WO2016152030A1 - 測位方法、測位システム、補正情報生成方法、補正情報生成装置、および測位システムにおける中継局、端末 - Google Patents
測位方法、測位システム、補正情報生成方法、補正情報生成装置、および測位システムにおける中継局、端末 Download PDFInfo
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- WO2016152030A1 WO2016152030A1 PCT/JP2016/001045 JP2016001045W WO2016152030A1 WO 2016152030 A1 WO2016152030 A1 WO 2016152030A1 JP 2016001045 W JP2016001045 W JP 2016001045W WO 2016152030 A1 WO2016152030 A1 WO 2016152030A1
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- WIPO (PCT)
- Prior art keywords
- correction information
- terminal
- relay station
- station
- coordinates
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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
- G01S19/071—DGPS corrections
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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
- G01S19/073—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 involving a network of fixed stations
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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
- G01S19/51—Relative positioning
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1853—Satellite systems for providing telephony service to a mobile station, i.e. mobile satellite service
- H04B7/18545—Arrangements for managing station mobility, i.e. for station registration or localisation
- H04B7/18547—Arrangements for managing station mobility, i.e. for station registration or localisation for geolocalisation of a station
- H04B7/18554—Arrangements for managing station mobility, i.e. for station registration or localisation for geolocalisation of a station using the position provided by an existing geolocalisation system
Definitions
- the present disclosure relates to a positioning method, a positioning system, a correction information generation method, a correction information generation device, and a relay station and a terminal in the positioning system.
- Patent Document 1 discloses relative positioning by selectively using correction information relating to a virtual reference point located in the vicinity of the position of the own station among a plurality of correction information transmitted from the antenna station within a cover area where the own station exists.
- a mobile station that performs is disclosed.
- This disclosure makes it possible to perform positioning of the terminal even if the communication band that can be used by the reference station is narrow.
- the positioning method, positioning system, correction information generation method, and correction information generation apparatus of the present disclosure measure the coordinates of a terminal using a reference station, a plurality of relay stations that communicate with the reference station, and a terminal that communicates with the relay station.
- a positioning method, a positioning system, a correction information generation method, and a correction information generation device acquire information for specifying a relay station with which a terminal communicates and receive the reference station based on coordinates of the relay station with which the terminal communicates Correction information is generated based on a positioning signal from a satellite. Further, in the positioning method and positioning system of the present disclosure, the reference station transmits the correction information to the terminal via the relay station.
- relay stations and terminals in the positioning system are used in the positioning system described above.
- the positioning method, positioning system, correction information generation method, correction information generation device, and relay station and terminal in the positioning system according to the present disclosure perform positioning of the terminal even if the communication band that can be used by the reference station is narrow. It is effective to make possible.
- FIG. 1 is a conceptual diagram of a positioning system in the first embodiment.
- FIG. 2 is a block diagram of the reference station in the first embodiment.
- FIG. 3 is a block diagram of the relay station in the first embodiment.
- FIG. 4 is a block diagram of a terminal in the first embodiment.
- FIG. 5 is a flowchart showing the positioning process in the first embodiment.
- FIG. 6 is a diagram illustrating a flow of data transmission from the terminal to the reference station in the first embodiment.
- FIG. 7 is a diagram illustrating a flow of transmitting individually generated correction information from the reference station to the terminal in the first embodiment.
- FIG. 8 is a diagram illustrating a flow of transmitting correction information generated for each relay station from the reference station to the terminal in the first embodiment.
- FIG. 9 is a diagram illustrating a flow of transmitting correction information generated based on the coordinates of a plurality of relay stations from the reference station to the terminal in the first embodiment.
- FIG. 1 is a conceptual diagram of a positioning system in the first embodiment.
- the positioning system 100 includes a reference station 110, a relay station 120, and a terminal 130.
- the coordinates on the earth of the reference station 110 are known.
- the coordinates of the relay station 120 on the earth are also known.
- the terminal 130 is present at a location where the coordinates on the earth are desired.
- the reference station 110 communicates with the relay station 120.
- the relay station 120 communicates with the terminal 130.
