a plurality of steps corresponding to different months, respectively.
  • a positioning method including a CCIR file processing step of creating a processed CCIR file by collecting CCIR files according to a predetermined condition. In this case, in the ionosphere delay amount calculation step, the ionosphere delay amount is calculated based on the processed CCIR file.
  • a program for causing a computer to execute the positioning method is provided.
  • the memory space for the calculation of the ionospheric delay amount in a GNSS receiver can be reduced, and the amount of space calculations can be reduced.
  • FIG. 1 is a block diagram illustrating a schematic configuration of a GNSS receiver according to Embodiment 1.
  • FIG. 3 is a flowchart illustrating an operation of the GNSS receiver according to the first embodiment.
  • FIG. 6 is a diagram for explaining a capacity reduction process for a plurality of files according to the first embodiment.
  • 4 is a flowchart illustrating an ionospheric delay amount calculation process according to the first embodiment.
  • 6 is a block diagram illustrating a schematic configuration of a GNSS receiver according to a second embodiment.
  • FIG. It is a conceptual diagram which shows the state between a receiver and a satellite.
  • 6 is a flowchart illustrating an ionospheric delay amount calculation process according to the second embodiment. It is a figure which shows the example of the ionosphere model of NeQuick.
  • the main variables used in NeQuick are shown.
  • the main parameters and units used in NeQuick are shown below.
  • Embodiment 1 In the first embodiment, the NeQuick program is started in the GNSS receiver that receives the L1 wave signal from the Galileo satellite (1-frequency reception) and performs positioning of the receiver 1, and N The total amount of electrons (sTEC) using the eQuick ionosphere model is calculated, and the ionospheric delay is calculated. In the present embodiment, the GNSS receiver reduces the amount of spatial calculation when calculating the ionospheric delay amount within an appropriate range.
  • FIG. 1 shows a schematic configuration of a receiver 1 according to the present embodiment.
  • the receiver 1 includes an antenna 2, an L1 receiving unit 11, a data processing unit 12, an output unit 14, An input unit 15 and a memory 16 are provided.
  • the antenna 2 receives a high-frequency signal (L1 wave signal) transmitted from the satellite 5 (FIG. 3).
  • the L1 receiving unit 11 down-converts the high-frequency signal from the antenna 2 to an intermediate frequency, or converts the analog signal into a digital signal and converts it into a signal format that can be processed by the next data processing unit 12. .
  • the data processing unit 12 inputs a data signal and a clock signal from the L1 receiving unit 11, decodes the data signal, and measures the position of the receiver 1.
  • the data processing unit 12 includes a positioning calculation unit (positioning device) 13.
  • the positioning calculation unit 13 includes a pseudo distance measurement unit 13a, an ionosphere delay amount calculation unit 13b, a pseudo process correction unit 13c, and a CCIR file processing unit 13d.
  • the pseudo distance measuring unit 13a measures the pseudo distance from the time difference between the time of the data transmitted from the satellite 5 and the reception time of the same data received by the receiver 1.
  • the ionosphere delay amount calculation unit 13b starts the NeQuick program and calculates the ionosphere delay amount based on a processed CCIR file and various parameters described later.
  • the pseudo distance correction unit 13c corrects the pseudo distance by the ionosphere delay amount calculated by the ionosphere delay amount calculation unit 13b, and performs a positioning calculation.
  • the pseudo distance correction unit 13c corrects the pseudo distance with respect to errors other than the ionospheric delay amount (for example, tropospheric delay and clock error), but the description thereof is omitted here.
  • the CCIR file processing unit 13d is stored in advance in the memory 16 (processed CCIR file storage unit).
  • the processed CCIR file is created by performing a capacity reduction process on the CCIR file stored in (the CCIR file before processing) as described later.
  • the output unit 14 includes a display device, and outputs and displays position information of the receiver 1 obtained from the positioning result.
  • the input unit 15 receives input of information by a user operation such as a touch panel or a push button.
  • the memory 16 includes a RAM, a ROM, and the like, and stores various data, programs including NeQuick, a processed CCIR file to be described later, and the like.
  • the number of memories 16 is not limited, and any form of internal memory, external memory, or both may be used.
  • the positioning calculation unit 13, the data processing unit 12, and the L1 receiving unit 11 may be configured as a one-chip integrated circuit, or may be configured as separate chips.
  • the configuration of the receiver 1 may be configured by either a single device or a plurality of devices.
  • FIG. 2 is a flowchart showing the operation of the receiver 1 according to this embodiment.
