WO2021053795A1 - 位置計測システム、測位演算装置、位置計測方法、及びプログラム - Google Patents

位置計測システム、測位演算装置、位置計測方法、及びプログラム Download PDF

Info

Publication number
WO2021053795A1
WO2021053795A1 PCT/JP2019/036795 JP2019036795W WO2021053795A1 WO 2021053795 A1 WO2021053795 A1 WO 2021053795A1 JP 2019036795 W JP2019036795 W JP 2019036795W WO 2021053795 A1 WO2021053795 A1 WO 2021053795A1
Authority
WO
WIPO (PCT)
Prior art keywords
positioning
absolute
time
time stamp
result
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/036795
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
誠史 吉田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NTT Inc
Original Assignee
Nippon Telegraph and Telephone Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nippon Telegraph and Telephone Corp filed Critical Nippon Telegraph and Telephone Corp
Priority to PCT/JP2019/036795 priority Critical patent/WO2021053795A1/ja
Priority to JP2021546139A priority patent/JP7380692B2/ja
Priority to US17/760,822 priority patent/US12174305B2/en
Publication of WO2021053795A1 publication Critical patent/WO2021053795A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • 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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • 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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/51—Relative positioning

Definitions

  • the present invention relates to a technique for measuring the absolute position of a moving body such as a traveling vehicle with high accuracy in an automatic traveling vehicle, an ADAS (Advanced Driver Assistance System), or the like.
  • a moving body such as a traveling vehicle with high accuracy in an automatic traveling vehicle, an ADAS (Advanced Driver Assistance System), or the like.
  • ADAS Advanced Driver Assistance System
  • GNSS Global Navigation Satellite System
  • GNSS GNSS-based positioning for autonomous vehicles.
  • Autonomous vehicles are required to have positioning accuracy of submeters (on the order of several cm to several tens of cm) that can determine lanes.
  • GNSS positioning is used as the absolute position measurement means, it is not possible to measure the absolute position in real time (current time) with high accuracy due to the delay (several tens of ms or more) generated in the positioning calculation processing.
  • delay severe tens of ms or more
  • Have difficulty For example, when a vehicle travels at a speed of 60 km / h, it moves 16 cm in 10 ms.
  • GNSS positioning when GNSS positioning is used as an absolute position measurement means, positioning cannot be performed temporarily in an environment such as a tunnel or under an overpass where GNSS signals cannot be received.
  • a relative positioning means IMU, vehicle speed.
  • a GNSS / IMU composite inertial measurement unit
  • a positioning calculation such as a self-position estimation calculation by a Kalman filter is performed.
  • Relative positioning means such as IMU and vehicle speed pulse generally output positioning result data periodically.
  • the measurement result of the absolute positioning means and the measurement result of one or more relative positioning means are combined and the positioning calculation processing is performed by the Kalman filter calculation or the like, the difference in the data output cycle of each positioning means and the standby of the data output may occur. Therefore, the real-time property of the data is impaired, which may affect the positioning accuracy.
  • absolute positioning means and relative positioning means have become more and more diversified, and in compound positioning in which a plurality of positioning means are combined for positioning, data processing delay and propagation delay may affect the positioning accuracy. ..
  • the present invention has been made in view of the above points, and is a technique capable of accurately measuring an absolute position at an arbitrary time in compound positioning in which positioning is performed by combining an absolute positioning means and a relative positioning means.
  • the purpose is to provide.
  • an absolute positioning measurement unit that measures the absolute position of a moving object, attaches a time stamp to the absolute position measurement result, and outputs the absolute position measurement result with the time stamp.
  • a relative positioning measurement unit that measures the relative displacement of the moving body, attaches a time stamp to the relative displacement measurement result, and outputs the relative displacement measurement result with the time stamp. Based on the absolute position measurement result with the time stamp and the relative displacement measurement result with the time stamp, a positioning operation for calculating the absolute position of the moving body is executed, the positioning calculation result is time stamped, and the time is added.
  • a position measurement system including a positioning calculation unit that outputs a stamped positioning calculation result is provided.
  • a technology that enables accurate measurement of an absolute position at an arbitrary time in compound positioning in which positioning is performed by combining an absolute positioning means and a relative positioning means.
  • a vehicle traveling on a road is mentioned as a moving body for which position measurement is performed, but this is an example.
  • the present invention is applicable to all moving objects, not limited to vehicles traveling on the road.
  • FIG. 1 shows a functional configuration diagram of the position measurement system 100 according to the present embodiment.
  • the position measurement system 100 includes a positioning calculation unit 110, an absolute positioning measurement unit 120, a relative positioning measurement unit 130A, a relative positioning measurement unit 130B, and a clock 140. Details of each part will be described later.
  • the relative positioning measurement unit 130A and the relative positioning measurement unit 130B are collectively referred to, the relative positioning measurement unit 130 is described.
  • the positioning calculation unit 110 may be referred to as a positioning calculation device 110.