- a plurality of relay stations 120 exist between the reference station 110 and the terminal 130.
- the relay station 120 relays the correction information transmitted from the reference station 110 in a bucket relay manner and transmits it to the terminal 130.
- Such a network configuration is generally called a multi-hop network.
- the positioning system 100 determines the coordinates of the terminal 130 on the earth by positioning the terminal 130 using the correction information.
- the reference station 110 actively generates correction information. That is, an example in which the reference station behaves as a correction information generation device will be described.
- an apparatus such as a dedicated computer or a general-purpose computer that generates correction information by being connected to a reference station wirelessly or by wire also corresponds to the correction information generation apparatus.
- FIG. 2 is a block diagram of the reference station in the first embodiment.
- the reference 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 reference 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.
- the reference station operates when the processor 201 executes a predetermined program.
- 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 Direct 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 reference 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 equipment with which the communication unit 205 communicates includes the relay station 120.
- the communication unit 205 can be configured by using a communication interface that can communicate with an existing communication network such as a wireless communication network, a wireless LAN communication network, and a 3G communication network using ultra high frequency waves (30 MHz to 0.3 GHz).
- the receiving device 206 has a receiving antenna and a demodulator.
- the receiving device 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 receiver demodulates the positioning signal received by the receiving device.
- the configuration of the reference station 110 mentioned above is an example. A part of each component of the reference station 110 may be integrated. A part of each constituent element of the reference station 110 may be divided into a plurality of elements. Some components of the reference station 110 may be omitted. The reference station 110 may be configured by adding other elements.
- FIG. 3 is a block diagram of the relay station in the first embodiment.
- the relay station 120 includes a processor 301, a storage unit 302, an input unit 303, an output unit 304, a communication unit 305, and a bus 310.
- the processor 301 controls other elements of the relay station 120 via the bus 310.
- the processor 301 can be configured by using a general-purpose CPU. Further, the processor 301 can execute a predetermined program.
- the relay station 120 operates when the processor 301 executes a predetermined program.
- 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 received by the input unit 303 includes information related to input from the operator of the relay 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 equipment with which the communication unit 305 communicates includes the reference station 110 and the terminal 130.
- the communication unit 305 can be configured by using a communication interface capable of communicating with an existing communication network such as a wireless communication network using an ultra-short wave, a wireless LAN communication network, or a 3G communication network.
- the configuration of the relay station 120 mentioned above is an example. A part of each component of the relay station 120 may be integrated. A part of each constituent element of the relay station 120 may be divided into a plurality of elements. Some components of the relay station 120 may be omitted. The relay station 120 may be configured by adding other elements.
- FIG. 4 is a block diagram of the terminal in the first embodiment.
- the terminal 130 includes a processor 401, a storage unit 402, an input unit 403, an output unit 404, a communication unit 405, a receiving device 406, and a bus 410.
- the processor 401 controls other elements of the terminal 130 via the bus 410.
- the processor 401 can be configured by using a general-purpose CPU.
- the processor 401 can execute a predetermined program.
- the terminal 130 operates when the processor 401 executes a predetermined program.
- the storage unit 402 acquires various information from other elements and holds the information temporarily or permanently.
- the storage unit 402 is a generic name for so-called primary storage devices and secondary storage devices, and a plurality of storage units 402 may be physically arranged.
- a DRAM, HDD, or SSD is used for the configuration of the storage unit 402 for example.
- the input unit 403 receives information from the outside.
- Information from the outside accepted by the input unit 403 includes information related to input from the operator of the terminal 130.
- the input unit 403 can be configured by using an input interface such as a keyboard.
- the output unit 404 presents information to the outside.
- Information presented by the output unit includes information related to positioning.
- the output unit 404 can be configured by using an existing output interface such as a display.
- the communication unit 405 communicates with an external device via a communication path.
- the equipment with which the communication unit 405 communicates includes the relay station 120.
- the communication unit 405 can be configured by using a communication interface that can communicate with an existing communication network such as a wireless communication network using an ultra-short wave, a wireless LAN communication network, or a 3G communication network.