  • the antenna 2 of the receiver 1 receives a signal from the satellite, and the signal is sent from the L1 receiver 1 1 is converted into a predetermined data signal.
  • the pseudo distance measurement unit 13a of the positioning calculation unit 13 measures the pseudo distance from the time difference between the time of the data transmitted from the satellite and the reception time of the same data received by the receiver 1.
  • the NeQuick program is started by the ionosphere delay amount calculation unit 13b.
  • the ionospheric delay amount is calculated as will be described later.
  • the pseudo distance correction unit 13c corrects the pseudo distance according to the ionospheric delay amount.
  • the CCIR file processing unit 13d reduces the capacity of the CCIR file used for calculating the ionospheric delay amount as follows. ⁇ 1.3.1 Capacity reduction processing for each file>
  • a CCIR file one value is expressed in 32 bits, and about 11.4 bytes (32 bits ⁇ 2858) are required per file (for one month).
  • the present inventor considered that even if each value of the CCIR file is expressed by half 16 bits, there is no significant influence on the ionospheric delay amount as a result. Therefore, each value of the CCIR file is expressed by 16 bits so that the integer part does not overflow. By reducing the number of bits of each value of the CCIR file from 32 bits to 16 bits, the amount of space calculation was reduced to about half.
  • Table 1 below shows the rounding error of the ionospheric delay when each value of the CCIR file is expressed by 16 bits.
  • the ionospheric delay amount (Original) calculated based on the conventional CCIR file in which each value is expressed in 32 bits and the CC in which each value is expressed in 16 bits.
  • the ionospheric delay amount (Reduced) calculated based on the IR file and the rounding error (Delta) of both ionospheric delay amounts are shown.
  • FIG. 3 shows how to group them, that is, how to group them.
  • the values are summarized by taking the average value of the CCIR file of each group.
  • the present invention is not limited to this, and may be summarized by taking representative values such as a median value and a mode value. .
  • Table 2 shows how the CCIR files in Table 1 are grouped as described above (Reduced). It is the result of calculating the ionospheric delay for each month. Grouped CCIR files (processed C It is considered that the influence on the positioning result is small by using the (CIR file). From the above results, the data capacity of the processed CCIR file shown in Table 2 can be reduced to about 1/4 of that in the original case.
  • the processed CCIR whose capacity has been reduced by the CCIR file processing unit 13d.
  • the file is stored in the memory 16.
  • FIG. 4 shows the contents of the ionospheric delay amount calculation process according to this embodiment.
  • the ionosphere delay amount calculation unit 13b uses the NeQuick model for calculating the ionosphere delay amount, and causes the receiver 1 to execute the NeQuick program to calculate the ionosphere delay amount.
  • n is an index n of the division number 2 n between the two points when integrating the total number of electrons sTEC between the satellite and the antenna.
  • step S 1034 The total number of electrons sTEC N calculated in step S 1033 is stored in the memory 16. To store. Note that sTEC N is the total number of electrons when the number of divisions between two satellite-antenna points is 2n .
  • the predetermined threshold Th is a threshold set in advance in the NeQuick program, and is set to a value that is small enough that the error of the ionospheric delay due to the number of divisions can be ignored (for example, 1/1000 of the previous value sTEC N-1 .
  • step S1036 When it is determined in step S1035 that the error in the total number of electrons due to the number of divisions is less than the threshold Th, the total number of electrons is determined as sTEC N ⁇ 1 and the ionospheric delay amount is calculated ( Expression 1) and the result are output to the pseudo distance correction unit 13c.
  • step S1037 If it is determined in step S1035 that the error in the total number of electrons due to the number of divisions is greater than or equal to the threshold Th, n is incremented and the process returns to step S1033.
  • the receiver 1 that has started the NeQuick program uses a processed CCIR file with a reduced capacity when calculating the ionosphere delay amount by the ionosphere delay amount calculator 13 b of the positioning calculator 13. Thereby, the memory space required for the calculation of the ionosphere delay amount by the ionosphere delay amount calculation unit 13b can be reduced, and the amount of space calculation in the receiver 1 is greatly reduced.
  • the CCIR file processing unit 13d performs the data reduction process on the CCIR file in advance and stores it in the memory 16 as the processed CCIR file.
  • the present embodiment is not limited to this.
  • the reduction process for the CCIR file can be sequentially performed when the ionosphere delay amount calculation unit 13b calculates the ionosphere delay amount.
  • FIG. 5 shows a schematic configuration of the receiver 1 ′ according to the present embodiment.
  • the configuration of the GNSS receiver 1 ′ is the same as that of the first embodiment (FIG.
