WO2016132682A1 - 測位システム、測位方法、および測位局 - Google Patents
測位システム、測位方法、および測位局 Download PDFInfo
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- WO2016132682A1 WO2016132682A1 PCT/JP2016/000364 JP2016000364W WO2016132682A1 WO 2016132682 A1 WO2016132682 A1 WO 2016132682A1 JP 2016000364 W JP2016000364 W JP 2016000364W WO 2016132682 A1 WO2016132682 A1 WO 2016132682A1
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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
- G01S19/38—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
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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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
- G01S19/38—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
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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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
- G01S19/38—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
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
Definitions
- This disclosure relates to a positioning system, a positioning method, and a positioning station.
- Patent document 1 acquires the integrated value data of the carrier phase of the satellite signal on the positioning station side at one time, and the integrated value data of the carrier phase on the base station side at a plurality of times before one time at one time.
- the integral value data included in the integrated value of the carrier phase of the satellite signal observed by the positioning station is estimated by associating the integrated value data of the carrier phase on the positioning station side. In this way, the integer value bias can be determined accurately in a short time.
- the present disclosure provides a positioning system, a positioning method, and a positioning station that make it easy to estimate an integer value bias at high speed.
- the positioning system, positioning method, and positioning station processor of the present disclosure perform interference positioning by arithmetic processing based on the positioning data of the base station and the positioning data of the positioning station.
- a plurality of arithmetic processes are executed in parallel with different times as start times.
- the positioning system, positioning method, and positioning station in the present disclosure are effective for facilitating high-speed operation.
- FIG. 1 is a conceptual diagram of a positioning detection system in the first embodiment.
- FIG. 2 is a block diagram of the base station in the first embodiment.
- FIG. 3 is a block diagram of the positioning station in the first embodiment.
- FIG. 4 is a flowchart showing the positioning process in the first embodiment.
- FIG. 5 is a diagram showing a distribution of time taken to calculate a fixed solution by a single RTK calculation process.
- FIG. 6 is a diagram for explaining the effect of the disclosure in the first embodiment.
- FIG. 7 is a diagram showing fluctuations in the average value of the fix times when the upper limit number of the RTK calculation process in the first embodiment is changed.
- FIG. 8 is a flowchart showing the positioning process in the second embodiment.
- FIG. 9 is a flowchart showing the positioning process in the third embodiment.
- FIG. 10 is a flowchart showing the positioning process in the fourth embodiment.
- FIG. 1 is a conceptual diagram of a positioning system in the first embodiment.
- the positioning system 100 has a base station 110 and a positioning station 120.
- the base station 110 is installed at a location where the coordinates on the earth are known.
- the positioning station 120 is installed on a target whose coordinates are to be obtained.
- the positioning system 100 obtains coordinates on the earth of the positioning station 120 by positioning the positioning station 120.
- Base station 110 and positioning station 120 receive positioning signals from positioning satellites (not shown).
- the base station 110 generates positioning data based on the received positioning signal.
- the base station 110 sends the generated positioning data to the positioning station 120.
- the positioning station 120 performs interference positioning by the RTK (Real Time Kinetic) method using the received positioning data and the positioning data generated by the positioning station 120.
- Positioning stations include dedicated terminals for positioning and computers with dedicated software installed.
- FIG. 2 is a block diagram of the base station in the first embodiment.
- the base station 110 includes a processor 201, a storage unit 202, an input unit 203, an output unit 204, a communication unit 205, a receiving device 206, and a bus 210.
- the processor 201 controls other elements of the base station 110 via the bus 210.
- the processor 201 can be configured by using a general-purpose CPU (Central Processing Unit). Further, the processor 201 can execute a predetermined program. Positioning data can be generated based on the positioning signal by the processor 201 executing a predetermined program.
- CPU Central Processing Unit
- the storage unit 202 acquires various information from other elements and holds the information temporarily or permanently.
- the storage unit 202 is a general term for so-called primary storage devices and secondary storage devices, and a plurality of storage units 202 may be physically arranged.
- a DRAM Dynamic Random Access Memory
- HDD Hard Disk Drive
- SSD Solid State Drive
- the input unit 203 receives information from the outside.
- the external information received by the input unit 203 includes information related to input from the operator of the base station 110.
