WO2020004530A1

WO2020004530A1 - Data distribution server and data distribution system

Info

Publication number: WO2020004530A1
Application number: PCT/JP2019/025546
Authority: WO
Inventors: 純柴田; 邦彦酒井原; 山崎　靖久; 一幸吉野
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2018-06-28
Filing date: 2019-06-27
Publication date: 2020-01-02
Also published as: JP2020003341A

Abstract

The present invention reduces the load on a user of a positioning terminal. In the present invention, a reference station (10) uses positioning signals from satellites to generate self-set reference station positioning data (S401) and transfers the self-set reference station positioning data to a data distribution server (30) (S402). The data distribution server (30) calculates the position of the reference station (10) by carrying out RTK computation using the self-set reference station positioning data, preset reference station positioning data, and preset reference station position information (S403) and transmits self-set reference station position information to the reference station (10) (S404). Next, the reference station (10) transmits the self-set reference station positioning data and self-set reference station position information to a positioning terminal (20) (S405). Then, the positioning terminal (20) uses the positioning signals from satellites to generate positioning terminal positioning data (S406) and calculates a positioning solution by carrying out RTK computation using the positioning terminal positioning data, self-set reference station positioning data, and self-set reference station position information.

Description

Data distribution server and data distribution system

{Circle over (1)} The present invention relates to a data distribution server and a data distribution system for performing interference positioning using signals from positioning satellites (hereinafter, artificial satellites that can be used for positioning are collectively referred to as “satellite”).

2. Description of the Related Art Conventionally, a positioning system using interference positioning (RTK calculation) by a RTK (Real Time Kinematic) method has been considered in order to measure a position of an object such as a moving object with high accuracy (for example, see Patent Document 1). . The RTK method performs positioning of a predetermined point using a positioning signal transmitted by a satellite. It is expected that highly accurate positioning will be realized by applying the interference positioning by the RTK method.

When performing a RTK calculation, a positioning terminal receives a positioning signal transmitted from a satellite (not shown) of a GNSS (Global Navigation Satellite System) and uses the positioning signal to perform positioning data (hereinafter, “positioning terminal positioning data”). ). The GNSS is a general term for satellite navigation systems having performance (accuracy and reliability) usable for civil aviation navigation, such as GPS (Global Positioning System), BeiDou, and GLONASS. The positioning signal includes an L1 signal (1575.42 MHz) and an L2 signal (1227.60 MHz) transmitted from a GPS satellite.

The positioning terminal transmits, from a reference station whose position is known, positioning data at the reference station (hereinafter, referred to as “reference station positioning data”) and information indicating the current position (coordinates on the earth) of the reference station (hereinafter, “position information”). ), And performs an RTK operation using the positioning terminal positioning data, the reference station positioning data, and the position information to calculate the current position.

JP-A-2002-318273

ユーザ When the positioning terminal user receives the service of the existing positioning system, that is, the provision of the positioning data and the position information of the reference station, it is necessary to communicate with the reference station for each positioning terminal. Here, since it is difficult for the user of the positioning terminal to control the reference station of the existing positioning system, most of the burden such as management of communication between the positioning terminal and the reference station is left to the user of the positioning terminal. Not be. Therefore, as the number of positioning terminals increases, the burden on the users of the positioning terminals increases.

The non-limiting embodiment of the present disclosure discloses a data distribution server and a data distribution system that can reduce the burden on the user of the positioning terminal.

A data distribution server according to an aspect of the present disclosure includes a communication unit that communicates with each of a first reference station whose position is unknown and a second reference station whose position is known, and a processor that performs arithmetic processing, The communication unit receives, from the first reference station, positioning data of the first reference station, and receives, from the second reference station, positioning data of the second reference station and position information of the second reference station. The position of the first reference station is calculated by performing a positioning operation using the positioning data of the first reference station, the positioning data of the second reference station, and the position information of the second reference station.

A data distribution system according to an aspect of the present disclosure includes a first reference station that calculates positioning data based on positioning signals transmitted from a plurality of satellites, and a second reference station whose positioning data and position are known. A data distribution server that calculates the position of the first reference station by performing positioning calculation using the positioning data of the second reference station and the position information of the second reference station, and converts the positioning data based on positioning signals transmitted from a plurality of satellites. A positioning terminal that calculates a position by performing a positioning operation using the calculated positioning data, the positioning data of the first reference station, and the position information of the first reference station.

Note that these comprehensive or specific aspects may be realized by a system, an integrated circuit, a computer program, or a recording medium, and any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium. May be realized.

According to one aspect of the present disclosure, the data distribution server can calculate the position of the first reference station. Thereby, even if it is difficult for the user to measure an accurate position on the map, a reference station can be easily added. This allows the user of the positioning terminal to install or use a reference station that meets his or her needs, thereby reducing the burden on the user of the positioning terminal.

更 Additional advantages and effects of one embodiment of the present disclosure will be apparent from the description and the drawings. Such advantages and / or advantages are each provided by some embodiments and by the features described in the specification and drawings, but not necessarily all to achieve one or more identical features. There is no.