  • the GNSS receiver 1 ′ operates in the same manner as in the first embodiment (FIG. 2) except for the content of ionospheric delay amount calculation processing described later.
  • ⁇ 2.3 Calculation of ionospheric delay> Hereinafter, the ionospheric delay amount calculation processing by the ionosphere delay amount calculation unit 13b ′ according to the present embodiment will be described in detail.
  • the ionospheric delay amount was calculated under the conditions shown in Table 3 below.
  • a satellite located in the east direction with an elevation angle of about 6 degrees is assumed.
  • Table 4 shows the ionospheric delay (Origin) calculated by the conventional NeQuick program. For al), the ionospheric delay amount (Reduced) when the upper limit of the division number of the integral operation is set according to the present embodiment, and the rounding error (Delta) of both ionospheric delay amounts are shown.
  • the NeQuick program if the difference between the total number of electrons calculated by the number of divisions 2 n-1 and the total number of electrons calculated by the number of divisions 2 n is less than a predetermined threshold Th, The number is determined to be 2 n-1 and the ionospheric delay is calculated.
  • the ionospheric delay amount calculated by the finally determined division number 2 n ⁇ 1 is 71.037 m.
  • Table 4 assumes that the solar activity is active and a low elevation satellite in the daytime, so that a considerably large amount of ionospheric delay occurs.
  • the ionospheric delay amount according to the present embodiment has an error within 1 m as compared with the calculation based on the conventional NeQuick program. Therefore, it can be seen that a sufficient measurement system can be secured even if the number of divisions is “8” and the ionospheric delay amount is obtained.
  • the amount of time calculation can be reduced by providing the upper limit of the number of divisions.
  • FIG. 7 is a flowchart showing the contents of the calculation process (step 103 in FIG. 2) by the ionosphere delay amount calculation unit 13b ′ according to the present embodiment.
  • the ionospheric delay amount is calculated by The NeQuick program is executed in the receiver 1 ′, and the ionospheric delay amount is calculated based on the NeQuick model.
  • n is the total number of electrons sT between two points of the satellite and the antenna.
  • the index n is the number of divisions 2n between the two points.
  • n 2.
  • the lower limit of the number of divisions between the two satellite-antenna points is 2 2. It is said. Note that the lower limit of the number of divisions is set in advance by the ionosphere delay amount calculation unit 13b ′.
  • S2032 It is determined whether n ⁇ 4.
  • the satellite - is set to the 2 3 maximum division number between two points of the antenna. Therefore, if n ⁇ 4 is not satisfied, the process proceeds to step S2036 to determine the ionospheric delay amount. If n ⁇ 4 is satisfied, the process proceeds to S2033 and the integration is continued.
  • the upper limit of the number of divisions is set in advance by the ionosphere delay amount calculation unit 13b ′.
  • step S2034 The total number of electrons sTEC N calculated in step S2033 is stored in the memory. Note that sTEC N is the total number of electrons when the number of divisions between two satellite-antenna points is 2n .
  • the predetermined threshold Th is a threshold set in advance in the NeQuick program, and is set to a value that is small enough that the error of the ionospheric delay due to the number of divisions can be ignored (for example, 1/1000 of the previous value sTEC N-1 .
  • step S2037 If it is determined in step S2035 that the error in the total number of electrons due to the number of divisions is equal to or greater than the threshold value Th, n is incremented and the process returns to step S2032.
  • the content of the process by the said ionosphere delay part 13b ' is an example, and the order and setting of each process are not limited above.
  • dividing the number 2 n is not an upper limit 2 3, may be increased or decreased depending on the conditions.
  • the initial value of n is not limited to 2, for example, 3 ( That is, the integral value is obtained only once).
  • the upper limit and / or lower limit of the number of divisions can be set sequentially when calculating the ionospheric delay amount.
  • the ionosphere delay amount calculation unit 13b ′ determines the upper limit and / or the lower limit of the number of divisions for each process in FIG.
  • a plurality of upper and / or lower limits of the number of divisions may be set according to positioning conditions such as each satellite, each absolute value of the delay amount, reception position, positioning time, solar activity, time, and the like.
  • an upper limit and / or a lower limit of a plurality of division numbers may be stored in advance, and the number of divisions corresponding to similar conditions may be selected to calculate the ionospheric delay amount.
  • Test 1 and Test 2 were satellites located in the south, two patterns of high and low elevation angles were set, respectively, and estimation errors for both daytime and nighttime were calculated.