- the input unit 203 can be configured by using an input interface such as a keyboard.
- the output unit 204 presents information to the outside.
- Information presented by the output unit includes information related to positioning.
- the output unit 204 can be configured by using an existing output interface such as a display.
- the communication unit 205 communicates with an external device via a communication path.
- the device with which the communication unit 205 communicates includes the positioning station 120.
- the communication unit 205 can be configured by using a communication interface capable of communicating with an existing communication network such as a wireless LAN communication network or a 3G communication network.
- the receiving device 206 receives a positioning signal from a positioning satellite.
- a GPS satellite is used as an example of a positioning satellite.
- the GPS satellite transmits an L1 signal (1575.42 MHz), an L2 signal (1222.70 MHz), etc. as positioning signals.
- the configuration of the base station 110 mentioned above is an example. A part of each component of the base station 110 may be integrated. A part of each component of the base station 110 may be divided into a plurality of components. Some of the constituent elements of the base station 110 may be omitted.
- the base station 110 can be configured by adding other elements. Further, the base station 110 of the present disclosure includes a reference station installed by a local government such as a country.
- FIG. 3 is a block diagram of the positioning station in the first embodiment.
- the positioning station 120 includes a processor 301, a storage unit 302, an input unit 303, an output unit 304, a communication unit 305, a receiving device 306, and a bus 310.
- the processor 301 controls other elements of the positioning station 120 via the bus 310.
- the processor 301 can be configured by using a general-purpose CPU (Central Processing Unit). Further, the processor 301 can execute a predetermined program. Positioning data can be generated based on the positioning signal by the processor 301 executing a predetermined program.
- CPU Central Processing Unit
- the storage unit 302 acquires various information from other elements and holds the information temporarily or permanently.
- the storage unit 302 is a generic name for so-called primary storage devices and secondary storage devices, and a plurality of storage units 302 may be physically arranged.
- a DRAM, HDD, or SSD is used for the configuration of the storage unit 302 for example.
- the input unit 303 receives information from the outside.
- Information from the outside that is accepted by the input unit 303 includes information related to input from the operator of the positioning station 120.
- the input unit 303 can be configured by using an input interface such as a keyboard.
- the output unit 304 presents information to the outside.
- Information presented by the output unit includes information related to positioning.
- the output unit 304 can be configured by using an existing output interface such as a display.
- the communication unit 305 communicates with an external device via a communication path.
- the devices with which the communication unit 305 communicates include the base station 110.
- the communication unit 305 can be configured by using a communication interface capable of communicating with an existing communication network such as a wireless LAN communication network or a 3G communication network.
- the receiving device 306 receives a positioning signal from a positioning satellite.
- a GPS satellite is used as an example of a positioning satellite.
- the GPS satellite transmits an L1 signal (1575.42 MHz), an L2 signal (1222.70 MHz), etc. as positioning signals.
- the configuration of the positioning station 120 mentioned above is an example. A part of each component of the positioning station 120 may be integrated. A part of each component of the positioning station 120 may be divided into a plurality of components. Some of the components of the positioning station 120 may be omitted.
- the positioning station 120 can be configured by adding other elements.
- FIG. 4 is a flowchart showing the positioning process in the first embodiment.
- the positioning process of the present disclosure is not limited to that performed by the positioning station 120 itself.
- the positioning process may be executed by a general-purpose computer added inside the positioning system.
- step S401 the processor 301 starts a positioning process.
- the timing for starting the positioning process can be arbitrarily determined.
- the processor 301 may start the positioning process when the power of the positioning station 120 is turned on. Further, the processor 301 may start the positioning process when a command for starting the positioning process is input from the input unit 303 of the positioning station 120.
- step S402 the processor 301 starts a timer counter.
- the timer counter counts up according to a predetermined cycle.
- the timer counter may be configured by hardware or software.
- step S403 the processor 301 acquires positioning data of the base station 110.
- the processor 301 acquires the positioning data of the base station 110 via the communication unit 305.
- the processor 301 sequentially acquires the received positioning data of the base station 110.
- the processor 301 records the acquired positioning data of the base station 110 in the storage unit 202.
- the positioning data of the base station 110 is generated by the processor 201 of the base station 110.