1 is a diagram illustrating a configuration of a data distribution system according to Embodiment 1 of the present disclosure. Block diagram showing a configuration of a reference station according to Embodiment 1 of the present disclosure. FIG. 2 is a block diagram illustrating a configuration of a positioning terminal according to Embodiment 1 of the present disclosure. FIG. 2 is a diagram illustrating a configuration of a data distribution server according to Embodiment 1 of the present disclosure. FIG. 3 is a diagram showing a sequence of the data distribution system according to the first embodiment of the present disclosure. Flow chart showing positioning processing according to Embodiment 1 of the present disclosure Diagram showing a configuration of a data distribution system according to Embodiment 2 of the present disclosure The figure which shows the sequence of the data distribution system which concerns on Embodiment 2 of this indication.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate. However, an unnecessary detailed description may be omitted. For example, a detailed description of well-known matters and a repeated description of substantially the same configuration may be omitted. This is to prevent the following description from being unnecessarily redundant and to facilitate understanding of those skilled in the art.

The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the claimed subject matter.

(Embodiment 1)
<Configuration of data distribution system>
First, the configuration of the data distribution system 1 according to the first embodiment will be described with reference to FIG. As shown in FIG. 1, the data distribution system 1 includes a reference station 10, a positioning terminal 20, and a data distribution server 30. The data distribution system 1 uses reference station positioning data (hereinafter, “existing reference station positioning data”) of a reference station of an existing positioning system (hereinafter, “existing reference station”, not shown).

The reference station 10 is different from the reference station of the existing positioning system, and is independently installed in the data distribution system 1. A plurality of reference stations 10 may be provided. FIG. 1 shows an example in which two reference stations 10-1 and 10-2 are installed.

The reference station 10 receives a positioning signal transmitted from a GNSS satellite (not shown), and generates positioning data (hereinafter, referred to as “self-contained reference station positioning data”) using the positioning signal. In this embodiment, since the reference station 10 is not assumed to be a reference station provided by an existing positioning system, the expression “self-installed” is used for information related to the reference station 10. In addition, the reference station 10 performs wireless communication with the data distribution server 30, transmits self-established reference station positioning data to the data distribution server 30, and transmits position information of the reference station 10 from the data distribution server 30 (hereinafter, “self-installed reference station position information”). Called). Further, the reference station 10 performs wireless communication with the positioning terminal 20 existing in the communication area, and transmits the self-installed reference station positioning data and the self-installed reference station position information to the positioning terminal 20. FIG. 1 shows an example in which the reference station 10-1 communicates with the positioning terminals 20-1, 20-2, and 20-3, and the reference station 10-2 communicates with the positioning terminals 20-4 and 20-5. Is shown.

The positioning terminal 20 receives the positioning signal received from the GNSS satellite, and generates positioning terminal positioning data using the positioning signal. In addition, the positioning terminal 20 performs wireless communication with the nearby reference station 10, and receives self-installed reference station positioning data and self-installed reference station position information from the reference station 10.

(4) The positioning terminal 20 performs an RTK operation using the positioning terminal positioning data, the own reference station positioning data, and the own reference station position information, and calculates the current position (coordinates on the earth) of the positioning terminal 20. The coordinates are generally three-dimensional coordinates such as latitude, longitude and altitude, but may be two-dimensional coordinates such as latitude and longitude. In addition, the positioning terminal 20 includes a dedicated terminal for positioning, a personal computer having a positioning function, a smartphone, a tablet, a server for performing a positioning service, and the like. Further, the positioning terminal 20 may be installed on a moving object (for example, a vehicle) from which coordinates are to be obtained.

The data distribution server 30 communicates with the existing reference station, and receives the existing reference station positioning data and the existing reference station position information from the existing reference station. Further, the data distribution server 30 performs wireless communication with the reference station 10 and receives self-installed reference station positioning data from the reference station 10.

The data distribution server 30 performs an RTK operation using the existing reference station positioning data, the existing reference station position information, and the own reference station positioning data, calculates the current position (coordinates on the earth) of the reference station 10, and installs it in the reference station 10. Transmit the reference station location information. When a plurality of reference stations 10 are installed, the data distribution server 30 receives the self-installed reference station positioning data from each of the reference stations 10 in a time-division manner, calculates the current position of each of the reference stations 10, and Send location information to. In the example of FIG. 1, the data distribution server 30 receives time-divisionally the own reference station positioning data of the reference station 10-1 and the own reference station positioning data of the reference station 10-2, Calculate the current position respectively.

<Configuration of reference station>
Next, the configuration of reference station 10 according to Embodiment 1 will be described using FIG. As shown in FIG. 2, the reference station 10 includes a processor 101, a storage unit 102, an input unit 103, an output unit 104, a first communication unit 105, a second communication unit 106, a

reception unit

107, 110.

The processor 101 controls other elements of the reference station 10 via the bus 110. As the processor 101, for example, a general-purpose CPU (Central Processing Unit) is used. In addition, the processor 101 executes a predetermined program to generate positioning reference station positioning data using the positioning signal.

The storage unit 102 acquires various information from other elements, and temporarily or permanently retains the information. The storage unit 102 is a general term for a so-called primary storage device and a secondary storage device. A plurality of storage units 102 may be physically arranged. As the storage unit 102, for example, a DRAM (Direct Random Access Memory), an HDD (Hard Disk Drive), and an SSD (Solid State Drive) are used.

(4) The input unit 103 receives information from outside. The external information received by the input unit 103 includes information related to input from the operator of the reference station 10 and the like. As an example, the input unit 103 can be configured by using an input interface such as a keyboard.

(4) The output unit 104 presents information to the outside. The information presented by the output unit 104 includes information related to positioning and the like. For example, the output unit 104 can be configured by using an existing output interface such as a display.

