WO2018230227A1 - Timing signal generating device, electronic instrument provided with same, and timing signal generating method - Google Patents

Timing signal generating device, electronic instrument provided with same, and timing signal generating method Download PDF

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Publication number
WO2018230227A1
WO2018230227A1 PCT/JP2018/018651 JP2018018651W WO2018230227A1 WO 2018230227 A1 WO2018230227 A1 WO 2018230227A1 JP 2018018651 W JP2018018651 W JP 2018018651W WO 2018230227 A1 WO2018230227 A1 WO 2018230227A1
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WO
WIPO (PCT)
Prior art keywords
timing signal
set position
certain
antenna
unit
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PCT/JP2018/018651
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French (fr)
Japanese (ja)
Inventor
真也 小和田
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古野電気株式会社
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Application filed by 古野電気株式会社 filed Critical 古野電気株式会社
Priority to JP2019525219A priority Critical patent/JP6781837B2/en
Publication of WO2018230227A1 publication Critical patent/WO2018230227A1/en

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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
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G04—HOROLOGY
    • G04G—ELECTRONIC TIME-PIECES
    • G04G3/00—Producing timing pulses
    • G—PHYSICS
    • G04—HOROLOGY
    • G04R—RADIO-CONTROLLED TIME-PIECES
    • G04R20/00—Setting the time according to the time information carried or implied by the radio signal
    • G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS

Definitions

  • the present invention mainly relates to a timing signal generation device that generates a timing signal using a signal from a satellite obtained via an antenna.
  • timing signal generators have been used to obtain an accurate current time or to accurately synchronize with other devices.
  • a timing signal generation device is mounted on an electronic device, a wireless communication facility, an in-vehicle base station, or the like.
  • a global navigation satellite system GNSS that includes artificial satellites is used to generate timing signals at accurate time intervals.
  • the satellite has an extremely accurate atomic clock.
  • Artificial satellites transmit satellite signals on which the orbit information, accurate time information, and the like are superimposed on the earth. By receiving the satellite signal from the artificial satellite with the GNSS receiver on the earth, a timing signal synchronized with the reference time can be generated based on the orbit information and the time information.
  • the accuracy ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ of the timing signal generated as described above largely depends on how accurately the receiver recognizes its position and can use it for positioning calculation. Setting to is important.
  • the position information in the receiver for example, the user reads and sets from the map in advance, or the GNSS receiver is operated in advance and the position information calculated there is recorded. And the like.
  • Patent Documents 1 to 5 disclose methods for setting accurate position information in the GNSS receiver.
  • the timing signal generator disclosed in Patent Document 1 has a normal positioning mode and a fixed position mode, and the mode value or the central value is obtained from statistics of the result of positioning calculation over a predetermined time in the normal positioning mode. A value is selected, and the mode or median is set as the position information of the reception point in the position fixing mode. According to Patent Document 1, it is assumed that the receiving location is not limited and the cost can be reduced.
  • Patent Documents 1 to 5 when the position of the reception point used in the calculation for generating the timing signal is set, the position of the reception point is trusted unconditionally, and the position is It did not have a configuration for ex-post inspection (evaluation) of whether or not it matches the actual antenna position. Therefore, there were cases where it was impossible to respond appropriately to changes in the situation afterwards.
  • the present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a timing signal generation device capable of self-evaluating whether or not the position of a reception point used in a calculation for generating a timing signal is reliable. .
  • the timing signal generation device includes a setting position storage unit, a timing signal generation unit, and a determination unit.
  • the set position storage unit stores a set position that is the set position when the position of an antenna that receives a satellite signal from a satellite is set from the inside or the outside.
  • the timing signal generation unit uses a pseudo distance between the antenna and the satellite obtained by calculating that the antenna is arranged at the set position, and uses a satellite signal received by the antenna.
  • a timing signal can be generated.
  • the determination unit determines whether or not the set position is likely to be a predetermined degree as representing the position of the antenna, and if the predetermined position is likely to be a predetermined degree, A timing signal is generated. Otherwise, a timing generation stop control for stopping generation of the timing signal based on the set position, a set position discard control for discarding the set position, or an alarm is generated. At least one of alarm generation control is performed.
  • the following timing signal generation method is provided. That is, when the position of the antenna that receives the satellite signal from the satellite is set, the set position that is the set position is stored.
  • the timing signal is generated from the satellite signal by using the pseudo distance between the antenna and the satellite obtained by calculating that the antenna is disposed at the set position. Determine whether the set position is likely to be a certain degree as representing the position of the antenna, and if not certain to be certain, generate the timing signal based on the set position, otherwise, At least one of timing generation stop control for stopping generation of the timing signal based on the set position, set position discard control for discarding the set position, or alarm generation control for generating an alarm is performed.
  • FIG. 1 is a block diagram showing a schematic configuration of a timing signal generation device according to a first embodiment of the present invention.
  • the flowchart which shows the process for implement
  • the block diagram which shows the timing signal generator of the modification of 1st Embodiment.
  • the block diagram which shows the schematic structure of the timing signal generation apparatus which concerns on 2nd Embodiment.
  • FIG. 1 is a block diagram showing a schematic configuration of a timing signal generation apparatus 20 according to the first embodiment of the present invention.
  • the timing signal generator 20 shown in FIG. 1 analyzes the satellite signals from the satellites 50, 50,... Received by the GNSS antenna 1 described later, and based on the orbit information and time information included in the satellite signals, A timing signal synchronized with the GNSS reference time is generated.
  • the timing signal generator 20 of the present embodiment is provided in a drone equipped with, for example, a small wireless base station facility.
  • This drone is used to communicate with villages, buildings, etc. that have been closed due to the occurrence of disasters such as earthquakes and tsunamis, and the traffic network is cut off.
  • This drone has the same function as a normal base station facility, and is used as a relay base station when using a mobile phone.
  • This drone has a receiver for receiving satellite signals, an antenna, and various sensors for obtaining azimuth information, speed information, etc. in the inner cage, and automatically flies to the place designated by the user in advance and stays in the air It is possible.
  • a drone that remains stationary in a standing dredged state can be handled in the same way as a state where an antenna is installed at a fixed point, so it is possible to receive satellite signals and perform fixed point positioning. . Therefore, positioning can be performed at a set position set in advance by the user, and a timing signal with the same accuracy as that of a normal base station that performs positioning at a fixed point can be generated. This timing signal can be used as a reference signal necessary for the base station.
  • timing signal generation device 20 of the present embodiment will be described more specifically.
  • FIG. 1 shows the main configuration of the timing signal generation device 20 of the first embodiment.
  • the timing signal generation device 20 includes a GNSS antenna 1.
  • the timing signal generator 20 includes a signal demodulator 2, a positioning calculator 3, a positioning estimated position calculator 4, a setting position storage unit 5, a nearest position storage unit 6, a storage position buffer 7, a determination unit 8, and an alarm.
  • a generation unit 9, a position switching unit 10, a timing signal generation unit 11, and the like are provided.
  • the timing signal generator 20 is configured as a known computer and includes a CPU, a ROM, a RAM, an oscillation circuit, and the like.
  • the ROM or the like stores a program for realizing the timing signal soot generation method of the present invention. Then, by the cooperation of the hardware and software described above, the timing signal generating device 20 is converted into the signal demodulator 2, the positioning calculator 3, the estimated positioning position calculator 4, the set position storage unit 5, the nearest position storage unit 6, the memory The position buffer 7, the determination unit 8, the alarm generation unit 9, the position switching unit 10, and the timing signal generation unit 11 can be operated.
  • the GNSS antenna 1 is an antenna that receives satellite signals in a predetermined frequency band transmitted from the satellites 50, 50,... Constituting the GNSS.
  • the satellite for example, artificial satellites operated in GPS, Galileo, GLONASS, and the like are conceivable, but for example, a quasi-zenith satellite may be included.
  • the signal demodulator 2 demodulates the satellite signal received by the GNSS antenna 1 to extract orbit information and time information contained in the satellite signal. This information is acquired by demodulating a satellite signal that is code-modulated with a pseudo-random noise code (PRN code) specific to each of the satellites 50, 50,.
  • PRN code pseudo-random noise code
  • the positioning calculation unit 3 uses the trajectory information and time information obtained by the signal demodulation unit 2 and may be referred to as a reception point (hereinafter simply referred to as “reception point”) that is a position where the GNSS antenna 1 is installed. ) Position.
  • the positioning calculation unit 3 includes a radio wave transmission time measured by a satellite 50 with an unillustrated atomic clock and included in the radio wave as the above-described time information, and a timing signal generator 20.
  • the propagation delay time required for the satellite signal (radio wave) transmitted from the satellite 50 to reach the reception point is calculated using the radio wave reception time measured by an approximate quartz clock. By multiplying the propagation delay time by the speed of light, a pseudo distance from the satellite 50 to the reception point is obtained.
  • the theoretical distance from the satellite 50 to the reception point ⁇ is the position of the satellite 50 at the time of radio wave transmission obtained based on orbit information and time information, and a plurality of parameters (latitude, longitude and altitude) whose reception point is unknown. It can be expressed as the distance between the two points.
  • a non-negligible error (clock error) is generated between the quartz clock provided in the timing signal generator 20 on the reception side and the atomic clock provided in the satellite 50 on the transmission side. Therefore, in the positioning calculation, this clock error is also expressed as an unknown parameter, and an equation representing that the pseudo distance is equal to the theoretical distance is established. Since the number of unknown parameters is 4, the positioning calculation result of the current position of the reception point is obtained by simultaneously solving a plurality of equations based on satellite signals from four or more satellites 50, 50,. A positioning solution is obtained. The positioning calculation unit 3 obtains a positioning solution at the reception point periodically (for example, every second) and outputs it to the positioning estimated position calculation unit 4.
  • the positioning estimation position calculation unit 4 is based on the positioning solution repeatedly input from the positioning calculation unit 3, and is based on the positioning estimation position (hereinafter simply referred to as “positioning estimation position”) that is the position of the reception point estimated from the positioning result. Calculated). This estimated positioning position is treated as an option for the position of the saddle reception point that is used by the timing signal generator 11 to generate the timing signal in the timing signal generator 20.
  • the estimated positioning position calculation unit 4 outputs the calculated estimated positioning position to the determination unit 8 and the position switching unit 10.
  • the positioning estimated position calculation unit 4 of the present embodiment obtains an average value and a variance for a plurality of positioning solutions input within a predetermined period in the past, and when the variance becomes less than a predetermined value, the average estimated value is measured. Estimated position.
  • the positioning estimated position calculation unit 4 collects a series of positioning solutions with small variations, and uses a value representative of these positioning solutions as a positioning estimated position.
  • the position estimation position can be calculated with high accuracy while keeping the position small.
  • the estimated positioning position is a position based on the positioning calculation.
  • the setting position storage unit 5 stores the position. To do. In other words, the setting position storage unit 5 stores the position of the reception point input by the user ⁇ to the timing signal generation device 20. Hereinafter, this position may be referred to as a “set position”.
  • the position of the reception point is set by operating an input unit such as a key and a dial (not shown) provided in the timing signal generating device 20 or by an external computer communicating with the timing signal generating device 20 and instructing it. be able to.
  • said setting position can also be obtained by reading from a map, for example, or performing surveying.
  • the intended reception point position (position where the reception point should be) can be given in advance from the outside.
  • the setting position storage unit 5 outputs the setting position to be stored to the storage position buffer 7.
  • the set position is not necessarily a position given from the outside in advance, and may be a position generated inside the timing signal generation device 20 instead.
  • the position is not necessarily stored in the setting position storage unit 5 and may be a position generated each time.
  • the latest position storage unit 6 stores the position of the reception point used to generate the timing signal most recently by the timing signal generation unit 11. In the following, this position may be simply referred to as “a direct proximity position”. This latest position coincides with any one of the set position stored in the set position storage unit 5, the latest estimated position calculated by the estimated position calculation unit 4, or the past estimated position estimated position. The latest position storage unit 6 outputs the latest position to be stored to the storage position buffer 7.
  • the storage position buffer 7 temporarily stores the setting position output from the setting position storage unit 5 or the latest position output from the latest position storage unit 6. Hereinafter, this position may be simply referred to as “memory position”.
  • the position (storage position) stored in the storage position buffer 7 is an option of the position of the reception point used by the timing signal generator 20 to generate the timing signal in the timing signal generation device 20 in the same manner as the positioning estimation position described above. Are treated as
  • the storage position buffer 7 when the latest position storage unit 6 stores some position, the storage position buffer 7 is not the set position output by the set position storage unit 5 but the latest position output by the latest position storage unit 6.
  • the position is memorized. That is, the storage position buffer 7 stores the latest position with priority over the set position. However, when the user tries to input the latest setting position again after that, the latest setting position may be given priority.
  • the storage position buffer 7 outputs the stored position (storage position) to the determination unit 8.
  • the determination unit 8 uses the positioning estimation position input from the positioning estimation position calculation unit 4 to determine whether or not the storage position input from the storage position buffer 7 is likely to represent the actual position of the GNSS antenna 1. judge. In other words, the determination unit 8 determines whether or not the position set by the user or the position of the reception point used for the latest timing calculation is still probable. The determination result by the determination unit 8 is output to the position switching unit 10 and the alarm generation unit 9.
  • the determination unit 8 of the present embodiment it is determined whether the distance L between the positioning estimated position and the storage position is equal to or smaller than the threshold L t.
  • the distance L can be calculated from the position of two points using the well-known three-square theorem.
  • the determination unit 8 controls the position that the position switching unit 10 outputs to the timing signal generation unit 11 to be the storage position input from the storage position buffer 7 to the position switching unit 10.
  • the determination unit 8 controls the position switching unit 10 to output the position output to the timing signal generation unit 11 to the positioning estimation position input from the positioning estimation position calculation unit 4 to the position switching unit 10. To do.
  • the alarm generation unit 9 indicates an alarm for informing the user when the distance L between the estimated positioning position and the storage position exceeds the threshold L t (L> L t ). If not (L ⁇ L t ), no alarm is generated. This alarm may appeal to the user's hearing or may appeal to the eye.
  • L t L> L t
  • the user knows this situation and Measures can be taken. Examples of measures that the user can take include not using a timing signal while an alarm is occurring.
  • the position switching unit 10 switches which one of the estimated positioning position and the storage position is used for generating the timing signal by the timing signal generating unit 11 according to the determination result of the determining unit 8. More specifically, the position switching unit 10 determines the storage position when the distance L between the estimated positioning position and the storage position is equal to or less than the threshold value L t as a result of the determination by the determination unit 8 (L ⁇ L t ). The storage position input from the buffer 7 is output to the timing signal generator 11.
  • the position switching unit 10 determines that if the distance L between the positioning estimated position and the storage position exceeds the threshold L t (L> L t ), the positioning estimated position calculating unit 4 The input positioning estimation position is output to the timing signal generator 11.
  • the storage position buffer 7 may not store any position.
  • the determination unit 8 controls the heel position switching unit 10 so as to output the positioning estimation position input from the positioning estimation position calculation unit 4 to the timing signal generation unit 11. Further, in this case, the determination unit 8 controls so that the alarm generation unit 9 does not generate an alarm.
  • the position (positioning estimated position or storage position) output from the position / position switching unit 10 is output to the timing signal generation unit 11 and simultaneously to the nearest position storage unit 6.
  • the latest position storage unit 6 stores the position input from the position switching unit 10 as the latest position.
  • the latest position stored in the latest position storage unit 6 is updated to the latest one each time a new position is input from the position switching unit 10. With this update, the storage position stored in the storage position buffer 7 is also updated to the latest nearest position.
  • the timing signal generation unit 11 generates a timing signal using the position (positioning estimation position or storage position) input from the position switching unit 10.
  • the timing signal generation unit 11 of the present embodiment uses the position input from the position switching unit 10 in the above-described equation described in the positioning calculation performed by the positioning calculation unit 3 as the unknown of the reception point. By substituting into the parameters and substituting and solving the position of the satellite 50 based on the orbit information, the remaining hourly error as an unknown parameter is obtained. Next, based on the obtained clock error, the timing signal generation unit 11 performs an off-set processing or the like on the timing of the crystal clock included in the timing signal generation device 20 to synchronize with the GNSS reference time for 1 second. A periodic signal (1PPS: One Pulse per Second) and a 10 MHz reference frequency signal synchronized with the GNSS reference time are output. In the present embodiment, the 1PPS signal and the reference frequency signal correspond to the timing signal.
  • the position output by the saddle position switching unit 10 (that is, the estimated positioning position or the storage position) and the actual position of the GNSS antenna 1 do not exactly coincide with each other, and an error is always included between them. Therefore, in generating the timing signal, substituting the position input from the position switching unit 10 into the unknown parameter of the reception point in the above equation is calculated assuming that the GNSS antenna 1 is disposed at the position. Is substantially synonymous.
  • the timing signal generation device 20 generates the timing signal based on the most likely “position” ⁇ of the estimated positioning position or the storage position with respect to the position where the GNSS antenna 1 is actually installed.
  • the timing signal is generated by the unit 11.
  • the position (storage position) stored in the storage position buffer 7 includes a set position and a position estimation position used for generating the eyelid timing signal most recently.
  • a highly accurate timing signal in general, whether or not a highly accurate timing signal can be generated depends greatly on how accurate position information can be set as a reception point. In other words, the closer the position of the reception point set by the user to the timing signal generation device 20 (in other words, the GNSS receiver) is closer to the actual position of the GNSS antenna 1, the higher the accuracy of the timing signal.
  • the position can be given to the timing signal generation device 20 with high accuracy.
  • a timing signal is obtained.
  • the hovering position may fluctuate greatly due to an external factor, and as a result, a case where the antenna position greatly deviates from the set position is assumed.
  • the determination unit 8 stores the position previously input by the user and stored in the set position storage unit 5 or the latest position used for timing calculation. Whether or not the position stored in the unit 6 is likely to be a certain degree of certainty with respect to the position of the actual receiving point is determined based on the magnitude of the deviation from the positioning estimated position acquired based on the positioning calculation (the above-mentioned distance L ). If it is not certain to a certain extent, the determination unit 8 controls the timing signal generation unit 11 to stop generating the timing signal based on the set position or the storage position, and generates an alarm in the alarm generation unit 9 To control. With this timing generation stop control and alarm generation control, it is possible to prevent a timing signal that is deviated from the reference time from being used, and the user can recognize the situation at an early stage and You can take action.
  • the determination unit 8 performs the timing generation stop control described above and controls the timing signal generation unit 11 to generate a timing signal based on the latest positioning estimation position.