- the processor 201 generates positioning data based on the positioning signal received by the receiving device 206.
- step S404 the processor 301 acquires the positioning data of the positioning station 120.
- the processor 301 acquires positioning data by generating positioning data based on the positioning signal received by the receiving device 306.
- the processor 301 records the obtained positioning data of the positioning station 120 in the storage unit 302.
- the positioning data includes pseudorange information and carrier phase information.
- the pseudorange information is information regarding the distance between the satellite and itself (meaning a base station and a positioning station).
- the pseudo distance information can be generated by analyzing a positioning signal by a processor.
- the processor (1) the difference between the code pattern carried by the positioning signal and the code pattern generated by itself (2) the satellite signal generation time included in the message (NAVDATA) included in the positioning signal and its own signal reception time
- NAVDATA satellite signal generation time included in the message
- the arrival time of the positioning signal can be obtained based on the above two.
- the processor can determine the distance from the satellite by multiplying the arrival time by the speed of light. This distance includes errors due to differences between the satellite clock and its own clock. Normally, pseudorange information is generated for four satellites in order to reduce this error.
- Carrier phase information is the phase of the positioning signal received by itself.
- the positioning signals (L1 signal, L2 signal, etc.) are predetermined sine waves.
- the processor can be generated by analyzing the positioning signal processor received by the receiving device.
- the processor 201 of the base station 110 and the processor 301 of the positioning station 120 can each generate positioning data.
- step S405 the processor 301 determines whether an RTK calculation process has already been performed.
- RTK calculation processing is calculation processing for executing the RTK method. The contents of the RTK method will be described later.
- the processor 301 counts up a predetermined counter each time the RTK calculation process is executed.
- the processor 301 can confirm whether the RTK calculation processing has already been performed by confirming the counter.
- step S406 the processor 301 executes an RTK calculation process.
- RTK calculation processing is calculation processing for executing the RTK method which is one of interference positioning.
- the RTK method performs positioning at the positioning station using the carrier phase integrated value of the positioning signal transmitted by the positioning satellite.
- the integrated carrier phase value is the sum of (1) the number of positioning signal waves from the satellite to a certain point and (2) the phase. If the carrier wave phase integrated value is obtained, since the frequency (and wavelength) of the positioning signal is known, the distance from the satellite to a certain point can be obtained. Since the number of waves of the positioning signal is unknown, it is called an integer bias.
- Double difference is the difference (single difference) between the carrier phase integrated values of one receiver for two satellites, calculated between the two receivers (base station 110 and positioning station 120 in this embodiment). The difference in values. In this embodiment, four satellites are used for positioning using the RTK method. Therefore, the double difference is calculated for the combination of the four satellites. In this calculation, the positioning data of the base station 110 and the positioning data of the positioning station 120 obtained in step S403 and step S404 are used.
- the integer bias can be estimated by various methods.
- estimation of an integer bias is performed by executing a procedure of (1) estimation of a float (FLOAT) solution by the least square method and (2) verification of a fixed (FIX) solution based on the float solution.
- FLOAT float
- FIX fixed
- the estimation of the float solution by the least square method is executed by creating a simultaneous equation using a combination of double differences generated for each time unit and solving the created simultaneous equation by the least square method. Simultaneous equations are generated for each unit of time called an epoch. In this calculation, the positioning data of the base station 110, the positioning data of the positioning station 120, and the known coordinates of the base station obtained in steps S403 and S404 are used. The integer value bias estimated value obtained in this way is called a float solution.
- the float solution obtained as described above is a real number
- the true value of the integer bias is an integer. Therefore, it is necessary to make an integer value by rounding the float solution.
- a solution that has been confirmed to be somewhat certain as an integer bias by the test is called a fixed solution. Note that the positioning data of the base station 110 obtained in step S403 and step S404 is used in order to improve the narrowing of integer value candidates.
- the processor 301 performs the arithmetic processing shown above as RTK arithmetic processing.
- step S407 the processor 301 determines whether any RTK calculation process has calculated a fixed solution. As described above, the processor 301 executes many complicated estimation processes and complicated test processes in the RTK calculation process. Therefore, a certain amount of time is required for the processor 301 to obtain the fixed solution. Also, there is a possibility that a fixed solution cannot be obtained depending on conditions. If none of the arithmetic processes calculates a fixed solution (NO in step S407), the process performed by the processor 301 proceeds to step S409.