(4) The first communication unit 105 communicates with an external device via a communication path. Devices to be communicated by the communication unit 105 (communication targets) include the positioning terminal 20. For example, the first communication unit 105 can be configured by using a communication interface capable of communicating with an existing communication network such as a wireless LAN communication network.

The second communication unit 106 communicates with an external device via a communication path. Devices to be communicated by the communication unit 106 (communication targets) include the data distribution server 30. As an example, the second communication unit 106 can be configured by using a communication interface capable of communicating with an existing communication network such as a 3G communication network or an LTE communication network.

The receiving unit 107 receives a positioning signal from a satellite, and outputs the positioning signal to the processor 101 via the bus 110.

The configuration of the reference station 10 is an example. Some of the components of the reference station 10 may be integrated and configured. A part of each component of the reference station 10 may be divided into a plurality of components. Some of the components of the reference station 10 may be omitted. The reference station 10 may be configured by adding other elements.

<Configuration of positioning terminal>
Next, the configuration of the positioning terminal 20 according to Embodiment 1 will be described using FIG. As shown in FIG. 3, the positioning terminal 20 includes a processor 201, a storage unit 202, an input unit 203, an output unit 204, a communication unit 205, a reception unit 206, and a bus 210.

The processor 201 controls other elements of the positioning terminal 20 via the bus 210. As the processor 201, for example, a general-purpose CPU is used. The processor 201 executes a predetermined program to generate positioning terminal positioning data using the positioning signal. Further, the processor 201 performs an RTK calculation using the positioning terminal positioning data, the self-established reference station positioning data, and the self-established reference station position information, and calculates the current position of the positioning terminal 20. The details of the function of the processor 201 will be described later.

The storage unit 202 acquires various information from other elements and temporarily or permanently retains the information. The storage unit 202 is a general term for a so-called primary storage device and a secondary storage device. A plurality of storage units 202 may be physically arranged. As the storage unit 202, for example, a DRAM, HDD, or SSD is used.

(4) The input unit 203 receives information from outside. The external information received by the input unit 203 includes information related to input from an operator of the positioning terminal 20 and the like. As an example, the input unit 203 can be configured by using an input interface such as a keyboard.

(4) The output unit 204 presents information to the outside. The information presented by the output unit 204 includes information related to positioning and the like. For example, the output unit 204 can be configured by using an existing output interface such as a display.

(4) The communication unit 205 communicates with an external device via a communication path. Devices to be communicated by the communication unit 205 (communication targets) include the reference station 10. As an example, the communication unit 205 can be configured by using a communication interface capable of communicating with an existing communication network such as a wireless LAN communication network.

The receiving unit 206 receives the positioning signal from the satellite and outputs the positioning signal to the processor 201 via the bus 210.

The configuration of the positioning terminal 20 is an example. Some of the components of the positioning terminal 20 may be integrated and configured. Some of the components of the positioning terminal 20 may be divided into a plurality of components. Some of the components of the positioning terminal 20 may be omitted. The positioning terminal 20 may be configured by adding other elements.

<Configuration of data distribution server>
Next, the configuration of the data distribution server 30 according to the first embodiment will be described with reference to FIG. As shown in FIG. 3, the data distribution server 30 includes a processor 301, a storage unit 302, an input unit 303, an output unit 304, a communication unit 305, and a bus 310.

The processor 301 controls other elements of the data distribution server 30 via the bus 310. As the processor 301, for example, a general-purpose CPU is used. Further, the processor 301 performs an RTK operation using the existing reference station positioning data, the existing reference station position information, and the own reference station positioning data, and calculates the current position of the reference station 10.

The storage unit 302 acquires various information from other elements and temporarily or permanently retains the information. The storage unit 302 is a general term for a so-called primary storage device and a secondary storage device. A plurality of storage units 302 may be physically arranged. As the storage unit 302, for example, a DRAM, an HDD, or an SSD is used.

(4) The input unit 303 receives information from outside. The external information received by the input unit 303 includes information related to input from an operator of the data distribution server 30 and the like. As an example, the input unit 303 can be configured by using an input interface such as a keyboard.

(4) The output unit 304 presents information to the outside. The information presented by the output unit 304 includes information related to positioning and the like. For example, the output unit 304 can be configured by using an existing output interface such as a display.

The communication unit 305 communicates with an external device via a communication path. Devices to be communicated by the communication unit 305 (communication targets) include the existing reference station and the reference station 10. As an example, the communication unit 305 can be configured using a communication interface that can communicate with an existing communication network such as a 3G communication network or an LTE communication network.

<Positioning terminal coordinate output function of positioning terminal processor>
Next, the function of outputting the current position (coordinates on the earth) of the positioning terminal 20 by the processor 201 of the positioning terminal 20 will be described in detail.

The processor 201 performs interference positioning (RTK operation) by the RTK method using the positioning terminal positioning data, the self-established reference station positioning data, and the self-established reference station position information, and calculates a positioning solution (fixed solution or float solution). Hereinafter, the positioning solution obtained by the RTK calculation is referred to as “RTK positioning solution”. The processor 201 performs a quality check using an AR (Ambiguity Ratio) value obtained by the RTK operation, and determines that a correct fix solution has been obtained when the AR value is equal to or larger than a predetermined threshold (for example, 3.0). A fixed solution is output, and when the AR value is less than a predetermined threshold (for example, 3.0), it is determined that a correct positioning solution has not been obtained, and a float solution is output.

