WO2017130510A1

WO2017130510A1 - Positioning device, positioning method, and positioning system

Info

Publication number: WO2017130510A1
Application number: PCT/JP2016/082681
Authority: WO
Inventors: 晴登武田; 呂尚高岡
Original assignee: ソニー株式会社
Priority date: 2016-01-27
Filing date: 2016-11-02
Publication date: 2017-08-03
Also published as: JP2017133895A

Abstract

[Problem] To select a positioning method from a plurality of positioning methods including a positioning method corresponding to a static state and a positioning method corresponding to a moving state, and perform positioning. [Solution] A positioning device provided with: a receiving unit for receiving a radio wave from a satellite; a determining unit for determining the positioning method from a plurality of positioning methods including a first positioning method corresponding to a static state and a second positioning method corresponding to a moving state; and a positioning unit for performing positioning on the basis of the radio wave from the satellite via the positioning method determined by the determining unit.

Description

Positioning device, positioning method, positioning system

This disclosure relates to a positioning device, a positioning method, and a positioning system.

In recent years, attention has been paid to interferometric positioning in which positioning is performed by measuring the phase of a radio wave (carrier wave) from a GPS satellite at two points: a reference station whose position is known and an unknown point whose position is unknown. In the interference positioning, the path difference of the carrier between two points is obtained, and the relative position of the unknown point from the reference station is calculated, thereby positioning the unknown point. The accuracy of distance measurement of the carrier phase is high, and in the interference positioning, positioning can be performed with an accuracy of about several mm to several cm. There are a plurality of positioning methods for interference positioning, for example, a positioning method corresponding to a static state or a positioning method corresponding to a moving state. The positioning method corresponding to the static state is a positioning method suitable when the unknown point is in the static state, and the positioning method corresponding to the dynamic state is a positioning method suitable when the unknown point is in the dynamic state.

Patent Document 1 discloses a positioning device that performs the above-described interference positioning. Patent Document 1 discloses a vehicle including a GPS receiver and an inertial unit (IMU) as a positioning device. The vehicle disclosed in Patent Document 1 performs interference positioning using a GPS receiver and an inertial device provided in consideration of a side slip of the vehicle.

JP2011-122921A

Since the positioning device as disclosed in Patent Document 1 has been determined to be used for the positioning device, the positioning method performed by the device as described in the above-mentioned prior art is the positioning method in the static state or the moving state. It was fixed to one of the positioning methods.

Therefore, the present disclosure proposes a positioning device, a positioning method, and a positioning system that perform positioning by selecting a positioning method from a plurality of positioning methods including a positioning method corresponding to a static state or a positioning method corresponding to a moving state.

According to the present disclosure, a positioning method is selected from a plurality of positioning methods including a receiving unit that receives radio waves from a satellite, a first positioning method corresponding to a static state, and a second positioning method corresponding to a moving state. A positioning device is provided that includes a setting unit and a positioning unit that performs positioning based on radio waves from the satellite by the positioning method selected by the setting unit.

As described above, according to the present disclosure, the positioning device can perform positioning by selecting a positioning method from a plurality of positioning methods including a positioning method corresponding to a static state or a positioning method corresponding to a moving state.

The above effects are not necessarily limited, and any of the effects shown in the present specification or other effects that can be grasped from the present specification are exhibited together with or in place of the above effects. May be.

FIG. 1 is a schematic diagram illustrating the principle of interference positioning. FIG. 2 is a schematic diagram illustrating the principle of obtaining an integer value bias in interference positioning. FIG. 3 is a diagram illustrating a path difference of radio waves with respect to an elevation angle of a GPS satellite viewed from a mobile station. FIG. 4 is a schematic diagram illustrating a configuration of a system according to an embodiment of the present disclosure. FIG. 5 is a block diagram illustrating a configuration of the mobile station according to the embodiment of the present disclosure. FIG. 6 is a flowchart showing a first operation example of the mobile station of this embodiment. FIG. 7 is a flowchart showing a second operation example of the mobile station according to the present embodiment.

Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

The description will be given in the following order.
0. Interference positioning principles and types 1. Integer value bias calculation method 2. System configuration example Configuration of mobile station 4. First operation example Second operation example 6. Supplement 7 Conclusion

<0. Interference positioning principles and types>
FIG. 1 is a diagram illustrating the principle of interference positioning. FIG. 1 shows a GPS satellite 100, a reference station 200 whose position is known, and a mobile station 300 whose position is unknown. The mobile station 300 is an example of a positioning device that performs positioning by receiving radio waves from the GPS satellite 100, and performs interference positioning while moving. The reference station 200 and the mobile station 300 include

GPS receivers

202 and 302, respectively, as an example of a receiving unit that receives radio waves from the GPS satellite 100.