  • the “position” used for calculating the timing is automatically set. Can be changed. Therefore, even when the timing signal generating apparatus 20 is moved, there is no need to read the map or perform surveying again, and the user's trouble can be reduced.
  • FIG. 3 is a flowchart showing a process for realizing the timing signal generation method according to the first embodiment.
  • step S101 it is determined whether or not the position is set by the user setting the position of the reception point (step S101). If the position is set, the content stored in the setting position storage unit 5 (setting) (Position) is stored in the storage position buffer 7 as a storage position (step S102).
  • the contents of the storage position buffer 7 may be read from a storage element prepared in advance and used as an initial value, or may be reset in advance at the start of processing. In the latter case, the process of step S102 is not performed, and the storage position is empty.
  • the positioning calculation unit 3 performs positioning calculation
  • the positioning estimated position calculation unit 4 calculates a positioning estimated position based on the obtained positioning solution (step S103).
  • step S104 If it is determined in step S104 that the storage position is empty, the timing signal generation unit 11 generates a timing signal based on the positioning estimated position calculated by the positioning estimated position calculating unit 4 (step S105). Thereafter, the estimated positioning position which is the latest position is stored as a storage position in the storage position buffer 7 (step S106), and the processing routine returns to step S103.
  • step S104 determines that the position between the estimated position obtained in step S103 and the storage position stored in the storage position buffer 7 is distance L is determined whether exceeds the threshold value L t (step S107).
  • step S107 It is determined in step S107, when the above distance L was above the threshold L t, alarm generation unit 9 generates an alarm (step S108). Thereafter, as in the case where the above-mentioned storage position is empty, a timing signal is generated based on the estimated positioning position (step S105), and the storage position buffer 7 is set so that the estimated positioning position becomes the storing position. The contents are updated (step S106). Thereafter, the process returns to step S103.
  • timing signal generator 11 based on the stored position storage position buffer 7 stores, for generating a timing signal (step S109). In this case, alarm generation processing is not performed (if an alarm has already occurred, it is stopped). Further, since the most recent position and the storage position match, the contents of the storage position buffer 7 are not updated. Thereafter, the process returns to step S103.
  • the timing signal generation device 20 By repeatedly performing the processing of the above steps S103 to S109, the timing signal generation device 20 continuously monitors the set position or the position estimation position used for generating the timing signal most recently. When the difference between the position and the latest positioning estimated position ⁇ exceeds a certain distance, a timing signal is generated based on the latest positioning estimated position. Therefore, it is possible to stably generate an accurate timing signal.
  • the timing signal generation device 20 of the present embodiment includes the setting position storage unit 5, the timing signal generation unit 11, and the determination unit 8.
  • the set position storage unit 5 stores the set position, which is the set position, when the position of the GNSS antenna 1 that receives the satellite signal from the satellite 50 is set from the inside or the outside.
  • the timing signal generation unit 11 can generate a timing signal by calculation using the pseudo distance between the GNSS antenna 1 and the satellite 50 which is obtained by assuming that the GNSS antenna 1 is arranged at the set position.
  • the determination unit 8 determines whether or not the set position is likely to be a certain degree as representing the position of the GNSS antenna 1. If the certain position is certain, the timing signal is sent to the timing signal generation unit 11 based on the set position. Is generated, and when it is not certain to be certain, timing generation stop control for stopping generation of a timing signal based on the set position and alarm generation control for generating an alarm are performed.
  • the timing signal generating device 20 of the present embodiment while the timing signal generating unit 11 generates a timing signal based on the set position (in other words, while the storage position buffer 7 stores the set position). ), The determination unit 8 repeatedly determines whether or not the set position is certain to be certain.
  • the determination unit 8 when the storage position buffer 7 stores the set position, the determination unit 8 performs the positioning calculation performed using the satellite signal received by the GNSS antenna 1.
  • the threshold L t L ⁇ L t
  • the determination unit 8 determines that the set position is not certain to a certain degree.
  • the timing signal generation device 20 of the present embodiment when the storage position buffer 7 stores the set position, if it is determined that the set position is not certain to a certain degree, the timing signal generating unit 11 A timing signal is generated using a pseudorange ⁇ between the GNSS antenna 1 and the satellite 50 obtained by assuming that the GNSS antenna 1 is disposed at the positioning estimation position.
  • a highly accurate timing signal can be continuously output.
  • the timing signal generator 20 of the present embodiment when the timing signal generator 11 generates a timing signal based on the positioning estimated position (in other words, the storage position buffer 7 stores the positioning estimated position).
  • the determination unit 8 determines that the storage position, that is, the positioning estimated position (positioning closest position) when the timing signal generation unit 11 generates the timing signal most recently represents the position of the GNSS antenna 1 to a predetermined degree. Determine if it is certain. Then, if it is likely to be a predetermined degree, the determination unit 8 generates a timing signal based on the position closest to the positioning. If it is not certain to a certain degree, the determination unit 8 generates a timing signal based on the position closest to the positioning.
  • the timing generation stop control for stopping the generation of the timing signal by the unit 11 and the alarm generation control for generating an alarm are performed.
  • the drone that is the electronic apparatus of the present embodiment includes the timing signal generation device 20.
  • the timing signal generation device 20x of the modified example shown in FIG. 4 includes the points provided in the radio base station equipment as electronic equipment fixed and operated on the ground, and the positioning estimated position output by the positioning estimated position calculating unit 4.
  • the timing signal generator 11 is different from the timing signal generator 20 according to the first embodiment in that the timing signal generator 11 does not generate a timing signal.
  • the setting position output from the setting position storage unit 5 is input to the determination unit 8 and the switching unit 17.
  • the switching unit 17 switches between a state in which the setting position input from the setting position storage unit 5 is output to the timing signal generation unit 11 and a state in which the setting position is not output based on a signal from the determination unit 8.
  • Determination unit 8 when the distance L between the set position and the positioning estimated position is equal to or smaller than the threshold L t outputs the switching section 17 is set position to the timing signal generator 11, otherwise, the switching unit 17 controls to not output the set position to the timing signal generator 11.
  • the determination of the set position is continuously monitored by the determination unit 8, and if it is determined not to be accurate, the output of the timing signal based on the set position is stopped. Generate an alarm. Even after the occurrence of the alarm, if the accuracy of the set position is recovered (for example, by movement of the GNSS antenna 1), the determination unit 8 stops the generation of the alarm, and a timing signal based on the set position Control to resume the output of.
  • the determination unit 8 determines whether or not the set position is certain to be certain. Such a determination is continued, and if it is determined that it is certain to be certain, control for stopping the alarm is performed.
  • the GNSS antenna 1 is positioned accurately when the timing signal generation device 20x is transported to the site and installed at the actual time. It is possible to confirm that the alarm that has occurred is stopped and to fix it on the alarm. Thereby, installation work can be performed accurately and efficiently.
  • timing signal generation device 40 Next, the timing signal generation device 40 according to the second embodiment will be described.
  • the same or similar members as those in the above-described embodiment or modification may be denoted by the same reference numerals in the drawings, and description thereof may be omitted.
  • the positioning calculation unit 3 cannot hesitate to perform positioning calculation, and is set by the user or the like.
  • the determination unit 8 cannot determine whether or not the set position accurately represents the position of the reception point.
  • the timing signal generation device 40 of this embodiment can evaluate the probability of the set position even if the number of satellites 50 that can receive radio waves is three or less (for example, one). It is configured.
  • FIG. 5 shows a main configuration of the timing signal generation device 40 of the present embodiment.
  • the timing signal generation device 40 includes a GNSS antenna 1, a saddle signal demodulation unit 2, a carrier frequency acquisition unit 15, a code phase acquisition unit 18, a setting position storage unit 5, a determination unit 16, and an alarm generation unit 9. , A switching unit 17, a timing signal generation unit 11 and the like.
  • the signal demodulator 2 can extract the orbit information and time information from the satellite signal received by the GNSS antenna 1 as in the first embodiment.
  • the obtained trajectory information and time information are output to the determination unit 16 and the timing signal generation unit 11.
  • the signal demodulator 2 outputs the PRN code reproduced in the process of demodulating the signal to the code phase acquisition unit 18 and outputs the reproduced carrier wave to the carrier frequency acquisition unit 15.
  • the carrier frequency acquisition unit 15 acquires the carrier frequency input from the signal demodulation unit 2 by measuring the frequency.
  • the carrier frequency acquisition unit 15 outputs the obtained carrier frequency to the determination unit 16.
  • the code phase acquisition unit 18 generates a replica PRN code based on the timing of the internal quartz clock, and a temporal shift (chip time) between the replica PRN code and the PRN code input from the signal demodulation unit 2. ) To obtain the code phase of the satellite signal.
  • the code phase acquisition unit 18 outputs the obtained code phase to the determination unit 16.
  • the set position storage unit 5 stores the set position as in the first embodiment described above.
  • the setting position storage unit 5 outputs the stored setting position to the determination unit 16 and the switching unit 17.
  • the determination unit 16 determines whether the set position is based on the trajectory information and time information output from the signal demodulator 2, the carrier frequency output from the carrier frequency acquisition unit 15, and the set position ⁇ output from the set position storage unit 5. It is determined whether or not the current position of the GNSS antenna 1 is likely to represent the installation position (the position of the reception point). The determination unit 16 outputs the determination result to the alarm generation unit 9 and the switching unit 17. Details of the configuration of the determination unit 16 will be described later.
  • the switching unit 17 switches between a state in which the setting position input from the setting position storage unit 5 is output to the timing signal generation unit 11 and a state in which the setting position is not output based on a signal from the determination unit 16.
  • the timing signal generating unit 11 When the set position is input from the switching unit 17, the timing signal generating unit 11 generates and outputs a timing signal based on the set position as in the first embodiment.
  • the determination unit 16 includes a determination position generation unit 23, a pseudo distance predicted value calculation unit 24, a pseudo distance actual measurement value calculation unit 25, and a residual comparison unit 26.
  • the wrinkle determination position generation unit 23 generates a determination position used for determining the likelihood of the set position based on the set position input to the determination unit 16.
  • the determination position is determined to be different from the set position.
  • the determination position may be any of various positions, and may be one or more. In the present embodiment, as shown in FIG. 7, the predetermined position is separated from the set position H in each direction of east, west, south, and north.
  • Four determination positions C1, C2, C3, and C4 are generated.
  • the determination position generation unit 23 outputs the generated determination positions C1, C2,... To the pseudo distance predicted value calculation unit 24.
  • the pseudo-range predicted value calculation unit 24 each of the case where the GNSS antenna 1 is installed at the set position H input to the determination unit 16 and the determination positions C1, C2,... Generated by the determination position generation unit 23, respectively. And a case where the GNSS antenna 1 is installed is calculated, and the predicted value of the pseudo distance in each case is calculated.
  • the pseudorange means the distance between the satellite 50 and the GNSS antenna 1.
  • the pseudo-range prediction value can be obtained by obtaining the position vector ⁇ of the satellite 50 from the orbit information and time information obtained from the signal demodulator 2 and the position of the receiver prepared by the above method.
  • the pseudo-range actual value calculation unit 25 acquires the distance obtained by multiplying the relative speed between the satellite and the receiver that can be obtained from the frequency acquired by the carrier frequency acquisition unit 15 by the update time, and the code phase acquisition unit 18. The measured value of the pseudo distance is calculated by adding the distance obtained by multiplying the code phase (chip time) by the speed of light. The pseudo distance actual value calculation unit 25 outputs the obtained actual value of the pseudo distance to the residual comparison unit 26.
  • the residual comparison unit 26 assumes that the GNSS antenna 1 is at one of the determination positions C1, C2,..., Rather than the pseudorange prediction value when the GNSS antenna 1 is assumed to be at the set position H. It is determined whether or not the pseudo-range predicted value is closer to the pseudo-range actual measurement value by comparing the residuals that are the difference between the pseudo-range predicted value and the actual measurement value in each case.
  • the residual comparison unit 26 is a pseudo distance that is a difference between a predicted value of the pseudo distance and a measured value of the pseudo distance for each of the determination positions C1, C2, C3, and C4 shown in FIG. Residuals D 1 , D 2 , D 3 and D 4 are obtained. Further, the residual comparison unit 26 obtains a pseudo distance residual DH that is a difference between the pseudo distance predicted value for the set position H and the pseudo distance actual measurement value.
  • Residual comparing unit 26 the pseudorange residual D 1, D 2, D 3 , D 4 for each determination position C1, C2, C3, C4, and pseudorange residual D H for setting position H, the Compare large and small.
  • the residual comparison unit 26 controls the switching unit 17 to output the set position H to the timing signal generation unit 11 and controls the alarm generation unit 9 not to generate an alarm.
  • the residual comparison unit 26 controls the switching unit 17 not to output the set position H to the timing signal generation unit 11 and controls the alarm generation unit 9 to generate an alarm.
  • the timing signal generator 11 generates and outputs a timing signal only when the set position is likely to be the actual reception point position. Further, the alarm generator 9 generates an alarm when the set position is not certain with respect to the actual reception point position. Therefore, the accuracy of the timing signal can be kept high, and when the set position deviates from the actual position of the reception point, the user can quickly notice and respond to the alarm.
  • a plurality of determination positions C1, C2,... are generated around the set position H as shown in FIG. Therefore, even if the position of the GNSS antenna 1 deviates in any direction with respect to the set position H ⁇ ⁇ , this is detected by the pseudo distance prediction value at any of the determination positions C1, C2,. It becomes easy to do. Therefore, it is possible to appropriately evaluate the probability of the heel setting position H.
  • how far the determination positions C1, C2,... Generated by the determination position generation unit 23 are arranged from the setting position H is determined when the user sets the setting position H in the timing signal generation device 40, for example. It can be set by appropriately instructing. Further, by giving a special instruction to the timing signal generator 40, the strength of the satellite signal received by the GNSS antenna 1 indicates the distance where the determination positions C1, C2,. It can also be automatically changed so that it becomes shorter if the value is larger and longer if it is smaller. As a result, it is possible to perform flexible operation in consideration of required timing accuracy, radio wave reception status, and the like.
  • FIG. 8 is a flowchart showing a timing signal generation method performed to generate a timing signal in the second embodiment. Note that the processing of FIG. 8 is different from the first embodiment (FIG. 3) on the premise that the set position is input to the timing signal generator 40 in advance.
  • the determination position generation unit 23 generates determination positions C1, C2,... Around the set position H (step S201).
  • the pseudo distance predicted value calculation unit 24 assumes the case where the GNSS antenna 1 is at the set position H and the case where the GNSS antenna 1 is at each of the determination positions C1, C2,.
  • a predicted value is calculated (step S202). For this calculation, orbit information obtained by analyzing the received satellite signal and time information are used.
  • the pseudo distance actual measurement value calculation unit 25 calculates the pseudo distance actual measurement value based on the carrier wave frequency of the received satellite signal (step S203).
  • the residual comparison unit 26 calculates, for each of the predicted values of the five pseudo distances calculated in step S202, a residual error with the actually measured value of the pseudo distance calculated in step S203. It is determined whether or not smaller determination positions C1, C2,... Exist (step S204).
  • step S204 If it is determined in step S204 that there are determination positions C1, C2,... In which the residual between the predicted value of the pseudo distance and the actual measurement value is smaller than the set position H, the alarm generation unit 9 generates an alarm.
  • the generation of the timing signal by the timing signal generator 11 is stopped (steps S205 and S206). Thereafter, the process returns to step S201.
  • step S204 If it is determined in step S204 that there are no determination positions C1, C2,... In which the residual between the predicted value and the actual measurement value of the pseudo distance is smaller than the set position H, the alarm generation unit 9 generates an alarm.
  • the timing signal generator 11 generates a timing signal based on the set position (step S207). Thereafter, the process returns to step S201.
  • the timing signal generator 40 By performing the above processing in the timing signal generator 40, it is repeatedly evaluated continuously whether or not the set position H is likely to represent the actual position of the GNSS antenna 1, and it is determined that it is reliable.
  • the timing signal is generated only when it is done. Therefore, an accurate timing signal can be stably generated.
  • the determination unit 16 determines that the determination position C1 is a position different from the setting position H when it is assumed that the GNSS antenna 1 is at the setting position H. , C2,..., And a case where it is assumed that the GNSS antenna 1 is present, a predicted value of a pseudo pseudorange between the satellite 50 and the GNSS antenna 1 is calculated.
  • the determination unit 16 is set when there are no determination positions C1, C2,. It is determined that the position H is certain to be certain.
  • the determination unit 16 determines that the setting position H is not certain to a certain degree when there are determination positions C1, C2,.
  • the accuracy of the set position H can be evaluated without performing positioning calculation, so that it can be operated well even when the number of satellites 50 that can be received is small (when the reception state of satellite radio waves is not good). Can do.
  • a plurality of determination positions C1, C2,... are generated around the set position H.
  • the probability of the set position H can be appropriately evaluated.
  • a distance indicating how far the determination positions C1, C2,... Are generated from the setting position H can be set by the user. Yes.
  • the determination positions C1, C2,... are generated at positions separated from the set position H by a distance corresponding to the intensity of the satellite signal received by the GNSS antenna 1.
  • the probability of the setting position H can be appropriately determined according to whether the GNSS antenna 1 receives the satellite signal.
  • the determination unit 8 when it is determined that the set position is not certain to be certain, the determination unit 8 does not perform control to generate an alarm, and the timing signal generation unit 11 generates a timing signal based on the set position. It can be configured to perform control for stopping the generation and control for generating the timing signal based on the positioning estimation position. Alternatively, in addition to or instead of the above-described control, when it is determined that the set position is not certain to a certain degree, control for discarding the set position may be performed.
  • the determination unit 8 determines the certainty of the position closest to the positioning, and if it is not certain to a certain degree, the control for discarding the position near the positioning may be performed.
  • the determination units 8 and 16 when it is determined that the set position is not certain to a certain degree, perform only one of the timing generation stop control and the wrinkle alarm generation control. Can be changed to do. Further, in addition to or instead of the above control, when it is determined that the set position is not certain to a certain degree, control for discarding the set position may be performed.
  • the estimated positioning position calculation unit 4 calculates the estimated positioning position based on the average value of a plurality of positioning solutions, but is not necessarily limited thereto.
  • the estimated positioning position may be calculated based on the mode value or the median value.
  • the positioning result by the positioning calculating unit 3 is input to the position switching unit 10 as a position based on the positioning calculation. Also good.
  • the change of the positioning result by the positioning calculation unit 3 is monitored, and the determination by the determination unit 8 may be performed only when the moving speed and the moving direction of the positioning result change.