  • FIG. 1 shows a remote operation control device 200 and a controlled target device 210 (automatic driving vehicle or the like) under the remote control device 200 as an example of a device that uses the positioning calculation result obtained by the positioning calculation unit 110.
  • the control target device 210 includes, for example, an absolute positioning measurement unit 120, a relative positioning measurement unit 130A, a relative positioning measurement unit 130B, and a clock 140. Further, the remote control device 200 and the control target device 210 may be mounted on the same device (moving body).
  • two relative positioning measurement units are provided, but this is an example, and the number of relative positioning measurement units may be one or three or more.
  • the position measurement system 100 may be one physically cohesive device, or a device in which some functional parts are physically separated and a plurality of separated functional parts are connected to a network. You may.
  • the positioning calculation unit 110 may be a computer operated by a program, and other functional units may be connected to the computer via a network.
  • the position measurement system 100 may be used by being entirely mounted on the moving body, or a part thereof may be mounted on the moving body and used.
  • the absolute positioning measurement unit 120, the relative positioning measurement units 130A, 130B, and the clock 140 may be mounted on the mobile body, and the positioning calculation unit 110 may be provided in a remote location (eg, a data center that realizes a cloud). ..
  • the controlled object device 210 may be the moving body itself.
  • the absolute positioning measurement unit 120 is a GNSS receiver
  • a positioning calculation function using a GNSS signal may be provided at a remote location (eg, a data center that realizes a cloud) together with the positioning calculation unit 110.
  • the absolute positioning measurement unit 120 transmits the observation data (also referred to as Raw data) to the positioning calculation function, and the positioning calculation function performs the positioning calculation.
  • the positioning calculation unit 110 performs a positioning calculation by an extended Kalman filter or the like based on the positioning calculation result and the relative positioning result received from the relative positioning measurement unit 130. Each part will be described below.
  • the absolute positioning measurement unit 120 is a functional unit that measures an absolute position, and is, for example, a GNSS receiver, a remote sensing device such as SLAM (Simultaneous Localization And Mapping), or LiDAR.
  • SLAM Simultaneous Localization And Mapping
  • the absolute positioning measurement unit 120 is a time stamper that stamps a time stamp on the positioning result at the output timing (the timing immediately after the positioning result data is generated without buffering or waiting) of the absolute position measurement result (absolute positioning result). Includes 121.
  • the absolute positioning measurement unit 120 is a GNSS receiver
  • the time included in the navigation message of the navigation satellite signal reaches the receiver of the navigation satellite signal for the positioning result calculated from the navigation satellite signal of a certain time epoch.
  • the time corrected by the propagation delay time until the time is stamped.
  • the time stamper 121 has a function of performing this time correction and time stamping.
  • the absolute positioning measurement unit 120 acquires highly accurate absolute time information (time information synchronized with Coordinated Universal Time (UTC)) from the GNSS signal received from the positioning satellite, and absolutely attaches to the clock 140 provided in the position measurement system 100. It includes a function of synchronizing the clock 140 with an absolute time by supplying time information.
  • highly accurate absolute time information time information synchronized with Coordinated Universal Time (UTC)
  • the clock 140 acquires the above absolute time information and operates in synchronization with the absolute time. Further, the clock 140 calculates the time information of the clock based on the clock signal of the oscillator even when the absolute positioning measurement unit 120 cannot receive the GNSS signal satisfactorily, that is, even when the absolute time information cannot be acquired from the absolute positioning measurement unit 120. It has a function to continuously output a highly accurate time for a certain period by operation (holdover).
  • the clock 140 can provide the UTC with absolute time information with an accuracy on the order of 10 microseconds. Further, the holdover operation for several tens of minutes is possible with the frequency stability of the crystal oscillators such as TCXO and OCXO included in the clock 140.
  • the relative positioning measurement unit 130 is a functional unit that measures relative displacement from a certain position, and is, for example, a vehicle speed pulse measuring machine, an acceleration sensor, a gyro, an IMU, an in-vehicle camera, or the like.
  • the relative positioning measurement unit 130 is provided with a time stamper 131 capable of stamping a highly accurate time with respect to the relative positioning result.
  • the above-mentioned clock 140 and the relative positioning measurement unit 130 (and time stamper 131) are connected by a time synchronization network such as PTP or TSN (IEEE802.1 Time Sensitive Network) TSN), and the clock 140 And the time stamper 131 are time-synchronized.
  • a time synchronization network such as PTP or TSN (IEEE802.1 Time Sensitive Network) TSN
  • the clock 140 can supply an accurate (very small error) absolute time
  • the time stamper 131 time-synchronized with this can stamp the accurate absolute time as a time stamp in the positioning result. it can.
  • time stamper 131 stamps a time stamp on the positioning result at the timing of the positioning result output of the relative positioning measurement unit 130 (the timing immediately after the positioning result data is generated without buffering or waiting).