The GPS satellite 100 orbits in a predetermined orbit and the position of the GPS satellite 100 is known. The GPS satellite 100 transmits radio waves in the L1 band (1575.42 MHz) and the L2 band (1227.6 MHz). The reference station 200 and the mobile station 300 observe the radio wave transmitted by the GPS satellite 100 with the

GPS receivers

202 and 302, and introduce an error in the carrier phase and pseudorange (the true distance from the GPS satellite 100 to the GPS receivers 202 and 302). Observed distance).

In general, in the interference positioning, the reference station 200 transmits the observed observation values (carrier phase and pseudorange) and the position information of the reference station 200 to the mobile station 300, and the mobile station 300 and the observation values of the reference station 200 are transmitted by itself. By calculating the relative position of the mobile station 300 with respect to the reference station 200 using the observed values, the positioning of the mobile station 300 is performed. Hereinafter, the principle of interference positioning will be described in more detail with reference to FIG.

A dotted line shown in FIG. 1 is an equidistant surface from the GPS satellite 100, and L in FIG. 1 indicates a path between the GPS satellite 100 and the GPS receiver 202 of the reference station 200, and the GPS satellite 100 and the mobile station 300. This means a path difference between the GPS receiver 302 and the path. The path difference L shown in FIG. 1 is the sum of the length of an integral number of waves of the carrier wave of the GPS satellite 100 and the length of a fraction corresponding to the phase angle θ. Here, the wave number of the carrier wave included between the GPS satellite 100 and the

GPS receivers

202 and 302 is generally called an integer value bias.

In the interference positioning, since the carrier wave phase can be measured by the

GPS receivers

202 and 302, obtaining the integer value bias is synonymous with obtaining the path difference. In order to obtain this integer value bias, radio waves from the same GPS satellite 100 are observed at the

GPS receivers

202 and 302 of the reference station 200 and the mobile station 300 as described above. Then, using the observation values from the GPS satellites 100 respectively observed by the reference station 200 and the mobile station 300, the mobile station 300 calculates an integer value bias. In addition, the mobile station 300 obtains a baseline vector indicated by an arrow in FIG. 1 using the calculated integer value bias, and the relative position of the mobile station 300 with respect to the reference station 200 is obtained based on the baseline vector.

Note that the wavelength of the carrier wave of the GPS satellite 100 is 19 cm for the above-described L1 band and 24 cm for the L2 band. The

GPS receivers

202 and 302 have a high accuracy of observation of the carrier wave phase, and a carrier wave having such a wavelength can be measured by interference positioning with an accuracy of several millimeters to several centimeters.

In the above, the outline of the principle of interference positioning was explained. Next, the types of interference positioning will be described. As described above, the interference positioning includes a plurality of positioning methods, and static positioning is included as an example of the first positioning method corresponding to the static state. Further, the interference positioning includes kinematic positioning as an example of the second positioning method corresponding to the moving state as the state of the mobile station 300.

In the static positioning, since the mobile station 300 is stationary and the observation is performed, the mobile station 300 can perform the positioning by observing the radio wave from the satellite for a long time. In kinematic positioning, the mobile station 300 determines an integer value bias (also referred to as initialization) at the start of observation, and performs positioning in a short time while receiving observation data from another device.

From the above differences, integer bias is calculated with high probability in static positioning. On the other hand, since observation is performed while the mobile station 300 is moving in kinematic positioning, the integer value bias must be obtained in a short time, and the integer value bias may not be calculated depending on the situation.

Next, in order to cancel the ionospheric delay I, the tropospheric delay T, and the clock error δ ⁱ of the GPS satellite i102 from the equation (1), it is the difference in the carrier phase measured simultaneously from the GPS satellite i102 by the mobile station 300 and the reference station 200. A single phase difference is calculated. At this time, it is preferable that a GPS satellite having a large elevation angle when viewed from the mobile station 300 is selected as the GPS satellite i102.

FIG. 3 is a diagram showing an example of the relationship between the positions of the two

GPS satellites

106 and 108 and the position of the mobile station 300. The GPS satellite 106 is a satellite whose elevation angle viewed from the mobile station 300 is relatively larger than that of the GPS satellite 108. As can be seen from FIG. 3, when the distance between the mobile station 300 and the GPS satellite 106 is compared with the distance between the mobile station 300 and the GPS satellite 108, the distance between the mobile station 300 and the GPS satellite 106 is smaller. Thus, since the distance between the ionosphere and the troposphere that passes through decreases as the elevation angle of the satellite viewed from the mobile station 300 increases, the ionosphere delay I and troposphere delay T decrease. Therefore, when observation is performed using a GPS satellite common to the reference station 200 and the mobile station 300, it is preferable to select a GPS satellite having a large elevation angle.