{Circle around (2)} Then, the processor 201 sets the RTK positioning solution as the current position (coordinates on the earth) of the positioning terminal 20 and outputs the current position of the positioning terminal 20 to the output unit 204.

<Positioning data>
Next, positioning data will be described. In the first embodiment, the positioning data includes pseudorange information, carrier wave phase information, and Doppler frequency information.

The pseudo distance information is information relating to the distance between the satellite and its own station (the reference station 10 or the positioning terminal 20). The processor (processor 101 or processor 201) can calculate the distance between the satellite and the own station by analyzing the positioning signal. Specifically, the processor firstly (1) differs between the pattern of the code carried by the positioning signal and the pattern of the code generated by the own station, and (2) includes the message (NAVDATA) included in the positioning signal. The arrival time of the positioning signal is obtained based on two pieces of information, namely, the satellite signal generation time and the own station signal reception time. Then, the processor obtains a pseudo distance between the satellite and the own station by multiplying the arrival time by the speed of light. This distance includes an error due to a difference between the clock of the satellite and the clock of the own station. Usually, pseudorange information is generated for four or more satellites to reduce this error.

The carrier phase information is the phase of the positioning signal received by the own station. The positioning signal is a predetermined sine wave. The processor can calculate the phase of the positioning signal by analyzing the received positioning signal.

The Doppler frequency information is information relating to the relative speed between the satellite and its own station. The processor can generate Doppler frequency information by analyzing the positioning signal.

As described above, the positioning data is generated by the processor 101 of the reference station 10 and the processor 201 of the positioning terminal 20, respectively.

<RTK operation>
Next, the RTK operation will be described. The RTK operation is an operation for executing the RTK method which is one of the interference positioning.

The RTK method is to perform positioning at a predetermined point by using a carrier phase integrated value of a positioning signal transmitted by a satellite. The carrier phase integrated value is the sum of (1) the number of waves of the positioning signal from the satellite to a predetermined point and (2) the phase. If the carrier phase integrated value is obtained, the frequency (and wavelength) of the positioning signal is known, so that the distance from the satellite to a predetermined point can be obtained. The number of waves of the positioning signal is unknown and is called integer ambiguity or integer value bias.

Important points in executing the RTK method are noise removal and estimation (determination) of the integer ambiguity.

In the RTK method, noise can be removed by calculating a difference called a double difference. The double difference is a value obtained by calculating a difference (single difference) between the carrier phase integrated values of one receiver for two satellites between the two receivers (the reference station 10 and the positioning terminal 20 in the first embodiment). Is the difference. In the first embodiment, four or more satellites are used for positioning using the RTK method. Therefore, double differences are calculated for the number of combinations of four or more satellites. In this calculation, reference station positioning data and positioning terminal positioning data are used.

In the RTK method, the estimation of the integer ambiguity can be performed by various methods. For example, the integer ambiguity can be estimated by executing a procedure of (1) estimating a float solution by the least square method and (2) testing a fixed solution based on the float solution.

フロー Estimation of a float solution by the least squares method is performed by creating a simultaneous equation using a combination of double differences generated for each time unit, and solving the created simultaneous equation by the least squares method. In this calculation, the reference station positioning data, the positioning terminal positioning data, and the known coordinates of the reference station 10 are used. The real number estimated value of the integer ambiguity thus obtained is called a float solution (estimated solution).

While the float solution obtained as described above is a real number, the true value of the integer ambiguity is an integer. Therefore, it is necessary to round the float solution to an integer value. However, there are several possible combinations for rounding the float solution. Therefore, it is necessary to test the correct integer value from the candidates. The solution determined to be somewhat certain as an integer bias by the test is called a fixed solution (precision positioning solution). In the first embodiment, a quality check is performed using the AR value obtained by the RTK operation, and a correct integer value is tested based on the result of the quality check. In addition, the reference station positioning data is used in order to efficiently narrow down the candidates of the integer value.

<Sequence of data distribution system>
Next, a sequence of the data distribution system 1 according to the first embodiment will be described with reference to FIG.

First, the reference station 10 generates own reference station positioning data using a positioning signal from a satellite (S401), and transmits the own reference station positioning data to the data distribution server 30 (S402).

Next, the data distribution server 30 performs an RTK calculation using the self-established reference station positioning data, the existing reference station positioning data, and the existing reference station position information to calculate a positioning solution (S403). Then, the data distribution server 30 sets the RTK positioning solution as the current position of the reference station 10, and transmits the own reference station position information to the reference station 10 (S404).

The data distribution server 30 receives the existing reference station positioning data each time it receives the own reference station positioning data from the reference station 10. Since the relative position of the satellite and the state of the atmosphere seen from the existing reference station and the reference station 10 change according to time, in order to calculate the position of the reference station 10 with high accuracy, it is the same as or close to the own reference station positioning data. This is because it is desirable to use the existing reference station positioning data at the time. Here, when there are a plurality of reference stations 10, it is rare in reality that the self-installed reference station positioning data simultaneously arrives from each of the reference stations 10. A request for reference station positioning data is made in a time-division manner. However, the data distribution server 30 may be configured to process a plurality of reference stations 10 at the same time.

In order for the reference station 10 to calculate the position of the reference station 10, it is necessary to receive the existing reference station position information. Since the position information of the existing reference station rarely changes with time, the timing at which the reference station 10 receives the existing reference station position information may be arbitrary.