  • the clock 140 and the relative positioning measurement unit 130 are connected to PTP, TSN (IEEE802.1 Time Sensitive Network). It may be connected by means other than the time synchronization network such as TSN).
  • FIG. 2 shows an example of positioning when the absolute positioning measurement unit 120 performs positioning based on a camera image.
  • the absolute positioning measurement unit 120 stamps, for example, a time stamp of the absolute time at the time of imaging on the image data captured by the camera mounted on the vehicle in frame units.
  • the absolute positioning measurement unit 120 matches the 3D road map collected in advance with the image data and calculates its own position.
  • the position information which is the calculation result, is output as an absolute positioning result together with the time stamp.
  • FIG. 3 shows an example of positioning when the relative positioning measurement unit 130 performs positioning using a camera image.
  • the relative positioning measurement unit 130 stamps an absolute time stamp on the image data captured by a camera mounted on the vehicle, for example, in frame units.
  • the relative positioning measurement unit 130 extracts characteristic positions such as the corners of buildings and windows from the image data, and displaces its own position from the time-dependent fluctuations on the image ( Travel locus) is calculated.
  • the displacement information which is the calculation result, is output as the relative positioning result together with the time stamp.
  • FIG. 4 shows a case where a moving body equipped with an absolute positioning measurement unit 120 that receives a GNSS signal temporarily disconnects the GNSS signal when passing through a tunnel, an underpass, or the like.
  • the clock 140 can output the time with high accuracy for a certain period by the holdover operation.
  • OCXO Open Controlled Xtal Oscillator
  • FIG. 5 shows an example of countermeasures when a long-term GNSS system failure occurs.
  • the clock 140 in the case of a long-term GNSS system failure, is network-synchronized with a high-precision oscillator such as cesium or an optical lattice clock installed in the network to which the clock 140 is connected to obtain time information. Maintain the accuracy of.
  • a high-precision oscillator such as cesium or an optical lattice clock installed in the network to which the clock 140 is connected to obtain time information. Maintain the accuracy of.
  • the clock 140 is switched to network synchronization to a high-precision cesium atomic oscillator installed in the network.
  • the form of network synchronization is synchronization with a frequency synchronization network such as SyncE (Synchronous Ethernet) for the clock source in the network by a high-precision cesium atomic oscillator, or PTP (Precision Time Protocol) for a clock in the network operated by a high-precision cesium atomic oscillator. ) Etc., synchronization by a time synchronization network is conceivable.
  • a frequency synchronization network such as SyncE (Synchronous Ethernet) for the clock source in the network by a high-precision cesium atomic oscillator, or PTP (Precision Time Protocol) for a clock in the network operated by a high-precision cesium atomic oscillator.
  • PTP Precision Time Protocol
  • the positioning calculation unit 110 has an absolute positioning result (with a time stamp of the time) acquired by the absolute positioning measurement unit 120 at a certain time and a relative positioning result (with a time stamp of the time) acquired by the relative positioning measurement unit 130 at a certain time. (With time stamp) is received, and the absolute position of the moving object at any time including real time and future time is estimated and output by using the absolute positioning result and the relative positioning result.
  • a positioning calculation function for estimation for example, an extended Kalman filter is used.
  • the positioning calculation unit 110 includes an extended Kalman filter.
  • the positioning calculation unit 110 includes a time stamper 111.
  • the positioning calculation unit 110 can be realized by, for example, a computer operated by a program.
  • FIG. 6 is a diagram showing a hardware configuration example of the computer according to the present embodiment.
  • the computer of FIG. 6 has a drive device 1000, an auxiliary storage device 1002, a memory device 1003, a CPU 1004, an interface device 1005, a display device 1006, an input device 1007, and the like, each of which is connected to each other by a bus B.
  • the program that realizes the processing on the computer is provided by, for example, a recording medium 1001 such as a CD-ROM or a memory card.
  • a recording medium 1001 such as a CD-ROM or a memory card.
  • the program is installed in the auxiliary storage device 1002 from the recording medium 1001 via the drive device 1000.
  • the program does not necessarily have to be installed from the recording medium 1001, and may be downloaded from another computer via the network.
  • the auxiliary storage device 1002 stores the installed program and also stores necessary files, data, and the like.
  • the memory device 1003 reads and stores the program from the auxiliary storage device 1002 when the program is instructed to start.
  • the CPU 1004 realizes the function related to the positioning calculation unit 110 and the like according to the program stored in the memory device 1003.
  • the interface device 1005 is used as an interface for connecting to a network.
  • the display device 1006 displays a programmatic GUI (Graphical User Interface) or the like.
  • the input device 1007 is composed of a keyboard, a mouse, buttons, a touch panel, and the like, and is used for inputting various operation instructions.
  • the positioning calculation unit 110 can output the positioning calculation result at any time including real time and future time with a time stamp.