- the receiving device 406 has a receiving antenna and a demodulator.
- the receiving device 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, an L2 signal, etc. as positioning signals.
- the receiver demodulates the positioning signal received by the receiving device.
- the above-described configuration of the terminal 130 is an example. A part of each component of the terminal 130 may be integrated and configured. A part of each component of the terminal 130 may be divided into a plurality of elements. Some components of the terminal 130 may be omitted. The terminal 130 can be configured by adding other elements.
- FIG. 5 is a flowchart showing the positioning process in the first embodiment.
- step S511 the processor 401 of the terminal 130 calculates the approximate coordinates of the terminal 130.
- the approximate coordinates are calculated by the processor 401 based on the positioning signal received by the receiving device 406.
- the process of calculating approximate coordinates based on a positioning signal is generally known as code positioning.
- the processor 401 analyzes (1) the code (pattern of 0 and 1) indicated by the positioning signal and (2) the time when the satellite transmits the code, thereby calculating approximate coordinates.
- the approximate coordinates calculated by code positioning include errors due to the influence of the ionosphere.
- step S512 the processor 401 transmits the information of the relay station 120 with which the terminal 130 is communicating and the approximate coordinates calculated in step S511 to the reference station 110 via the communication unit 205.
- the information of the relay station 120 with which the terminal 130 is communicating includes information that makes it possible to identify the relay station 120 with which the terminal 130 is communicating.
- the ID of the relay station 120 can be cited.
- Relay station 120 periodically transmits an ID for identifying itself (relay station) to a terminal with which it communicates.
- the processor 401 transmits the ID to the reference station 110 as information of the relay station 120 with which the terminal 130 is communicating.
- FIG. 6 is a diagram showing a flow of data transmission from the terminal to the reference station in the first embodiment.
- the arrows shown in FIG. 6 indicate the direction of data.
- the terminal 621 transmits information on the relay station with which the terminal 621 is communicating via the relay station 613 and the relay station 611 and the approximate coordinates calculated in step S511.
- the terminal 622 and the terminal 623 transmit information on the relay station with which they are communicating to the reference station 601 via the relay station 614 and the relay station 611, and the approximate coordinates calculated in step S511.
- the terminal 624 transmits the information of the relay station that is communicating with the reference station 601 via the relay station 615 and the relay station 612, and the approximate coordinates calculated in step S511.
- the relay station 616 transmits information indicating that there is no terminal communicating with itself to the reference station 601 via the relay station 612.
- the processor 201 of the reference station 110 estimates an available bandwidth with the relay station 120.
- the usable bandwidth with the relay station 120 refers to the amount of information per unit time that can be transmitted / received to / from the relay station with which the self (reference station) communicates.
- the reference station 601 communicates with the relay station 611 and the relay station 612 in FIG. 6. Therefore, the reference station 601 estimates the available bandwidth between the relay station 611 and the relay station 612 in step S521.
- a known technique can be used for estimating the available bandwidth.
- the estimation of the available bandwidth is not essential in the present disclosure.
- step S522 the processor 201 of the reference station 110 determines whether or not the available bandwidth estimated in step S521 is larger than the first value.
- the first value there is a band value that allows correction information (described later) to be transmitted to all the reference stations to which the self (reference station) has received transmission in step S512. In this way, the processor 201 determines whether or not a value obtained by multiplying the data amount of the correction information by the number of terminals can be transmitted within a predetermined unit time.
- step S523 the processor 201 of the reference station 110 generates correction information based on the approximate coordinates of the terminal received in step S512.
- the correction information is information that improves the positioning accuracy of the terminal 130 using itself.
- the correction information is calculated based on a certain point. The closer the point where the correction information is calculated is to the actual coordinates of the terminal, the more accurate the positioning accuracy of the terminal 130 is.
- An example of the correction information is virtual point data used in the RTK (Real Time Kinetics) method.
- the virtual point data used in the RTK method is data indicating positioning signal data that would be received by a virtual terminal if a virtual terminal that receives a positioning signal from a positioning satellite exists at the virtual point.