Next, the reference station 10 transmits the own reference station positioning data and the own reference station position information to the positioning terminal 20 (S405). Note that the reference station 10 may transmit the own reference station positioning data and the own reference station position information at a timing different from the timing at which the own reference station position information is received. However, in this case, it is desirable to re-generate the local reference station positioning data using the positioning signal from the satellite at the timing of transmitting the local reference station positioning data to the positioning terminal 20. The positioning terminal 20 calculates its own position by reflecting the status of the satellite and the like at the timing of receiving the self-installed reference station positioning data.

Next, the positioning terminal 20 generates positioning terminal positioning data using a positioning signal from a satellite (S406), and performs an RTK operation using the positioning terminal positioning data, the self-established reference station positioning data, and the self-established reference station position information. Then, a positioning solution is calculated (S407). Then, the positioning terminal 20 outputs the RTK positioning solution as the current position of the positioning terminal 20.

<Positioning process flow>
Next, a flow of the positioning process of the positioning terminal 20 according to Embodiment 1 will be described with reference to FIG. Note that there is no particular limitation on the timing at which the positioning process is started. For example, the positioning process may be started when the power of the positioning terminal 20 is turned on. Further, when a command to start the positioning process is input by the input unit 203 of the positioning terminal 20, the positioning process may be started.

First, in ST501, the processor 201 clears the inside of the storage unit 202.

Next, in ST502, receiving section 206 receives a positioning signal from each satellite. Also, in ST503, communication section 205 receives self-installed reference station positioning data and self-installed reference station position information from reference station 10.

Next, in ST504, the processor 201 generates positioning terminal positioning data using a positioning signal from a satellite.

Next, in ST505, the processor 201 executes an RTK operation using the positioning terminal positioning data, the self-established reference station positioning data, and the self-established reference station position information.

Next, in ST506, the processor 201 checks the AR value obtained by the RTK operation in ST505.

Then, in ST507, the processor 201 performs a quality check on whether or not sufficient positioning quality has been obtained by confirming the AR value.

If the AR value is equal to or greater than a threshold value (for example, 3.0) (ST507: YES), in ST508, output section 204 outputs the positioning solution of the RTK operation as a fixed solution, that is, a precise positioning solution. This precise positioning solution represents the current position (coordinates on the earth) of the positioning terminal 20.

On the other hand, if the AR value is less than the threshold value (ST507: NO), in ST509, output section 204 outputs the positioning solution of the RTK operation as a float solution, that is, a guess solution.

<Effect>
As described above, in the first embodiment, the data distribution system 1 including the independently installed reference station 10 and the data distribution server 30 is constructed. Then, the data distribution server 30 calculates the position of the reference station 10 by performing an RTK operation using the own reference station positioning data, the existing reference station positioning data, and the existing reference station position information generated by the reference station 10. The reference station 10 receives the own reference station position information from the data distribution server 30 and transmits the own reference station positioning data and the own reference station position information to the positioning terminal 20.

Thereby, the positioning terminal 20 can receive the data necessary for positioning from the reference station 10, so that it can calculate the positioning solution by executing the RTK calculation.

According to the first embodiment, since the data distribution server 30 calculates the position of the reference station 10, even a user who does not have specialized knowledge can easily set the reference station 10. Accordingly, the user of the positioning terminal 20 can install or use the reference station 10 that meets the demand, so that the burden on the user of the positioning terminal 20 can be reduced.

In a conventional positioning system, a service usage fee is generally paid for each device that uses an existing reference station. Therefore, when the positioning terminal 20 communicates directly with the existing reference station, the cost burden on the user increases according to the number of the positioning terminals 20. On the other hand, according to the first embodiment, the device that receives information directly from the existing reference station is one data distribution server 30. Therefore, according to the present embodiment, the service usage fee can be reduced as compared with the case where a plurality of positioning terminals 20 receive information directly from the existing reference station.

As described above, the data distribution server 30 receives and provides the existing reference station positioning data to each of the plurality of reference stations 10 at a necessary timing. Therefore, the contract between the existing reference station and the data distribution server 30 can be reused for a plurality of reference stations 10. As a result, when the number of reference stations 10 using the data distribution server 30 increases, the usage fee paid by the provider of the data distribution server 30 to the existing reference station can be shared among the users of the reference station 10.

That is, if the user of the reference station 10 or the positioning terminal 20 pays a predetermined service usage fee to the provider of the data distribution system 1, each of the plurality of positioning terminals 20 can perform positioning. Burden is reduced. In the first embodiment, it is assumed that the installer of the reference station 10 and the user of the positioning terminal 20 are the same, but the installer of the reference station 10 and the user of the positioning terminal 20 may be different. In this case, similarly, the service usage fee of the existing reference station can be suppressed.

In addition, in the first embodiment, the timing at which the reference station 10 performs the process of acquiring the own reference station position information described in S401 to S404 may be arbitrary. For example, the timing when the power of the reference station 10 is turned on, the timing when the user receives an instruction, the timing when the positioning terminal 20 first requests the transmission of the self-installed reference station position information, and the like are considered. Further, in order to distribute the load on the data distribution server 30, a timing may be instructed from the data distribution server 30.

In the conventional configuration in which the existing reference station and the positioning terminal 20 directly communicate with each other, the number of positioning terminals 20 that can obtain data necessary for positioning in real time is limited by the upper limit of the transmission capability of the existing reference station. Therefore, when the number of positioning terminals 20 increases, there is a possibility that some of the positioning terminals 20 may not be able to obtain data necessary for positioning in real time. On the other hand, according to the configuration of the first embodiment, the reference station 10 directly communicates with the existing reference station, and the reference station 10 transmits data necessary for positioning to the positioning terminal 20. Therefore, even if the number of the positioning terminals 20 greatly increases, the communication load that increases with the number can be absorbed by the reference station 10. Therefore, the burden on the existing reference station can be reduced.