  • the positioning calculation unit 110 attaches the data output time (that is, the positioning result) in the positioning measurement unit (absolute positioning measurement unit 120 or relative positioning measurement unit 130, or both the absolute positioning measurement unit 120 and the relative positioning measurement unit 130).
  • the value of the time stamp obtained) may be output as information regarding the freshness of the positioning calculation result.
  • the positioning calculation unit 110 is attached to the data output time (positioning result) in the positioning measurement unit (absolute positioning measurement unit 120 or relative positioning measurement unit 130, or both the absolute positioning measurement unit 120 and the relative positioning measurement unit 130).
  • the remote control device 200 which is a device that uses the positioning calculation result, is connected to the positioning calculation unit 110 via a time synchronization network (eg, PTP, TSN).
  • a time synchronization network eg, PTP, TSN
  • the remote operation control device 200 sets the delay time from the "time when the positioning calculation result is output from the positioning calculation unit 110" to the "time when the positioning calculation result is received” as a time stamp attached to the positioning calculation result. Can be measured using.
  • the positioning calculation unit 110 can perform "preemption" control in consideration of the delay time.
  • the positioning calculation unit 110 outputs the positioning estimation result at the time advanced by Ta + Tb minutes as the positioning calculation result.
  • the remote operation control device 200 can display the AR console screen by the dynamic map and perform operation control based on the remote operation control device 200.
  • the remote control device 200 can also perform control such as estimating an error by using the above-mentioned information on freshness. It is optional that the positioning calculation unit 110 outputs information on freshness, and this may not be performed.
  • FIG. 7 particularly shows the operation of reception / output in the positioning calculation unit 110.
  • the absolute positioning measurement unit 120 outputs the absolute positioning result X at time 1, and the positioning calculation unit 110 receives the absolute positioning result X (+ time stamp: 1) at time 2. This indicates that it took time for the signal to propagate by the time 1.
  • the relative positioning measurement unit 130A outputs the relative positioning result A at time 2, and the positioning calculation unit 110 receives the relative positioning result A (+ time stamp: 2) at time 3.
  • the relative positioning measurement unit 130B outputs the relative positioning result B at time 4, and the positioning calculation unit 110 receives the relative positioning result B (+ time stamp: 4) at time 5.
  • the positioning calculation unit 110 performs a positioning calculation based on the received information, and outputs a positioning calculation result of "the position at time 11 is Y" (time stamp: 8) at time 8.
  • the output calculation result reaches, for example, the remote operation control device 200 at time 10, is sent from the remote operation control device 200 to the control target device 210, and reaches the control target device 210 at time 11.
  • the controlled target device 210 can acquire the estimated position in real time.
  • each positioning measurement unit adds a time stamp to the positioning result without delay and outputs the time stamp
  • the positioning calculation unit 110 includes the time stamp and the time stamp thereof. Since the positioning calculation is performed based on the positioning result obtained at the time of the time stamp, a highly accurate positioning calculation result can be output even if there is a data processing delay or a signal propagation delay.
  • FIG. 8 shows an example in which the position measurement system 100 is used for platooning of an autonomous vehicle. In platooning, each vehicle needs to know the current position of its own vehicle and control the operation to maintain the platoon.
  • the vehicle 1 includes a clock 140-1, an absolute positioning measurement unit 120-1, and a relative positioning measurement unit 130-1.
  • the vehicle 2 includes a clock 140-2, an absolute positioning measurement unit 120-2, a relative positioning measurement unit 130-2, and a positioning calculation unit 110-2.
  • the cloud is provided with a positioning calculation unit 110.
  • the vehicle 2 since it is assumed that the vehicle 2 which is the leading vehicle performs the positioning calculation processing of the following vehicle 1 together with the positioning calculation processing of the own vehicle, the vehicle 2 is the positioning calculation unit 110-. 2 is provided. If such a case is not assumed, the vehicle 2 may not include the positioning calculation unit 110-2.
  • Each vehicle is provided with V2V communication means, which is vehicle-to-vehicle communication means, and V2I (road-to-vehicle) / V2N (vehicle network) communication means.
  • V2V communication means which is vehicle-to-vehicle communication means
  • V2I (road-to-vehicle) / V2N (vehicle network) communication means By these means, each vehicle can communicate with other vehicles by a side link, and can communicate with the positioning calculation unit 110 of the cloud via a 5G network or the like.
  • the absolute positioning measurement unit 120-1 and the relative positioning measurement unit 130-1 of the vehicle 1 position the respective positioning results (with time stamps) of the vehicle 2. It is transmitted to the calculation unit 110-2.
  • the positioning calculation unit 110-2 performs the positioning calculation and returns the positioning calculation result to, for example, the vehicle 2.
  • the vehicle 2 can know the position of the own vehicle in real time by performing the preemptive control in consideration of the signal propagation delay and the like.
  • each vehicle transmits its own positioning result (with a time stamp) to the positioning calculation unit 110 in the cloud, and receives the positioning calculation result obtained by the positioning calculation unit 110. ..