- the RTK method is one of positioning methods called interference positioning.
- Interferometric positioning is a method for accurately obtaining the coordinates of a terminal based on the wavelength difference between a positioning signal received by a reference station whose coordinates are known and a positioning signal received by the terminal.
- the smaller the distance between the reference station and the terminal the higher the positioning accuracy. Therefore, in recent years, a virtual point may be defined near the terminal and the RTK method may be performed using the virtual point data.
- Such a method is also referred to as a VRS (Virtual Reference Station) -RTK method.
- step S523 When step S523 is completed, the process proceeds to step S527.
- step S527 that proceeds after step S523, the reference station 110 transmits the correction information individually generated for the terminal 130 to the terminal 130. The flow of this transmission will be described with reference to the drawings.
- FIG. 7 is a diagram showing a flow of transmitting correction information generated individually from the reference station to the terminal in the first embodiment.
- an arrow indicates a route through which correction information is transmitted.
- the correction information generated based on the approximate coordinates of the terminal 621, the terminal 622, and the terminal 623 is transmitted from the reference station 601 to the relay station 611.
- Correction information generated based on the approximate coordinates of the terminal 621 is transmitted from the relay station 611 to the relay station 613.
- Correction information generated based on the approximate coordinates of the terminal 621 is transmitted from the relay station 613 to the terminal 621.
- Correction information generated based on the approximate coordinates of the terminal 622 and the terminal 623 is transmitted from the relay station 611 to the relay station 614.
- Correction information generated based on the approximate coordinates of the terminal 622 is transmitted from the relay station 614 to the terminal 622.
- Correction information generated based on the approximate coordinates of the terminal 623 is transmitted from the relay station 614 to the terminal 623.
- the correction information generated based on the approximate coordinates of the terminal 624 is transmitted from the reference station 601 to the relay station 612.
- Correction information generated based on the approximate coordinates of the terminal 624 is transmitted from the relay station 612 to the relay station 615.
- Correction information generated based on the approximate coordinates of the terminal 624 is transmitted from the relay station 615 to the terminal 624.
- the reference station 601 does not transmit correction information to the relay station 616 (via the relay station 612). This is because there is no terminal communicating with the relay station 616.
- step S524 the processor 201 of the reference station 110 determines whether or not the available bandwidth estimated in step S521 is larger than the second value.
- the second value is smaller than the first value.
- the processor 201 determines whether or not a value obtained by multiplying the data amount of the correction information by the number of relay stations can be transmitted within a predetermined unit time.
- step S525 the processor 201 of the reference station 110 generates correction information based on the coordinates of the relay station 120.
- the relay station for which the reference station 110 generates correction information is a relay station that is communicating with the terminal.
- a relay station that communicates with a terminal is usually at a distance within a certain range from the terminal.
- the correction information generated based on the coordinates of the relay station 120 may be inferior to the correction information generated in step S523, it is possible to cause the terminal 130 to perform positioning with sufficient accuracy.
- step S525 When step S525 is completed, the process proceeds to step S527.
- step S527 which proceeds after step S525, the reference station 110 transmits the correction information generated for each relay station to the terminal 130. The flow of this transmission will be described with reference to the drawings.
- FIG. 8 is a diagram illustrating a flow of transmitting correction information generated for each relay station from the reference station to the terminal in the first embodiment.
- an arrow indicates a route through which correction information is transmitted.
- a white arrow indicates a route through which correction information is transmitted by multicast (multi-cast).
- the bandwidth required for transmitting one correction information to one relay station or terminal is substantially the same as the bandwidth required for multicasting one correction information.
- correction information generated based on the coordinates of the relay station 613 and the relay station 614 is transmitted from the reference station 601 to the relay station 611.
- Correction information generated based on the coordinates of the relay station 613 is transmitted from the relay station 611 to the relay station 613. Correction information generated based on the coordinates of the relay station 613 is transmitted from the relay station 613 to the terminal 621. Correction information generated based on the coordinates of the relay station 614 is transmitted from the relay station 611 to the relay station 614. Correction information generated based on the coordinates of the relay station 614 is multicast-transmitted from the relay station 614 to the terminals 622 and 623. The correction information generated based on the coordinates of the relay station 615 is transmitted from the reference station 601 to the relay station 612. Correction information generated based on the coordinates of the relay station 615 is transmitted from the relay station 612 to the relay station 615.
