WO2020183986A1 - Système de transmission d'informations de correction - Google Patents

Système de transmission d'informations de correction Download PDF

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Publication number
WO2020183986A1
WO2020183986A1 PCT/JP2020/004158 JP2020004158W WO2020183986A1 WO 2020183986 A1 WO2020183986 A1 WO 2020183986A1 JP 2020004158 W JP2020004158 W JP 2020004158W WO 2020183986 A1 WO2020183986 A1 WO 2020183986A1
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WIPO (PCT)
Prior art keywords
satellite
mobile station
correction information
satellites
transmission system
Prior art date
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PCT/JP2020/004158
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English (en)
Japanese (ja)
Inventor
直樹 早川
枝穂 泉
石橋　英人
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日立建機株式会社
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Publication of WO2020183986A1 publication Critical patent/WO2020183986A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • 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
    • G01S19/22—Multipath-related issues
    • 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
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/28—Satellite selection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Definitions

  • the present invention relates to a correction information transmission system that transmits correction information necessary for high-precision satellite positioning to a mobile station.
  • RTK Real Time Kinematic
  • the mobile station installed in the mobile body is corrected to be generated based on the satellite signal transmitted from the artificial satellite and received by the receiver of the mobile station and the satellite signal received by the reference station and transmitted from the reference station. Positioning calculation is performed based on the information.
  • RTK positioning a technique for improving the accuracy of positioning calculation by using a satellite signal received by a mobile station is known.
  • the accuracy of positioning calculation is improved by using a plurality of signal intensity masks of satellite signals and elevation angle masks based on the elevation angles of satellites for satellite signals received by mobile stations.
  • an object of the present invention is to provide a correction information transmission system capable of suppressing a decrease in positioning accuracy in a mobile station even in an environment where the communication speed of correction information is not sufficient.
  • the present application includes a plurality of means for solving the above problems.
  • a control device that generates correction information used by a mobile station for RTK positioning and the correction information generated by the control device are used.
  • the control device acquires satellite signals from a plurality of satellites transmitted from a reference point via the communication device, and the plurality of satellites.
  • the mobile station estimates a satellite that uses a satellite signal for positioning calculation, and the amount of correction information data falls within the amount of data specified from the communication speed of the communication device.
  • the correction information is generated by preferentially selecting the estimated satellite from the above.
  • the reference station estimates the satellite used for the positioning calculation of the mobile station, selects the satellite having a high priority so that the amount of data corresponds to the communication speed, and transmits it as correction information.
  • the mobile station can receive correction information about the satellite used for positioning, and can suppress a decrease in positioning accuracy.
  • FIG. 5 is a flowchart showing a flow of correction information generation / transmission processing by the control device 101 of the correction information transmission system 1 according to the first embodiment of the present invention. It is a hardware block diagram of the satellite positioning system which concerns on 2nd Embodiment of this invention.
  • FIG. 1 is a hardware configuration diagram of a satellite positioning system according to the first embodiment of the present invention.
  • the satellite positioning system shown in this figure includes a correction information transmission system 1 that generates and transmits correction information, and a mobile station 2 that measures the position of a moving body using the correction information transmitted from the correction information transmission system 1. It is provided with a satellite signal acquisition system 3 that transmits a satellite signal to the correction information transmission system 1.
  • the mobile station 2 has a GNSS antenna (satellite signal receiving device) 201 that receives satellite signals transmitted from a plurality of artificial satellites (positioning satellites), and a correction information and satellite signal acquisition system 3 transmitted from the correction information transmission system 1.
  • a mobile station (mobile body) based on a communication device 203 that transmits and receives various information including mobile station position information to be transmitted to, a plurality of satellite signals received by the GNSS antenna 201, and correction information received from the correction information transmission system 1.
  • These devices 201, 202, 203 are mounted on a moving body such as a construction machine.
  • the controller 202 is a small control device (receiver) such as a computer or a microcontroller that can be mounted on a mobile body.
  • the communication device 203 communicates with a device that connects to the Internet by wire or wirelessly using a line such as a mobile phone communication network, or a wireless communication device such as BLUETOOTH (registered trademark) or WIFI (registered trademark) commercial radio.
  • the satellite signal acquisition system 3 is a system for outputting a satellite signal received at a point where the position coordinates in the geographic coordinate system located near the mobile station 2 are known to the correction information transmission system 1.
  • a fixed station installed at a reference point whose position coordinates in the geographic coordinate system are known, and a correction information distribution service such as an electronic reference point or a VRS (Virtual Reference Station) method can be used.
  • a correction information distribution service such as an electronic reference point or a VRS (Virtual Reference Station) method can be used.
  • a case where the VRS type correction information distribution service is used as the satellite signal acquisition system 3 will be described.
  • the satellite signal acquisition system 3 of the present embodiment includes a plurality of electronic reference points 36, a VRS server 31 connected so as to be able to receive satellite signals, and a communication device 37 for transmitting and receiving various information to the VRS server 31.