  • At least one of the latest position storage unit 6 and the storage position buffer 7 is, for example, a non-volatile storage so that the stored contents can be retained even when the power of the timing signal generation device 20 is lost. It can be constituted by a part. In this case, continuity of the position used for generating the timing signal can be ensured.
  • the number and positions of the determination positions C1, C2,... Generated by the determination position generation unit 23 can be arbitrarily changed. For example, instead of setting the determination positions C1, C2,. Further, one or a plurality of determination positions C1, C2,... May be determined at positions that are separated from the set position H by a predetermined distance in a two-dimensional or three-dimensional random direction. Further, the positional relationship between the determination positions C1, C2,... And the set position H may change every time the determination positions C1, C2,.
  • Orbit information used by the positioning calculation unit 3 and the timing signal generation unit 11 may be acquired from another information source instead of being acquired directly from the satellite signal.
  • the trajectory information stored in the non-volatile storage unit may be used for a hot start that enables positioning in a short time immediately after turning on the power.
  • the timing signal generation device may be configured to be connectable to the Internet, and the trajectory information may be acquired based on so-called GNSS assist information acquired from the Internet.
  • the GNSS antenna 1 may be detachably attached to the timing signal generation device 20 or may be an external antenna electrically connected to the timing signal generation device 20.
  • the timing signal is not limited to 1 PPS, and the timing may be shorter or longer.
  • the timing signal may be a pulse having an arbitrary form.
  • the frequency of the reference frequency signal is not limited to 10 MHz, and may be another frequency.
  • the timing signal generator of the present invention can be used not only for drones but also for various electronic devices that need to operate with accurate timing.
  • the electronic device for example, a wireless communication facility represented by a mobile phone, digital terrestrial broadcasting, or the like can be considered.
  • a movable electronic device for example, an in-vehicle electronic device
  • a timing signal generation device when used in a stationary state, can be configured to include a timing signal generation device.

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  • General Physics & Mathematics (AREA)
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Abstract

[Problem] To enable errors in an antenna installation position or the like to be handled appropriately. [Solution] A set position storage unit stores a set position, which is the position of an antenna which receives a satellite signal, the set position being set either internally or externally. A timing signal generating unit uses a pseudo distance between the antenna and the satellite, obtained by means of a calculation assuming that the antenna is disposed in the set position, to generate a timing signal using the satellite signal received by the antenna. A determining unit determines whether it is likely, to a certain degree, that the set position represents the position of the antenna, and if is it likely to said certain degree, then the determining unit causes the timing signal generating unit to generate the timing signal on the basis of the set position, and if it is not likely to said certain degree, then the determining unit performs at least any one of timing generation stop control to stop the generation of the timing signal based on the set position, set position discarding control, and alarm generation control.

Description

タイミング信号生成装置、それを備える電子機器、及びタイミング信号生成方法Timing signal generating apparatus, electronic device including the same, and timing signal generating method
　本発明は、主として、アンテナを経由して得られる衛星からの信号を利用して、タイミング信号を生成するタイミング信号生成装置に関する。 The present invention mainly relates to a timing signal generation device that generates a timing signal using a signal from a satellite obtained via an antenna.
　 従来から、正確な現在時刻を得たり、他の機器と正確に同期させたりするために、タイミング信号生成装置が利用されている。このようなタイミング信号生成装 置は、電子機器、無線通信設備、或いは車載基地局等に搭載されている。この種のタイミング信号生成装置では、正確な時間間隔でタイミング信号を生成するた めに、人工衛星等を含んで構成される全地球航法衛星システム（ＧＮＳＳ：Ｇｌｏｂａｌ　Ｎａｖｉｇａｔｉｏｎ　Ｓａｔｅｌｌｉｔｅ　Ｓｙｓｔｅｍ）を利用 している。 Conventionally, timing signal generators have been used to obtain an accurate current time or to accurately synchronize with other devices. Such a timing signal generation device is mounted on an electronic device, a wireless communication facility, an in-vehicle base station, or the like. In this type of timing signal generator, a global navigation satellite system (GNSS) that includes artificial satellites is used to generate timing signals at accurate time intervals. .
　人工衛星には、極めて精度の高い原子時計が搭載されている。人工衛星は、その軌道情報や正確な時刻情報等が重 畳された衛星信号を地球上に向けて送信している。この人工衛星からの衛星信号を地球上のＧＮＳＳ受信機で受信することにより、その軌道情報や時刻情報に基 づいて、基準時刻に同期したタイミング信号を生成することができる。 The satellite has an extremely accurate atomic clock. Artificial satellites transmit satellite signals on which the orbit information, accurate time information, and the like are superimposed on the earth. By receiving the satellite signal from the artificial satellite with the GNSS receiver on the earth, a timing signal synchronized with the reference time can be generated based on the orbit information and the time information.
　上記のようにして生成されるタイミング信号の精度 は、受信機が自らの位置をどれだけ正確に認識し、それを測位計算に利用できるかに大きく依存するため、正確な位置情報をＧＮＳＳ受信機に設定することは重 要である。受信機に位置情報を設定する方法としては、例えば使用者が予め地図から読み取って設定したり、或いは事前にＧＮＳＳ受信機を動作させておき、そ こで算出した位置情報を記録しておいたりする手法等が挙げられる。 The accuracy タ イ ミ ン グ of the timing signal generated as described above largely depends on how accurately the receiver recognizes its position and can use it for positioning calculation. Setting to is important. As a method for setting the position information in the receiver, for example, the user reads and sets from the map in advance, or the GNSS receiver is operated in advance and the position information calculated there is recorded. And the like.
　ここで、特許文献１から５までは、ＧＮＳＳ受信機に正確な位置情報を設定するための手法を開示している。 Here, Patent Documents 1 to 5 disclose methods for setting accurate position information in the GNSS receiver.
　 これらのうち、特許文献１が開示するタイミング信号生成装置は、通常測位モードと位置固定モードとを有し、通常測位モードでの所定時間に亘る測位計算の結 果の統計から最頻値又は中央値を選択し、位置固定モードにおける受信点の位置情報として当該最頻値又は中央値を設定する構成となっている。特許文献１は、 これにより、受信場所の制限を受けず、コストも低減できるとする。 Among these, the timing signal generator disclosed in Patent Document 1 has a normal positioning mode and a fixed position mode, and the mode value or the central value is obtained from statistics of the result of positioning calculation over a predetermined time in the normal positioning mode. A value is selected, and the mode or median is set as the position information of the reception point in the position fixing mode. According to Patent Document 1, it is assumed that the receiving location is not limited and the cost can be reduced.
特開２０１４－１３７３１８号公報JP 2014-137318 A 特開２０１４－１２６５３９号公報JP 2014-126539 A 特開２０１５－１７５８１２号公報Japanese Patent Laying-Open No. 2015-175812 特開２０１５－１５８４３２号公報Japanese Patent Laying-Open No. 2015-158432 特表２０１４－５０７６３０号公報Special table 2014-507630 gazette
　 しかしながら、特許文献１から５までを含め、従来は、タイミング信号を生成するための計算で用いられる受信点の位置が設定されると、当該受信点の位置が無 条件で信頼され、その位置が実際のアンテナの位置と一致しているかを事後的に検査（評価）する構成を有していなかった。従って、事後的な状況の変化に適切 に対応できない場合があった。 However, conventionally, including Patent Documents 1 to 5, when the position of the reception point used in the calculation for generating the timing signal is set, the position of the reception point is trusted unconditionally, and the position is It did not have a configuration for ex-post inspection (evaluation) of whether or not it matches the actual antenna position. Therefore, there were cases where it was impossible to respond appropriately to changes in the situation afterwards.
　本発明は以上の事情に鑑みてなされたものであり、タイミング信号を生成するための計算で用いられる受信点の位置が信頼できるか否かを自己評価できるタイミング信号生成装置を提供することにある。 The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a timing signal generation device capable of self-evaluating whether or not the position of a reception point used in a calculation for generating a timing signal is reliable. .
課題を解決するための手段及び効果Means and effects for solving the problems
　本発明の解決しようとする課題は以上の如くであり、次にこの課題を解決するための手段とその効果を説明する。 The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.
　 本発明の第１の観点によれば、以下の構成のタイミング信号生成装置が提供される。即ち、このタイミング信号生成装置は、設定位置記憶部と、タイミング信号 生成部と、判定部と、を備える。前記設定位置記憶部は、衛星からの衛星信号を受信するアンテナの位置が、内部又は外部から設定された場合に、当該設定され た位置である設定位置を記憶する。前記タイミング信号生成部は、前記設定位置に前記アンテナが配置されているとみなして計算することにより得られる前記ア ンテナと前記衛星との擬似距離を利用して、前記アンテナが受信した衛星信号によりタイミング信号を生成可能である。前記判定部は、前記設定位置が前記アン テナの位置を表すものとして所定程度確からしいか否かの判定を行い、所定程度確からしい場合には前記設定位置に基づいて前記タイミング信号生成部に前記タ イミング信号を生成させ、そうでない場合には、前記設定位置に基づく前記タイミング信号の生成を停止させるタイミング生成停止制御か、前記設定位置を破棄 する設定位置破棄制御か、又は、アラームを発生させるアラーム発生制御のうち少なくとも何れかを行う。 According to a first aspect of the present invention, a timing signal generation device having the following configuration is provided. That is, the timing signal generation device includes a setting position storage unit, a timing signal generation unit, and a determination unit. The set position storage unit stores a set position that is the set position when the position of an antenna that receives a satellite signal from a satellite is set from the inside or the outside. The timing signal generation unit uses a pseudo distance between the antenna and the satellite obtained by calculating that the antenna is arranged at the set position, and uses a satellite signal received by the antenna. A timing signal can be generated. The determination unit determines whether or not the set position is likely to be a predetermined degree as representing the position of the antenna, and if the predetermined position is likely to be a predetermined degree, A timing signal is generated. Otherwise, a timing generation stop control for stopping generation of the timing signal based on the set position, a set position discard control for discarding the set position, or an alarm is generated. At least one of alarm generation control is performed.
　本発明の第２の観 点によれば、以下のようなタイミング信号生成方法が提供される。即ち、衛星からの衛星信号を受信するアンテナの位置が設定された場合に、当該設定された位 置である設定位置を記憶する。前記設定位置に前記アンテナが配置されているとみなして計算することにより得られる前記アンテナと前記衛星との擬似距離を利 用して、前記衛星信号によりタイミング信号を生成する。前記設定位置が前記アンテナの位置を表すものとして所定程度確からしいか否かを判定し、所定程度確 からしい場合には前記設定位置に基づいて前記タイミング信号を生成し、そうでない場合には、前記設定位置に基づく前記タイミング信号の生成を停止させるタ イミング生成停止制御か、前記設定位置を破棄する設定位置破棄制御か、又は、アラームを発生させるアラーム発生制御のうち少なくとも何れかを行う。 According to the second aspect of the present invention, the following timing signal generation method is provided. That is, when the position of the antenna that receives the satellite signal from the satellite is set, the set position that is the set position is stored. The timing signal is generated from the satellite signal by using the pseudo distance between the antenna and the satellite obtained by calculating that the antenna is disposed at the set position. Determine whether the set position is likely to be a certain degree as representing the position of the antenna, and if not certain to be certain, generate the timing signal based on the set position, otherwise, At least one of timing generation stop control for stopping generation of the timing signal based on the set position, set position discard control for discarding the set position, or alarm generation control for generating an alarm is performed.
　これにより、内部又は外部から設定される設定位置の確からしさを評価することができ、設定された位置の誤り、及び、アンテナの設置位置の誤り等に対して適切に対応することができる。 This makes it possible to evaluate the probability of the set position set from the inside or the outside, and to appropriately cope with an error in the set position, an error in the antenna installation position, and the like.
本発明の第１実施形態に係るタイミング信号生成装置の概略的な構成を示すブロック図。1 is a block diagram showing a schematic configuration of a timing signal generation device according to a first embodiment of the present invention. タイミング信号の生成のために用いられる位置の選択を説明する概念図。The conceptual diagram explaining selection of the position used for the production | generation of a timing signal. 第１実施形態におけるタイミング信号生成方法を実現するための処理を示すフローチャート。The flowchart which shows the process for implement | achieving the timing signal generation method in 1st Embodiment. 第１実施形態の変形例のタイミング信号生成装置を示すブロック図。The block diagram which shows the timing signal generator of the modification of 1st Embodiment. 第２実施形態に係るタイミング信号生成装置の概略的な構成を示すブロック図。The block diagram which shows the schematic structure of the timing signal generation apparatus which concerns on 2nd Embodiment. 判定部の構成を示すブロック図。The block diagram which shows the structure of a determination part. 設定位置の周囲に設定される判定位置を説明する概念図。The conceptual diagram explaining the determination position set around the setting position. 第２実施形態におけるタイミング信号生成方法を実現するための処理を示すフローチャート。The flowchart which shows the process for implement | achieving the timing signal generation method in 2nd Embodiment.
　＜第１実施形態＞
　初めに、第１実施形態に係るタイミング信号生成装置２０について説明する。図１は、本発明の第１実施形態に係るタイミング信号生成装置２０の概略的な構成を示すブロック図である。 <First Embodiment>
First, the timing signal generation device 20 according to the first embodiment will be described. FIG. 1 is a block diagram showing a schematic configuration of a timing signal generation apparatus 20 according to the first embodiment of the present invention.
　図１に示すタイミング信号生成装置２０は、後述するＧＮＳＳアンテナ１で受信した衛星５０，５０，・・・からの衛星信号を解析し、当該衛星信号に含まれる軌道情報及び時刻情報に基づいて、ＧＮＳＳ基準時刻に同期したタイミング信号を生成するものである。 The timing signal generator 20 shown in FIG. 1 analyzes the satellite signals from the satellites 50, 50,... Received by the GNSS antenna 1 described later, and based on the orbit information and time information included in the satellite signals, A timing signal synchronized with the GNSS reference time is generated.
　 本実施形態のタイミング信号生成装置２０は、例えば小型の無線基地局設備を搭載したドローンに備えられている。このドローンは地震や津波等の災害が発生し て、交通網が遮断され、人が立ち入れなくなった村や建造物等と通信を行うために利用される。このドローンは通常の基地局設備と同等の機能を有しており、携 帯電話の利用等の際に中継基地局として用いられる。 The timing signal generator 20 of the present embodiment is provided in a drone equipped with, for example, a small wireless base station facility. This drone is used to communicate with villages, buildings, etc. that have been closed due to the occurrence of disasters such as earthquakes and tsunamis, and the traffic network is cut off. This drone has the same function as a normal base station facility, and is used as a relay base station when using a mobile phone.
　このドローンは衛星信号を受信するための受信機、アンテナ、及び内部 に方位情報や速度情報等を得るための各種センサを保有しており、利用者が予め指定した場所へ自動飛行、及び滞空することが可能である。このとき、滞空した 状態で静止を維持しているドローンは、固定点にアンテナを設置している状態と同様に扱うことができるため、衛星信号の受信も固定点測位を行うことが可能で ある。そのため利用者が事前に設定した設定位置にて測位を実施することができ、固定点での測位を実施する通常の基地局と、同等の精度のタイミング信号を生 成することができる。このタイミング信号は、基地局として必要な基準信号として用いることが可能である。 This drone has a receiver for receiving satellite signals, an antenna, and various sensors for obtaining azimuth information, speed information, etc. in the inner cage, and automatically flies to the place designated by the user in advance and stays in the air It is possible. At this time, a drone that remains stationary in a standing dredged state can be handled in the same way as a state where an antenna is installed at a fixed point, so it is possible to receive satellite signals and perform fixed point positioning. . Therefore, positioning can be performed at a set position set in advance by the user, and a timing signal with the same accuracy as that of a normal base station that performs positioning at a fixed point can be generated. This timing signal can be used as a reference signal necessary for the base station.
　次に、本実施形態のタイミング信号生成装置２０の構成について、より具体的に説明する。 Next, the configuration of the timing signal generation device 20 of the present embodiment will be described more specifically.
　 図１には第１実施形態のタイミング信号生成装置２０の主な構成が示される。このタイミング信号生成装置２０は、ＧＮＳＳアンテナ１を備える。また、タイミ ング信号生成装置２０は、信号復調部２、測位計算部３、測位推定位置算出部４、設定位置記憶部５、直近位置記憶部６、記憶位置バッファ７、判定部８、ア ラーム発生部９、位置切替部１０、及びタイミング信号生成部１１等を備えている。 FIG. 1 shows the main configuration of the timing signal generation device 20 of the first embodiment. The timing signal generation device 20 includes a GNSS antenna 1. In addition, the timing signal generator 20 includes a signal demodulator 2, a positioning calculator 3, a positioning estimated position calculator 4, a setting position storage unit 5, a nearest position storage unit 6, a storage position buffer 7, a determination unit 8, and an alarm. A generation unit 9, a position switching unit 10, a timing signal generation unit 11, and the like are provided.
　具体的には、上記のタイミング信号生成 装置２０は公知のコンピュータとして構成され、ＣＰＵ、ＲＯＭ、ＲＡＭ、及び発振回路等を備えている。また、上記のＲＯＭ等には、本発明のタイミング信号 生成方法を実現するためのプログラムが記憶されている。そして、上記のハードウェアとソフトウェアの協働により、タイミング信号生成装置２０を、信号復調 部２、測位計算部３、測位推定位置算出部４、設定位置記憶部５、直近位置記憶部６、記憶位置バッファ７、判定部８、アラーム発生部９、位置切替部１０、及 びタイミング信号生成部１１等として動作させることができる。 Specifically, the timing signal generator 20 is configured as a known computer and includes a CPU, a ROM, a RAM, an oscillation circuit, and the like. The ROM or the like stores a program for realizing the timing signal soot generation method of the present invention. Then, by the cooperation of the hardware and software described above, the timing signal generating device 20 is converted into the signal demodulator 2, the positioning calculator 3, the estimated positioning position calculator 4, the set position storage unit 5, the nearest position storage unit 6, the memory The position buffer 7, the determination unit 8, the alarm generation unit 9, the position switching unit 10, and the timing signal generation unit 11 can be operated.
　ＧＮＳＳアンテナ１は、ＧＮＳＳを構成する衛星 ５０，５０，・・・から送信される所定の周波数帯の衛星信号を受信するアンテナである。ここで、衛星としては、例えば、ＧＰＳ、ガリレオ、及び ＧＬＯＮＡＳＳ等において運用される人工衛星が考えられるが、例えば準天頂衛星等を含めてもよい。 The GNSS antenna 1 is an antenna that receives satellite signals in a predetermined frequency band transmitted from the satellites 50, 50,... Constituting the GNSS. Here, as the satellite, for example, artificial satellites operated in GPS, Galileo, GLONASS, and the like are conceivable, but for example, a quasi-zenith satellite may be included.