Here, the subscript B means the reference station 200.

As understood from the equation (2), the clock error on the GPS satellite i102 side is eliminated by the single phase difference between the mobile station and the reference station. However, the single phase difference between the mobile station and the reference station does not eliminate the clock error on the

GPS receivers

202 and 302 side. Therefore, in order to eliminate the clock error on the

GPS receivers

202 and 302 side, a double phase difference between the GPS satellite j104 and the GPS satellite j104 different from the GPS satellite i102 is calculated.

Here, a number M of double phase differences, which is one less than the number K of GPS satellites used for positioning, is defined.

When M double phase differences are defined as described above, an independent equation at time t is defined as follows from the above equation (3).

In each of the above formulas (4), the left side-right side is calculated, and the matrix z _n (observation error at time t _n ) is defined as follows.

Next, the relationship between the position of the mobile station 300, the location of the mobile station 300 at time _{t n + 1} at time _{t n,} the correction amount [Delta] x, [Delta] y, is expressed as follows using Delta] z.

Where _{x (t n + 1),} y (t n + 1) and z _{(t n + 1)} denotes the coordinates of the mobile station 300 at time _{_{t n + 1, x (t}} n), y (t n) and z _{(t n} ) means the coordinate of the mobile station 300 at time _{t n.}

Similarly, the value of the integer ambiguity at time t _n, the relationship between the value of the integer bias at time t _{n + 1,} is represented as follows using the correction amount ΔB of the integer ambiguity.

From the above formula, z _n when t = 0 and t = _n is expressed as follows.

Here, I is a unit matrix.

When the above formula (10) is converted, it becomes as follows.

Here, W is a weight matrix. In the equation (11), the correction amounts Δx and ΔB are calculated by performing calculation until the correction amounts Δx and ΔB converge using the least square method. Note that the value calculated here is a real number, and this real number is called a float solution.

In order to make an integer value (this is called an Int solution) from the obtained float solution, the LAMBDA method (Least-square Ambiguity Adjustment Adjustment Method) is generally used.

<Positioning method of kinematic positioning>
The calculation method in the case where static positioning is performed using observation values at a plurality of times has been described above. In the following, a calculation method when kinematic positioning is performed using the Kalman filter algorithm will be described.

In the kinematic positioning, the double phase difference expressed by the equation (3) is calculated as in the static positioning. When kinematic positioning is performed using an algorithm of the Kalman filter, positioning is performed using observation values at only one time point instead of using observation values at a plurality of time points as described above. That is, the above equation (10) is defined as follows in kinematic positioning.

Further, when the Kalman filter algorithm is applied to the above equation (12), the equation (12) is expressed by the following equation.

Here, P is a covariance matrix of state variables, and R is a covariance matrix of observation errors. As described above, the correction amounts Δx and ΔB calculated by applying the Kalman filter algorithm are Float solutions as described above. Therefore, the LAMBDA method is similarly used to change the float solution to the int solution.

As described above, in the interference positioning, the mobile station 300 which is an unknown point calculates an integer value bias using the single phase difference and double phase difference of the carrier wave. Then, the mobile station 300 can perform static positioning or kinematic positioning using the calculated integer value bias.

<2. Example of system configuration>
The interference measurement positioning principle and the integer value bias calculation method have been described above in detail. Hereinafter, an example of a system configuration according to an embodiment of the present disclosure will be described. In the present embodiment, a positioning device that performs interference positioning will be described. Note that the positioning device includes, for example, a mobile station 300 as shown in FIG. 4 that performs positioning while moving. Moreover, the mobile station 300 of this embodiment selects one positioning method from the static positioning method or the kinematic positioning method according to the situation of the mobile station 300 as described later.

The system according to the present embodiment includes a GPS satellite 100, a reference station 200 whose position is known, a mobile station 300 whose position is unknown, and a network 400. The GPS satellite 100 transmits radio waves in the same manner as described above, and the reference station 200 and the mobile station 300 receive the radio waves transmitted from the GPS satellite 100. The network 400 carries information from the reference station 200 or the mobile station 300. The network 400 may be a public network such as the Internet or a network having a wireless interface such as a mobile phone network. In addition, the mobile station 300 receives the observation value (carrier phase and pseudorange) of the reference station 200 and information on the position of the reference station 200 via the network 400, and receives information from the reference station 200 and radio waves from the GPS satellite 100 by itself. Interferometric positioning is performed using observation values obtained by observing.