- Correction information generated based on the coordinates of the relay station 615 is transmitted from the relay station 615 to the terminal 624.
- FIG. 8 as can be seen in comparison with FIG. 7, (1) the amount of communication from the reference station 601 to the relay station 611 and the relay station 612 is reduced (2) the amount of communication from the relay station 611 to the relay station 614 is reduced. (3) The amount of communication from the relay station 614 to the terminal 622 and the terminal 623 is reduced.
- (1) and (2) described above are the effects obtained by generating correction information for each relay station, and (3) is the result of performing multicast transmission in addition to the generation of correction information for each relay station. It is an effect. That is, multicast transmission is not essential in the present disclosure, but when multicast transmission is performed, it is useful for reducing the amount of communication and the computation amount of the relay station.
- step S526 the processor 201 of the reference station 110 generates correction information based on the coordinates of a plurality of relay stations.
- a plurality of relay stations refers to a set of relay stations with which terminals are communicating.
- Correction information based on the coordinates of a plurality of relay stations refers to correction information generated based on intermediate coordinates (average coordinates) of relay station coordinates, average coordinates weighted by the number of communicating terminals, and the like.
- the correction information is generated based on the coordinates of a plurality of relay stations, the correction information for each relay station that is the basis of generation is not generated.
- correction information is generated for the coordinates of three intermediate points of relay station 613, relay station 614, and relay station 615.
- the processor 201 it is possible for the processor 201 to flexibly determine how many intermediate points are generated from the relay station according to the available bandwidth. For example, when the quotient of (available bandwidth) ⁇ (band necessary for transmitting correction information) is n (integer), it is necessary until the number of correction information finally generated by the processor 201 becomes n. Correction information may be generated based on the average coordinates of several relay stations.
- the correction information may be generated for the intermediate point between the coordinates of only the relay station 613 and the relay station 614, and the correction information may be generated for the relay station 615 based on the coordinates of the relay station 615.
- the relay stations 120 are usually located within a certain range. Although the correction information generated based on the coordinates of the plurality of relay stations 120 may be inferior to the correction information generated in steps S523 and S525, it is possible to cause the terminal 130 to perform positioning with sufficient accuracy. It is.
- step S526 When step S526 is completed, the process proceeds to step S527.
- step S527 which proceeds after step S526, the reference station 110 transmits the correction information generated based on the coordinates of the plurality of relay stations to the terminal 130. The flow of this transmission will be described with reference to the drawings.
- FIG. 9 is a diagram showing a flow of transmitting correction information generated based on the coordinates of a plurality of relay stations from the reference station to the terminal in the first embodiment.
- an arrow indicates a route through which correction information is transmitted.
- white arrows in FIG. 9 indicate paths through which correction information is transmitted by multicast.
- correction information generated from the reference station 601 to the relay station 611 and the relay station 612 based on the coordinates of three intermediate points of the relay station 613, the relay station 614, and the relay station 615 (this In the paragraph, it is simply sent as correction information).
- the correction information is multicast transmitted from the relay station 611 to the relay station 613 and the relay station 614.
- Correction information is transmitted from the relay station 613 to the terminal 621.
- the correction information is multicast transmitted from the relay station 614 to the terminals 622 and 623.
- Correction information is transmitted from relay station 612 to relay station 615.
- Correction information is also transmitted from relay station 615 to terminal 624.
- FIG. 9 as can be seen in comparison with FIG. 8, the amount of communication from the reference station 601 to the relay station 611 and the relay station 612 is reduced.
- (1) described above is an effect obtained by performing multicast transmission in addition to generating correction information based on the coordinates of a plurality of relay stations. Regarding (1), the amount of communication is reduced compared to the example shown in FIG.