  • the number of vehicles is two, but this is only an example.
  • the number of vehicles may be two or more.
  • two or more vehicles may form a single row, or a plurality of rows (eg, a row of three vehicles lined up in two lanes (six in total)) may be formed. Good.
  • the vehicle that performs the positioning calculation is not limited to the leading vehicle, and any vehicle may perform the positioning calculation.
  • the absolute positioning measurement unit mounted on each vehicle forming a platoon may be different for each vehicle (example: one vehicle is a GNSS receiver, another vehicle is LiDAR, etc.). Further, the relative positioning measurement unit mounted on each vehicle forming a platoon may be different for each vehicle (eg, one vehicle may be an IMU, another vehicle may be an in-vehicle camera, or the like).
  • the absolute time (time stamp) is stamped with high accuracy at the timing of generating each data output from the absolute positioning measurement unit and the relative positioning measurement unit, thereby improving the availability of positioning and real-time.
  • the accuracy of absolute position measurement can be improved.
  • the influence of the information propagation delay can be reduced, so that the positioning measurement unit and the positioning calculation unit can be arranged at an arbitrary location.
  • At least the following position measurement system, position measurement method, and program are provided.
  • An absolute positioning measurement unit that measures the absolute position of a moving object, attaches a time stamp to the absolute position measurement result, and outputs the absolute position measurement result with the time stamp.
  • a relative positioning measurement unit that measures the relative displacement of the moving body, attaches a time stamp to the relative displacement measurement result, and outputs the relative displacement measurement result with the time stamp. Based on the absolute position measurement result with the time stamp and the relative displacement measurement result with the time stamp, a positioning operation for calculating the absolute position of the moving body is executed, the positioning calculation result is time stamped, and the time is added.
  • a position measurement system equipped with a positioning calculation unit that outputs stamped positioning calculation results.
  • the absolute positioning measurement unit includes a function of acquiring an absolute time from a GNSS signal, and the position measurement system includes a clock that is time-synchronized with the absolute time.
  • the position measurement system according to item 1, wherein the relative positioning measurement unit and the positioning calculation unit are time-synchronized with the clock.
  • the positioning calculation unit executes a positioning calculation for calculating the absolute position of the moving body at a future time based on the signal propagation delay from the positioning calculation unit to the device using the positioning calculation result.
  • the positioning calculation unit has a time stamp value attached to the absolute position measurement result, a time stamp value attached to the relative displacement measurement result, a time stamp value attached to the absolute position measurement result, and the positioning.
  • the difference between the time stamp value attached to the calculation result or the time stamp value attached to the relative displacement measurement result and the time stamp value attached to the positioning calculation result is the positioning calculation result.
  • the position measurement system according to any one of the items 1 to 3, which is output as information on the freshness of the product.
  • the absolute positioning measurement unit and the relative positioning measurement unit are provided in the mobile body, and the positioning calculation unit is provided in any of the items 1 to 4 provided in the cloud connected to the mobile body via a network.
  • the absolute positioning measurement unit and the relative positioning measurement unit are provided in the moving body, and the positioning calculation unit is provided in another moving body that performs side link communication with the moving body.
  • the position measurement system according to any one item.
  • a positioning calculation device that executes a positioning calculation that calculates the absolute position of the moving body based on the above, attaches a time stamp to the positioning calculation result, and outputs the positioning calculation result with the time stamp.
  • (Section 8) It is a position measurement method executed by a position measurement system including an absolute positioning measurement unit, a relative positioning measurement unit, and a positioning calculation unit.
  • the absolute positioning measurement unit measures the absolute position of the moving object, attaches a time stamp to the absolute position measurement result, and outputs the absolute position measurement result with the time stamp.
  • the relative positioning measurement unit measures the relative displacement of the moving body, attaches a time stamp to the relative displacement measurement result, and outputs the relative displacement measurement result with the time stamp.
  • the positioning calculation unit executes a positioning calculation for calculating the absolute position of the moving body based on the time-stamped absolute position measurement result and the time-stamped relative displacement measurement result, and obtains the positioning calculation result.
  • (Section 9) A program for causing a computer to function as a positioning calculation unit in the position measurement system according to any one of items 1 to 6.
  • Position measurement system 110 Positioning calculation unit 120 Absolute positioning measurement unit 130 Relative positioning measurement unit 140 Clock 200
  • Remote operation control device 210
  • Control target device 1000
  • Drive device 1002
  • Auxiliary storage device 1003
  • Memory device 1004
  • CPU 1005
  • Interface device 1006
  • Display device 1007 Input device