  • Each electronic reference point 36 is a GNSS continuous observation point whose position coordinates in the geographic coordinate system are known, and is based on a GNSS antenna (not shown) for receiving satellite signals and a satellite signal received by the GNSS antenna. It is equipped with a receiver for position measurement (not shown) and a communication device (not shown) for transmitting observation data (received satellite signals, positioning results, etc.) at the electronic reference point 36. Due to space limitations, two electronic reference points 36 are shown in FIG. 1 and three electronic reference points 36 are shown in FIG. 2, but the number of electronic reference points 36 is not limited and is around the mobile station 2. It is preferable to connect as many electronic reference points 36 as possible located in the VRS server 31.
  • the VRS server 31 is a server (computer) including an arithmetic control device (for example, a central processing unit (CPU)), a storage device (for example, a semiconductor memory such as ROM and RAM), and an input / output device.
  • the VRS server 31 selects a plurality of electronic reference points 36 located around the mobile station 2 based on the position information of the mobile station 2, and moves based on the satellite signals received by the selected plurality of electronic reference points 36.
  • a satellite signal from a virtual reference point (VRS point) installed near the station 2 is generated and output to the correction information transmission system 1.
  • the correction information transmission system 1 preferentially selects a satellite having a good communication condition with the mobile station 2 from a plurality of satellites capable of receiving a satellite signal by the mobile station 2 and uses it for generating correction information. This is a system for reducing the amount of correction information data to the amount of data that can be transmitted to the mobile station and transmitting the correction information to the mobile station 2.
  • the correction information transmission system 1 includes a control device 101 and a communication device 102 that transmits and receives various information to the control device 101.
  • the control device 101 can be used as a computer, a microcontroller, or the like, and can include an arithmetic control device (for example, a central processing unit (CPU)), a storage device (for example, a semiconductor memory such as a ROM or RAM), and an input / output device. It is equipped (neither is shown).
  • the storage device of the control device 101 stores information on the position and shape of an object that shields satellite signals that may be located around the mobile station 2.
  • the object is, for example, a building or terrain, and this information may be referred to as "obstacle information" below.
  • the communication device 102 communicates by a device that connects to the Internet by wire or wirelessly using a line such as a mobile phone communication network, or a wireless communication device such as BLUETOOTH (registered trademark) or WIFI (registered trademark) commercial wireless.
  • a device that includes one or more devices among devices and other communication devices that perform communication by a wired connection.
  • FIG. 2 is a functional block diagram of the VRS server 31, the control device 101, and the controller (receiver) 202 in FIG.
  • the VRS server 31 in the satellite signal acquisition system 3 executes a program stored in the storage device by the arithmetic control device, thereby executing the position information receiving unit 32, the satellite signal acquisition unit 33, and the virtual reference point satellite signal calculation unit 34. And, it functions as a virtual reference point satellite signal output unit 35.
  • the position information receiving unit 32 is a part that performs processing that the controller 202 of the mobile station 2 calculates and receives the mobile station position information transmitted from the communication device 203 via the communication device 37.
  • the satellite signal acquisition unit 33 selects a plurality of electronic reference points 36 existing around the mobile station 2 based on the mobile station position information received by the position information receiving unit 32 and the position information of each electronic reference point 36. , This is a part that performs a process of acquiring satellite signals received at the selected plurality of electronic reference points 36 via the communication device 37.
  • the virtual reference point satellite signal calculation unit 34 creates a virtual reference point near the mobile station 2, and receives a satellite signal that can be received by the mobile station 2 when a fixed station is installed at the virtual reference point. This is a part that performs calculation (generation) by simulation based on satellite signals from a plurality of electronic reference points 36 selected in.
  • the virtual reference point satellite signal output unit 35 performs a process of outputting the satellite signal from the virtual reference point calculated (generated) by the virtual reference point satellite signal calculation unit 34 to the correction information transmission system 1 via the communication device 37. It is a part.
  • the control device 101 in the correction information transmission system 1 executes the program stored in the storage device by the arithmetic control device, so that the satellite signal acquisition unit 11, the mobile station position reception unit 12, and the satellite estimation unit 13 used can be used. It functions as a priority determination unit 14 and a correction information transmission unit 15. As a result, the control device 101 receives the satellite signal output from the satellite signal acquisition system 3 and the mobile station position information output from the mobile station 2 as inputs, and outputs the correction information to the mobile station 2.
  • the satellite signal acquisition unit 11 is a part that performs processing for acquiring satellite signals of a plurality of satellites transmitted from a virtual reference point created by the satellite signal acquisition system 3 via a communication device 102.
  • the amount of satellite signal data acquired here is within the range in which communication is possible with respect to the communication speed per unit time of the communication device 102, subsequent processing is performed by the correction information transmission unit 15 to acquire the satellite signal.
  • the correction information generated based on all the satellite signals acquired by the unit 11 is transmitted.
  • the mobile station position receiving unit 12 performs the process described below.
  • the mobile station position receiving unit 12 is a part that performs processing that the controller 202 of the mobile station 2 calculates and receives the mobile station position information transmitted from the communication device 203 via the communication device 102.