　信号復調部２は、 ＧＮＳＳアンテナ１で受信した衛星信号を復調することにより、当該衛星信号に含まれている軌道情報及び時刻情報を取り出す。この情報の取得は、衛星 ５０，５０，・・・のそれぞれに特有の擬似ランダム雑音コード（ＰＲＮコード）によりコード変調されている衛星信号を復調することにより行われる。得られ た軌道情報や時刻情報は測位計算部３及びタイミング信号生成部１１に出力され、測位計算、及びタイミング信号の生成のために用いられる。 The signal demodulator 2 demodulates the satellite signal received by the GNSS antenna 1 to extract orbit information and time information contained in the satellite signal. This information is acquired by demodulating a satellite signal that is code-modulated with a pseudo-random noise code (PRN code) specific to each of the satellites 50, 50,. The obtained trajectory information and time information are output to the positioning calculation unit 3 and the timing signal generation unit 11 and used for positioning calculation and generation of the timing signal.
　測位計算部３は、信号復調部２で得られた軌道情報及び時刻情報を用いて、ＧＮＳＳアンテナ１が設置されている位置である受信点（以下、単に「受信点」と称する場合がある。）の位置を測位する。 The positioning calculation unit 3 uses the trajectory information and time information obtained by the signal demodulation unit 2 and may be referred to as a reception point (hereinafter simply referred to as “reception point”) that is a position where the GNSS antenna 1 is installed. ) Position.
　 この測位計算を具体的に説明すると、測位計算部３は、衛星５０において図略の原子時計で計測されて電波に前述の時刻情報として含められる電波送信時刻と、 タイミング信号生成装置２０が備える図略の水晶時計で計測した電波受信時刻と、を用いて、衛星５０から送信された衛星信号（電波）が受信点まで到達するの に要する伝搬遅延時間を計算する。この伝搬遅延時間に光速を乗じることにより、衛星５０から受信点までの擬似距離が求められる。また、衛星５０から受信点 までの理論的な距離は、軌道情報及び時刻情報に基づいて得られる衛星５０の電波送信時の位置と、受信点を未知の複数のパラメータ（緯度、経度及び高度）で 表した位置と、の２点間の距離として表すことができる。 The positioning calculation unit 3 will be described in detail. The positioning calculation unit 3 includes a radio wave transmission time measured by a satellite 50 with an unillustrated atomic clock and included in the radio wave as the above-described time information, and a timing signal generator 20. The propagation delay time required for the satellite signal (radio wave) transmitted from the satellite 50 to reach the reception point is calculated using the radio wave reception time measured by an approximate quartz clock. By multiplying the propagation delay time by the speed of light, a pseudo distance from the satellite 50 to the reception point is obtained. The theoretical distance from the satellite 50 to the reception point は is the position of the satellite 50 at the time of radio wave transmission obtained based on orbit information and time information, and a plurality of parameters (latitude, longitude and altitude) whose reception point is unknown. It can be expressed as the distance between the two points.
　ここで、受信側のタイミング信号生成装置２０が備える水晶時計 と、送信側の衛星５０が備える原子時計と、の間には、無視できない誤差（時計誤差）が生じる。そこで、測位計算においては、この時計誤差も未知のパラメー タとして表して、上記の擬似距離が上記の理論的な距離と等しいことを表す方程式を立てる。未知のパラメータの数は４であるから、４個以上の衛星 ５０，５０，・・・からの衛星信号に基づいた複数の方程式を連立させて解くことにより、受信点の現在位置の測位計算結果である測位解が得られる。測位計算 部３は、受信点の測位解を定期的に（例えば、１秒毎に）求めて、測位推定位置算出部４に出力する。 Here, a non-negligible error (clock error) is generated between the quartz clock provided in the timing signal generator 20 on the reception side and the atomic clock provided in the satellite 50 on the transmission side. Therefore, in the positioning calculation, this clock error is also expressed as an unknown parameter, and an equation representing that the pseudo distance is equal to the theoretical distance is established. Since the number of unknown parameters is 4, the positioning calculation result of the current position of the reception point is obtained by simultaneously solving a plurality of equations based on satellite signals from four or more satellites 50, 50,. A positioning solution is obtained. The positioning calculation unit 3 obtains a positioning solution at the reception point periodically (for example, every second) and outputs it to the positioning estimated position calculation unit 4.
　測位推定位置算出部４ は、測位計算部３から反復的に入力される測位解に基づいて、測位結果から推定される受信点の位置である測位推定位置（以下、単に「測位推定位置」と称する 場合がある。）を算出する。この測位推定位置は、タイミング信号生成装置２０において、タイミング信号生成部１１がタイミング信号を生成するために用いる 受信点の位置の選択肢として扱われる。測位推定位置算出部４は、算出した測位推定位置を、判定部８及び位置切替部１０に出力する。 The positioning estimation position calculation unit 4 is based on the positioning solution repeatedly input from the positioning calculation unit 3, and is based on the positioning estimation position (hereinafter simply referred to as “positioning estimation position”) that is the position of the reception point estimated from the positioning result. Calculated). This estimated positioning position is treated as an option for the position of the saddle reception point that is used by the timing signal generator 11 to generate the timing signal in the timing signal generator 20. The estimated positioning position calculation unit 4 outputs the calculated estimated positioning position to the determination unit 8 and the position switching unit 10.
　 本実施形態の測位推定位置算出部４は、過去の所定期間内に入力された複数の測位解について平均値及び分散を求め、分散が所定値未満となった場合に、当該平 均値を測位推定位置とする。別の言い方をすれば、測位推定位置算出部４は、バラツキが小さい一連の測位解を取りまとめ、これらの測位解を代表する値を測位 推定位置とする。これにより、例えばマルチパスや衛星信号の強度の一時的な低下等に起因して、突発的に大きな誤差を含んだ測位解が測位推定位置算出部４に 入力されたとしても、その誤差の影響を小さく抑え、精度の高い測位推定位置を算出することができる。このように、測位推定位置は、測位計算に基づく位置で あるということができる。 The positioning estimated position calculation unit 4 of the present embodiment obtains an average value and a variance for a plurality of positioning solutions input within a predetermined period in the past, and when the variance becomes less than a predetermined value, the average estimated value is measured. Estimated position. In other words, the positioning estimated position calculation unit 4 collects a series of positioning solutions with small variations, and uses a value representative of these positioning solutions as a positioning estimated position. As a result, even if a positioning solution containing a large error suddenly is input to the positioning estimated position calculation unit 4 due to, for example, a multipath or a temporary decrease in the intensity of the satellite signal, the influence of the error The position estimation position can be calculated with high accuracy while keeping the position small. Thus, it can be said that the estimated positioning position is a position based on the positioning calculation.
　設定位置記憶部５は、タイミング信号生成装置２０の利用者（ユーザ）が、設置を計画する ＧＮＳＳアンテナ１の位置（受信点）を当該タイミング信号生成装置２０に設定した場合に、その位置を記憶する。言い換えれば、設定位置記憶部５は、ユーザ がタイミング信号生成装置２０に入力した受信点の位置を記憶する。以下では、この位置を「設定位置」と称する場合がある。受信点の位置の設定は、タイミン グ信号生成装置２０が備える図示しないキー及びダイアル等の入力部を操作したり、外部のコンピュータがタイミング信号生成装置２０と通信して指示したりす ることで行うことができる。また、上記の設定位置は、例えば地図から読み取ったり、或いは測量を行ったりすることでも得ることができる。 When the user (user) of the timing signal generation device 20 sets the position (reception point) of the GNSS antenna 1 to be installed in the timing signal generation device 20, the setting position storage unit 5 stores the position. To do. In other words, the setting position storage unit 5 stores the position of the reception point input by the user に to the timing signal generation device 20. Hereinafter, this position may be referred to as a “set position”. The position of the reception point is set by operating an input unit such as a key and a dial (not shown) provided in the timing signal generating device 20 or by an external computer communicating with the timing signal generating device 20 and instructing it. be able to. Moreover, said setting position can also be obtained by reading from a map, for example, or performing surveying.
　このように、本実施形態のタイミング信号生成装置２０では、意図している受信点の位置（受信点のあるべき位置）を、事前に外部から与えることができるようになっている。設定位置記憶部５は、記憶する設定位置を記憶位置バッファ７に出力する。 As described above, in the timing signal generation device 20 of the present embodiment, the intended reception point position (position where the reception point should be) can be given in advance from the outside. The setting position storage unit 5 outputs the setting position to be stored to the storage position buffer 7.
　 ただし、前記設定位置は、必ずしも事前に外部から与えられる位置であるとは限らず、例えばこれに代えて、タイミング信号生成装置２０の内部で生成される位 置であってもよい。また、必ずしも設定位置記憶部５に記憶されている位置とは限らず、その都度生成される位置であってもよい。 However, the set position is not necessarily a position given from the outside in advance, and may be a position generated inside the timing signal generation device 20 instead. In addition, the position is not necessarily stored in the setting position storage unit 5 and may be a position generated each time.
　 直近位置記憶部６は、直近にタイミング信号生成部１１でタイミング信号を生成するために用いられた受信点の位置を記憶する。以下では、この位置を単に「直 近位置」と呼ぶ場合がある。この直近位置は、設定位置記憶部５が記憶する設定位置、測位推定位置算出部４が算出した最新の測位推定位置、又は、過去の測位 推定位置のうち何れかに一致する。直近位置記憶部６は、記憶する直近位置を記憶位置バッファ７に出力する。 The latest position storage unit 6 stores the position of the reception point used to generate the timing signal most recently by the timing signal generation unit 11. In the following, this position may be simply referred to as “a direct proximity position”. This latest position coincides with any one of the set position stored in the set position storage unit 5, the latest estimated position calculated by the estimated position calculation unit 4, or the past estimated position estimated position. The latest position storage unit 6 outputs the latest position to be stored to the storage position buffer 7.
　記憶位置バッ ファ７は、設定位置記憶部５が出力する設定位置、又は、直近位置記憶部６が出力する直近位置を、一時的に記憶する。以下では、この位置を単に「記憶位置」 と呼ぶ場合がある。記憶位置バッファ７が記憶する位置（記憶位置）は、上述の測位推定位置と同様に、タイミング信号生成装置２０において、タイミング信号 生成部１１がタイミング信号を生成するために用いる受信点の位置の選択肢として扱われる。 The storage position buffer 7 temporarily stores the setting position output from the setting position storage unit 5 or the latest position output from the latest position storage unit 6. Hereinafter, this position may be simply referred to as “memory position”. The position (storage position) stored in the storage position buffer 7 is an option of the position of the reception point used by the timing signal generator 20 to generate the timing signal in the timing signal generation device 20 in the same manner as the positioning estimation position described above. Are treated as
　本実施形態では、直近位置記憶 部６が何らかの位置を記憶している場合には、記憶位置バッファ７は、設定位置記憶部５が出力する設定位置ではなく、直近位置記憶部６が出力する直近位置を 記憶するようになっている。即ち、記憶位置バッファ７は、設定位置よりも直近位置を優先して記憶する。ただし、その後に再度ユーザが最新の設定位置の入力 を試みた場合には、その最新の設定位置を優先してもよい。記憶位置バッファ７は、記憶した位置（記憶位置）を判定部８に出力する。 In this embodiment, when the latest position storage unit 6 stores some position, the storage position buffer 7 is not the set position output by the set position storage unit 5 but the latest position output by the latest position storage unit 6. The position is memorized. That is, the storage position buffer 7 stores the latest position with priority over the set position. However, when the user tries to input the latest setting position again after that, the latest setting position may be given priority. The storage position buffer 7 outputs the stored position (storage position) to the determination unit 8.
　 判定部８は、記憶位置バッファ７から入力される記憶位置がＧＮＳＳアンテナ１の現実の位置を表すものとして確からしいか否かを、測位推定位置算出部４から 入力される測位推定位置を用いて判定する。言い換えれば、判定部８は、ユーザが設定した位置、又は、直近にタイミングの算出のために用いられた受信点の位 置が、今もなお確からしいか否かを判定する。判定部８による判定結果は、位置切替部１０及びアラーム発生部９に出力される。 The determination unit 8 uses the positioning estimation position input from the positioning estimation position calculation unit 4 to determine whether or not the storage position input from the storage position buffer 7 is likely to represent the actual position of the GNSS antenna 1. judge. In other words, the determination unit 8 determines whether or not the position set by the user or the position of the reception point used for the latest timing calculation is still probable. The determination result by the determination unit 8 is output to the position switching unit 10 and the alarm generation unit 9.
　具体的には、本実施形態の判定部８は、測位推定位置と記憶位置との間の距離Ｌが閾値Ｌt以下であるか否かを判定する。なお、当該距離Ｌは、２点の位置から、周知である三平方の定理を用いて計算することができる。この判定の結果、測位推定位置と記憶位置とが乖離する長さである距離Ｌが閾値Ｌt以下である場合（Ｌ≦Ｌt）、当該記憶位置がある程度信頼できると考えられる。そこで、この場合、判定部８は、位置切替部１０がタイミング信号生成部１１に出力する位置を、当該位置切替部１０に記憶位置バッファ７から入力された記憶位置とするように制御する。 More specifically, the determination unit 8 of the present embodiment, it is determined whether the distance L between the positioning estimated position and the storage position is equal to or smaller than the threshold L t. The distance L can be calculated from the position of two points using the well-known three-square theorem. As a result of this determination, if the distance L, which is the length at which the estimated positioning position deviates from the storage position, is less than or equal to the threshold L t (L ≦ L t ), the storage position is considered to be reliable to some extent. Therefore, in this case, the determination unit 8 controls the position that the position switching unit 10 outputs to the timing signal generation unit 11 to be the storage position input from the storage position buffer 7 to the position switching unit 10.
　一方、上記の判定の結果、測位推定位置と記憶位置との間の距離Ｌが閾値Ｌtを上回っている場合（Ｌ＞Ｌt）、当該記憶位置があまり信頼できない（疑わしい）と考えられる。そこで、この場合、判定部８は、位置切替部１０がタイミング信号生成部１１に出力する位置を、当該位置切替部１０に測位推定位置算出部４から入力された測位推定位置とするように制御する。 On the other hand, as a result of the above determination, when the distance L between the estimated positioning position and the storage position exceeds the threshold L t (L> L t ), it is considered that the storage position is not very reliable (suspect). Therefore, in this case, the determination unit 8 controls the position switching unit 10 to output the position output to the timing signal generation unit 11 to the positioning estimation position input from the positioning estimation position calculation unit 4 to the position switching unit 10. To do.
　アラーム発生部９は、判定部８での判定の結果、測位推定位置と記憶位置との間の距離Ｌが閾値Ｌtを上回っていた場合（Ｌ＞Ｌt）、ユーザに報知するためのアラームを発生し、そうでない場合（Ｌ≦Ｌt）、 アラームを発生させない。このアラームは、ユーザの聴覚に訴えるものであってもよいし、視覚に訴えるものであってもよい。これにより、ＧＮＳＳアンテナ１ の現在の位置が、ユーザが当初に意図していた位置から大きく外れていたり、或いは事後的に無視できない程度に移動されたりした場合に、ユーザがこの状況を 知り、適宜の措置を講ずることができる。ユーザがとり得る措置としては、例えばアラームが発生している間のタイミング信号は利用しない等が挙げられる。こ れにより、例えばドローンが突風や飛翔物との衝突で滞空位置が大きく動いてしまった場合において、精度が著しく劣化したタイミング信号を利用してしまう問 題を防ぐことができる。この場合はドローンが再度設定された位置に戻り、アラームが解除されるのを待てばよい。 As a result of the determination by the determination unit 8, the alarm generation unit 9 indicates an alarm for informing the user when the distance L between the estimated positioning position and the storage position exceeds the threshold L t (L> L t ). If not (L ≦ L t ), no alarm is generated. This alarm may appeal to the user's hearing or may appeal to the eye. As a result, when the current position of the GNSS antenna 1 is greatly deviated from the position originally intended by the user or moved to an extent that cannot be ignored afterwards, the user knows this situation and Measures can be taken. Examples of measures that the user can take include not using a timing signal while an alarm is occurring. As a result, for example, when the drone moves greatly due to a gust of wind or a collision with a flying object, it is possible to prevent the problem of using a timing signal whose accuracy has deteriorated significantly. In this case, it is only necessary to return to the position where the drone is set again and wait for the alarm to be released.
　位置切替 部１０は、測位推定位置と記憶位置とのうちの何れをタイミング信号生成部１１によるタイミング信号の生成のために用いるかを、判定部８の判定結果に応じて 切り替える。具体的に説明すると、位置切替部１０は、判定部８での判定の結果、測位推定位置と記憶位置との間の距離Ｌが閾値Ｌt以下である場合（Ｌ≦Ｌt）、記憶位置バッファ７から入力された記憶位置をタイミング信号生成部１１に出力する。一方、位置切替部１０は、判定部８での判定の結果、測位推定位置と記憶位置との間の距離Ｌが閾値Ｌtを上回る場合（Ｌ＞Ｌt）、測位推定位置算出部４から入力された測位推定位置をタイミング信号生成部１１に出力する。 The position switching unit 10 switches which one of the estimated positioning position and the storage position is used for generating the timing signal by the timing signal generating unit 11 according to the determination result of the determining unit 8. More specifically, the position switching unit 10 determines the storage position when the distance L between the estimated positioning position and the storage position is equal to or less than the threshold value L t as a result of the determination by the determination unit 8 (L ≦ L t ). The storage position input from the buffer 7 is output to the timing signal generator 11. On the other hand, as a result of the determination by the determination unit 8, the position switching unit 10 determines that if the distance L between the positioning estimated position and the storage position exceeds the threshold L t (L> L t ), the positioning estimated position calculating unit 4 The input positioning estimation position is output to the timing signal generator 11.
　 なお、上記の受信点のユーザによる設定が行われず、かつ、電源投入直後等でタイミング信号の生成がまだ行われていない場合、記憶位置バッファ７が何れの位 置も記憶しないこともあり得る。この場合は、判定部８は、測位推定位置算出部４から入力された測位推定位置をタイミング信号生成部１１に出力するように、 位置切替部１０を制御する。また、判定部８は、この場合にアラーム発生部９がアラームを発生させないように制御する。 Note that if the above setting of the receiving point is not performed by the user and the timing signal is not yet generated immediately after the power is turned on, the storage position buffer 7 may not store any position. In this case, the determination unit 8 controls the heel position switching unit 10 so as to output the positioning estimation position input from the positioning estimation position calculation unit 4 to the timing signal generation unit 11. Further, in this case, the determination unit 8 controls so that the alarm generation unit 9 does not generate an alarm.