The position of the reference station 200 is known, and the reference station 200 includes a device that can measure the carrier phase from the GPS satellite 100. For example, the reference station 200 may be a structure installed in a city area, such as a building or a traffic light or a base station of a mobile phone network, equipped with a device capable of measuring the carrier phase from the GPS satellite 100. The reference station 200 may be an electronic reference point installed by the Geographical Survey Institute.

The mobile station 300 is shown as a vehicle in FIG. However, in this embodiment, the mobile station 300 is not limited to a vehicle, and may be a device that can be carried by a person such as a mobile phone or a game machine. The mobile station 300 may be a ship, and includes a device that can measure a carrier wave phase from the GPS satellite 100. The mobile station 300 may be any device as long as it moves.

<3. Configuration of mobile station>
The system configuration of this embodiment has been described above. Next, the configuration of mobile station 300 will be described in detail with reference to FIG. The mobile station 300 includes a GPS receiver 302, a wireless communicator 304, a storage unit 306, a processing unit 308, an acceleration sensor 314, a gyro sensor 316, a geomagnetic sensor 318, an atmospheric pressure sensor 320, and a camera 322. .

The GPS receiver 302 is an example of a receiving unit that receives radio waves from the GPS satellite 100, and sends information about the received radio waves from the GPS satellite 100 to the processing unit 308. The wireless communication device 304 is a device for performing wireless communication with other devices. The wireless communication device 304 receives the observation value observed by the reference station 200 and the information regarding the position of the reference station 200 from the reference station 200 via the network 400, and sends the information received from the reference station 200 to the processing unit 308. The wireless communication device 304 may be a transceiver used for a wireless LAN such as Bluetooth (registered trademark), Wi-Fi, or a mobile phone network such as LTE (Long Term Evolution).

Further, the storage unit 306 stores a program and data used for the operation of the mobile station 300. Examples of data stored in the storage unit 306 include observation values of the reference station 200 received by the wireless communication receiver 304 and position information of the reference station 200. The storage unit 306 also stores observation values observed by the GPS receiver 302 of the mobile station 300. The storage unit 306 may be a storage medium such as a nonvolatile memory, a magnetic disk, or an optical disk. Examples of the non-volatile memory include a flash memory and a USB memory. Examples of the magnetic disk include a hard disk and a disk-type magnetic disk. Examples of the optical disc include a CD (Compact Disc), a DVD (Digital Versatile Disc), and a BD (Blue-Ray Disc (registered trademark)).

The processing unit 308 includes a setting unit 310 and a positioning unit 312. The setting unit 310 selects a suitable positioning method from a plurality of positioning methods including the first positioning method corresponding to the static state and the second positioning method corresponding to the moving state. For example, the setting unit may be configured to select a positioning method from a static positioning method or a kinematic positioning method based on measurement information from various sensors or cameras 322. The positioning unit 312 performs positioning based on radio waves from the GPS satellite 100 received by the GPS receiver 302 by the positioning method selected by the setting unit 310.

Various sensors such as an acceleration sensor 314, a gyro sensor 316, a geomagnetic sensor 318, and an atmospheric pressure sensor 320 are used to detect the state of the mobile station 300, and measurement information measured by the various sensors is sent to the processing unit 308. The acceleration sensor 314 detects acceleration applied to the mobile station 300. There are various types of acceleration sensors 314 such as an optical method and a semiconductor method, and the mobile station 300 of this embodiment may include any type of acceleration sensor 314. Further, the processing unit 308 may calculate the speed of the mobile station 300 by integrating the output of the acceleration sensor 314.

The gyro sensor 316 detects the angular velocity and angular acceleration of the mobile station 300. Similarly to the acceleration sensor 314, the gyro sensor 316 includes various types such as a fluid type and an optical type, and the mobile station 300 according to the present embodiment may include any type of gyro sensor 316. When the state of the mobile station 300 is determined using the acceleration sensor 314 and the gyro sensor 316, the setting unit 310 may determine the state according to the following method.

For example, the probability that the mobile station 300 is in a static state is modeled, and this probability is used for the state determination of the mobile station 300. This state determination includes threshold determination. It is easy to use a normal distribution for the probability distribution. Further, a Laplace distribution or a mixed distribution may be used as the probability distribution.