  • the satellite estimation unit 13 used uses the mobile station position receiving unit 12 to select a satellite used by the mobile station 2 for positioning calculation from among a plurality of satellites to which satellite signals are transmitted from a virtual reference point created by the satellite signal acquisition system 3. This is a part that performs estimation processing based on the received mobile station position information and the obstacle information stored in the storage device of the control device 101.
  • the satellite estimation unit 13 used in the present embodiment receives satellite signals from a plurality of satellites based on information on obstacles around the mobile station 2, position information of the mobile station 2, and position information of a plurality of satellites. Among them, the satellite that transmits the satellite signal that the mobile station 2 can receive without being affected by the multipath is estimated as the satellite that the mobile station 2 uses the satellite signal for the positioning calculation.
  • the process executed by the satellite estimation unit 13 used will be described with reference to the explanatory diagram showing the surrounding environment of the mobile station 2 shown in FIG. As shown in this figure, there are a plurality of obstacles and satellites around the mobile station 2.
  • the signal transmitted from the satellite 1 is shielded by the obstacle 1
  • the signal transmitted from the satellite 2 is affected by the multipath by the obstacle 2
  • the signal from the satellite 3 is affected by these obstacles. Unaffected (ie, unaffected by multipath). Therefore, among the satellite signals transmitted from the satellites, satellites with less noise such as satellite 3 than the signals of satellites affected by obstacles such as shielding by obstacles and multipaths such as satellite 1 and satellite 2 shown in FIG. The accuracy is improved when the signal of is used for the positioning calculation of the mobile station 2.
  • the satellite estimation unit 13 of the present embodiment has the obstacle information and the mobile station position information recorded in the storage device of the control device 101, and the elevation angle of each satellite included in the satellite signal acquired by the satellite signal acquisition unit 11. And the signal quality of the satellite signal from each satellite that can be received at the position of the mobile station 2 is calculated based on the azimuth angle information (that is, the position information of the satellite), and the mobile station 2 performs the positioning calculation based on the satellite signal quality.
  • the signal quality of the satellite signal is, for example, the S / N ratio (signal-to-noise ratio) estimated by considering the presence or absence of shielding by obstacles (terrain, buildings, etc.) located around the mobile station 2 and the influence of multipath. ) Can be evaluated.
  • S / N ratio signal-to-noise ratio
  • the priority determination unit 14 uses a satellite among a plurality of satellites to which the satellite signal is transmitted from the satellite signal acquisition system 3 so that the data amount of the correction information falls within the data amount defined by the communication speed of the communication device 102. This is a part where the estimation unit 13 performs a process of preferentially selecting the estimated satellite.
  • the priority determination unit 14 first obtains the amount of correction information data that can be transmitted per unit time in the communication by the two communication devices 102 and 203. Next, the number of satellites that can be included in the correction information of the amount of data (hereinafter sometimes referred to as "the number of transmittable satellites”) is obtained.
  • the priority determination unit 14 determines the satellite signal quality obtained by the satellite estimation unit 13 used and the satellite arrangement (for example, DOP value) from among the plurality of satellites acquired by the satellite signal acquisition unit 11. Based on the viewpoint, the combination of satellites that can be accurately positioned by the mobile station 2 is determined within the range of the number of transmittable satellites (preferably the same number as the number of transmittable satellites). The number of satellites that can be transmitted may be set in advance instead of being calculated each time.
  • the correction information transmission unit 15 is a part that generates correction information based on the satellite signal of the satellite selected by the priority determination unit 14 and transmits the correction information to the mobile station 2.
  • the correction information transmission unit 15 acquires all the satellites.
  • the correction information generated based on the signal is transmitted, and if not, the correction information based on the satellite signal of the satellite determined by the priority determination unit 14 is transmitted.
  • the correction information may include information such as a carrier phase and a pseudo distance related to each satellite.
  • the controller 202 in the mobile station 2 executes the program stored in the storage device by the arithmetic control device, so that the satellite signal receiving unit 21, the correction information receiving unit 22, the satellite used determination unit 23, and the positioning calculation unit 24 are executed. And, it functions as a position information transmission unit 25. As a result, the controller 202 takes the correction information output from the correction information transmission system 1 as input, and outputs the mobile station position information obtained by performing the positioning calculation in the mobile station 2 to the correction information transmission system 1 and the satellite signal acquisition system 3. To do.
  • the satellite signal receiving unit 21 receives satellite signals from a plurality of satellites received by the GNSS antenna 201.
  • the correction information receiving unit 22 receives the correction information transmitted from the correction information transmission system 1 (control device 101).
  • the satellite use determination unit 23 performs positioning calculation of the mobile station 2 based on the signal quality of the satellite signal received by the satellite signal reception unit 21 and the satellite information included in the correction information received by the correction information reception unit 22. Determine the combination of satellites to use.
  • the satellite determined by the satellite determination unit 23 to be used is used for the positioning calculation of the mobile station 2 among the satellites that received the satellite signal by the satellite signal receiving unit 21 and the satellites included in the correction information received by the correction information receiving unit 22. Will be a satellite.