　位 置切替部１０が出力する位置（測位推定位置又は記憶位置）は、タイミング信号生成部１１に出力されると同時に、直近位置記憶部６にも出力される。直近位置 記憶部６は、位置切替部１０から入力された位置を、上記の直近位置として記憶する。直近位置記憶部６が記憶する直近位置は、位置切替部１０から新しい位置 が入力される毎に、最新のものに更新される。この更新に伴い、記憶位置バッファ７が記憶する記憶位置も、最新の直近位置に更新される。 The position (positioning estimated position or storage position) output from the position / position switching unit 10 is output to the timing signal generation unit 11 and simultaneously to the nearest position storage unit 6. The latest position storage unit 6 stores the position input from the position switching unit 10 as the latest position. The latest position stored in the latest position storage unit 6 is updated to the latest one each time a new position is input from the position switching unit 10. With this update, the storage position stored in the storage position buffer 7 is also updated to the latest nearest position.
　タイミング信号生成部１１は、位置切替部１０から入力された位置（測位推定位置又は記憶位置）を用いて、タイミング信号を生成する。 The timing signal generation unit 11 generates a timing signal using the position (positioning estimation position or storage position) input from the position switching unit 10.
　 具体的に説明すると、本実施形態のタイミング信号生成部１１は、測位計算部３が行う測位計算で説明した上述の方程式において、位置切替部１０から入力され た位置を上記の受信点の未知のパラメータに代入するとともに、軌道情報に基づく衛星５０の位置を代入して解くことにより、残りの未知のパラメータである時 計誤差を求める。次に、タイミング信号生成部１１は、得られた時計誤差に基づいて、タイミング信号生成装置２０が備える水晶時計のタイミングに対してオフ セット処理等を行うことにより、ＧＮＳＳ基準時刻と同期した１秒周期信号（１ＰＰＳ：Ｏｎｅ　Ｐｕｌｓｅ　ｐｅｒ　Ｓｅｃｏｎｄ）と、同じくＧＮＳＳ基準 時刻と同期した１０ＭＨｚの基準周波数信号と、を出力する。本実施形態では、上記の１ＰＰＳ信号及び基準周波数信号が、タイミング信号に該当する。 More specifically, the timing signal generation unit 11 of the present embodiment uses the position input from the position switching unit 10 in the above-described equation described in the positioning calculation performed by the positioning calculation unit 3 as the unknown of the reception point. By substituting into the parameters and substituting and solving the position of the satellite 50 based on the orbit information, the remaining hourly error as an unknown parameter is obtained. Next, based on the obtained clock error, the timing signal generation unit 11 performs an off-set processing or the like on the timing of the crystal clock included in the timing signal generation device 20 to synchronize with the GNSS reference time for 1 second. A periodic signal (1PPS: One Pulse per Second) and a 10 MHz reference frequency signal synchronized with the GNSS reference time are output. In the present embodiment, the 1PPS signal and the reference frequency signal correspond to the timing signal.
　 位置切替部１０が出力する位置（即ち、測位推定位置又は記憶位置）と、現実のＧＮＳＳアンテナ１の位置とは、厳密には一致せず、その間には必ず誤差が含ま れている。従って、タイミング信号の生成にあたって、位置切替部１０から入力された位置を上記の方程式における受信点の未知のパラメータに代入すること は、当該位置にＧＮＳＳアンテナ１が配置されているとみなして計算することと実質的に同義である。 The position output by the saddle position switching unit 10 (that is, the estimated positioning position or the storage position) and the actual position of the GNSS antenna 1 do not exactly coincide with each other, and an error is always included between them. Therefore, in generating the timing signal, substituting the position input from the position switching unit 10 into the unknown parameter of the reception point in the above equation is calculated assuming that the GNSS antenna 1 is disposed at the position. Is substantially synonymous.
　以上の構成とすること により、タイミング信号生成装置２０は、ＧＮＳＳアンテナ１が実際に設置されている位置に関して、測位推定位置又は記憶位置のうち確からしい方の「位置」 に基づいて、タイミング信号生成部１１によりタイミング信号を生成する。記憶位置バッファ７が記憶する位置（記憶位置）は、設定位置である場合と、直近に タイミング信号の生成に用いられた測位推定位置である場合と、がある。 With the configuration described above, the timing signal generation device 20 generates the timing signal based on the most likely “position” の of the estimated positioning position or the storage position with respect to the position where the GNSS antenna 1 is actually installed. The timing signal is generated by the unit 11. The position (storage position) stored in the storage position buffer 7 includes a set position and a position estimation position used for generating the eyelid timing signal most recently.
　ここで、一般的に、高精度のタイミング信号を生成 できるか否かは、受信点として、如何に正確な位置情報を設定できるかに大きく左右される。言い換えれば、ユーザがタイミング信号生成装置２０（言い換えれ ば、ＧＮＳＳ受信機）に設定する受信点の位置がＧＮＳＳアンテナ１の現実の位置に近ければ近いほど、タイミング信号の精度も高められる。 Here, in general, whether or not a highly accurate timing signal can be generated depends greatly on how accurate position information can be set as a reception point. In other words, the closer the position of the reception point set by the user to the timing signal generation device 20 (in other words, the GNSS receiver) is closer to the actual position of the GNSS antenna 1, the higher the accuracy of the timing signal.
　 従って、ユーザが受信点（ＧＮＳＳアンテナ１）を、既知の位置にズレがない状態で正確にかつ固定的に設置することができれば、当該位置をタイミング信号生 成装置２０に与えることで高精度のタイミング信号が得られる。しかしながら、現実的には、そのような理想的な状態でＧＮＳＳアンテナ１を設置できるとは限 らない。また、本実施形態で説明したドローンの場合も、滞空位置が外的要因により大きく揺らぐ場合があり、結果としてアンテナ位置が設定位置と大きく乖離 してしまう場合が想定される。 Therefore, if the user can accurately and fixedly install the reception point (GNSS antenna 1) in a state where there is no deviation at a known position, the position can be given to the timing signal generation device 20 with high accuracy. A timing signal is obtained. However, in reality, it is not always possible to install the GNSS antenna 1 in such an ideal state. Also, in the case of the drone described in the present embodiment, the hovering position may fluctuate greatly due to an external factor, and as a result, a case where the antenna position greatly deviates from the set position is assumed.
　この点、本実施形態のタイミング信号生成装置２０において、判定部８は、ユーザが予め入力 して設定位置記憶部５に記憶された位置、又は、直近でタイミングの算出に用いられて直近位置記憶部６に記憶されている位置が、現実の受信点の位置に対して 所定程度確からしいか否かを、測位計算に基づいて取得される測位推定位置とのズレの大きさ（上記の距離Ｌ）に基づいて判定する。そして、所定程度確からし くない場合は、判定部８は、タイミング信号生成部１１が設定位置又は記憶位置に基づくタイミング信号を生成するのを停止させる制御、及び、アラーム発生部 ９にアラームを発生させる制御を行う。このタイミング生成停止制御及びアラーム発生制御により、基準時刻からズレたタイミング信号が生成されて、それが利 用されてしまうことを未然に防ぐことができるとともに、ユーザが状況に早期に気付いて適切な対応をとることができる。 In this regard, in the timing signal generation device 20 of the present embodiment, the determination unit 8 stores the position previously input by the user and stored in the set position storage unit 5 or the latest position used for timing calculation. Whether or not the position stored in the unit 6 is likely to be a certain degree of certainty with respect to the position of the actual receiving point is determined based on the magnitude of the deviation from the positioning estimated position acquired based on the positioning calculation (the above-mentioned distance L ). If it is not certain to a certain extent, the determination unit 8 controls the timing signal generation unit 11 to stop generating the timing signal based on the set position or the storage position, and generates an alarm in the alarm generation unit 9 To control. With this timing generation stop control and alarm generation control, it is possible to prevent a timing signal that is deviated from the reference time from being used, and the user can recognize the situation at an early stage and You can take action.
　ま た、記憶位置（ユーザが設定する等した設定位置、又は直近にタイミング算出のために用いられた位置）と、測位推定位置（測位計算により得られた位置）と、 のズレが大きい場合には、ユーザが入力した位置に誤りがあったため、又はＧＮＳＳアンテナ１が地球に対して移動したために、そのような大きな位置ズレが生 じたと考えることができる。そこで、この場合には、判定部８は、上記のタイミング生成停止制御を行うとともに、タイミング信号生成部１１に、最新の測位推 定位置に基づいてタイミング信号を生成させるように制御する。これにより、ＧＮＳＳアンテナ１の設置位置が、当初に意図していた位置から大きく外れている 場合や、ＧＮＳＳアンテナ１が事後的に移動した場合に、自動で、タイミングの算出に用いる「位置」を変更することができる。よって、タイミング信号生成装 置２０が移動を伴う場合にも、地図の読取り又は測量をやり直したりする必要がなく、ユーザの手間を軽減することができる。 In addition, when there is a large discrepancy between the storage position (the set position set by the user or the position used for the latest timing calculation) and the estimated positioning position (position obtained by positioning calculation) It can be considered that such a large positional shift has occurred because there is an error in the position input by the user or because the GNSS antenna 1 has moved relative to the earth. Therefore, in this case, the determination unit 8 performs the timing generation stop control described above and controls the timing signal generation unit 11 to generate a timing signal based on the latest positioning estimation position. As a result, when the installation position of the GNSS antenna 1 is greatly deviated from the originally intended position, or when the GNSS antenna 1 moves afterwards, the “position” used for calculating the timing is automatically set. Can be changed. Therefore, even when the timing signal generating apparatus 20 is moved, there is no need to read the map or perform surveying again, and the user's trouble can be reduced.
　次に、図３を参照して、タイミング信号生成装置２０において行われる処理を説明する。図３は、第１実施形態におけるタイミング信号生成方法を実現するための処理を示すフローチャートである。 Next, processing performed in the timing signal generation device 20 will be described with reference to FIG. FIG. 3 is a flowchart showing a process for realizing the timing signal generation method according to the first embodiment.
　まず、ユーザが受信点の位置の設定をする等して位置が設定されているか否かが判断され（ステップＳ１０１）、設定がされている場合は、設定位置記憶部５が記憶する内容（設定位置）が、記憶位置として、記憶位置バッファ７に記憶される（ステップＳ１０２）。 First, it is determined whether or not the position is set by the user setting the position of the reception point (step S101). If the position is set, the content stored in the setting position storage unit 5 (setting) (Position) is stored in the storage position buffer 7 as a storage position (step S102).
　なお、記憶位置バッファ７の内容は、事前に内部に用意しておいた記憶素子から読み出して、それを初期値として利用してもよいし、或いは処理のスタート時に予めリセットしてもよい。後者の場合はステップＳ１０２の処理が行われない場合となり、記憶位置は空となる。 Note that the contents of the storage position buffer 7 may be read from a storage element prepared in advance and used as an initial value, or may be reset in advance at the start of processing. In the latter case, the process of step S102 is not performed, and the storage position is empty.
　次に、測位計算部３が測位計算を行い、測位推定位置算出部４が、得られた測位解に基づいて測位推定位置を算出する（ステップＳ１０３）。 Next, the positioning calculation unit 3 performs positioning calculation, and the positioning estimated position calculation unit 4 calculates a positioning estimated position based on the obtained positioning solution (step S103).
　測位推定位置が得られると、記憶位置バッファ７の内容（記憶位置）が空か否かが判定される（ステップＳ１０４）。 When the estimated positioning position is obtained, it is determined whether or not the content (storage position) of the storage position buffer 7 is empty (step S104).
　 ステップＳ１０４の判断で、記憶位置が空である場合、タイミング信号生成部１１は、測位推定位置算出部４が算出した測位推定位置に基づいて、タイミング信 号を生成する（ステップＳ１０５）。その後、直近位置である当該測位推定位置が、記憶位置として記憶位置バッファ７に記憶され（ステップＳ１０６）、処理 がステップＳ１０３に戻る。 If it is determined in step S104 that the storage position is empty, the timing signal generation unit 11 generates a timing signal based on the positioning estimated position calculated by the positioning estimated position calculating unit 4 (step S105). Thereafter, the estimated positioning position which is the latest position is stored as a storage position in the storage position buffer 7 (step S106), and the processing routine returns to step S103.
　ステップＳ１０４の判断で、何らかの位置が記憶位置バッファ７に記憶されていた場合、判定部８が、ステップＳ１０３で求められた測位推定位置と、記憶位置バッファ７が記憶する記憶位置と、の間の距離Ｌが閾値Ｌtを上回るか否かを判断する（ステップＳ１０７）。 If it is determined in step S104 that any position is stored in the storage position buffer 7, the determination unit 8 determines that the position between the estimated position obtained in step S103 and the storage position stored in the storage position buffer 7 is distance L is determined whether exceeds the threshold value L t (step S107).
　ステップＳ１０７の判断で、上記の距離Ｌが閾値Ｌtを 上回っていた場合、アラーム発生部９がアラームを発生させる（ステップＳ１０８）。その後、上記の記憶位置が空だった場合と同様に、測位推定位置に基づい てタイミング信号が生成されるとともに（ステップＳ１０５）、当該測位推定位置が記憶位置となるように、記憶位置バッファ７の内容が更新される（ステップ Ｓ１０６）。その後、処理がステップＳ１０３に戻る。 It is determined in step S107, when the above distance L was above the threshold L t, alarm generation unit 9 generates an alarm (step S108). Thereafter, as in the case where the above-mentioned storage position is empty, a timing signal is generated based on the estimated positioning position (step S105), and the storage position buffer 7 is set so that the estimated positioning position becomes the storing position. The contents are updated (step S106). Thereafter, the process returns to step S103.
　上記の距離Ｌが閾値Ｌt以下である場合、タ イミング信号生成部１１は、記憶位置バッファ７が記憶する記憶位置に基づいて、タイミング信号を生成する（ステップＳ１０９）。この場合、アラームの発生 処理は行われない（アラームが既に発生していた場合は停止される）。また、直近位置と記憶位置は一致するため、記憶位置バッファ７の内容は更新されない。 その後、処理がステップＳ１０３に戻る。 If the above distance L is equal to or less than the threshold value L t, timing signal generator 11, based on the stored position storage position buffer 7 stores, for generating a timing signal (step S109). In this case, alarm generation processing is not performed (if an alarm has already occurred, it is stopped). Further, since the most recent position and the storage position match, the contents of the storage position buffer 7 are not updated. Thereafter, the process returns to step S103.
　上記のステップＳ１０３～Ｓ１０９の処理が反復して行われることにより、タイミ ング信号生成装置２０においては、設定位置又は直近にタイミング信号の生成に用いられた測位推定位置が継続して監視され、当該位置と、最新の測位推定位置 と、のズレが一定の距離を超える場合には、最新の測位推定位置に基づいてタイミング信号が生成される。従って、正確なタイミング信号を安定的に生成するこ とができる。 By repeatedly performing the processing of the above steps S103 to S109, the timing signal generation device 20 continuously monitors the set position or the position estimation position used for generating the timing signal most recently. When the difference between the position and the latest positioning estimated position を exceeds a certain distance, a timing signal is generated based on the latest positioning estimated position. Therefore, it is possible to stably generate an accurate timing signal.
　以上に説明したように、本実施形態のタイミング信号生成装置２０は、設定位置記憶部５と、タイミング信号生 成部１１と、判定部８と、を備える。設定位置記憶部５は、衛星５０からの衛星信号を受信するＧＮＳＳアンテナ１の位置を、内部又は外部から設定された場合 に、当該設定された位置である設定位置を記憶する。タイミング信号生成部１１は、設定位置にＧＮＳＳアンテナ１が配置されているとみなして計算することに より得られるＧＮＳＳアンテナ１と衛星５０との擬似距離を用いた計算により、タイミング信号を生成できる。判定部８は、設定位置がＧＮＳＳアンテナ１の位 置を表すものとして所定程度確からしいか否かの判定を行い、所定程度確からしい場合には設定位置に基づいてタイミング信号生成部１１にタイミング信号を生 成させ、所定程度確からしくない場合には、設定位置に基づくタイミング信号の生成を停止させるタイミング生成停止制御、及び、アラームを発生させるアラー ム発生制御を行う。 As described above, the timing signal generation device 20 of the present embodiment includes the setting position storage unit 5, the timing signal generation unit 11, and the determination unit 8. The set position storage unit 5 stores the set position, which is the set position, when the position of the GNSS antenna 1 that receives the satellite signal from the satellite 50 is set from the inside or the outside. The timing signal generation unit 11 can generate a timing signal by calculation using the pseudo distance between the GNSS antenna 1 and the satellite 50 which is obtained by assuming that the GNSS antenna 1 is arranged at the set position. The determination unit 8 determines whether or not the set position is likely to be a certain degree as representing the position of the GNSS antenna 1. If the certain position is certain, the timing signal is sent to the timing signal generation unit 11 based on the set position. Is generated, and when it is not certain to be certain, timing generation stop control for stopping generation of a timing signal based on the set position and alarm generation control for generating an alarm are performed.
　これにより、ユーザの操作等により設定される設定位置の確からしさを評価することで、位置の設定の誤り、及び、ＧＮＳＳアンテナ１の設置位置の誤り等に対して適切に対応することができる。 Thus, by evaluating the probability of the set position set by the user's operation or the like, it is possible to appropriately cope with an error in setting the position, an error in the installation position of the GNSS antenna 1, and the like.
　 また、本実施形態のタイミング信号生成装置２０においては、設定位置に基づいてタイミング信号生成部１１がタイミング信号を生成している間（言い換えれ ば、記憶位置バッファ７が設定位置を記憶している間）、判定部８は、当該設定位置が所定程度確からしいか否かの判定を反復継続的に行う。 Further, in the timing signal generating device 20 of the present embodiment, while the timing signal generating unit 11 generates a timing signal based on the set position (in other words, while the storage position buffer 7 stores the set position). ), The determination unit 8 repeatedly determines whether or not the set position is certain to be certain.
　これにより、ＧＮＳＳアンテナ１が事後的に移動することによる位置ズレに対して、適切に対応することができる。 Thereby, it is possible to appropriately cope with the positional deviation caused by the subsequent movement of the GNSS antenna 1.