  • Tests 3 and 4 were satellites located in the east direction, and two patterns of high and low elevation angles were set. Similarly, estimation errors for both daytime and nighttime were calculated.
  • Table 6 shows the estimation error in each R12. Note that the absolute value of the ionospheric delay amount is considered to vary depending on the value of R12, and the estimation error also tends to vary depending on R12. R12 to “2 Although the error was the largest when "01.3" was set, it was estimated that the maximum was about 1 m and about 1 m was about 0.2 m.
  • the GNSS receiver calculates the ionospheric delay amount according to both the first and second embodiments.
  • Receiver configuration The configuration of the GNSS receiver according to the present embodiment is the same as that of the first embodiment (FIG. 1).
  • the ionosphere delay amount calculation unit 13b includes: Read the processed CCIR file (Embodiment 1; Step S1031 in FIG. 4), An upper limit is set to the number of divisions when integrating the total number of electrons between the two points of the satellite-antenna, and the ionospheric delay amount is calculated (second embodiment; steps S2031 to S2037 in FIG. 7).
  • the CCIR file processing unit 13d may sequentially perform reduction processing on the CCIR file when the ionosphere delay amount calculation unit 13b calculates the ionosphere delay amount. .
  • the CCIR file processing unit 13d may sequentially perform reduction processing on the CCIR file when the ionosphere delay amount calculation unit 13b calculates the ionosphere delay amount. .
  • the receiver 1 that has started the NeQuick program integrates the total number of electrons by the ionosphere delay amount calculation unit 13b of the positioning calculation unit 13, the upper limit of the number of divisions between the two satellite-antenna points is set. Provided, and a processed CCIR file with a further reduced capacity is used.
  • Embodiments of the present invention are not limited to the above-described embodiments, and various modifications, changes, and combinations are possible without departing from the spirit of the present invention.
  • the above-described embodiments are essentially preferable examples, and are not intended to limit the scope of the present invention, its application, or its use.
  • the present invention can also be implemented as a positioning method or a computer program using a processor or a memory.
  • the present invention can also be implemented as an information terminal device (including a mobile terminal device) provided with the integrated circuit.

Abstract

La présente invention a pour but de réduire l'espace de mémoire utilisé pour calculer la quantité de délai ionosphérique dans un récepteur GNSS, permettant ainsi de réduire la quantité de calcul d'espace. A cet effet, l'invention propose un appareil de positionnement (13) qui comprend : une unité de mesure de pseudo-distance (13a) pour mesurer la pseudo-distance entre un satellite de positionnement (5) et une antenne (2) ; une unité de calcul de quantité de délai ionosphérique (13b) pour calculer la quantité de délai ionosphérique comprise dans la pseudo-distance ; une unité de correction de pseudo-distance (13c) pour corriger la pseudo-distance sur la base de la quantité de délai ionosphérique, permettant ainsi d'effectuer un calcul de positionnement ; et une unité de stockage de fichiers CCIR traités (16) pour stocker un fichier CCIR traité dans lequel une pluralité de fichiers CCIR correspondant à différents mois respectifs sont combinés selon une condition prédéterminée. L'unité de calcul de quantité de délai ionosphérique (13b) calcule la quantité de délai ionosphérique sur la base du fichier CCIR traité.
PCT/JP2012/056431 2011-03-23 2012-03-13 Appareil de positionnement, récepteur gnss, dispositif terminal d'informations, procédé et programme de positionnement WO2012128125A1 (fr)

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JP2017026632A (ja) * 2014-10-30 2017-02-02 三菱電機株式会社 情報処理装置
US10598792B2 (en) 2014-12-02 2020-03-24 Mitsubishi Electric Corporation Information processing device and positioning device
CN113671534A (zh) * 2020-05-15 2021-11-19 华为技术有限公司 一种定位补偿方法、车载单元、介质及系统

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BENOIT BIDAINE: "Ionosphere Crossing of GALILEO Signals", UNIVERSITY OF LIEGE, 26 June 2006 (2006-06-26) *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017026632A (ja) * 2014-10-30 2017-02-02 三菱電機株式会社 情報処理装置
US10802152B2 (en) 2014-10-30 2020-10-13 Mitsubishi Electric Corporation Positioning device
US10816669B2 (en) 2014-10-30 2020-10-27 Mitsubishi Electric Corporation Information processing device
US10598792B2 (en) 2014-12-02 2020-03-24 Mitsubishi Electric Corporation Information processing device and positioning device
CN113671534A (zh) * 2020-05-15 2021-11-19 华为技术有限公司 一种定位补偿方法、车载单元、介质及系统

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