  • the positioning calculation unit 24 uses the satellite signal received by the satellite signal receiving unit 21 and the correction information received by the correction information receiving unit 22 in the combination of satellites determined by the satellite used determining unit 23 to be used by the mobile station 2 Positioning calculation is performed.
  • the position information transmission unit 25 transmits the position information of the mobile station 2 calculated by the positioning calculation unit 24 to the correction information transmission system 1 (control device 101) and the satellite signal acquisition system 3 (VRS server 31). Send via.
  • the flow of the satellite signal generation / transmission processing by the VRS server 31 of the satellite signal acquisition system 3 according to the first embodiment will be described with reference to FIG.
  • the VRS server 31 according to the present embodiment starts the processing flow shown in FIG. 4 at a predetermined cycle.
  • the VRS server 31 position information receiving unit 32 of the satellite signal acquisition system 3 receives the mobile station position information transmitted from the communication device 203 of the mobile station 2 via the communication device 37 (S31).
  • the mobile station position information in the mobile station 2 may be acquired not only by RTK positioning but also by independent positioning.
  • the VRS server 31 (satellite signal acquisition unit 33) of the mobile station 2 based on the mobile station position information of the mobile station 2 acquired in S1 from among a plurality of electronic reference points 36 for which observation data can be obtained.
  • a plurality of electronic reference points 36 existing in the vicinity are selected.
  • the number of electronic reference points 36 selected here may be one.
  • the VRS server 31 acquires the observation data of the plurality of electronic reference points 36 selected in S32, and is based on the observation data of the acquired plurality of electronic reference points 36.
  • a virtual reference point is created near the mobile station 2.
  • the VRS server 31 uses the observation data of the plurality of electronic reference points 36 selected in S32 to transmit the satellite signal to be transmitted from the virtual reference point created in S33. Calculate (generate).
  • the installation position of the virtual reference point may match, for example, the mobile station position which is the positioning result by the controller 202 of the mobile station 2.
  • the VRS server 31 (virtual reference point satellite signal output unit 35) transmits the satellite signal from the virtual reference station calculated in S34 to the control device 101 (communication device 102) of the correction information transmission system 1 with the communication device 37. It is transmitted via and returns to the first process S31.
  • the flow of the correction information generation / transmission process by the control device 101 of the correction information transmission system 1 according to the first embodiment will be described with reference to FIG.
  • the control device 101 according to the present embodiment starts the processing flow shown in FIG. 5 at a predetermined cycle.
  • the control device 101 (satellite signal acquisition unit 11) of the correction information transmission system 1 acquires the satellite signal at the virtual reference point transmitted in S35 of FIG. 4 from the VRS server 31 of the satellite signal acquisition system 3. , Proceed to S14.
  • the control device 101 compares the amount of data of the satellite signal acquired in S13 with the amount of data that the communication devices 102 and 203 can communicate with per unit time. At this time, if the communication speeds of the communication devices 102 and 203 exceed the communication speeds required for transmitting all the satellite signals acquired in S13 within a predetermined time and are sufficiently fast, the process proceeds to S18. On the other hand, if the communication speeds of the communication devices 102 and 203 are insufficient, the process proceeds to S15. Whether or not the communication speed is sufficient can be determined by, for example, whether or not the amount of data that can be communicated per unit time exceeds the threshold value obtained by multiplying the amount of data of the satellite signal by the safety factor.
  • the control device 101 since the communication speeds of the communication devices 102 and 203 are sufficient for the amount of satellite signal data acquired in S13, the control device 101 (correction information transmission unit 15) has all the satellite signals acquired in S13. Correction information including satellite signals related to satellites is transmitted to mobile station 2.
  • the control device 101 (satellite estimation unit 13 used) acquired the obstacle information recorded in the storage device in the control device 101, the mobile station position information transmitted from the mobile station 2, and S13. Based on the position information of each satellite included in the satellite signal, the quality of the satellite signal from each satellite is calculated in consideration of the shielding of the satellite signal by the terrain and obstacles and the influence of the multipath, and the process proceeds to S16.
  • the control device 101 determines the number of transmittable satellites determined based on the amount of data that can be transmitted between the two communication devices 102 and 203, the satellite signal quality calculated in S15, and S13. Based on the position information of each satellite included in the satellite signal acquired in step 2 and the satellite arrangement (DOP value), it may be used for positioning by mobile station 2 within the range of the number of satellites that can be transmitted. Determine the combination of high satellites.
  • the combination of satellites that are likely to be used for positioning at the mobile station 2 according to S16 may be determined by, for example, the following procedure. First, among a plurality of satellites for which the satellite signal quality obtained by using the satellite estimation unit 13 used in S15 is calculated, a satellite whose quality exceeds a certain threshold value is selected. Then, the DOP value, which is the accuracy reduction rate due to the satellite arrangement, is calculated for all combinations of selecting the same number of satellites as the number of transmittable satellites from the selected satellites. Based on the DOP value at this time, the combination with the lowest DOP value, which is an index of the accuracy reduction rate, is determined as the combination of satellites to be preferentially included in the correction information.
  • the threshold value of satellite signal quality does not have to be a fixed value and may be changed according to the number of satellites that can be transmitted.