　また、本実施形態のタイミング信号生成装置２０において、記憶位置バッファ７が設定位置を記憶している場合に、判定部８は、ＧＮＳＳアンテナ１が受信した衛星信号を用いて行われた測位計算に基づく測位推定位置と、記憶位置（設定位置）と、の間の距離Ｌが閾値Ｌt以下である場合に（Ｌ≦Ｌt）、設定位置が所定程度確からしいと判定する。判定部８は、距離Ｌが閾値Ｌtを上回る場合に（Ｌ＞Ｌt）、設定位置が所定程度確からしくないと判定する。 Further, in the timing signal generation device 20 of this embodiment, when the storage position buffer 7 stores the set position, the determination unit 8 performs the positioning calculation performed using the satellite signal received by the GNSS antenna 1. When the distance L between the estimated positioning position and the storage position (set position) is equal to or less than the threshold L t (L ≦ L t ), it is determined that the set position is likely to be a predetermined degree. When the distance L exceeds the threshold value L t (L> L t ), the determination unit 8 determines that the set position is not certain to a certain degree.
　これにより、実際に測位計算を行って得られるＧＮＳＳアンテナ１の位置である測位推定位置と、設定位置と、のズレに基づいて、設定位置の確からしさを適切に評価することができる。 This makes it possible to appropriately evaluate the likelihood of the set position based on the deviation between the estimated position of the GNSS antenna 1 obtained by actually performing the positioning calculation and the set position.
　 また、本実施形態のタイミング信号生成装置２０において、記憶位置バッファ７が設定位置を記憶している場合に、設定位置が所定程度確からしくないと判定し た場合は、タイミング信号生成部１１に、測位推定位置にＧＮＳＳアンテナ１が配置されているとみなして得られるＧＮＳＳアンテナ１と衛星５０との擬似距離 を用いて、タイミング信号を生成させる。 In the timing signal generation device 20 of the present embodiment, when the storage position buffer 7 stores the set position, if it is determined that the set position is not certain to a certain degree, the timing signal generating unit 11 A timing signal is generated using a pseudorange の between the GNSS antenna 1 and the satellite 50 obtained by assuming that the GNSS antenna 1 is disposed at the positioning estimation position.
　これにより、設定位置が確からしくないと判定された場合に、代わりに測位推定位置を用いてタイミング信号生成部１１にタイミング信号の生成を行わせることで、例えばＧＮＳＳアンテナ１が移動した場合でも、高精度のタイミング信号を継続して出力することができる。 Thereby, when it is determined that the set position is not accurate, for example, even when the GNSS antenna 1 moves by causing the timing signal generation unit 11 to generate a timing signal using the positioning estimation position, A highly accurate timing signal can be continuously output.
　 また、本実施形態のタイミング信号生成装置２０において、タイミング信号生成部１１が測位推定位置に基づいてタイミング信号を生成している場合（言い換え れば、記憶位置バッファ７が測位推定位置を記憶している場合）、判定部８は、記憶位置、即ち、タイミング信号生成部１１がタイミング信号を直近に生成した ときの測位推定位置（測位直近位置）が、ＧＮＳＳアンテナ１の位置を表すものとして所定程度確からしいか否かを判定する。そして、所定程度確からしい場合 には、判定部８は、上記の測位直近位置に基づいてタイミング信号を生成させ、所定程度確からしくない場合には、上記の測位直近位置に基づいてタイミング信 号生成部１１がタイミング信号を生成するのを停止させるタイミング生成停止制御、及び、アラームを発生させるアラーム発生制御を行う。 Further, in the timing signal generator 20 of the present embodiment, when the timing signal generator 11 generates a timing signal based on the positioning estimated position (in other words, the storage position buffer 7 stores the positioning estimated position). The determination unit 8 determines that the storage position, that is, the positioning estimated position (positioning closest position) when the timing signal generation unit 11 generates the timing signal most recently represents the position of the GNSS antenna 1 to a predetermined degree. Determine if it is certain. Then, if it is likely to be a predetermined degree, the determination unit 8 generates a timing signal based on the position closest to the positioning. If it is not certain to a certain degree, the determination unit 8 generates a timing signal based on the position closest to the positioning. The timing generation stop control for stopping the generation of the timing signal by the unit 11 and the alarm generation control for generating an alarm are performed.
　これにより、ＧＮＳＳアンテナ１が設定位置から移動した後、更に移動することによる位置ズレに対して、適切に対応することができる。 Thereby, after the GNSS antenna 1 moves from the set position, it is possible to appropriately cope with a positional shift caused by further movement.
　また、本実施形態の電子機器であるドローンは、タイミング信号生成装置２０を備える。 In addition, the drone that is the electronic apparatus of the present embodiment includes the timing signal generation device 20.
　 これにより、予め計画した位置にて運用するような用途において、何らかの要因で、設定位置と実際のＧＮＳＳアンテナ１の位置が乖離していたり、事後的に ＧＮＳＳアンテナ１が移動してしまったりした場合などでも、適切に対応して、正確なタイミングで動作させることができる。 As a result, when the application is operated at a pre-planned position, for some reason, the set position and the actual position of the GNSS antenna 1 deviate, or the GNSS antenna 1 moves afterwards. In such a case, it is possible to appropriately operate and operate at an accurate timing.
　＜第１実施形態の変形例＞
　次に、第１実施形態の変形例に係るタイミング信号生成装置２０ｘについて説明する。なお、本変形例の説明においては、前述の実施形態と同一又は類似の部材には図面に同一の符号を付し、説明を省略する場合がある。 <Modification of First Embodiment>
Next, a timing signal generation device 20x according to a modification of the first embodiment will be described. In the description of this modification, the same or similar members as those in the above-described embodiment may be denoted by the same reference numerals in the drawings, and description thereof may be omitted.
　 図４に示す変形例のタイミング信号生成装置２０ｘは、地上に固定して運用される電子機器としての無線基地局設備に備えられる点、及び、測位推定位置算出部 ４が出力する測位推定位置を用いてタイミング信号生成部１１がタイミング信号を生成することはない点で、第１実施形態に係るタイミング信号生成装置２０と は異なっている。 The timing signal generation device 20x of the modified example shown in FIG. 4 includes the points provided in the radio base station equipment as electronic equipment fixed and operated on the ground, and the positioning estimated position output by the positioning estimated position calculating unit 4. The timing signal generator 11 is different from the timing signal generator 20 according to the first embodiment in that the timing signal generator 11 does not generate a timing signal.
　簡単に説明すると、このタイミング信号生成装置２０ｘにおいては、設定位置記憶部５が出力する設定位置が、判定部８及び切替部１７に入力される。 Briefly, in the timing signal generation device 20x, the setting position output from the setting position storage unit 5 is input to the determination unit 8 and the switching unit 17.
　切替部１７は、設定位置記憶部５から入力された設定位置をタイミング信号生成部１１に出力する状態と、出力しない状態とを、判定部８からの信号に基づいて切り換える。 The switching unit 17 switches between a state in which the setting position input from the setting position storage unit 5 is output to the timing signal generation unit 11 and a state in which the setting position is not output based on a signal from the determination unit 8.
　判定部８は、測位推定位置と設定位置との間の距離Ｌが閾値Ｌt以下である場合は、切替部１７が設定位置をタイミング信号生成部１１に出力し、そうでない場合は、切替部１７が設定位置をタイミング信号生成部１１に出力しないように制御する。また、判定部８は、測位推定位置と設定位置との間の距離Ｌが閾値Ｌtを上回る場合は、アラーム発生部９がアラームを発生させ、そうでない場合は、アラーム発生部９がアラームを発生させないように（アラームが発生している場合は、停止させるように）制御する。 Determination unit 8, when the distance L between the set position and the positioning estimated position is equal to or smaller than the threshold L t outputs the switching section 17 is set position to the timing signal generator 11, otherwise, the switching unit 17 controls to not output the set position to the timing signal generator 11. The determination unit 8, when the distance L between the set position and the positioning estimated position exceeds a threshold value L t, alarm generation unit 9 generates an alarm, otherwise, an alarm generating unit 9 is an alarm Control so that it does not occur (stops if an alarm is generated).
　 本変形例のタイミング信号生成装置２０ｘでは、設定位置の確からしさが判定部８により継続的に監視され、確からしくないと判定された場合は、設定位置に基 づくタイミング信号の出力を停止してアラームを発生させる。そして、アラームの発生後であっても、（例えばＧＮＳＳアンテナ１の移動によって）設定位置の 確からしさが回復した場合には、判定部８は、アラームの発生を停止し、設定位置に基づくタイミング信号の出力を再開するように制御する。 In the timing signal generation device 20x of the present modification, the determination of the set position is continuously monitored by the determination unit 8, and if it is determined not to be accurate, the output of the timing signal based on the set position is stopped. Generate an alarm. Even after the occurrence of the alarm, if the accuracy of the set position is recovered (for example, by movement of the GNSS antenna 1), the determination unit 8 stops the generation of the alarm, and a timing signal based on the set position Control to resume the output of.
　 以上に説明したように、本変形例のタイミング信号生成装置２０ｘにおいて、設定位置が所定程度確からしくないと判定されてアラームが発生した後に、判定部 ８は、設定位置が所定程度確からしいか否かの判定を引き続き行い、所定程度確からしいと判定した場合は、アラームを停止させる制御を行う。 As described above, in the timing signal generation device 20x of the present modification, after determining that the set position is not certain to be certain and generating an alarm, the determination unit 8 determines whether or not the set position is certain to be certain. Such a determination is continued, and if it is determined that it is certain to be certain, control for stopping the alarm is performed.
　 これにより、設置を計画する位置をタイミング信号生成装置２０ｘに設定位置として予め入力した後に、当該タイミング信号生成装置２０ｘを現場へ運搬し、実 際に設置するときは、ＧＮＳＳアンテナ１が正確な位置にあることを、発生しているアラームが停止することで確認し、その上で固定するような作業が可能にな る。これにより、設置作業を正確かつ効率的に行うことができる。 As a result, after the position where the installation is planned is input in advance to the timing signal generation device 20x as the set position, the GNSS antenna 1 is positioned accurately when the timing signal generation device 20x is transported to the site and installed at the actual time. It is possible to confirm that the alarm that has occurred is stopped and to fix it on the alarm. Thereby, installation work can be performed accurately and efficiently.
　＜第２実施形態＞
　次に、第２実施形態に係るタイミング信号生成装置４０について説明する。なお、本実施形態の説明においては、前述の実施形態又は変形例と同一又は類似の部材には図面に同一の符号を付し、説明を省略する場合がある。 Second Embodiment
Next, the timing signal generation device 40 according to the second embodiment will be described. In the description of the present embodiment, the same or similar members as those in the above-described embodiment or modification may be denoted by the same reference numerals in the drawings, and description thereof may be omitted.
　 上述の第１実施形態及びその変形例では、ＧＮＳＳアンテナ１によって電波を受信する衛星５０の数が４個以上でないと、測位計算部３が測位計算を行うことが できず、ユーザ等により設定された設定位置が受信点の位置を正確に表しているか否かについて判定部８が判定を行うことができない。 In the above-described first embodiment and its modified examples, if the number of satellites 50 that receive radio waves by the GNSS antenna 1 is not four or more, the positioning calculation unit 3 cannot hesitate to perform positioning calculation, and is set by the user or the like. The determination unit 8 cannot determine whether or not the set position accurately represents the position of the reception point.
　この点を考慮して、本実施形態のタイミング信号生成装置４０は、電波を受信できる衛星５０の数が３個以下（例えば、１個）であっても、設定位置の確からしさについて評価できるように構成されている。 Considering this point, the timing signal generation device 40 of this embodiment can evaluate the probability of the set position even if the number of satellites 50 that can receive radio waves is three or less (for example, one). It is configured.
　 図５に、本実施形態のタイミング信号生成装置４０の主たる構成を示している。図５に示すように、このタイミング信号生成装置４０は、ＧＮＳＳアンテナ１、 信号復調部２、搬送波周波数取得部１５、コード位相取得部１８、設定位置記憶部５、判定部１６、アラーム発生部９、切替部１７、及びタイミング信号生成部 １１等を備えている。 FIG. 5 shows a main configuration of the timing signal generation device 40 of the present embodiment. As shown in FIG. 5, the timing signal generation device 40 includes a GNSS antenna 1, a saddle signal demodulation unit 2, a carrier frequency acquisition unit 15, a code phase acquisition unit 18, a setting position storage unit 5, a determination unit 16, and an alarm generation unit 9. , A switching unit 17, a timing signal generation unit 11 and the like.
　信号復調部２は、前述の第１実施形態と同様に、ＧＮＳＳアンテナ１で受信した衛星信号から軌道情報 及び時刻情報を取り出すことができる。得られた軌道情報や時刻情報は、判定部１６及びタイミング信号生成部１１に出力される。また、信号復調部２は、信号 の復調の過程で再現された前記ＰＲＮコードをコード位相取得部１８に出力するとともに、再現された搬送波を搬送波周波数取得部１５に出力する。 The signal demodulator 2 can extract the orbit information and time information from the satellite signal received by the GNSS antenna 1 as in the first embodiment. The obtained trajectory information and time information are output to the determination unit 16 and the timing signal generation unit 11. The signal demodulator 2 outputs the PRN code reproduced in the process of demodulating the signal to the code phase acquisition unit 18 and outputs the reproduced carrier wave to the carrier frequency acquisition unit 15.
　搬送波周波数取得部１５は、信号復調部２から入力された搬送波の周波数を計測することにより取得する。搬送波周波数取得部１５は、得られた搬送波周波数を判定部１６に出力する。 The carrier frequency acquisition unit 15 acquires the carrier frequency input from the signal demodulation unit 2 by measuring the frequency. The carrier frequency acquisition unit 15 outputs the obtained carrier frequency to the determination unit 16.
　 コード位相取得部１８は、内部の水晶時計のタイミングに基づいてレプリカＰＲＮコードを生成するとともに、このレプリカＰＲＮコードと、信号復調部２から 入力されたＰＲＮコードと、の時間的なズレ（チップ時間）を求めることにより、衛星信号のコード位相を取得する。コード位相取得部１８は、得られたコード 位相を判定部１６に出力する。 The code phase acquisition unit 18 generates a replica PRN code based on the timing of the internal quartz clock, and a temporal shift (chip time) between the replica PRN code and the PRN code input from the signal demodulation unit 2. ) To obtain the code phase of the satellite signal. The code phase acquisition unit 18 outputs the obtained code phase to the determination unit 16.
　設定位置記憶部５は、前述の第１実施形態と同様に、設定位置を記憶する。設定位置記憶部５は、記憶する設定位置を判定部１６及び切替部１７に出力する。 The set position storage unit 5 stores the set position as in the first embodiment described above. The setting position storage unit 5 outputs the stored setting position to the determination unit 16 and the switching unit 17.
　 判定部１６は、信号復調部２が出力する軌道情報及び時刻情報と、搬送波周波数取得部１５が出力する搬送波周波数と、設定位置記憶部５が出力する設定位置 と、に基づいて、設定位置が現在のＧＮＳＳアンテナ１の設置位置（受信点の位置）を表すものとして確からしいか否かを判定する。判定部１６は、この判定結 果を、アラーム発生部９及び切替部１７に出力する。なお、判定部１６の構成の詳細は後述する。 The determination unit 16 determines whether the set position is based on the trajectory information and time information output from the signal demodulator 2, the carrier frequency output from the carrier frequency acquisition unit 15, and the set position 出力 output from the set position storage unit 5. It is determined whether or not the current position of the GNSS antenna 1 is likely to represent the installation position (the position of the reception point). The determination unit 16 outputs the determination result to the alarm generation unit 9 and the switching unit 17. Details of the configuration of the determination unit 16 will be described later.
　切替部１７は、設定位置記憶部５から入力された設定位置をタイミング信号生成部１１に出力する状態と、出力しない状態とを、判定部１６からの信号に基づいて切り換える。 The switching unit 17 switches between a state in which the setting position input from the setting position storage unit 5 is output to the timing signal generation unit 11 and a state in which the setting position is not output based on a signal from the determination unit 16.
　タイミング信号生成部１１は、切替部１７から設定位置が入力された場合、第１実施形態と同様に、当該設定位置に基づいてタイミング信号を生成して出力する。 When the set position is input from the switching unit 17, the timing signal generating unit 11 generates and outputs a timing signal based on the set position as in the first embodiment.
　次に、判定部１６について詳細に説明する。この判定部１６は、図６に示すように、判定位置生成部２３と、擬似距離予測値算出部２４と、擬似距離実測値算出部２５と、残差比較部２６と、を備える。 Next, the determination unit 16 will be described in detail. As shown in FIG. 6, the determination unit 16 includes a determination position generation unit 23, a pseudo distance predicted value calculation unit 24, a pseudo distance actual measurement value calculation unit 25, and a residual comparison unit 26.
　 判定位置生成部２３は、判定部１６に入力された設定位置に基づいて、当該設定位置の確からしさを判定するために用いられる判定位置を生成する。判定位置 は、設定位置と互いに異なるように定められる。判定位置としては任意の様々な位置とすることができ、１でも複数でもよいが、本実施形態では、図７に示すよ うに、設定位置Ｈから東西南北のそれぞれの方向に所定距離だけ離れるように４つの判定位置Ｃ１，Ｃ２，Ｃ３，Ｃ４が生成されている。判定位置生成部２３ は、生成した判定位置Ｃ１，Ｃ２，・・・を、擬似距離予測値算出部２４に出力する。 The wrinkle determination position generation unit 23 generates a determination position used for determining the likelihood of the set position based on the set position input to the determination unit 16. The determination position is determined to be different from the set position. The determination position may be any of various positions, and may be one or more. In the present embodiment, as shown in FIG. 7, the predetermined position is separated from the set position H in each direction of east, west, south, and north. Four determination positions C1, C2, C3, and C4 are generated. The determination position generation unit 23 outputs the generated determination positions C1, C2,... To the pseudo distance predicted value calculation unit 24.