- multicast transmission is not essential in the present disclosure, but when multicast transmission is performed, it is useful for reducing the amount of communication and the amount of computation of the relay station.
- step S527 After completing the process of step S527, the processor 201 returns to the process of step S521. Thereafter, the processing from step S521 to step S527 is repeated.
- step S513 the processor 401 of the terminal 130 receives the correction information transmitted in step S527, and performs positioning based on the correction information.
- step S513 the processing from step S511 to step S513 is repeated.
- the positioning method, positioning system, correction information generation method, and correction information generation device of the present disclosure include a reference station, a plurality of relay stations that communicate with the reference station, and a terminal that communicates with the relay station. Position the coordinates of the terminal using.
- a positioning method, a positioning system, a correction information generation method, and a correction information generation device according to the present disclosure acquire information for specifying a relay station with which a terminal communicates and receive the reference station based on coordinates of the relay station with which the terminal communicates Correction information is generated based on a positioning signal from a satellite. Further, in the positioning method and positioning system of the present disclosure, the reference station transmits the correction information to the terminal via the relay station.
- the positioning method, positioning system, correction information generation method, and correction information generation apparatus of the present disclosure transmit correction information from the reference station to the terminal via a multi-hop network formed by a plurality of relay stations.
- the positioning method, positioning system, correction information generation method, and correction information generation device of the present disclosure do not generate correction information for the coordinates of the relay station with which the terminal is not communicating.
- the positioning method, positioning system, correction information generation method, and correction information generation device of the present disclosure obtain approximate coordinates calculated by a terminal based on a positioning signal from a satellite, and can be used between a reference station and a relay station. When the band is larger than the predetermined value, the correction information is generated based on the approximate coordinates.
- the positioning method, positioning system, correction information generation method, and correction information generation device of the present disclosure provide correction information when the usable bandwidth between the reference station and the relay station is less than a predetermined value, and the coordinates of a plurality of relay stations. It generates based on the coordinates calculated using.