  • the correction information transmission system 1 transmits correction information to a plurality of mobile stations 2 and the like on the same line, the same frequency, or the same channel, for example, the combination of satellites having the lowest DOP value is obtained for each mobile station 2.
  • the satellites for the number of transmittable satellites may be selected in descending order of frequency included in the combination of these satellites, and the selected satellites may be used as the combination of satellites to be transmitted as correction information.
  • the control device 101 uses the satellite signals of a plurality of satellites whose combination is determined in S16 among the satellites acquired from the satellite signal acquisition system 3 in S13 as correction information in the mobile station 2. Is transmitted via the communication device 102.
  • the correction information transmitted in this way has a positioning accuracy of the mobile station 2 within the range of the amount of data allowed for communication between the two communication devices 102 and 203 (communication between the correction information transmission system 1 and the mobile station 2). It is generated based on high quality satellite signals that can maximize. Therefore, the mobile station 2 performs positioning using the satellite signal on which the correction information is based and the correction information, so that the satellite positioning accuracy of the mobile station 2 is lowered even in an environment where the communication speed is limited. Can be suppressed.
  • control device 101 causes the mobile station 2 to RTK based on the correction information acquired from the correction information transmission system 1 (control device 101) and the satellite signal received by the GNSS antenna 201.
  • the mobile station position information acquired by performing positioning is acquired from the mobile station 2, and the process returns to S13.
  • the control device 101 of the correction information transmission system 1 is among a plurality of satellites to which satellite signals are transmitted from the VRS server 31 of the satellite signal acquisition system 3.
  • the satellite that is likely to be used for positioning by the controller 202 of the mobile station 2 is estimated, and the satellite information of the estimated satellite is preferentially selected so that the amount of data is determined from the communication speed of the communication device 102.
  • the corrected information is transmitted to the mobile station 2.
  • the correction information including the satellite information used for the positioning calculation in the mobile station 2 is transmitted in an amount of data that can be sufficiently transmitted at the communication speed of the communication device 102, and in an environment where the communication speed is limited. Can also maintain the satellite positioning accuracy of the mobile station 2.
  • the control device 101 of the correction information transmission system 1 determines the position information of the moving body, the position information of obstacles, and the position of the satellite when estimating the satellite that is likely to be used for positioning by the mobile station 2.
  • the quality of each satellite signal is calculated based on the information, and good quality satellite signals are selected.
  • the DOP value is calculated for all combinations that select the same number of satellites as the number of transmittable satellites from the satellites selected by quality, and from the satellite signals of the satellites included in the combination that minimizes the DOP value. Correction information is to be generated. Therefore, it is expected that the positioning accuracy of the mobile station 2 using the correction information will be further improved.
  • a satellite with good communication status at the mobile station 2 is estimated based on the positions of the mobile station 2 and the satellite and obstacles (terrain, buildings, etc.), and correction information is generated from the signal of the satellite.
  • the amount of correction information data was limited by.
  • satellite information visible satellite information
  • satellite signal acquisition system 3 satellite information with good communication status at the reference station
  • positioning calculation with mobile station 2 with good communication status at mobile station 2 By comparing with the information of satellites that may be used (satellite information used by mobile stations) and generating correction information from the signals of satellites common to them, the amount of correction information data is reduced.
  • the details of this embodiment will be described below. The same parts as those in the first embodiment may be designated by the same reference numerals and the description thereof may be omitted.
  • FIG. 6 is a hardware configuration diagram of the satellite positioning system according to the second embodiment of the present invention.
  • the configuration of the satellite signal acquisition system has changed from the first embodiment, and the satellite signal acquisition system 3 of the present embodiment is a fixed station installed at a reference point whose position coordinates in the geographic coordinate system are known.
  • a correction information distribution service such as an electronic reference point or a VRS method as in the first embodiment.
  • the satellite signal acquisition system 3 is mounted on a fixed station (not shown), and outputs a satellite signal received by the fixed station to the correction information transmission system 1.
  • the satellite signal acquisition system 3 of FIG. 6 has a GNSS antenna 301 for receiving satellite signals from a plurality of satellites and a control device 302 for converting the satellite signals received by the GNSS antenna 301 into a format capable of communicating with other devices. And a communication device 303 for transmitting and receiving various information to the control device 302.
  • the control device 302 can be used as a computer, a microcontroller, or the like, and can include an arithmetic control device (for example, a central processing unit (CPU)), a storage device (for example, a semiconductor memory such as a ROM or RAM), and an input / output device. It is equipped (neither is shown).
  • an arithmetic control device for example, a central processing unit (CPU)
  • a storage device for example, a semiconductor memory such as a ROM or RAM
  • input / output device for example, a semiconductor memory such as a ROM or RAM
  • the communication device 303 communicates by a device that connects to the Internet by wire or wirelessly using a line such as a mobile phone communication network, or a wireless communication device such as BLUETOOTH (registered trademark) or WIFI (registered trademark) commercial wireless.
  • a device that includes one or more devices among devices and other communication devices that perform communication by a wired connection.