　擬似距離予測値算出部２４では、判定 部１６に入力された設定位置ＨにＧＮＳＳアンテナ１が設置されていた場合と、判定位置生成部２３が生成した判定位置Ｃ１，Ｃ２，・・・のそれぞれに ＧＮＳＳアンテナ１が設置されていた場合と、を仮定し、各場合における擬似距離の予測値を算出する。ここで、擬似距離とは、衛星５０とＧＮＳＳアンテナ１ との距離を意味する。擬似距離予測値は、信号復調部２から得られた軌道情報と時刻情報と、前記の方法で用意した受信機の位置から、衛星５０の位置ベクトル を求めることにより得ることができる。 In the pseudo-range predicted value calculation unit 24, each of the case where the GNSS antenna 1 is installed at the set position H input to the determination unit 16 and the determination positions C1, C2,... Generated by the determination position generation unit 23, respectively. And a case where the GNSS antenna 1 is installed is calculated, and the predicted value of the pseudo distance in each case is calculated. Here, the pseudorange means the distance between the satellite 50 and the GNSS antenna 1. The pseudo-range prediction value can be obtained by obtaining the position vector の of the satellite 50 from the orbit information and time information obtained from the signal demodulator 2 and the position of the receiver prepared by the above method.
　擬似距離実測値算出部２５は、搬送波周波数取得部１５で取得した周波数から得られ る衛星と受信機との相対速度に更新時間を乗じて得られた距離と、コード位相取得部１８で取得したコード位相（チップ時間）に光速を乗じた距離と、を加算す ることによって、擬似距離の実測値を算出する。擬似距離実測値算出部２５は、得られた擬似距離の実測値を、残差比較部２６に出力する。 The pseudo-range actual value calculation unit 25 acquires the distance obtained by multiplying the relative speed between the satellite and the receiver that can be obtained from the frequency acquired by the carrier frequency acquisition unit 15 by the update time, and the code phase acquisition unit 18. The measured value of the pseudo distance is calculated by adding the distance obtained by multiplying the code phase (chip time) by the speed of light. The pseudo distance actual value calculation unit 25 outputs the obtained actual value of the pseudo distance to the residual comparison unit 26.
　 残差比較部２６は、ＧＮＳＳアンテナ１が設定位置Ｈにあると仮定した場合の擬似距離予測値よりも、ＧＮＳＳアンテナ１が何れかの判定位置 Ｃ１，Ｃ２，・・・にあると仮定した場合の擬似距離予測値の方が、擬似距離実測値に近いか否かを、それぞれの場合の擬似距離の予測値と実測値との差である 残差を比較することにより判定する。 When the residual comparison unit 26 assumes that the GNSS antenna 1 is at one of the determination positions C1, C2,..., Rather than the pseudorange prediction value when the GNSS antenna 1 is assumed to be at the set position H. It is determined whether or not the pseudo-range predicted value is closer to the pseudo-range actual measurement value by comparing the residuals that are the difference between the pseudo-range predicted value and the actual measurement value in each case.
　より具体的には、残差比較部２６は、図７に示す判定位置Ｃ１，Ｃ２，Ｃ３，Ｃ４のそれぞれについての擬似距離の予測値と、擬似距離の実測値と、の差分である擬似距離残差Ｄ1，Ｄ2，Ｄ3，Ｄ4を求める。また、残差比較部２６は、設定位置Ｈについての擬似距離予測値と、擬似距離実測値と、の差分である擬似距離残差ＤHを求める。 More specifically, the residual comparison unit 26 is a pseudo distance that is a difference between a predicted value of the pseudo distance and a measured value of the pseudo distance for each of the determination positions C1, C2, C3, and C4 shown in FIG. Residuals D 1 , D 2 , D 3 and D 4 are obtained. Further, the residual comparison unit 26 obtains a pseudo distance residual DH that is a difference between the pseudo distance predicted value for the set position H and the pseudo distance actual measurement value.
　残差比較部２６は、各判定位置Ｃ１，Ｃ２，Ｃ３，Ｃ４についての擬似距離残差Ｄ1，Ｄ2，Ｄ3，Ｄ4と、設定位置Ｈについての擬似距離残差ＤHと、の大小を比較する。 Residual comparing unit 26, the pseudorange residual D 1, D 2, D 3 , D 4 for each determination position C1, C2, C3, C4, and pseudorange residual D H for setting position H, the Compare large and small.
　その結果、擬似距離残差Ｄ1，Ｄ2，Ｄ3，Ｄ4の何れもが、擬似距離残差ＤHと等しいかそれよりも大きい場合（Ｄ1≧ＤH、Ｄ2≧ＤH、Ｄ3≧ＤH、かつＤ4≧ＤH）、 現実の受信点（ＧＮＳＳアンテナ１）の位置は、判定位置Ｃ１，Ｃ２，Ｃ３，Ｃ４よりも設定位置Ｈに近い可能性が高いと考えられる。別の言い方をすれば、設 定位置が、実際のＧＮＳＳアンテナ１の位置を表すものとして、所定程度確からしいということができる。そこで、この場合、残差比較部２６は、切替部１７が 設定位置Ｈをタイミング信号生成部１１に出力するように制御するとともに、アラーム発生部９がアラームを発生させないように制御する。 As a result, if any of the pseudorange residuals D 1 , D 2 , D 3 , D 4 is equal to or greater than the pseudorange residual D H (D 1 ≧ D H , D 2 ≧ D H , D 3 ≧ D H and D 4 ≧ D H ), and the position of the actual reception point (GNSS antenna 1) is considered to be more likely to be closer to the set position H than the determination positions C1, C2, C3, and C4. . In other words, it can be said that the set position is likely to be a certain degree as representing the actual position of the GNSS antenna 1. Therefore, in this case, the residual comparison unit 26 controls the switching unit 17 to output the set position H to the timing signal generation unit 11 and controls the alarm generation unit 9 not to generate an alarm.
　一方で、擬似距離残差Ｄ1，Ｄ2，Ｄ3，Ｄ4の少なくとも何れかが、擬似距離残差ＤHよりも小さい場合（Ｄ1＜ＤH、Ｄ2＜ＤH、Ｄ3＜ＤH、又はＤ4＜ＤH）、 現実の受信点の位置は、設定位置Ｈよりも、むしろ判定位置Ｃ１，Ｃ２，Ｃ３，Ｃ４の何れかに近い可能性が高いと考えられる。別の言い方をすれば、設定位置 が、実際のＧＮＳＳアンテナ１の位置を表すものとして所定程度確からしくないということができる。そこで、この場合、残差比較部２６は、切替部１７が設定 位置Ｈをタイミング信号生成部１１に出力しないように制御するとともに、アラーム発生部９がアラームを発生させるように制御する。 On the other hand, when at least one of the pseudorange residuals D 1 , D 2 , D 3 , and D 4 is smaller than the pseudorange residual DH (D 1 <D H , D 2 <D H , D 3 < D H or D 4 <D H ), it is considered that the actual position of the reception point is likely to be closer to any of the determination positions C1, C2, C3, and C4 rather than the set position H. In other words, it can be said that the set position is not certain to be certain to represent the actual position of the GNSS antenna 1. Therefore, in this case, the residual comparison unit 26 controls the switching unit 17 not to output the set position H to the timing signal generation unit 11 and controls the alarm generation unit 9 to generate an alarm.
　 これにより、タイミング信号生成部１１は、設定位置が実際の受信点の位置に対して確からしい場合に限り、タイミング信号を生成して出力する。また、アラー ム発生部９は、設定位置が実際の受信点の位置に対して確からしくない場合には、アラームを発生させる。よって、タイミング信号の精度を高く保つことができ るとともに、設定位置と現実の受信点の位置とが乖離する場合は、ユーザがアラームにより早期に気付いて対応することができる。 Thereby, the timing signal generator 11 generates and outputs a timing signal only when the set position is likely to be the actual reception point position. Further, the alarm generator 9 generates an alarm when the set position is not certain with respect to the actual reception point position. Therefore, the accuracy of the timing signal can be kept high, and when the set position deviates from the actual position of the reception point, the user can quickly notice and respond to the alarm.
　 本実施形態では、図７に示すように、判定位置Ｃ１，Ｃ２・・・が、設定位置Ｈの周囲に複数生成されている。従って、ＧＮＳＳアンテナ１の位置が設定位置Ｈ に対してどの方向にズレたとしても、それを、何れかの判定位置Ｃ１，Ｃ２，・・・における擬似距離予測値が実測値に近づくことで検出し易くなる。従って、 設定位置Ｈの確からしさを適切に評価することができる。 In this embodiment, a plurality of determination positions C1, C2,... Are generated around the set position H as shown in FIG. Therefore, even if the position of the GNSS antenna 1 deviates in any direction with respect to the set position H 擬 似, this is detected by the pseudo distance prediction value at any of the determination positions C1, C2,. It becomes easy to do. Therefore, it is possible to appropriately evaluate the probability of the heel setting position H.
　また、判定位置生成部２３が生成する判定位置Ｃ１，Ｃ２，・・・ が設定位置Ｈからどれほど離れて配置されるかは、例えばユーザがタイミング信号生成装置４０に設定位置Ｈを設定する際に、適宜指示することにより設定する ことができる。また、特別な指示をタイミング信号生成装置４０に対して行うことにより、判定位置Ｃ１，Ｃ２，・・・が設定位置Ｈから離れて配置される距離 を、ＧＮＳＳアンテナ１が受信する衛星信号の強度が大きければ短くなり、小さければ長くなるように、自動的に変更することもできる。これにより、要求され るタイミング精度、電波受信状況等を考慮した柔軟な運用を行うことができる。 Further, how far the determination positions C1, C2,... Generated by the determination position generation unit 23 are arranged from the setting position H is determined when the user sets the setting position H in the timing signal generation device 40, for example. It can be set by appropriately instructing. Further, by giving a special instruction to the timing signal generator 40, the strength of the satellite signal received by the GNSS antenna 1 indicates the distance where the determination positions C1, C2,. It can also be automatically changed so that it becomes shorter if the value is larger and longer if it is smaller. As a result, it is possible to perform flexible operation in consideration of required timing accuracy, radio wave reception status, and the like.
　なお、本実施形態において、タイミング信号 を生成するためにタイミング信号生成装置４０を用いて行われる方法の一連の流れを、図８に示している。図８は、第２実施形態においてタイミング信号を生成 するために行われるタイミング信号生成方法を示すフローチャートである。なお、図８の処理は、第１実施形態（図３）とは異なり、事前に設定位置がタイミン グ信号生成装置４０に入力されていることが前提となる。 In addition, in this embodiment, a series of flows of a method performed using the timing signal generation device 40 to generate the timing signal is shown in FIG. FIG. 8 is a flowchart showing a timing signal generation method performed to generate a timing signal in the second embodiment. Note that the processing of FIG. 8 is different from the first embodiment (FIG. 3) on the premise that the set position is input to the timing signal generator 40 in advance.
　図８のフローチャートに基づいて簡単に説明すると、まず、判定位置生成部２３が、設定位置Ｈの周囲に判定位置Ｃ１，Ｃ２，・・・を生成する（ステップＳ２０１）。 Describing briefly based on the flowchart of FIG. 8, first, the determination position generation unit 23 generates determination positions C1, C2,... Around the set position H (step S201).
　 次に、擬似距離予測値算出部２４が、ＧＮＳＳアンテナ１が設定位置Ｈにある場合と、各判定位置Ｃ１，Ｃ２，・・・にある場合と、を仮定し、それぞれの仮定 における擬似距離の予測値を計算する（ステップＳ２０２）。この計算には、受信した衛星信号を解析して得られた軌道情報と、時刻情報と、が用いられる。 Next, the pseudo distance predicted value calculation unit 24 assumes the case where the GNSS antenna 1 is at the set position H and the case where the GNSS antenna 1 is at each of the determination positions C1, C2,. A predicted value is calculated (step S202). For this calculation, orbit information obtained by analyzing the received satellite signal and time information are used.
　また、擬似距離実測値算出部２５が、受信した衛星信号の搬送波周波数に基づいて、擬似距離の実測値を計算する（ステップＳ２０３）。 Further, the pseudo distance actual measurement value calculation unit 25 calculates the pseudo distance actual measurement value based on the carrier wave frequency of the received satellite signal (step S203).
　 その後、残差比較部２６は、ステップＳ２０２で算出した５つの擬似距離の予測値について、それぞれ、ステップＳ２０３で算出した擬似距離の実測値との残差 を計算し、当該残差が設定位置Ｈよりも小さい判定位置Ｃ１，Ｃ２，・・・が存在するか否かを判断する（ステップＳ２０４）。 Thereafter, the residual comparison unit 26 calculates, for each of the predicted values of the five pseudo distances calculated in step S202, a residual error with the actually measured value of the pseudo distance calculated in step S203. It is determined whether or not smaller determination positions C1, C2,... Exist (step S204).
　 ステップＳ２０４の判断で、擬似距離の予測値と実測値との残差が設定位置Ｈよりも小さい判定位置Ｃ１，Ｃ２，・・・が存在した場合、アラーム発生部９がア ラームを発生させるとともに、タイミング信号生成部１１によるタイミング信号の生成が停止される（ステップＳ２０５、ステップＳ２０６）。その後、処理が ステップＳ２０１に戻る。 If it is determined in step S204 that there are determination positions C1, C2,... In which the residual between the predicted value of the pseudo distance and the actual measurement value is smaller than the set position H, the alarm generation unit 9 generates an alarm. The generation of the timing signal by the timing signal generator 11 is stopped (steps S205 and S206). Thereafter, the process returns to step S201.
　ステップＳ２０４の判断で、擬似距離の予測値と実測値との残差が設定位置Ｈよりも小さい判定位 置Ｃ１，Ｃ２，・・・が存在しなかった場合、アラーム発生部９はアラームを発生させず、また、タイミング信号生成部１１は、設定位置に基づいて、タイミン グ信号を生成する（ステップＳ２０７）。その後、処理がステップＳ２０１に戻る。 If it is determined in step S204 that there are no determination positions C1, C2,... In which the residual between the predicted value and the actual measurement value of the pseudo distance is smaller than the set position H, the alarm generation unit 9 generates an alarm. In addition, the timing signal generator 11 generates a timing signal based on the set position (step S207). Thereafter, the process returns to step S201.
　以上の処理がタイミング信号生成装置 ４０において行われることにより、設定位置ＨがＧＮＳＳアンテナ１の実際の位置を表すものとして所定程度確からしいか否かが反復継続的に評価され、確から しいと判定された場合にのみタイミング信号が生成される。従って、正確なタイミング信号を安定的に生成することができる。 By performing the above processing in the timing signal generator 40, it is repeatedly evaluated continuously whether or not the set position H is likely to represent the actual position of the GNSS antenna 1, and it is determined that it is reliable. The timing signal is generated only when it is done. Therefore, an accurate timing signal can be stably generated.
　 以上に説明したように、本実施形態のタイミング信号生成装置４０において、判定部１６は、設定位置ＨにＧＮＳＳアンテナ１があると仮定した場合と、設定位 置Ｈと異なる位置である判定位置Ｃ１，Ｃ２，・・・にＧＮＳＳアンテナ１があると仮定した場合と、のそれぞれにおける、衛星５０とＧＮＳＳアンテナ１との 擬似距離の予測値を計算する。判定部１６は、衛星信号のコード位相や搬送波周波数などにより求めた擬似距離の実測値に対し、設定位置Ｈよりも前記予測値が 近い判定位置Ｃ１，Ｃ２，・・・がない場合に、設定位置Ｈが所定程度確からしいと判定する。判定部１６は、擬似距離の実測値に対し、設定位置Ｈよりも前記 予測値が近い判定位置Ｃ１，Ｃ２，・・・がある場合に、設定位置Ｈが所定程度確からしくないと判定する。 As described above, in the timing signal generation device 40 of the present embodiment, the determination unit 16 determines that the determination position C1 is a position different from the setting position H when it is assumed that the GNSS antenna 1 is at the setting position H. , C2,..., And a case where it is assumed that the GNSS antenna 1 is present, a predicted value of a pseudo pseudorange between the satellite 50 and the GNSS antenna 1 is calculated. The determination unit 16 is set when there are no determination positions C1, C2,. It is determined that the position H is certain to be certain. The determination unit 16 determines that the setting position H is not certain to a certain degree when there are determination positions C1, C2,.
　これにより、設定位置Ｈの確からしさを、測位計算を行わずに評価することができるので、受信できる衛星５０の数が少ない場合（衛星電波の受信状況が良くない場合）でも良好に運用することができる。 As a result, the accuracy of the set position H can be evaluated without performing positioning calculation, so that it can be operated well even when the number of satellites 50 that can be received is small (when the reception state of satellite radio waves is not good). Can do.
　また、本実施形態のタイミング信号生成装置４０において、判定位置Ｃ１，Ｃ２，・・・は、設定位置Ｈの周囲に複数生成される。 Further, in the timing signal generation device 40 of the present embodiment, a plurality of determination positions C1, C2,... Are generated around the set position H.
　これにより、設定位置Ｈに対してＧＮＳＳアンテナ１がどの方向にズレている場合であっても、設定位置Ｈの確からしさを適切に評価することができる。 Thereby, regardless of the direction in which the GNSS antenna 1 is deviated from the set position H, the probability of the set position H can be appropriately evaluated.
　また、本実施形態のタイミング信号生成装置４０において、判定位置Ｃ１，Ｃ２，・・・が設定位置Ｈからどれだけ離れた位置に生成されるかを示す距離を、ユーザが設定可能に構成されている。 Further, in the timing signal generation device 40 of the present embodiment, a distance indicating how far the determination positions C1, C2,... Are generated from the setting position H can be set by the user. Yes.
　これにより、要求されるタイミング精度（言い換えれば、ＧＮＳＳアンテナ１の位置について求められる精度）に応じた柔軟な運用を実現することができる。 Thereby, a flexible operation according to the required timing accuracy (in other words, the accuracy required for the position of the GNSS antenna 1) can be realized.
　また、本実施形態のタイミング信号生成装置４０において、判定位置Ｃ１，Ｃ２，・・・は、設定位置Ｈから、ＧＮＳＳアンテナ１で受信した衛星信号の強度に応じた距離だけ離れた位置に生成される。 In the timing signal generation device 40 of the present embodiment, the determination positions C1, C2,... Are generated at positions separated from the set position H by a distance corresponding to the intensity of the satellite signal received by the GNSS antenna 1. The
　これにより、ＧＮＳＳアンテナ１での衛星信号の受信状況の良否に応じて、設定位置Ｈの確からしさを適切に判定することができる。 Thereby, the probability of the setting position H can be appropriately determined according to whether the GNSS antenna 1 receives the satellite signal.
　以上に本発明の好適な実施の形態を説明したが、上記の構成は例えば以下のように変更することができる。 Although a preferred embodiment of the present invention has been described above, the above configuration can be modified as follows, for example.