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
PCT/JP2019/036795 2019-09-19 2019-09-19 位置計測システム、測位演算装置、位置計測方法、及びプログラム Ceased WO2021053795A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/JP2019/036795 WO2021053795A1 (ja) 2019-09-19 2019-09-19 位置計測システム、測位演算装置、位置計測方法、及びプログラム
JP2021546139A JP7380692B2 (ja) 2019-09-19 2019-09-19 位置計測システム、測位演算装置、位置計測方法、及びプログラム
US17/760,822 US12174305B2 (en) 2019-09-19 2019-09-19 Position measurement system, positioning calculation apparatus, position measurement method and program

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/036795 WO2021053795A1 (ja) 2019-09-19 2019-09-19 位置計測システム、測位演算装置、位置計測方法、及びプログラム

Publications (1)

Publication Number Publication Date
WO2021053795A1 true WO2021053795A1 (ja) 2021-03-25

Family

ID=74884458

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/036795 Ceased WO2021053795A1 (ja) 2019-09-19 2019-09-19 位置計測システム、測位演算装置、位置計測方法、及びプログラム

Country Status (3)

Country Link
US (1) US12174305B2 (https=)
JP (1) JP7380692B2 (https=)
WO (1) WO2021053795A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024154644A (ja) * 2023-04-19 2024-10-31 コグニティブリサーチラボ株式会社 情報認証システム