  • the correction information transmission system 1 transmits the correction information and the visible satellite information to the mobile station 2, and the mobile station 2 transmits the satellite information used by the mobile station to the correction information transmission system 1. ing.
  • FIG. 7 is a functional block diagram of the controller 101 and the controller (receiver) 202 in FIG.
  • the control device 101 in the correction information transmission system 1 includes a satellite signal acquisition unit 11, a satellite estimation unit 13, a priority determination unit 14, a correction information transmission unit 15, a reference station visible satellite determination unit 16, and a reference station visible satellite. It functions as an information transmission unit 17.
  • the control device 101 inputs the satellite signal output from the satellite signal acquisition system 3 and the satellite information used by the mobile station output from the mobile station 2, and outputs the correction information to the mobile station 2. Note that there may be one or more relay stations, data conversion devices, and the like between the correction information transmission system 1 (control device 101) and the mobile station 2 (controller 202).
  • the satellite signal acquisition unit 11 is a portion that performs processing for acquiring satellite signals of a plurality of satellites transmitted from the satellite signal acquisition system 3 (control device 302), which is a reference point (fixed station), via the communication device 102. is there. As described above, this satellite signal is received by the satellite signal acquisition system 3 (control device 302) via the GNSS antenna 301.
  • the satellite estimation unit 13 used transmits the satellite signal from the satellite signal acquisition system 3. This is a part that performs a process of estimating a satellite used by the mobile station 2 for positioning calculation (RTK positioning) from a plurality of satellites based on the satellite information used by the mobile station transmitted from the mobile station 2.
  • the satellite information used by the mobile station is information on a satellite having a good communication condition on the mobile station 2, and is information on a satellite that is relatively likely to be used for positioning by the mobile station 2.
  • the priority determination unit 14 uses a satellite among a plurality of satellites to which the satellite signal is transmitted from the satellite signal acquisition system 3 so that the data amount of the correction information falls within the data amount defined by the communication speed of the communication device 102. This is a part where the estimation unit 13 performs a process of preferentially selecting the estimated satellite. First, the priority determination unit 14 obtains the amount of correction information data that can be transmitted per unit time by communication by the two communication devices 102 and 203. Next, the number of transmittable satellites that can be included in the correction information of the data amount is obtained.
  • the priority determination unit 14 can transmit a combination of satellites that can be accurately positioned by the mobile station 2 based on the satellite information used by the mobile station acquired by the satellite estimation unit 13 (preferably) within the range of the number of satellites that can be transmitted. Determined by the number of satellites that can be transmitted).
  • the correction information transmission system 1 transmits correction information to a plurality of mobile stations 2 and the like on the same line, the same frequency, or the same channel, for example, satellites included in the satellite information used by the mobile station received from each mobile station 2.
  • the same number of satellites as the number of satellites that can be transmitted are selected in descending order of frequency included in the satellite information used by the mobile station transmitted from each mobile station 2, and the selected satellite is used as a combination of satellites to be transmitted as correction information. May be good.
  • the correction information transmission unit 15 is a part that generates correction information based on the satellite signal of the satellite selected by the priority determination unit 14 and transmits the correction information to the mobile station 2.
  • the correction information can include information such as carrier phase and pseudo-distance for each satellite.
  • the reference station visible satellite determination unit 16 receives a satellite signal from a plurality of satellites acquired by the satellite signal acquisition unit 11 without being affected by shielding or multipath at the reference station (satellite signal acquisition system 3). This is the part that performs the process of determining the satellites that have been able to be used (hereinafter sometimes referred to as "reference station visible satellites"). Whether or not the satellite is a reference station visible satellite can be determined, for example, based on whether or not the SN ratio of the satellite signal of each satellite is equal to or higher than a predetermined threshold value. That is, when the SN ratio is equal to or more than a predetermined threshold value, it is determined to be a reference station visible satellite, and when the SN ratio is less than a predetermined threshold value, it is determined not to correspond to a reference station visible satellite.
  • the reference station visible satellite information transmission unit 17 is a part that performs a process of transmitting the satellite number of the reference station visible satellite determined by the reference station visible satellite determination unit 16 to the mobile station 2 as visible satellite information via the communication device 102.
  • the controller 202 in the mobile station 2 executes the program stored in the storage device by the arithmetic control device, so that the satellite signal receiving unit 21, the correction information receiving unit 22, the satellite used determination unit 23, and the positioning calculation unit 24 are executed. It functions as a reference station visible satellite information receiving unit 26, a used satellite estimation unit 27, and a used satellite information transmitting unit 28. As a result, the controller 202 receives the correction information and the reference station visible satellite information output from the correction information transmission system 1 as inputs, and outputs the mobile station position information and the mobile station use satellite information obtained by performing the positioning calculation in the mobile station 2. ..
  • the processing contents by the satellite signal receiving unit 21, the correction information receiving unit 22, the satellite used determining unit 23, and the positioning calculation unit 24 are the same as those in the first embodiment.
  • the reference station visible satellite information receiving unit 26 is a part that performs processing for receiving the reference station visible satellite information transmitted from the correction information transmission system 1 (control device 101).