　 第１実施形態で、設定位置が所定程度確からしくないと判定された場合に、判定部８が、アラームを発生させる制御を行わずに、設定位置に基づいてタイミング 信号生成部１１がタイミング信号を生成するのを停止させる制御、及び、測位推定位置に基づいてタイミング信号を生成させる制御を行うように構成することが できる。或いは、上記の制御に加えて又はそれに代えて、設定位置が所定程度確からしくないと判定された場合に、この設定位置を破棄する制御が行われるもの としてもよい。 In the first embodiment, when it is determined that the set position is not certain to be certain, the determination unit 8 does not perform control to generate an alarm, and the timing signal generation unit 11 generates a timing signal based on the set position. It can be configured to perform control for stopping the generation and control for generating the timing signal based on the positioning estimation position. Alternatively, in addition to or instead of the above-described control, when it is determined that the set position is not certain to a certain degree, control for discarding the set position may be performed.
　同様に、判定部８が測位直近位置の確からしさを判定した結果、所定程度確からしくなかった場合には、この測位直近位置を破棄する制御が行われるものとしてもよい。 Similarly, if the determination unit 8 determines the certainty of the position closest to the positioning, and if it is not certain to a certain degree, the control for discarding the position near the positioning may be performed.
　 第１実施形態の変形例、及び、第２実施形態において、設定位置が所定程度確からしくないと判定された場合に、判定部８，１６がタイミング生成停止制御及び アラーム発生制御のうち一方だけを行うように変更することができる。また、上記の制御に加えて又はそれに代えて、設定位置が所定程度確からしくないと判定 された場合に、この設定位置を破棄する制御が行われるものとしてもよい。 In the modification of the first embodiment and the second embodiment, when it is determined that the set position is not certain to a certain degree, the determination units 8 and 16 perform only one of the timing generation stop control and the wrinkle alarm generation control. Can be changed to do. Further, in addition to or instead of the above control, when it is determined that the set position is not certain to a certain degree, control for discarding the set position may be performed.
　上記の第１実施形態では、測位推定位置算出部４は、複数の測位解の平均値に基づいて測位推定位置を算出するものとしたが、必ずしもこれに限るものではない。例えば平均値に代えて、最頻値或いは中央値に基づいて測位推定位置を算出するものとしてもよい。 In the above first embodiment, the estimated positioning position calculation unit 4 calculates the estimated positioning position based on the average value of a plurality of positioning solutions, but is not necessarily limited thereto. For example, instead of the average value, the estimated positioning position may be calculated based on the mode value or the median value.
　第１実施形態において、測位推定位置算出部４が算出する測位推定位置に代えて、測位計算部３による測位結果が、測位計算に基づく位置として位置切替部１０に入力されるように構成してもよい。 In the first embodiment, instead of the positioning estimated position calculated by the positioning estimated position calculating unit 4, the positioning result by the positioning calculating unit 3 is input to the position switching unit 10 as a position based on the positioning calculation. Also good.
　第１実施形態において、測位計算部３による測位結果の変化を監視し、測位結果の移動速度及び移動方向等が変化した場合にのみ、判定部８による判定が行われてもよい。 In the first embodiment, the change of the positioning result by the positioning calculation unit 3 is monitored, and the determination by the determination unit 8 may be performed only when the moving speed and the moving direction of the positioning result change.
　 第１実施形態において、直近位置記憶部６及び記憶位置バッファ７のうち少なくとも何れかを、タイミング信号生成装置２０の電源が失われても記憶内容を保持 可能であるように、例えば不揮発性の記憶部によって構成することができる。この場合、タイミング信号の生成に用いられる位置の継続性を確保することができ る。 In the first embodiment, at least one of the latest position storage unit 6 and the storage position buffer 7 is, for example, a non-volatile storage so that the stored contents can be retained even when the power of the timing signal generation device 20 is lost. It can be constituted by a part. In this case, continuity of the position used for generating the timing signal can be ensured.
　第２実施形態において、判定位置生成部２３が生成する判定位置Ｃ１，Ｃ２，・・・の数及び位置は、任意に変更するこ とができる。例えば、判定位置Ｃ１，Ｃ２，・・・を、設定位置Ｈに対して東西南北に離れた４点とすることに代えて、東西南北上下に離れた６点としてもよ い。また、判定位置Ｃ１，Ｃ２，・・・が、設定位置Ｈに対して２次元的又は３次元的にランダムな方向で所定の距離だけ離れた位置に１又は複数定められても よい。更に、判定位置Ｃ１，Ｃ２，・・・と設定位置Ｈとの位置関係は、当該判定位置Ｃ１，Ｃ２，・・・が生成される毎に変化してもよい。 In the second embodiment, the number and positions of the determination positions C1, C2,... Generated by the determination position generation unit 23 can be arbitrarily changed. For example, instead of setting the determination positions C1, C2,. Further, one or a plurality of determination positions C1, C2,... May be determined at positions that are separated from the set position H by a predetermined distance in a two-dimensional or three-dimensional random direction. Further, the positional relationship between the determination positions C1, C2,... And the set position H may change every time the determination positions C1, C2,.
　 測位計算部３及びタイミング信号生成部１１が使用する軌道情報は、衛星信号から直接取得することに代えて、別の情報源から取得してもよい。例えば、電源投 入直後に短時間で測位可能な状態にするホットスタートのために不揮発性の記憶部に記憶される軌道情報を用いてもよい。例えば、タイミング信号生成装置をイ ンターネットに接続可能に構成し、軌道情報を、インターネットから取得したいわゆるＧＮＳＳアシスト情報に基づいて取得してもよい。 軌道 Orbit information used by the positioning calculation unit 3 and the timing signal generation unit 11 may be acquired from another information source instead of being acquired directly from the satellite signal. For example, the trajectory information stored in the non-volatile storage unit may be used for a hot start that enables positioning in a short time immediately after turning on the power. For example, the timing signal generation device may be configured to be connectable to the Internet, and the trajectory information may be acquired based on so-called GNSS assist information acquired from the Internet.
　ＧＮＳＳアンテナ１はタイミング信号生成装置２０に対して取外し不能に取り付けられてもよいし、タイミング信号生成装置２０に電気的に接続された外部アンテナとしてもよい。 The GNSS antenna 1 may be detachably attached to the timing signal generation device 20 or may be an external antenna electrically connected to the timing signal generation device 20.
　タイミング信号は１ＰＰＳに限定されず、タイミングはこれより短い又は長い間隔としてもよい。また、タイミング信号は、任意の形態のパルスとしても構わない。更に、基準周波数信号の周波数は１０ＭＨｚに限定されず、他の周波数としてもよい。 The timing signal is not limited to 1 PPS, and the timing may be shorter or longer. The timing signal may be a pulse having an arbitrary form. Furthermore, the frequency of the reference frequency signal is not limited to 10 MHz, and may be another frequency.
　 本発明のタイミング信号生成装置は、ドローンに限らず、正確なタイミングで動作することが必要な様々な電子機器に用いることができる。電子機器としては、 例えば、携帯電話や地上デジタル放送などに代表される無線通信設備等が考えられる。また、静止させた状態で使用するのであれば、移動可能な電子機器（例え ば、車載の電子機器）にタイミング信号生成装置を備えるように構成することもできる。 The timing signal generator of the present invention can be used not only for drones but also for various electronic devices that need to operate with accurate timing. As the electronic device, for example, a wireless communication facility represented by a mobile phone, digital terrestrial broadcasting, or the like can be considered. In addition, when used in a stationary state, a movable electronic device (for example, an in-vehicle electronic device) can be configured to include a timing signal generation device.
　１　ＧＮＳＳアンテナ（アンテナ）
　３　測位計算部
　４　測位推定位置算出部
　８　判定部
　１１　タイミング信号生成部
　２０　タイミング信号生成装置
　５０　衛星 1 GNSS antenna (antenna)
DESCRIPTION OF SYMBOLS 3 Position calculation part 4 Positioning estimation position calculation part 8 Judgment part 11 Timing signal generation part 20 Timing signal generation apparatus 50 Satellite

Claims (12)

  1. 　衛星からの衛星信号を受信するアンテナの位置を、内部又は外部から設定された場合に、当該設定された位置である設定位置を記憶する設定位置記憶部と、
    　前記設定位置に前記アンテナが配置されているとみなして計算することにより得られる前記アンテナと前記衛星との擬似距離を用いた計算により、タイミング信号を生成できるタイミング信号生成部と、
    　 前記設定位置が前記アンテナの位置を表すものとして所定程度確からしいか否かの判定を行い、所定程度確からしい場合には前記設定位置に基づいて前記タイミ ング信号生成部に前記タイミング信号を生成させ、所定程度確からしくない場合には、前記設定位置に基づいた前記タイミング信号の生成を停止させるタイミン グ生成停止制御、前記設定位置を破棄する設定位置破棄制御、又は、アラームを発生させるアラーム発生制御のうち少なくとも何れかを行う判定部と、
    を備えることを特徴とするタイミング信号生成装置。     When the position of the antenna that receives the satellite signal from the satellite is set from the inside or the outside, a set position storage unit that stores the set position that is the set position;
    A timing signal generation unit capable of generating a timing signal by calculation using a pseudorange between the antenna and the satellite obtained by calculating that the antenna is disposed at the set position;
    It is determined whether or not the set position is likely to be a certain degree as representing the position of the antenna. If the certain position is certain to be certain, the timing signal generator is caused to generate the timing signal based on the set position. When it is not certain to a certain degree, timing generation stop control for stopping generation of the timing signal based on the set position, set position discard control for discarding the set position, or alarm generation control for generating an alarm A determination unit that performs at least one of
    A timing signal generating device comprising:
  2. 　請求項１に記載のタイミング信号生成装置であって、
    　前記アラームが発生した後に、前記判定部は、前記設定位置が所定程度確からしいか否かの判定を引き続き行い、所定程度確からしいと判定した場合には、前記アラームを停止させる制御を行うことを特徴とするタイミング信号生成装置。     The timing signal generation device according to claim 1,
    After the alarm is generated, the determination unit continues to determine whether or not the set position is certain to be certain, and if it is determined that the certain position is certain to be certain, control is performed to stop the alarm. A featured timing signal generator.
  3. 　請求項１又は２に記載のタイミング信号生成装置であって、
    　前記設定位置に基づいて前記タイミング信号生成部が前記タイミング信号を生成している間、前記判定部は、当該設定位置が所定程度確からしいか否かの判定を反復継続的に行うことを特徴とするタイミング信号生成装置。     The timing signal generating device according to claim 1 or 2,
    While the timing signal generation unit generates the timing signal based on the set position, the determination unit repeatedly and continuously determines whether or not the set position is certain to be certain. Timing signal generator.
  4. 　請求項１から３までの何れか一項に記載のタイミング信号生成装置であって、
    　前記判定部は、
    　前記アンテナが受信した衛星信号を用いて行われた測位計算に基づく位置と、前記設定位置との間の距離が、閾値以下である場合に、前記設定位置が所定程度確からしいと判定し、
    　前記距離が前記閾値を上回る場合に、前記設定位置が所定程度確からしくないと判定することを特徴とするタイミング信号生成装置。     The timing signal generation device according to any one of claims 1 to 3,
    The determination unit
    When the distance between the position based on the positioning calculation performed using the satellite signal received by the antenna and the set position is equal to or less than a threshold, the set position is determined to be certain to be certain,
    The timing signal generation device according to claim 1, wherein when the distance exceeds the threshold value, it is determined that the set position is not certain to a certain degree.
  5. 　請求項４に記載のタイミング信号生成装置であって、
    　 前記判定部は、前記設定位置が所定程度確からしくないと判定した場合は、前記タイミング信号生成部に、前記測位計算に基づく位置に前記アンテナが配置され ているとみなして得られる、前記アンテナと前記衛星との擬似距離を用いて、前記タイミング信号を生成させることを特徴とするタイミング信号生成装置。     The timing signal generation device according to claim 4,
    When the determination unit determines that the set position is not certain to a certain degree, the timing signal generation unit is assumed to be located at a position based on the positioning calculation, and the antenna is obtained. The timing signal generating apparatus, wherein the timing signal is generated using a pseudo-range with the satellite.
  6. 　請求項５に記載のタイミング信号生成装置であって、
    　前記タイミング信号生成部が前記測位計算に基づく位置に基づいて前記タイミング信号を生成している場合、前記判定部は、
    　前記タイミング信号生成部が前記タイミング信号を直近に生成したときの前記測位計算に基づく位置である測位直近位置が前記アンテナの位置を表すものとして所定程度確からしいか否かを判定し、
    　所定程度確からしい場合には前記測位直近位置に基づいて前記タイミング信号生成部に前記タイミング信号を生成させ、
    　 所定程度確からしくない場合には、前記測位直近位置に基づく前記タイミング信号の生成を停止させるタイミング生成停止制御、前記測位直近位置を破棄する測 位直近位置破棄制御、又は、アラームを発生させるアラーム発生制御のうち少なくとも何れかを行うことを特徴とするタイミング信号生成装置。     The timing signal generation device according to claim 5,
    When the timing signal generator generates the timing signal based on a position based on the positioning calculation, the determination unit
    It is determined whether or not the positioning nearest position, which is a position based on the positioning calculation when the timing signal generating unit has most recently generated the timing signal, is likely to be a predetermined degree as representing the position of the antenna,
    If it is certain to be certain, let the timing signal generation unit generate the timing signal based on the position closest to the positioning,
    When it is not certain to a certain degree, timing generation stop control for stopping generation of the timing signal based on the positioning nearest position, positioning nearest position discard control for discarding the positioning nearest position, or alarm generation for generating an alarm A timing signal generation device that performs at least one of the controls.
  7. 　請求項１から３までの何れか一項に記載のタイミング信号生成装置であって、前記判定部は、
    　前記設定位置に前記アンテナがあると仮定した場合と、前記設定位置と異なる位置である判定位置に前記アンテナがあると仮定した場合と、のそれぞれにおける、衛星と前記アンテナとの擬似距離の予測値を計算し、
    　当該擬似距離の予測値と、衛星信号を受信して得られる擬似距離の実測値と、を比較して擬似距離の残差を求め、
    　前記設定位置に前記アンテナがあると仮定した場合の擬似距離の残差が、前記設定位置と異なる位置である前記判定位置に前記アンテナがあると仮定した場合の擬似距離の残差よりも小さかった場合は、前記設定位置が所定程度確からしいと判定し、
    　 前記設定位置とは異なる位置である前記判定位置に前記アンテナがあると仮定した場合の擬似距離の残差が、前記設定位置に前記アンテナがあると仮定した場合 の擬似距離の残差よりも小さかった場合は、前記設定位置が所定程度確からしくないと判定することを特徴とするタイミング信号生成装置。     4. The timing signal generation device according to claim 1, wherein the determination unit includes:
    Predicted value of the pseudo distance between the satellite and the antenna when the antenna is assumed to be at the set position and when the antenna is assumed to be at a determination position different from the set position. Calculate
    By comparing the predicted value of the pseudorange and the actual value of the pseudorange obtained by receiving the satellite signal, the residual of the pseudorange is obtained,
    The pseudorange residual when the antenna is assumed to be at the set position is smaller than the pseudorange residual when the antenna is assumed to be at the determination position that is different from the set position. In the case, it is determined that the set position is certain to be certain,
    The pseudorange residual when assuming that the antenna is at the determination position, which is a position different from the set position, is smaller than the pseudorange residual when assuming that the antenna is at the set position. A timing signal generating device that determines that the set position is not certain to a certain degree.
  8. 　請求項７に記載のタイミング信号生成装置であって、
    　前記判定位置は、前記設定位置の周囲に複数生成されることを特徴とするタイミング信号生成装置。     The timing signal generation device according to claim 7,
    A timing signal generation device, wherein a plurality of determination positions are generated around the set position.
  9. 　請求項７又は８に記載のタイミング信号生成装置であって、
    　前記判定位置は、前記設定位置から判定距離だけ離れた位置に生成され、
    　前記判定距離をユーザが事前に設定可能、又は外部から設定可能であることを特徴とするタイミング信号生成装置。     The timing signal generation device according to claim 7 or 8,
    The determination position is generated at a position separated from the set position by a determination distance,
    The timing signal generating apparatus, wherein the determination distance can be set in advance by a user or can be set from the outside.
  10. 　請求項７から９までの何れか一項に記載のタイミング信号生成装置であって、
    　前記判定位置は、前記設定位置から、前記アンテナで受信した衛星信号の強度に応じた距離だけ離れた位置に生成されることを特徴とするタイミング信号生成装置。     A timing signal generation device according to any one of claims 7 to 9,
    The timing signal generating apparatus, wherein the determination position is generated at a position away from the set position by a distance corresponding to the intensity of the satellite signal received by the antenna.
  11. 　請求項１から１０までの何れか一項に記載のタイミング信号生成装置を備えることを特徴とする電子機器。 An electronic apparatus comprising the timing signal generation device according to any one of claims 1 to 10.
  12. 　衛星からの衛星信号を受信するアンテナの位置を、内部又は外部から設定された場合に、当該設定された位置である設定位置を記憶し、
    　前記設定位置に前記アンテナが配置されているとみなして計算することにより得られる前記アンテナと前記衛星との擬似距離を用いた計算により、タイミング信号を生成し、
    　 前記設定位置が前記アンテナの位置を表すものとして所定程度確からしいか否かを判定し、所定程度確からしい場合には前記設定位置に基づいて前記タイミング 信号を生成し、所定程度確からしくない場合には、前記設定位置に基づく前記タイミング信号の生成を停止させるタイミング生成停止制御、設定位置を破棄する 設定位置破棄制御、又は、アラームを発生させるアラーム発生制御のうち少なくとも何れかを行うことを特徴とするタイミング信号生成方法。     When the position of the antenna that receives the satellite signal from the satellite is set from the inside or the outside, the set position that is the set position is stored,
    A timing signal is generated by calculation using a pseudorange between the antenna and the satellite obtained by calculating that the antenna is disposed at the set position,
    It is determined whether or not the set position is certain to be certain to represent the position of the antenna, and if it is certain to be certain, the timing signal is generated based on the set position. Performing at least one of timing generation stop control for stopping generation of the timing signal based on the set position, set position discard control for discarding the set position, or alarm generation control for generating an alarm, A timing signal generation method.
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JP2023504481A (en) * 2019-12-03 2023-02-03 寧徳時代新能源科技股▲分▼有限公司 BATTERY MODULE, BATTERY PACK, DEVICE, AND BATTERY MODULE MANUFACTURING METHOD
JP7395744B2 (en) 2019-12-03 2023-12-11 寧徳時代新能源科技股▲分▼有限公司 Battery module, battery pack, device, and method for manufacturing battery module

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