- step S408 the processor 301 outputs a positioning result using the fixed solution.
- the processor 301 calculates the coordinates of the positioning station 120 on the earth based on the fixed solution, and displays the result on the output unit 304.
- step S409 the processor 301 determines whether or not an instruction to end the positioning process is interrupted.
- an instruction to end the positioning process interrupts the positioning process. If an instruction to end the positioning process interrupts (YES in step S409), the positioning process ends in step S410.
- step S409 If the instruction to end the positioning process is not interrupted (NO in step S409), the process performed by the processor 301 returns to step S403.
- step S403 and step S404 the positioning data of base station 110 and the positioning data of positioning station 120 are updated to the latest.
- step S405 If the RTK calculation process is being performed in step S405 (YES in step S405), the process performed by the processor 301 branches to step S411.
- step S411 the processor 301 determines whether or not the value of the timer counter is a predetermined time.
- the predetermined time can be determined in various ways according to the purpose.
- the value of the timer counter is a predetermined time (step S411)
- a process for newly executing an RTK calculation is performed (possibly) as will be described later.
- the processor 301 can execute the RTK calculation process with different times as start times.
- a predetermined time is set to a time obtained by adding an integer multiple of a constant at the time when the RTK calculation is first executed. In this way, the RTK calculation can be executed periodically (for example, every one minute). Another example of how to set the predetermined time will be described later.
- step S412 the processor 301 determines whether or not the number of RTK calculation processes exceeds a predetermined upper limit.
- the number of RTK calculation processes can be determined by using the counter described in the description of step S405.
- the RTK calculation process consumes a certain amount of resources of the processor 301. Therefore, it is desirable to set an upper limit on the number of RTK arithmetic processes.
- the process of step S412 is not essential. If the number of RTK calculation processes has reached the upper limit (YES in step S412), the process of the processor 301 proceeds to step S407.
- step S413 the processor 301 executes a new RTK calculation process in parallel.
- the positioning data used for the RTK calculation process is likely to be different from the RTK calculation process executed so far. This is because the new RTK calculation process has a start time different from that of the RTK calculation process executed so far.
- step S403 and step S404 the positioning data is updated to the one near the start time of the RTK calculation process.
- the parameters required for the RTK calculation process are initialized to values different from those used in the previous RTK calculation process. In this way, the conditions for obtaining the float solution and the fixed solution change in the RTK calculation process. If conditions for obtaining a float solution and a fixed solution change in the RTK calculation process, there is a possibility that the fixed solution can be calculated earlier than other RTK calculation processes.
- FIG. 5 is a diagram showing a distribution of time taken to calculate a fixed solution by a single RTK calculation process. Since the fixed solution may be rejected by a new test after the calculation, FIG. 5 shows a distribution of time taken to calculate the first fixed solution.
- the horizontal axis represents the time when the RTK calculation process is started.
- the time taken to calculate the fixed solution differs depending on the time at which the RTK calculation process is started.
- FIG. 6 is a diagram for explaining the effect of the disclosure in the first embodiment.
- the RTK calculation process is performed in parallel with a different time as the start time as in the present disclosure.
- the result shown in FIG. 6 is obtained.
- the processor 301 performs an RTK calculation process (calculation 1, calculation 2,..., Respectively) every minute, and the first RTK calculation is performed at 12:00:00. To do. As shown in FIG. 6, the calculation 3 calculates the fixed solution earliest even though the calculation 3 is started later than the calculations 1 and 2. If the RTK operation is performed only for operation 1, the fixed solution calculation time is 12: 2: 20, while the later operation 3 calculates the fixed solution at 12: 2: 10. To do. As described above, according to the present disclosure, the RTK calculation process is performed at different times as the start times, so that the fixed solution of calculation 3 can be output in step S408.
- the predetermined time in step S411 is a time obtained by adding an integer multiple of a certain constant to the time at which the RTK calculation is first executed in order to periodically execute the RTK calculation process. Set to. In this way, since the RTK calculation process is executed with a delay at every predetermined interval, there is an advantage that the execution time of the RTK calculation process can be set without deviation.