Further, in the above embodiment, communication between the existing reference station and the data distribution server 30, communication between the data distribution server 30 and the reference station 10, and communication between the reference station 10 and the positioning terminal 20 are performed in a time-division manner. However, other multiplex communication methods may be used. As a multiplexing method in one-to-many communication, various methods such as frequency division and code division are known. However, the communication between the existing reference station and the data distribution server 30 is advantageously performed in a time-division manner in order to maintain consistency with an existing service that returns necessary data in response to a request from each contractor.

(Embodiment 2)
In the second embodiment, since there is a change in each of the reference station 10, the positioning terminal 20, and the data distribution server 30 of the data distribution system 1 described in the first embodiment, the data distribution system 1A, the reference station 10A, a positioning terminal 20A, and a data distribution server 30A.

<Configuration of data distribution system>
First, the configuration of a data distribution system 1A according to Embodiment 2 will be described with reference to FIG. As shown in FIG. 7, the data distribution system 1A includes a reference station 10A, a positioning terminal 20A, and a data distribution server 30A. Embodiment 2 is different from Embodiment 1 in that the reference station 10A and the positioning terminal 20A do not perform wireless communication, and the positioning terminal 20A and the data distribution server 30A perform wireless communication.

The reference station 10A does not need to receive the position information of the reference station 10A from the data distribution server 30A, and does not need to transmit the self-installed reference station positioning data and the position information of the reference station 10A to the positioning terminal 20A. Therefore, the first communication unit 105 is not required in the reference station 10A. The other functions of the reference station 10A are common to those of the reference station 10 described in the first embodiment.

The positioning terminal 20A receives the self-installed reference station positioning data and the position information of the reference station 10A from the data distribution server 30A. The other functions of the positioning terminal 20A are the same as those of the positioning terminal 20 described in the first embodiment.

The data distribution server 30A transmits the position information of the reference station 10A located near the positioning terminal 20A to the positioning terminal 20A. In the example of FIG. 7, the data distribution server 30A transmits the position information of the reference station 10A-1 to the positioning terminals 20A-1, 20A-2, and 20A-3, and transmits the position information of the reference station 10A-1 to the positioning terminals 20A-4 and 20A-5. The location information of 10A-2 is transmitted. The other functions of data distribution server 30A are the same as those of data distribution server 30 described in the first embodiment.

<Sequence of data distribution system>
Next, a sequence of the data distribution system 1A according to the second embodiment will be described with reference to FIG.

First, the reference station 10A generates own reference station positioning data using a positioning signal from a satellite (S601), and transmits the own reference station positioning data to the data distribution server 30A (S602).

Next, the data distribution server 30A performs an RTK operation using the own reference station positioning data, the existing reference station positioning data, and the existing reference station position information to calculate a positioning solution (S603). Then, the data distribution server 30A sets the RTK positioning solution as the current position of the reference station 10A, and transmits the self-installed reference station positioning data and the position information of the reference station 10A to the positioning terminal 20A (S604).

Next, the positioning terminal 20A generates positioning terminal positioning data using a positioning signal from a satellite (S605), and performs an RTK operation using the positioning terminal positioning data, the self-installed reference station positioning data, and the position information of the reference station 10A. Then, a positioning solution is calculated (S606). Then, the positioning terminal 20A outputs the RTK positioning solution as the current position of the positioning terminal 20.

<Effect>
As described above, in the second embodiment, the data distribution system 1A including the independently installed reference station 10A and the data distribution server 30A is constructed. Then, the data distribution server 30A calculates the position of the reference station 10A by performing an RTK operation using the self-established reference station positioning data, the existing reference station positioning data, and the existing reference station position information generated by the reference station 10A. The self-located reference station positioning data and the position information of the reference station 10A are transmitted.

Thereby, the positioning terminal 20A can receive the data necessary for positioning from the reference station 10A, and thus can execute the RTK calculation to calculate the positioning solution.

According to the second embodiment, since the data distribution server 30A calculates the position of the reference station 10A, even a user having no special knowledge can easily set the reference station 10A. Accordingly, the user of the positioning terminal 20A can install or use the reference station 10A that meets his or her own needs, so that the burden on the user of the positioning terminal 20A can be reduced.

In a conventional positioning system, a service usage fee is generally paid for each device that uses an existing reference station. Therefore, when the positioning terminal 20A directly communicates with the existing reference station, the cost burden on the user increases according to the number of the positioning terminals 20A. On the other hand, according to the first embodiment, the device that receives information directly from the existing reference station is one data distribution server 30A. Therefore, according to the present embodiment, the service usage fee can be reduced as compared with a mode in which the plurality of positioning terminals 20A receive information directly from the existing reference station.

As described above, the data distribution server 30A receives the existing reference station positioning data at a necessary timing for each of the plurality of reference stations 10A, and calculates the position of the reference station 10A. Therefore, the contract between the existing reference station and the data distribution server 30A can be used for a plurality of reference stations 10A. Thus, if the number of reference stations 10A using the data distribution server 30A increases, the usage fee paid by the provider of the data distribution server 30A to the existing reference station can be shared among the users of the reference station 10A.