First, the setting unit 310 performs preprocessing on the measurement value omega _Gyro measurements _{s accl} and the gyro sensor 316 of the acceleration sensor 314. The preprocessing is filter processing for noise removal such as bias removal or smoothing.

Next, based on the measured values s _accl and ω _gyro of each sensor that has been preprocessed, the setting unit 310 calculates a static state probability based on the following equation.

The above equation (14) is calculated as the following equation.

Moreover, each term in the equation (15) is expressed as follows.

Here, when the value of the equation (15) is larger than a certain value δ, the setting unit 310 determines that the mobile station 300 is in a static state. On the other hand, if the value of the equation (15) is smaller than a certain value δ, the setting unit 310 determines that the mobile station 300 is in a moving state.

The geomagnetic sensor 318 detects the magnitude and direction of the geomagnetism. The geomagnetic sensor 318 detects the direction in which the mobile station 300 is facing. The atmospheric pressure sensor 320 detects atmospheric pressure. The altitude of the mobile station 300 is detected by the atmospheric pressure sensor 320. The setting unit 310 determines whether the mobile station 300 is in a static state or a moving state based on measurement information from the various sensors described above.

The sensors used for the acceleration sensor 314, the gyro sensor 316, the geomagnetic sensor 318, and the atmospheric pressure sensor 320 may be changed depending on the characteristics of the mobile station 300, or may be used in combination. By using a plurality of sensors, the setting unit 310 can determine the state of the mobile station 300 more reliably and in detail.

The camera 322 is used to determine the state of the mobile station 300 as with the various sensors described above. An image captured by the camera 322 is sent to the processing unit 308, and the processing unit 308 performs image processing such as feature point detection. The feature point detection may be performed using a general algorithm such as SURF (Speed-Up Robust Features) or SIFT (Scale Invariant Feature Transform).

When the state of the mobile station 300 is determined by the camera 322, the setting unit 310 is configured to determine whether or not the detected feature point has moved for a predetermined time in the captured image in which the feature point detection has been performed. May be. For example, the setting unit 310 may be configured to determine the state of the mobile station 300 by setting coordinates in the captured image and determining whether or not the detected feature point has changed for a predetermined time. .

<4. First operation example>
In the above, the structure of the mobile station 300 was demonstrated using FIG. Below, the operation example of the mobile station 300 of this embodiment is demonstrated. FIG. 6 illustrates an operation example when the mobile station 300 first performs static positioning and performs kinematic positioning using an integer value bias calculated by static positioning.

As described above, very complicated calculation is required to perform interference positioning. Therefore, depending on the situation of the mobile station 300, the initial value of the integer value bias may not be calculated. In particular, in kinematic positioning in which positioning is performed while the mobile station 300 moves, the number of unknowns increases, so the mobile station 300 may not be able to calculate an integer value bias.

Therefore, the mobile station 300 performing the first operation detects whether or not the mobile station 300 is in a static state using a sensor or the like. If the mobile station 300 is in a static state, the positioning unit 312 performs static positioning. When the positioning unit 312 performs static positioning, first, an integer value bias that is an initial value is calculated. By using the calculated integer value bias as the initial value of kinematic positioning, the positioning unit 312 can reliably perform kinematic positioning. Further, when the integer value bias becomes indefinite due to cycle slip or the like, the kinematic positioning can be surely performed by taking over the integer value bias calculated by the static positioning to the kinematic positioning.

FIG. 6 is a flowchart showing an operation example when the integer value bias calculated by the above-described static positioning is taken over by the kinematic positioning.

When the process is started in S100, the various sensors and / or the camera 322 perform various measurements in S102. As the sensor, at least one of the above-described acceleration sensor 314, gyro sensor 316, geomagnetic sensor 318, and atmospheric pressure sensor 320 is used, and measurement is performed using the camera 322 in addition to or instead of the sensor. It may be configured.

Note that the target to be measured varies depending on the sensor. For example, the acceleration sensor 314 measures acceleration with respect to the mobile station 300, and the gyro sensor 316 measures angular velocity and each acceleration with respect to the mobile station 300. The geomagnetic sensor 318 measures the direction in which the mobile station 300 is facing by measuring the geomagnetism. The atmospheric pressure sensor 320 measures the altitude of the mobile station 300. The camera 322 performs imaging.

Next, in S104, the processing unit 308 receives measurement information from the sensor and / or camera 322. Here, the setting unit 310 determines whether or not the mobile station 300 is in a static state based on measurement information received from various sensors and / or the camera 322.