- the predetermined time in step S411 may be set by another method.
- a predetermined time may be set based on the positioning data of the base station 110 or the positioning data of the positioning station 120.
- the start time of the RTK calculation process is sequentially delayed based on the positioning data of the base station 110 or the positioning data of the positioning station 120.
- a predetermined time may be set based on the positioning quality of the base station 110 or the positioning station 120.
- the positioning quality is represented by the positioning data (1) Number of visible satellites (the higher the better) (2) DOP (Dilution of Precision) value (the lower the better), or calculated by the processor 201 or processor 301 (3) Multipath This situation is included (the less multipath, the better).
- DOP Deution of Precision
- Multipath This situation is included (the less multipath, the better).
- FIG. 7 is a diagram showing fluctuations in the average value of the fix times when the upper limit number of RTK calculation processing in the first embodiment is changed.
- the horizontal axis indicates the upper limit number of RTK calculation processing.
- the vertical axis represents the average fix time. This is because, as shown in FIG. 7, when the number of multiplexing exceeds 3, the average fix time decreases rapidly (from 195 seconds (upper limit number 1) to 130 seconds).
- the upper limit number of RTK calculation processing set in step S412 is 7 or less. This is because when the upper limit number is set to 7 or more as shown in FIG. 7, resources required for the RTK calculation process increase, but the effect of shortening the average fix time is not so great.
- the processor 301 may stop at least one of the other arithmetic processes that have not calculated the fixed solution.
- the processor 301 may stop at least one of the other arithmetic processes that have not calculated the fixed solution.
- the processor 301 may stop at least one of the other arithmetic processes that have not calculated the fixed solution.
- step S407 determines in step S407 that any of the arithmetic processes has calculated the fixed solution
- the processor 301 continues to execute at least one other arithmetic process that has not calculated the fixed solution. May be.
- the fixed solution is rejected by a subsequent new test, it is necessary to obtain the fixed solution by performing another RTK calculation process. In such a case, if the other arithmetic processing is not stopped, the fixed solution calculated by the other arithmetic processing may be used.
- an example using the RTK method has been described as an example of interference positioning.
- application of the present disclosure is not limited to the embodiment using the RTK method. Since the present disclosure can facilitate the estimation of the integer bias at a higher speed, the present disclosure can also be applied to a positioning system using other interference positioning that requires the estimation of the integer bias. For example, the present disclosure can also be applied to a positioning system using interference positioning such as a PPP (Precision Point Positioning) method.
- PPP Precision Point Positioning
- the positioning system, the positioning method, and the processor 301 of the positioning station 120 of the present disclosure execute interference positioning by arithmetic processing based on the positioning data of the base station 110 and the positioning data of the positioning station 120. To do. A plurality of arithmetic processes are executed in parallel with different times as start times.
- the positioning system, the positioning method, and the plurality of calculation processes performed by the processor 301 of the positioning station 120 are necessary for calculation using the positioning data of the base station 110 and the positioning data of the positioning station 120 at the respective start times. Newly executed by initializing parameters.
- the positioning system, the positioning method, and the processor 301 of the positioning station 120 of the present disclosure when any of the executed arithmetic processes calculates the fixed solution, at least one of the other arithmetic processes that have not calculated the fixed solution. Cancel one.
- the positioning system, the positioning method, and the processor 301 of the positioning station 120 of the present disclosure periodically execute the calculation processing start time with a delay.
- the positioning system, the positioning method, and the processor 301 of the positioning station 120 of the present disclosure execute the calculation processing start time by sequentially delaying based on the positioning data of the base station 110 or the positioning data of the positioning station 120.
- the positioning system, the positioning method, and the processor 301 of the positioning station 120 of the present disclosure execute the arithmetic processing start time by sequentially delaying based on the positioning quality of the base station 110 or the positioning station 120. In that case, when the positioning quality is good, the delay time of the arithmetic processing is made shorter than when the positioning quality is poor.
- the first embodiment has been described as an example of the technique disclosed in the present application.
- the technology in the present disclosure is not limited to this, and can also be applied to an embodiment in which changes, replacements, additions, omissions, and the like are appropriately performed.