- 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.
- This disclosure is applicable to positioning systems installed by local governments or individuals.
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Abstract
Description
以下、図1~9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、本開示の測位方法、測位システム、補正情報生成方法、補正情報生成装置は、基準局と、基準局と通信する複数の中継局と、中継局と通信する端末とを用いて端末の座標を測位する。本開示の測位方法、測位システム、補正情報生成方法、補正情報生成装置は、端末の通信する中継局を特定する情報を取得し、端末の通信する中継局の座標に基づいて、基準局が受信する衛星からの測位信号に基づいて補正情報を生成する。さらに、本開示の測位方法、測位システムは、補正情報を基準局が中継局を介して端末に送信する。
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。また、上記実施の形態1で説明した各構成要素を組み合わせて、新たな実施の形態とすることも可能である。
110 基準局
120 中継局
130 端末
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
310 バス
401 プロセッサ
402 記憶部
403 入力部
404 出力部
405 通信部
406 受信装置
410 バス
601 基準局
611 中継局
612 中継局
613 中継局
614 中継局
615 中継局
616 中継局
621 端末
622 端末
623 端末
624 端末
Claims (22)
- 基準局と、
前記基準局と通信する複数の中継局と、
前記中継局と通信する端末と、
を用いて前記端末の座標を測位する測位方法であって、
前記測位方法は、
前記端末の通信する中継局を特定する情報を取得するステップと、
前記端末の通信する前記中継局の座標に基づいて、前記基準局が受信する衛星からの測位信号に基づいて補正情報を生成するステップと、
前記補正情報を前記基準局が前記中継局を介して前記端末に送信するステップと、
を含む測位方法。 - 前記補正情報を、前記複数の中継局が形成するマルチホップネットワークを介して前記基準局から前記端末に伝送する、
請求項1に記載の測位方法。 - 前記端末が通信していない中継局の座標に対しては、前記補正情報を生成しない、
請求項1に記載の測位方法。 - 前記衛星からの測位信号に基づいて前記端末によって算出される概算座標を取得し、
前記基準局と前記中継局との間の可用帯域が所定の値より大きい場合は、前記補正情報を、前記概算座標に基づいて生成する、
請求項1に記載の測位方法。 - 前記基準局と前記中継局との間の可用帯域が所定の値未満の場合は前記補正情報を、前記複数の中継局の座標を用いて算出される座標に基づいて生成する、
請求項1に記載の測位方法。 - 基準局と、
前記基準局と通信する複数の中継局と、
前記中継局と通信する端末と、
を有し、前記端末の座標を測位する測位システムであって、
前記測位システムは、
前記端末の通信する中継局を特定する情報を取得し、
前記端末の通信する前記中継局の座標に基づいて、前記基準局が受信する衛星からの測位信号に基づいて補正情報を生成し、
前記補正情報を前記基準局が前記中継局を介して前記端末に送信する、
ことを特徴とする測位システム。 - 前記補正情報を、前記複数の中継局が形成するマルチホップネットワークを介して前記基準局から前記端末に伝送する、
請求項6に記載の測位システム。 - 前記端末が通信していない中継局の座標に対しては、前記補正情報を生成しない、
請求項6に記載の測位システム。 - 前記衛星からの測位信号に基づいて前記端末によって算出される概算座標を取得し、
前記基準局と前記中継局との間の可用帯域が所定の値より大きい場合は、前記補正情報を、前記概算座標に基づいて生成する、
請求項6に記載の測位システム。 - 前記基準局と前記中継局との間の可用帯域が所定の値未満の場合は前記補正情報を、前記複数の中継局の座標を用いて算出される座標に基づいて生成する、
請求項6に記載の測位システム。 - 請求項6から請求項10のうちいずれか1項に記載の測位システムにおける中継局。
- 請求項6から請求項10のうちいずれか1項に記載の測位システムにおける端末。
- プロセッサが、複数の中継局を介して基準局と通信する端末に送信される補正情報を生成する補正情報生成方法であって、
前記プロセッサは、
前記端末の通信する中継局を特定する情報を取得し、
前記端末の通信する前記中継局の座標に基づいて、前記基準局が受信する衛星からの測位信号に基づいて補正情報を生成する、補正情報生成方法。 - 前記補正情報を、前記複数の中継局が形成するマルチホップネットワークを介して前記端末に伝送する、
請求項13に記載の補正情報生成方法。 - 前記端末が通信していない中継局の座標に対しては、前記補正情報を生成しない、
請求項13に記載の補正情報生成方法。 - 前記衛星からの測位信号に基づいて前記端末によって算出される概算座標を取得し、
前記基準局と前記中継局との間の可用帯域が所定の値より大きい場合は、前記補正情報を、前記概算座標に基づいて生成する、
請求項13に記載の補正情報生成方法。 - 前記基準局と前記中継局との間の可用帯域が所定の値未満の場合は前記補正情報を、前記複数の中継局の座標を用いて算出される座標に基づいて生成する、
請求項13に記載の補正情報生成方法。 - プロセッサを有し、
複数の中継局を介して基準局と通信する端末に送信される補正情報を生成する補正情報生成装置であって、
前記プロセッサは、
前記端末の通信する中継局を特定する情報を取得し、
前記端末の通信する前記中継局の座標に基づいて、前記基準局が受信する衛星からの測位信号に基づいて補正情報を生成する、補正情報生成装置。 - 前記補正情報を、前記複数の中継局が形成するマルチホップネットワークを介して前記端末に伝送する、
請求項18に記載の補正情報生成装置。 - 前記端末が通信していない中継局の座標に対しては、前記補正情報を生成しない、
請求項18に記載の補正情報生成装置。 - 前記衛星からの測位信号に基づいて前記端末によって算出される概算座標を取得し、
前記基準局と前記中継局との間の可用帯域が所定の値より大きい場合は、前記補正情報を、前記概算座標に基づいて生成する、
請求項18に記載の補正情報生成装置。 - 前記基準局と前記中継局との間の可用帯域が所定の値未満の場合は前記補正情報を、前記複数の中継局の座標を用いて算出される座標に基づいて生成する、
請求項18に記載の補正情報生成装置。
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