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6993580B2 (ja) * 2018-08-03 2022-01-13 日本電信電話株式会社 制御システム及び制御方法
WO2021066730A1 (en) * 2019-10-04 2021-04-08 Telefonaktiebolaget Lm Ericsson (Publ) Propagation delay compensation toolbox
CN115280858B (zh) 2020-03-13 2025-07-04 瑞典爱立信有限公司 支持QoS流特定的不确定性属性
US12081427B2 (en) 2020-04-20 2024-09-03 Mellanox Technologies, Ltd. Time-synchronization testing in a network element
EP4292347A1 (en) * 2021-03-03 2023-12-20 Huawei Technologies Co., Ltd. Client device and network node for switching positioning procedures
US12111681B2 (en) 2021-05-06 2024-10-08 Mellanox Technologies, Ltd. Network adapter providing isolated self-contained time services
US12028155B2 (en) * 2021-11-24 2024-07-02 Mellanox Technologies, Ltd. Controller which adjusts clock frequency based on received symbol rate
US11907754B2 (en) 2021-12-14 2024-02-20 Mellanox Technologies, Ltd. System to trigger time-dependent action
US11835999B2 (en) 2022-01-18 2023-12-05 Mellanox Technologies, Ltd. Controller which adjusts clock frequency based on received symbol rate
US12524038B2 (en) 2022-05-12 2026-01-13 Mellanox Technologies, Ltd Scalable boundary clock
US12294469B2 (en) 2022-05-12 2025-05-06 Mellanox Technologies, Ltd Boundary clock synchronized loop
US12308952B2 (en) 2022-07-06 2025-05-20 Mellanox Technologies, Ltd. Companion metadata for precision time protocol (PTP) hardware clock
US12289388B2 (en) 2022-07-20 2025-04-29 Mellanox Technologies, Ltd Syntonization through physical layer of interconnects
US11917045B2 (en) 2022-07-24 2024-02-27 Mellanox Technologies, Ltd. Scalable synchronization of network devices
US12375199B2 (en) 2022-12-19 2025-07-29 Mellanox Technologies, Ltd Hybrid clock synchronization
US12216489B2 (en) 2023-02-21 2025-02-04 Mellanox Technologies, Ltd Clock adjustment holdover
US12289389B2 (en) 2023-08-13 2025-04-29 Mellanox Technologies, Ltd. Physical layer syntonization using digitally controlled oscillator
US12615130B2 (en) 2024-04-02 2026-04-28 Mellanox Technologies, Ltd Environmental-based parameters optimization of clock
CN118463988B (zh) * 2024-04-09 2025-03-28 广州大铁锐威科技有限公司 管道测量方法和系统、电子设备及存储介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004215258A (ja) * 2002-12-27 2004-07-29 Docomo Communications Laboratories Usa Inc 選択的合成法による無線通信装置の位置決定方法
JP2015052601A (ja) * 2008-09-10 2015-03-19 ネクストナヴ，エルエルシー 広域測位システム
US20150268047A1 (en) * 2013-12-06 2015-09-24 Novatel Inc. Navigation system with rapid gnss and inertial initialization
JP2018520335A (ja) * 2015-04-27 2018-07-26 オートリブ エー・エス・ピー・インク 自動車用ｇｎｓｓリアルタイムキネマティックデッドレコニング受信機
JP2018526626A (ja) * 2015-07-27 2018-09-13 クゥアルコム・インコーポレイテッドＱｕａｌｃｏｍｍ Ｉｎｃｏｒｐｏｒａｔｅｄ 視覚慣性オドメトリ姿勢ドリフト較正

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2585141C (en) * 2004-10-29 2012-09-11 Hitachi Zosen Corporation Relative positioning method and relative positioning system using satellite
US20150219767A1 (en) * 2014-02-03 2015-08-06 Board Of Regents, The University Of Texas System System and method for using global navigation satellite system (gnss) navigation and visual navigation to recover absolute position and attitude without any prior association of visual features with known coordinates
US10371530B2 (en) * 2017-01-04 2019-08-06 Qualcomm Incorporated Systems and methods for using a global positioning system velocity in visual-inertial odometry
US10705542B1 (en) * 2017-06-29 2020-07-07 Amazon Technologies, Inc. Determining relative distances and positions of multiple vehicles from times-of-flight of signals
US12105212B2 (en) * 2019-09-12 2024-10-01 Nippon Telegraph And Telephone Corporation Position measurement apparatus, position measurement method and program
JP7464113B2 (ja) * 2020-04-28 2024-04-09 日本電信電話株式会社 位置計測装置、位置計測方法、及びプログラム
WO2021220417A1 (ja) * 2020-04-28 2021-11-04 日本電信電話株式会社 位置計測装置、測位方法、及びプログラム
EP4145180A4 (en) * 2020-04-28 2024-03-06 Nippon Telegraph And Telephone Corporation MEASURING DEVICE, MEASURING METHOD AND PROGRAM
KR20240098865A (ko) * 2022-12-21 2024-06-28 주식회사 모빌테크 3d 지도 생성을 위한 궤적 보정 방법 및 이를 실행시키기 위하여 기록매체에 기록된 컴퓨터 프로그램
CN116539053B (zh) * 2023-05-31 2025-09-16 佛山仙湖实验室 一种实时全局点云地图构建方法、系统、设备及存储介质