- FIG. 8 is a flowchart showing the positioning process in the second embodiment.
- Embodiment 2 is obtained by changing Step S408 in Embodiment 1 from Step S801 to Step S805.
- step S407 the processor 301 proceeds to step S801 when any RTK calculation process calculates a fixed solution (YES in step S407).
- step S801 the processor 301 determines whether or not the RTK calculation process that output the previous positioning result has calculated a fixed solution.
- the RTK calculation process that outputs the previous positioning result is the RTK calculation (that is, used for the positioning result) used in the calculation of the positioning result output in the last step S804 or S805 in the loop process (S409 to S403) shown in FIG. RTK calculation that calculates a fixed solution).
- the processor 301 determines whether or not the arithmetic processing that has calculated the fixed solution used to output the previous positioning result has calculated the fixed solution after the lapse of a predetermined period.
- step S802 the processor 301 determines whether any other RTK calculation process other than the RTK calculation process that outputs the previous positioning result is calculating a fixed solution. If any of the other RTK calculation processes has calculated a fixed solution (YES in step S802), the process proceeds to step S803.
- step S803 the processor 301 determines whether or not the reliability of the other RTK calculation determined to have calculated the fixed solution in step S802 exceeds a threshold value (Th).
- the reliability is a frequency that statistically indicates whether or not the positioning result calculated by using the solution of the RTK calculation is close to a true value.
- an AR (Ambicity Ratio) value that is often used as the reliability of RTK calculation is used as the reliability.
- the processor 301 calculates an AR value for the RTK calculation every time the RTK calculation calculates a solution.
- the threshold value in step S803 is a value obtained by adding a predetermined value to the reliability of the RTK calculation process that outputs the previous positioning result. In this case, even when the reliability of the RTK calculation process that outputs the previous positioning result and the reliability of another RTK calculation determined to have calculated the fix solution in step S802 are close to each other. , It is possible to prevent the output coordinates from being skipped.
- step S804 the processor 301 outputs the positioning result using the fixed solution of the RTK calculation that output the previous positioning result.
- step S805 the processor 301 outputs a positioning result using the fixed solution of another RTK operation determined to have calculated the fixed solution in step 802.
- FIG. 9 is a flowchart showing the positioning process in the third embodiment.
- steps S901 to S906 are added to the positioning process in the first embodiment.
- step S411 when the value of the timer counter is a predetermined time (YES in step S411), the process proceeds to step S901.
- step S901 the processor 301 determines whether or not the fix period is longer than a predetermined period.
- the fix period will be described using step S903 and step S905.
- the fixed period is a period during which any RTK calculation process continues to calculate a fixed solution.
- the process proceeds to step S903 via step S408 or in parallel.
- the processor 301 activates a fix period counter for counting the fix period if it has not been activated yet, and adds it if it has been activated.
- the fixed period counter is reset in step S905.
- the processor 301 can measure the period during which any RTK calculation process continues to calculate the fixed solution.
- step S902 if the fix period is longer than the predetermined period, the process proceeds to step S902.
- step S902 the processor 301 stops one of the RTK calculation processes. In this way, it is possible to reduce the excessively executed RTK processing.
- the method of selecting the RTK calculation process to be stopped here may be selected from RTK calculations for which a fixed solution has not been calculated, or may be performed based on an index shown in step S1010 described later. Note that the process of step S902 may be performed only when the number of RTK calculation processes being executed is smaller than a predetermined number.
- the non-fixed period is (in principle) a period during which no RTK calculation process calculates a fixed solution. That is, if none of the RTK calculation processes calculates a fixed solution (NO in step S407), in step S906, the processor 301 adds a timer counter as a counter for counting the non-fixed period. On the other hand, if any RTK calculation process calculates a fixed solution (YES in step S407), the timer counter is reset in step S904. By referring to the timer counter, the processor 301 can measure a period during which no RTK calculation process calculates a fixed solution.
- step S411 if the timer counter used for the determination in step S411 is used as a counter that counts the non-fix period, one of the conditions is that no RTK calculation process calculates a fixed solution.
- Parallel execution can be started (step S413). This is because NO can be always determined in step S411 when the timer counter is reset and not counted, and YES can be determined in step S411 when the timer counter is added. In this way, if one of the conditions is that none of the RTK calculation processes has calculated a fixed solution, the parallel execution of new calculation processes is started, so excessive increase of RTK calculation processes is suppressed. Is done.