When the setting unit 310 determines in S104 that the mobile station 300 is in a static state according to the above-described method, the setting unit 310 selects to perform positioning by static positioning. Accordingly, the process proceeds to S106. In S <b> 106, the positioning unit 312 performs static positioning based on the radio wave received from the GPS receiver 302 and the observation value of the reference station 200 received from the wireless communication device 304.

Specifically, positioning unit 312 calculates a single phase difference and a double phase difference as described above, and in S108, positioning unit 312 calculates an integer value bias based on equation (11). Incidentally, in S104, the setting unit 310, mobile station 300 If it is determined that the static state, the storage unit 306 starts to store the residuals _{z n} observations (observation error of the time _{t n).} The positioning unit 312 calculates an integer value bias using the residual z ₀ of past observation values stored in the storage unit 306.

Next, in S110, the sensor and / or the camera 322 performs measurement. In S112, the setting unit 310 determines whether or not the mobile station 300 is in a moving state based on the measurement of the sensor and / or the camera 322. If the setting unit 310 determines in S112 that the mobile station 300 is in a static state, the process returns to S106, and the positioning unit 312 continues static positioning.

In S112, when the setting unit 310 determines that the mobile station 300 is in a moving state based on the measurement of the sensor and / or the camera 322, the process proceeds to S114. In S114, the setting unit 310 selects to perform kinematic positioning. In S114, based on the selection of the setting unit 310, the positioning unit 312 takes over the integer value bias calculated by the static positioning as an initial value and performs kinematic positioning.

As described above, in the mobile station 300 of the present embodiment, the setting unit 310 determines whether the mobile station 300 is in a static state or a moving state based on the measurement of the sensor and / or the camera 322. When the setting unit 310 determines that the mobile station 300 is in a static state, the positioning unit 312 performs static positioning. The positioning unit 312 can reliably calculate the integer value bias by performing static positioning. When the setting unit 310 determines that the mobile station 300 is in a moving state, the positioning unit 312 can perform takeover kinematic positioning using the calculated integer value bias as an initial value.

As described above, when the mobile station 300 is in a static state, the positioning unit 312 can perform static positioning to reliably obtain the integer value bias. In addition, the positioning unit 312 can reliably perform kinematic positioning by using the integer value bias calculated as the initial value when performing kinematic positioning.

<5. Second example of operation>
The operation example in which the setting unit 310 first selects the static positioning and the positioning unit 312 performs the kinematic positioning by taking over the integer value bias calculated by the static positioning has been described above. Hereinafter, an operation example in which the positioning unit 312 performs positioning by taking over the integer value bias calculated by one positioning method selected by the setting unit 310 to another positioning method will be described. FIG. 7 is a diagram illustrating a second operation example in such a case.

In the second operation example, when the process is started in S200, each sensor and / or camera 322 starts measurement as in the first operation example. Next, in S <b> 204, the setting unit 310 determines the state of the mobile station 300 based on the measurement of the sensor and / or camera 322.

In S204, if the setting unit 310 determines that the mobile station 300 is in a static state, the process proceeds to S206. In S206, the setting unit 310 determines whether there is an integer value bias that has already been calculated. Here, when the calculated integer value bias does not exist, the process proceeds to S208, and the positioning unit 312 newly calculates the integer value bias. Then, the positioning unit 312 performs static positioning using the integer value bias calculated in S208 (S212).

In S206, when there is an integer bias that has already been calculated, the process proceeds to S210. Here, the already calculated integer value bias includes both an integer value bias calculated by static positioning and an integer value bias calculated by kinematic positioning. In S210, the positioning unit 312 uses the already calculated integer value bias for the static positioning. In S212, the positioning unit 312 performs static positioning. The post-process of S212 returns to S202, and the processes from S202 to S212 are repeated.

Next, an operation example when it is determined in S204 that the mobile station 300 is in a moving state will be described. In S204, when the setting unit 310 determines that the mobile station 300 is in a moving state, the process proceeds to S214. In step S214, the setting unit 310 determines whether there is an integer value bias that has already been calculated. Here, when the calculated integer value bias does not exist, the process proceeds to S216, and the positioning unit 312 newly calculates the integer value bias. Then, the positioning unit 312 performs kinematic positioning using the integer value bias calculated in S216 (S220).

In S214, if there is an integer value bias that has already been calculated, the process proceeds to S218. Here, the already calculated integer value bias includes both an integer value bias calculated by static positioning and an integer value bias calculated by kinematic positioning. In S218, the positioning unit 312 uses the already calculated integer value bias for kinematic positioning. Then, the positioning unit 312 performs kinematic positioning in S220. The post-processing of S220 returns to S202, and the processing from S202 to S220 is repeated.