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004215258A (ja) * 2002-12-27 2004-07-29 Docomo Communications Laboratories Usa Inc 選択的合成法による無線通信装置の位置決定方法
JP2015052601A (ja) * 2008-09-10 2015-03-19 ネクストナヴ，エルエルシー 広域測位システム
US20150268047A1 (en) * 2013-12-06 2015-09-24 Novatel Inc. Navigation system with rapid gnss and inertial initialization
JP2018520335A (ja) * 2015-04-27 2018-07-26 オートリブ エー・エス・ピー・インク 自動車用ｇｎｓｓリアルタイムキネマティックデッドレコニング受信機
JP2018526626A (ja) * 2015-07-27 2018-09-13 クゥアルコム・インコーポレイテッドＱｕａｌｃｏｍｍ Ｉｎｃｏｒｐｏｒａｔｅｄ 視覚慣性オドメトリ姿勢ドリフト較正

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024154644A (ja) * 2023-04-19 2024-10-31 コグニティブリサーチラボ株式会社 情報認証システム
JP7794400B2 (ja) 2023-04-19 2026-01-06 コグニティブリサーチラボ株式会社 情報認証システム
US12561422B2 (en) 2023-04-19 2026-02-24 Cognitive Research Labs, Inc. System for authenticating data

Also Published As

Publication number Publication date
JPWO2021053795A1 (https=) 2021-03-25
US20220342086A1 (en) 2022-10-27
US12174305B2 (en) 2024-12-24
JP7380692B2 (ja) 2023-11-15

Similar Documents

Publication Publication Date Title
JP7380692B2 (ja) 位置計測システム、測位演算装置、位置計測方法、及びプログラム
CN113783652B (zh) 一种组合导航系统的数据同步方法和装置
CN112945228B (zh) 一种多传感器时间同步方法及同步装置
EP3614687B1 (en) A gps based high precision timestamp generation circuit for an autonomous driving vehicle
CN107655475B (zh) 同步脉冲信号获取方法、导航数据同步处理方法及系统
US10267924B2 (en) Systems and methods for using a sliding window of global positioning epochs in visual-inertial odometry
CN110133999B (zh) 一种基于星云激光点云数采平台的时间同步方法及系统
US10996681B2 (en) Time source recovery system for an autonomous driving vehicle
EP3614176A1 (en) A hardware centralized time synchronization hub for an autonomous driving vehicle
EP3614222B1 (en) A time source ranking system for an autonomous driving vehicle
EP2966477B1 (en) Method for determining the position and attitude of a moving object using low-cost receivers
CN105612431B (zh) 用于无线基站的异步定位的方法和设备
US20190110264A1 (en) System and method for accurate timestamping of virtual reality controller data
US20050147196A1 (en) Time and frequency synchronisations of equipment at different locations
US20130307724A1 (en) Apparatus And Method For Generating GPS Time
WO2018106311A2 (en) Signals of opportunity aided inertial navigation
WO2021048971A1 (ja) 位置計測装置、位置計測方法、及びプログラム
CN114690228B (zh) 一体化的定位方法及其系统
CA3200304C (en) Clock synchronisation
CN113890665A (zh) 一种时间同步方法、系统、存储介质及处理器
Ding et al. Time synchronization design for integrated positioning and georeferencing systems
EP4250724B1 (en) Multi-sensor fusion system and autonomous mobile apparatus
CN117978317A (zh) 一种时间校正的装置、方法及智能车辆
US12052527B2 (en) Method and device for dating camera images
JP7683741B2 (ja) 信号処理装置、信号処理方法及びプログラム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19945922

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021546139

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19945922

Country of ref document: EP

Kind code of ref document: A1