  • the satellite estimation unit 27 used includes a plurality of satellites for which satellite signals have been received by the GNSS antenna 201 input from the satellite signal reception unit 21, and a plurality of satellites included in the reference station visible satellite information transmitted from the correction information transmission system 1. Based on the above, it is a part that performs a process of obtaining a satellite to be included in the correction information transmitted by the correction information transmission system 1.
  • the satellites to be included in the correction information are compared with the first group consisting of a plurality of satellites for which satellite signals are received by the GNSS antenna 201 and the second group consisting of a plurality of satellites included in the reference station visible satellite information. It is selected from satellites included in both groups (satellite that overlaps in both groups).
  • the satellite estimation unit 27 used determines the signal quality of the satellite signal in the mobile station 2 input from the satellite signal reception unit 21, the arrangement of the satellites specified in the reference station visible satellite information, and the satellite arrangement. Based on the orbit information, etc., the combination of satellites that improves the accuracy of the positioning calculation at the mobile station 2 is calculated. For example, the combination of satellites that gives the best positioning accuracy is the satellite that should be included in the correction information. Can be done. At this time, the calculation may be performed on the combination of each satellite and the degree of influence on the positioning calculation result when each satellite is used.
  • the used satellite information transmitting unit 28 has a combination of satellites calculated by the used satellite estimation unit 27 (that is, a combination of satellites to be included in the correction information transmitted by the correction information transmission system 1), a degree of influence on the positioning calculation result, and the like. This is a part that performs a process of transmitting satellite information used by a mobile station including the above information to the correction information transmission system 1.
  • the satellite information used by the mobile station may include information on satellites that the mobile station 2 does not use for positioning. By including such satellites, even if the number of satellites included in the correction information is small or the correction information cannot be received for some reason, the satellites that should be included in the correction information transmitted by the correction information transmission system 1 next. It is possible to prevent the number of Specifically, it is possible to prevent an error from occurring due to insufficient number of satellites required for positioning immediately after the mobile station 2 is activated.
  • the processing flow of the correction information transmission system 1 according to the second embodiment will be described with reference to FIG.
  • the control device 101 according to the present embodiment starts the processing flow shown in FIG. 8 at a predetermined cycle.
  • the control device 101 (satellite signal acquisition unit 11) of the correction information transmission system 1 acquires satellite signals of a plurality of satellites received by the reference station from the satellite signal acquisition system 3 (S1-1), and S1-2 and Proceed to the process of S1-4.
  • control device 101 acquires the satellite information used by the mobile station transmitted from the mobile station 2.
  • control device 101 (priority determination unit 14) is a mobile station based on the number of transmittable satellites calculated from the communication speed of the communication device 102 and the satellite information used by the mobile station acquired in S1-2.
  • the combination of satellites that can be accurately positioned in step 2 is determined within the range of the number of satellites that can be transmitted, and the process proceeds to S1-5.
  • the control device 101 shields or multipaths the reference station (satellite signal acquisition system 3) from among the plurality of satellites that have acquired satellite signals in S1-1.
  • the satellite that was able to receive the satellite signal without being affected is determined, and the process proceeds to S1-5.
  • correction information including satellite signals of satellites included in the combination determined in S1-3 is generated and transmitted to the mobile station 1 via the communication device 102, and the reference station visible determined in S1-4 is visible.
  • the satellite information is transmitted to the mobile station 2 via the communication device 102, and the process returns to the first process (S1-1).
  • the controller 202 of the mobile station 2 according to the present embodiment starts the processing flow shown in FIG. 9 at a predetermined cycle.
  • the controller 202 (satellite signal receiving unit 21) of the mobile station 2 acquires the satellite signal received by the mobile station 2 by the GNSS antenna 201, and proceeds to the process of S2-2 (S2-1).
  • the controller 202 acquires the reference station visible satellite information transmitted from the correction information transmission system 1 and proceeds to S2-3.
  • the controller 202 (satellite estimation unit 27 used) of the mobile station is based on the satellite signal received by the mobile station 2 acquired in S2-1 and the reference station visible satellite information acquired in S2-2.
  • the controller 202 (used satellite information transmitting unit 28) transmits the mobile station used satellite information obtained in S-3 to the correction information transmitting system 1 (control device 101) via the communication device 203, and S2 Proceed to the process of -1.
  • the controller 202 (correction information receiving unit 22) receives the correction information transmitted from the correction information transmitting system 1 (control device 101).
  • the controller 202 (satellite determination unit 23 used) is a mobile station based on the signal quality of the satellite signal received in S2-1 and the satellite information included in the correction information received in S2-5. Determine the combination of satellites used for the positioning calculation of 2.
  • the satellites determined here are included in the satellites with duplicate numbers by comparing the satellite number that received the satellite signal in S2-1 with the satellite number included in the correction information received in S2-5. Is done.
  • the controller 202 performs the positioning calculation of the mobile station 2 based on the satellite signal of the combination of satellites determined in S2-6 and the correction information received in S2-5. , S2-1 process.