That is, if the user of the reference station 10A or the positioning terminal 20A pays a predetermined service usage fee to the provider of the data distribution system 1, the positioning can be performed at each of the plurality of positioning terminals 20A. Can be reduced. In the second embodiment, it is assumed that the installer of the reference station 10A and the user of the positioning terminal 20A are the same, but the installer of the reference station 10A and the user of the positioning terminal 20A may be different. In this case, similarly, the service usage fee of the existing reference station can be suppressed.

According to the second embodiment, the reference station 10A does not perform any processing other than generating the own reference station positioning data and transmitting the own reference station positioning data to the data distribution server 30A. Therefore, the reference station 10A can be realized with a very simple configuration. This facilitates downsizing of the reference station 10A, and allows the reference station 10A to be mounted on various devices.

Note that, in the present disclosure, the types, arrangements, numbers, and the like of the members are not limited to the above-described embodiments, but deviate from the gist of the invention, for example, by appropriately replacing the components with those having the same functions and effects. It can be changed appropriately within a range not to be performed.
Further, in the second embodiment, the timing at which the data distribution server 30A calculates the RTK positioning solution, which is the position of the reference station 10A, described in S603 may be arbitrary. For example, the timing when the power of the reference station 10A is turned on, the timing when the user receives an instruction, the timing when the positioning terminal 20A first requests the provision of the position information of the reference station 10A, and the like can be considered. In order to distribute the load on the data distribution server 30A, the timing may be determined by the data distribution server 30A.

Although various embodiments have been described with reference to the drawings, it goes without saying that the present disclosure is not limited to such examples. It will be apparent to those skilled in the art that various changes or modifications can be made within the scope of the claims, and these naturally belong to the technical scope of the present disclosure. I understand. Further, each component in the above embodiment may be arbitrarily combined without departing from the spirit of the disclosure.

In the above embodiments, the present disclosure has been described with respect to an example in which the present disclosure is configured using hardware. However, the present disclosure can be realized by software in cooperation with hardware.

The positions of the

reference stations

10 and 10A in the above embodiments are not necessarily fixed. For example, the functions of the

reference stations

10 and 10A may be provided in a large mobile body, and the functions of the

positioning terminals

20 and 20A may be provided in a small mobile body carried by the large mobile body. Thus, the coordinates of the small mobile unit can be calculated by moving the large mobile unit to the work site using the small mobile unit and making the large mobile unit function as the

reference stations

10 and 10A during the work. Since the

reference stations

10 and 10A serve as a reference for information used for calculating the positions of the

positioning terminals

20 and 20A, when performing work using a small mobile in the above example, the large mobile must be stopped. Is desirable. However, even when the large moving object moves, it is only necessary to acquire the position information and the like as the

reference stations

10 and 10A each time the large moving object is stopped. As a specific example of such a situation, it is conceivable to transport a drone or the like as a small mobile body by a truck or the like as a large mobile body, and perform work using the drone or the like at the destination. In the above description, the description has been made using the expression of the large mobile unit / small mobile unit. However, in the present invention, the

reference stations

10 and 10A do not necessarily need to be larger objects than the

positioning terminals

20 and 20A. For example, a small device that can be carried by the user and installed at the work site may be used as the

reference stations

10 and 10A.

In each of the above embodiments, the communication between the existing reference station and the data distribution server 30A, the communication between the data distribution server 30A and the reference station 10A, and the communication between the existing reference station and the positioning terminal 20A are performed in a time-division manner. This may be performed, or another multiplex communication method may be used. As a multiplexing method in one-to-many communication, various methods such as frequency division and code division are known. However, it is useful to perform communication with the existing reference station in a time sharing manner in order to maintain consistency with the existing service that returns necessary data in response to a request from each subscriber.

In addition, in each of the above-described embodiments, the service may be provided only when the

positioning terminals

20, 20A can be authenticated as the terminals related to the

reference stations

10, 10A. This can prevent unauthorized use of the service by an unauthorized positioning terminal. In the first embodiment, authentication may be performed using known security (such as authentication when connecting to Wi-Fi (registered trademark)) in the connection between the reference station 10 and the positioning terminal 20. Further, in the second embodiment, when performing communication between the positioning terminal 20A and the existing reference station, the positioning terminal 20A authenticates information indicating the related reference station 10A (for example, the ID of the reference station 10A) and its validity. For example, authentication may be performed by transmitting information (eg, a password) to be authenticated.

In each of the above embodiments, the reference station in the existing service is referred to as “existing reference station” and is distinguished from the

reference stations

10 and 10A. However, in the present invention, it is not necessary to distinguish in the technical sense. That is, the existing service provider can extend the service of the “existing reference station” by using the method of each of the above embodiments, add the same function as the existing reference station to the

reference stations

10 and 10A, and provide services to the

other reference stations

10 and 10A. The system according to the first or second embodiment may be constructed by regarding it as an “existing reference station”.

Each functional block used in the description of the above embodiment is typically realized as an LSI which is an integrated circuit. The integrated circuit may control each functional block used in the description of the above embodiments, and may have an input and an output. These may be individually formed into one chip, or may be formed into one chip so as to include a part or all of each functional block. The name used here is LSI, but it may also be called IC, system LSI, super LSI, or ultra LSI depending on the degree of integration.

The technique of circuit integration is not limited to an LSI, and may be realized using a dedicated circuit or a general-purpose processor. After the LSI is manufactured, a programmable FPGA (Field Programmable Gate Array) or a reconfigurable processor in which connection and setting of circuit cells inside the LSI can be reconfigured may be used.