In the second operation example described above, the integer value bias calculated by static positioning is inherited by kinematic positioning, and the integer value bias calculated by kinematic positioning is inherited by static positioning. That is, the calculated integer value bias is taken over in both directions.

Thus, the integer value bias calculated by a certain positioning method is taken over by another positioning method, so that the convergence of the integer value bias is accelerated in the process of calculating the integer value bias, and the positioning unit 312 performs positioning. Can be done quickly.

<6. Supplement>
The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. Note that the technical scope of the present disclosure is not limited to such an example. It is obvious that a person having ordinary knowledge in the technical field of the present disclosure can come up with various changes or modifications within the scope of the technical idea described in the claims. Is naturally within the technical scope of the present disclosure.

For example, when the mobile station 300 is a vehicle, the state determination of the mobile station 300 may be determined based on measurement of a vehicle speed sensor that detects the vehicle speed of the vehicle. Generally, a vehicle speed sensor measures the rotation of an engine crankshaft or axle, and the vehicle speed sensor measures a vehicle speed by sending a pulse signal to a control circuit. That is, the speed of the object is determined from a measurement object different from the acceleration sensor 314 described above.

As described above, by using the vehicle speed sensor for the state determination of the mobile station 300, for example, even when the engine vibration is large and the state cannot be correctly determined by the acceleration sensor 314 or the like, the state determination of the mobile station 300 is correctly performed. Is called.

In addition, a distance sensor that emits light such as infrared rays and lasers, or sound waves such as ultrasonic waves to an object, measures the reflection of the light and sound waves, and calculates the distance to the object is a state determination of the mobile station 300 May be used. In this case, when the setting unit 310 determines that the distance between the mobile station 300 and the object is constant, the setting unit 310 may determine that the mobile station 300 is in a static state.

In the case of using a distance sensor, it is conceivable that the distance between the mobile station 300 and the object changes due to the movement of the object irradiated with light or the like. In this case, in order to prevent the setting unit 310 from erroneously determining that the mobile station 300 is in a moving state, the distance sensors are different from each other in the mobile station 300 so that a plurality of distance sensors detect objects in different directions. Placed on the surface.

As described above, the setting unit 310 can arrange the distance between the target object in the plurality of directions and the mobile station 300 by arranging the distance sensors on different surfaces of the mobile station 300 so as to detect the target object in different directions. Can be measured. As a result, even if one object moves, the object in the other direction does not move. Therefore, the distance between the mobile station 300 and the object is constant, and the processing unit 308 correctly operates the mobile station 300. The state can be determined.

Also, the setting unit 310 may be configured to select static positioning when the accuracy of the integer value bias deteriorates. In interferometric positioning, the accuracy of integer value bias calculation may deteriorate over time or depending on the positioning environment. Therefore, the setting unit 310 may select static positioning when the integer value bias deteriorates below a predetermined condition. The setting unit 310 may be configured to perform static positioning when a predetermined time has elapsed. The setting unit 310 may be configured to periodically perform static positioning. By configuring the setting unit 310 in this way, the setting unit 310 does not need to perform static positioning when the integer value bias is accurately calculated.

Also, a computer program for operating the processing unit 308 including the setting unit 310 and the positioning unit 312 as described above may be provided. A storage medium storing such a program may be provided.

<7. Conclusion>
As described above, according to the first operation example and the second operation example of the present disclosure, the setting unit 310 includes a plurality of positioning methods including a positioning method corresponding to a static state or a positioning method corresponding to a moving state. Select the positioning method from. More specifically, the setting unit 310 selects a positioning method suitable for the state of the mobile station 300, and the positioning unit 312 performs positioning using the positioning method selected by the setting unit 310. At this time, when there is a known integer value bias, the positioning unit 312 performs positioning using the integer value bias.

Here, the known integer value bias may be an integer value bias calculated using static positioning, or may be an integer value bias calculated using kinematic positioning. That is, the positioning unit 312 may use the integer value bias calculated by static positioning for kinematic positioning, or may use the integer value bias calculated by kinematic positioning for static positioning.

As described above, since the integer value bias is taken over in both directions, the convergence of the integer value bias is accelerated in the calculation process of the integer value bias, and the positioning unit 312 can perform the positioning quickly. Further, for example, in the kinematic positioning, when the positioning unit 312 cannot calculate the integer value bias, the positioning unit 312 reliably performs the kinematic positioning by using the integer value bias calculated by the static positioning for the kinematic positioning. be able to.