- step S904 the processor 301 may refer to the fix period counter and reset the timer counter when the fix period is longer than a predetermined period. In this way, in the RTK calculation being executed, when the period for issuing the fixed solution and the period for not issuing the alternative appear alternately at a short timing, the determination in step S411 is prevented from continuing to be NO. As a result, the number of executions of RTK arithmetic processing can be increased to an appropriate number.
- FIG. 10 is a flowchart showing the positioning process in the fourth embodiment.
- step S1010 is added to the positioning process in the first embodiment.
- step S412 when the processor 301 determines that the number of RTK calculation processes exceeds a predetermined upper limit (YES in step S412), the process proceeds to S1010.
- step S1010 the processor 301 stops the RTK calculation based on the reliability. “Based on reliability” means that (1) the RTK operation with a lower reliability than a predetermined value is stopped (2) the RTK operation with the lowest reliability is stopped. It suffices to select a low RTK operation. As the reliability, a known index such as an AR value may be used as in the second embodiment. Further, the processor 301 executes a new RTK operation in parallel in step S413 after (or prior to) step S412. In this way, when the number of RTK operations has reached the upper limit, the RTK operation with low reliability and the new RTK operation can be switched. As a result, the possibility that any RTK operation can calculate the fixed solution earlier is increased.
- This disclosure can be applied to a surveying system using an interferometric positioning method.
- positioning system 110 base station 120 positioning station 201 processor 202 storage unit 203 input unit 204 output unit 205 communication unit 206 reception device 210 bus 301 processor 302 storage unit 303 input unit 304 output unit 305 communication unit 306 reception device 310 bus
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Abstract
Description
以下、図1~7を用いて、実施の形態1を説明する。
図1は、実施の形態1における測位システムの概念図である。
以上のように構成した測位システムが行う測位処理を説明する。
以上のように本実施の形態において、本開示の測位システム、測位方法、測位局120のプロセッサ301は、基地局110の測位データと測位局120の測位データに基づいて干渉測位を演算処理によって実行する。演算処理は、異なる時刻を開始時刻として、複数が並行に実行される。
以上のように、本出願において開示する技術の例示として、実施の形態1を説明した。しかしながら、本開示における技術は、これに限定されず、適宜、変更、置き換え、付加、省略などを行った実施の形態にも適用可能である。
図8を用いて実施の形態2を説明する。
図9を用いて実施の形態3を説明する。
図10を用いて実施の形態4を説明する。
110 基地局
120 測位局
201 プロセッサ
202 記憶部
203 入力部
204 出力部
205 通信部
206 受信装置
210 バス