(4) Further, if a technology for forming an integrated circuit that replaces the LSI appears due to the progress of the semiconductor technology or another technology derived therefrom, the function blocks may be naturally integrated using another technology. Application of biotechnology and the like are possible.

Note that the present disclosure can be expressed as a control method executed in a wireless communication device or a control device. In addition, the present disclosure can be expressed as a program for causing a computer to execute the control method. Further, the present disclosure can be expressed as a recording medium on which such a program is recorded so as to be readable by a computer. That is, the present disclosure can be expressed in any of the categories of the device, the method, the program, and the recording medium.

Further, the present disclosure does not limit the type, arrangement, number, and the like of the members to the above-described embodiment, and deviates from the gist of the invention, for example, by appropriately replacing the components with those having the same operation and effect. It can be changed appropriately within a range not to be performed.

The disclosure of Japanese Patent Application No. 2018-122998 filed on Jun. 28, 2018, including the specification, drawings and abstract, is incorporated herein by reference in its entirety.

The present disclosure is suitable for performing interference positioning using a signal from a satellite.

1, 1A

data distribution system

10,

10A reference station

20,

20A positioning terminal

30, 30A

data distribution server

101, 201, 301

processor

102, 202, 302

storage unit

103, 203, 303

input unit

104, 204, 304 output unit 105 1 communication unit 106

second communication unit

107, 206 receiving

unit

110, 210, 310

bus

205, 305 communication unit

Claims

A communication unit that communicates with each of the first reference station whose position is unknown and the second reference station whose position is known;
A processor for performing arithmetic processing;
With
The communication unit,
Receiving positioning data of the first reference station from the first reference station;
Receiving, from the second reference station, positioning data of the second reference station and position information of the second reference station;
The processor comprises:
Calculating the position of the first reference station by performing a positioning operation using the positioning data of the first reference station, the positioning data of the second reference station, and the position information of the second reference station;
Data distribution server.
The positioning data of the first reference station is calculated by the first reference station based on positioning signals transmitted from a plurality of satellites,
The positioning data of the second reference station is calculated in the second reference station based on positioning signals transmitted from a plurality of satellites.
The data distribution server according to claim 1.
The communication unit,
Transmitting the position information of the first reference station to the first reference station;
The data distribution server according to claim 1.
The communication unit,
Transmitting the positioning data of the first reference station and the position information of the first reference station to a positioning terminal that calculates positioning data based on positioning signals transmitted from a plurality of satellites;
The data distribution server according to claim 1.
The communication unit,
When a plurality of the first reference stations are installed, receiving the positioning data of the first reference station from each of the first reference stations,
The processor comprises:
Calculating the position of each of the first reference stations;
The data distribution server according to claim 1.
The communication unit,
Receiving the positioning data of the second reference station at a time corresponding to the time of receiving the positioning data of the first reference station from each of the first reference stations;
Calculating the position of each of the first reference stations using the positioning data of the second reference station corresponding to the time when the positioning data of each of the first reference stations is received;
The data distribution server according to claim 5.
A first reference station that calculates positioning data based on positioning signals transmitted from a plurality of satellites;
A data distribution server that calculates the position of the first reference station by performing positioning calculation using the positioning data of the first reference station, the positioning data of the second reference station whose position is known, and the position information of the second reference station; ,
By calculating positioning data based on positioning signals transmitted from a plurality of satellites and performing a positioning operation using the calculated positioning data, the positioning data of the first reference station, and the position information of the first reference station, the position is calculated. A positioning terminal to be calculated;
A data distribution system comprising:
The positioning data of the second reference station is calculated in the second reference station based on positioning signals transmitted from a plurality of satellites.
The data distribution system according to claim 7.
The data distribution server,
Transmitting location information of the first reference station to the first reference station;
The first reference station includes:
Transmitting, to the positioning terminal, positioning data of the first reference station and position information of the first reference station;
The data distribution system according to claim 7.
The data distribution server,
Transmitting, to the positioning terminal, positioning data of the first reference station and position information of the first reference station;
The data distribution system according to claim 7.
The data distribution server,
When a plurality of the first reference stations are installed, the positioning data of the first reference station is received from each of the first reference stations, and the position of each of the first reference stations is calculated.
The data distribution system according to claim 7.
The data distribution server,
Receiving the positioning data of the second reference station at a time corresponding to the time of receiving the positioning data of the first reference station from each of the first reference stations;
Calculating the position of each of the first reference stations using the positioning data of the second reference station corresponding to the time when the positioning data of each of the first reference stations is received;
The data distribution system according to claim 11.
The data distribution system includes a plurality of positioning terminals communicating with the first reference station,
The first reference station transmits, to each of the plurality of positioning terminals, positioning data of the first reference station and position information of the first reference station,
The data distribution system according to claim 7.
The data distribution system includes a plurality of positioning terminals associated with the first reference station,
The data distribution server, for each of the plurality of positioning terminals, the positioning data of the first reference station associated with the positioning terminal, and the location information of the first reference station associated with the positioning terminal Send,
The data distribution system according to claim 7.
Receiving, from a first reference station whose position is unknown, positioning data of the first reference station,
From a second reference station whose position is known, receiving positioning data of the second reference station and position information of the second reference station,
Calculating the position of the first reference station by performing a positioning operation using the positioning data of the first reference station, the positioning data of the second reference station, and the position information of the second reference station;
Data delivery method.