In addition, the effects described in this specification are merely examples and are not limiting. That is, the technology according to the present disclosure can exhibit other effects that are apparent to those skilled in the art from the description of the present specification in addition to or instead of the above effects.

The following configurations also belong to the technical scope of the present disclosure.
(1)
A receiver for receiving radio waves from a satellite;
A setting unit for selecting a positioning method from a plurality of positioning methods including a first positioning method corresponding to a static state and a second positioning method corresponding to a moving state;
A positioning unit that performs positioning based on radio waves from the satellites by the positioning method selected by the setting unit;
A positioning device.
(2)
The positioning device according to (1), wherein the first positioning method corresponding to the static state is a static positioning method, and the second positioning method corresponding to the moving state is a kinematic positioning method.
(3)
The positioning device according to (1) or (2), wherein the positioning unit performs positioning by taking over the information used in the first positioning method or the second positioning method to the other positioning method. .
(4)
The positioning device according to any one of (1) to (3), wherein the inherited information is an integer value bias.
(5)
A sensor for detecting a state of the positioning device;
When the setting unit determines that the positioning device is stationary based on measurement information of the sensor,
The positioning device according to (2), wherein the positioning is set from the kinematic positioning method to the static positioning method.
(6)
The sensor is a gyro sensor and an acceleration sensor,
The positioning device according to (5), wherein the setting unit determines that the positioning device is stationary using the gyro sensor and the acceleration sensor.
(7)
The sensor is a camera;
The positioning device according to (5), wherein the setting unit determines that the positioning device is stationary using the camera.
(8)
Receive radio waves from the satellite,
Setting a positioning method from a plurality of positioning methods including a first positioning method corresponding to a static state and a second positioning method corresponding to a moving state;
Positioning is performed based on radio waves from the satellite by the set positioning method.
Positioning method.
(9)
A reference station with a known location and receiving radio waves from a satellite;
A positioning device that acquires information from the reference station and performs positioning;
The positioning device includes a receiving unit that receives radio waves from a satellite;
A setting unit for setting a positioning method from a plurality of positioning methods including a first positioning method corresponding to a static state and a second positioning method corresponding to a moving state;
A positioning unit that performs positioning based on radio waves from the satellite by the positioning method set by the setting unit,
Positioning system.

100 GPS Satellite 200 Reference Station 202 GPS Receiver 300 Mobile Station 302 GPS Receiver 304 Wireless Communication Device 306 Storage Unit 308 Processing Unit 310 Setting Unit 312 Positioning Unit 314 Acceleration Sensor 316 Gyro Sensor 318 Geomagnetic Sensor 320 Atmospheric Sensor 322 Camera 400 Network

Claims

A receiver for receiving radio waves from a satellite;
A setting unit for selecting a positioning method from a plurality of positioning methods including a first positioning method corresponding to a static state and a second positioning method corresponding to a moving state;
A positioning unit that performs positioning based on radio waves from the satellites by the positioning method selected by the setting unit;
A positioning device.
The positioning device according to claim 1, wherein the first positioning method corresponding to the static state is a static positioning method, and the second positioning method corresponding to the moving state is a kinematic positioning method.
The positioning device according to claim 2, wherein the positioning unit performs positioning by taking over the information used in the first positioning method or the second positioning method to the other positioning method.
The positioning device according to claim 3, wherein the information to be inherited is an integer value bias.
A sensor for detecting a state of the positioning device;
When the setting unit determines that the positioning device is stationary based on measurement information of the sensor,
The positioning device according to claim 3, wherein the positioning method is set from the kinematic positioning method to the static positioning method.
The sensor is a gyro sensor and an acceleration sensor,
The positioning device according to claim 5, wherein the setting unit determines that the positioning device is stationary using the gyro sensor and the acceleration sensor.
The sensor is a camera;
The positioning device according to claim 5, wherein the setting unit determines that the positioning device is stationary using the camera.
Receive radio waves from the satellite,
Setting a positioning method from a plurality of positioning methods including a first positioning method corresponding to a static state and a second positioning method corresponding to a moving state;
Positioning is performed based on radio waves from the satellite by the set positioning method.
Positioning method.
A reference station with a known location and receiving radio waves from a satellite;
A positioning device that acquires information from the reference station and performs positioning;
The positioning device includes a receiving unit that receives radio waves from a satellite;
A setting unit for setting a positioning method from a plurality of positioning methods including a first positioning method corresponding to a static state and a second positioning method corresponding to a moving state;
A positioning unit that performs positioning based on radio waves from the satellite by the positioning method set by the setting unit,
Positioning system.