  • the correction information including the satellite information used for the positioning calculation in the mobile station 2 is transmitted to the communication device 102 without prior information such as topographical information. It is possible to transmit with a sufficient amount of data that can be transmitted at a high speed, and the satellite positioning accuracy of the mobile station 2 can be maintained even in an environment where the communication speed is limited.
  • the control device 101 (reference station visible satellite determination unit 16) of the correction information transmission system 1 is the reference station (satellite signal acquisition system 3) and the reception status of the satellite signal.
  • the number of a good satellite (reference station visible satellite) is transmitted to mobile station 2.
  • the controller 202 (satellite estimation unit 27) of the mobile station 2 selects, for example, a satellite included in both the reference station visible satellite and the satellite in which the mobile station 2 has a good reception of satellite signals, and the selected satellite.
  • Information is transmitted to the correction information transmission system 1 as satellite information used by the mobile station (that is, information on satellites at which the mobile station 2 may use satellite signals for positioning calculation).
  • the control device 101 (priority determination unit 14) of the correction information transmission system 1 that has received the mobile station use satellite information includes the number of satellites included in the mobile station use satellite information within the range of the amount of data that can be transmitted by the communication device 102. Is reduced, and the correction information generated based on the satellite signal after the number of satellites is reduced is transmitted to the mobile station 2 (correction information receiving unit 22).
  • the controller 202 (positioning calculation unit 24) of the mobile station 2 performs positioning based on the correction information after the number of satellites is reduced and the satellite signal (satellite signal received by the satellite signal receiving unit 21) included in the correction information. As a result, it is possible to suppress a decrease in the positioning accuracy of the mobile station 2 even in an environment where the communication speed is limited.
  • a satellite having a good reception condition at the reference station 3 reference station visible satellite
  • a satellite having a good reception condition at the mobile station 2 satellite using a mobile station
  • the satellite signals of the satellites included in both are compared. Since the mobile station 2 can be positioned based on the correction information, there is an advantage that the positioning accuracy can be easily improved. Another feature is that it is not necessary to prepare obstacle information existing around the mobile station 2 in advance as in the first embodiment.
  • the satellite signal acquisition system 3 and the correction information transmission system 1 include individual control devices 302 and 101 and communication devices 303 and 102 has been described, but both systems 1 and 3 may be integrated. .. That is, in this case, the two control devices 302 and 101 become one control device, and the two communication devices 303 and 102 become one communication device capable of communicating with the mobile station 2.
  • the present invention is not limited to each of the above embodiments, and includes various modifications within a range that does not deviate from the gist thereof.
  • the present invention is not limited to the one including all the configurations described in each of the above embodiments, and includes the one in which a part of the configurations is deleted. Further, it is possible to add or replace a part of the configuration according to one embodiment with the configuration according to another embodiment.
  • each configuration related to the above control devices 31, 101, 302 and the controller 202, the function and execution processing of each configuration, and the like, part or all of them are hardware (for example, an integrated circuit that integrates logic for executing each function). It may be realized by (designing with). Further, the above-mentioned configurations related to the control devices 31, 101, 302 and the controller 202 are read and executed by an arithmetic processing unit (for example, a CPU) to read and execute each function related to the configurations of the control devices 31, 101, 302 and the controller 202. It may be a program (software) that realizes. Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disk, etc.), or the like.
  • a semiconductor memory flash memory, SSD, etc.
  • magnetic storage device hard disk drive, etc.
  • recording medium magnetic disk, optical disk, etc.
  • control lines and information lines are understood to be necessary for the description of the embodiment, but not all control lines and information lines related to the product are necessarily used. Does not always indicate. In reality, it can be considered that almost all configurations are interconnected.
  • Virtual reference point satellite signal output unit 36 ... Electronic reference point, 101 ... Control device, 102 ... Communication device, 201 ... GNSS antenna (satellite signal receiving device), 202 ... Controller (receiver), 203 ... Communication device, 301 ... GNSS antenna (satellite signal receiver), 302 ... Control device, 303 ... Communication device

Abstract

L'invention concerne un système de transmission d'informations de correction comprenant un dispositif de commande qui génère des informations de correction, qu'une station mobile doit utiliser pour un positionnement de RTK, et un dispositif de communication, qui transmet les informations de correction générées par le dispositif de commande à la station mobile. Le dispositif de commande acquiert, par l'intermédiaire du dispositif de communication, des signaux de satellite provenant d'une pluralité de satellites, qui ont été transmis à partir d'un point de référence ; estime les satellites de la pluralité de satellites dont les signaux de satellite seront utilisés par la station mobile pour le calcul de positionnement ; et génère des informations de correction par sélection préférentielle des satellites estimés de la pluralité de satellites, de sorte que le volume de données des informations de correction tienne à l'intérieur d'un volume de données, spécifié en fonction de la vitesse de communication du dispositif de communication.
PCT/JP2020/004158 2019-03-11 2020-02-04 Système de transmission d'informations de correction WO2020183986A1 (fr)

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WO2006132003A1 (fr) * 2005-06-06 2006-12-14 National University Corporation Tokyo University Of Marine Science And Technology Dispositif de reception gps et procede de correction de localisation gps
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