301 プロセッサ
302 記憶部
303 入力部
304 出力部
305 通信部
306 受信装置
310 バス
Claims (21)
- 基地局と、
測位局と、
を有する測位システムであって、
前記測位システムは、
前記基地局の測位データと前記測位局の測位データに基づいて干渉測位を演算処理によって実行し、
前記干渉測位を実行する演算処理は、異なる時刻を開始時刻として、複数が並列に実行されることを特徴とする、
測位システム。 - 前記複数の演算処理は、それぞれの開始時刻近傍における前記基地局の測位データおよび前記測位局の測位データを用いて演算に必要なパラメータの初期化を行うことで、実行される、
請求項1に記載の測位システム。 - 前記実行された演算処理のいずれかがフィックス解を算出した際に、前記フィックス解を算出していない他の演算処理の少なくとも一つを中止する、
請求項1に記載の測位システム。 - 前記演算処理の開始時刻を、定期的に遅延させて実行する、
請求項1に記載の測位システム。 - 前記演算処理の開始時刻を、前記基地局の測位データまたは前記測位局の測位データに基づいて、逐次遅延させて実行する、
請求項1に記載の測位システム。 - 前記演算処理の開始時刻を、前記基地局または前記測位局の測位品質に基づいて、逐次遅延させて実行し、
前記測位品質が良好である場合は前記測位品質が劣悪な場合よりも、前記演算処理の遅延時間が短い、
請求項1に記載の測位システム。 - 前記実行された演算処理のいずれかがフィックス解を算出してから所定期間の経過後に、
前記フィックス解を算出した演算処理がフィックス解を算出しているか否か、および、他の演算処理がフィックス解を算出しているか否かを判定し、
前記フィックス解を算出した演算処理がフィックス解を算出しており、かつ、他の演算処理のいずれかがフィックス解を算出している場合は、
当該他の演算処理の信頼度が、前記フィックス解を算出した演算処理の信頼度に所定の値を加えた値を上回ることを条件として、前記他の演算処理が算出したフィックス解に基づいて測位結果を出力する、
請求項1に記載の測位システム。 - 前記実行された演算処理のいずれかがフィックス解を所定の期間以上算出し続けていることを条件に、
前記複数実行された演算処理のすくなくともひとつを停止する、
請求項1に記載の測位システム。 - 前記実行された演算処理のいずれもがフィックス解を算出していないことを条件に、
前記実行された演算処理に加えて新たに演算処理の並列実行を開始する、
請求項1に記載の測位システム。 - 前記実行された演算処理の数が所定の値以上の場合に、
前記実行された演算処理の信頼度に基づいて前記演算処理のすくなくともひとつを停止する、
請求項1に記載の測位システム。 - 基地局と、
測位局と、
を用いて測位を行う測位方法であって、
前記測位方法は、
前記基地局の測位データと前記測位局の測位データに基づいて干渉測位を演算処理によって実行し、
前記干渉測位を実行する演算処理は、異なる時刻を開始時刻として、複数が並列に実行されることを特徴とする、
測位方法。 - 前記複数の演算処理は、それぞれの開始時刻近傍における前記基地局の測位データおよび前記測位局の測位データを用いて演算に必要なパラメータの初期化を行うことで、実行される、
請求項11に記載の測位方法。 - 前記実行された演算処理のいずれかがフィックス解を算出した際に、前記フィックス解を算出していない他の演算処理の少なくとも一つを中止する、
請求項11に記載の測位方法。 - 前記演算処理の開始時刻を、定期的に遅延させて実行する、
請求項11に記載の測位方法。 - 前記演算処理の開始時刻を、前記基地局の測位データまたは前記測位局の測位データに基づいて、逐次遅延させて実行する、
請求項11に記載の測位方法。 - 前記演算処理の開始時刻を、前記基地局または前記測位局の測位品質に基づいて、逐次遅延させて実行し、
前記測位品質が良好である場合は前記測位品質が劣悪な場合よりも、前記演算処理の遅延時間が短い、
請求項11に記載の測位方法。 - 前記実行された演算処理のいずれかがフィックス解を算出してから所定期間の経過後に、
前記フィックス解を算出した演算処理がフィックス解を算出しているか否か、および、他の演算処理がフィックス解を算出しているか否かを判定し、
前記フィックス解を算出した演算処理がフィックス解を算出しており、かつ、他の演算処理のいずれかがフィックス解を算出している場合は、
当該他の演算処理の信頼度が、前記フィックス解を算出した演算処理の信頼度に所定の値を加えた値を上回ることを条件として、前記他の演算処理が算出したフィックス解に基づいて測位結果を出力する、
請求項11に記載の測位方法。 - 前記実行された演算処理のいずれかがフィックス解を所定の期間以上算出し続けていることを条件に、
前記複数実行された演算処理のすくなくともひとつを停止する、
請求項11に記載の測位方法。 - 前記実行された演算処理のいずれもがフィックス解を算出していないことを条件に、
前記実行された演算処理に加えて新たに演算処理の並列実行を開始する、
請求項11に記載の測位方法。 - 前記実行された演算処理の数が所定の値以上の場合に、
前記実行された演算処理の信頼度に基づいて前記演算処理のすくなくともひとつを停止する、
請求項11に記載の測位方法。 - プロセッサと、
基地局と通信する通信部と、
衛星からの測位信号を受信する受信装置と、
を有する測位局であって、
前記プロセッサは、
前記基地局の測位データと前記測位局の測位データに基づいて干渉測位を演算処理によって実行し、
前記干渉測位を実行する演算処理は、異なる時刻を開始時刻として、複数が並列に実行されることを特徴とする、
測位局。
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