WO2021186548A1 - Positioning reference station - Google Patents

Positioning reference station Download PDF

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Publication number
WO2021186548A1
WO2021186548A1 PCT/JP2020/011706 JP2020011706W WO2021186548A1 WO 2021186548 A1 WO2021186548 A1 WO 2021186548A1 JP 2020011706 W JP2020011706 W JP 2020011706W WO 2021186548 A1 WO2021186548 A1 WO 2021186548A1
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WIPO (PCT)
Prior art keywords
antenna device
pedestal
positioning reference
device pedestal
reference station
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PCT/JP2020/011706
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French (fr)
Japanese (ja)
Inventor
賢治郎 橋爪
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株式会社テクノスヤシマ
八洲電業株式会社
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Application filed by 株式会社テクノスヤシマ, 八洲電業株式会社 filed Critical 株式会社テクノスヤシマ
Priority to PCT/JP2020/011706 priority Critical patent/WO2021186548A1/en
Priority to JP2020549081A priority patent/JP6882629B1/en
Publication of WO2021186548A1 publication Critical patent/WO2021186548A1/en

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • 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
    • G01S19/04—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data
    • 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
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain

Definitions

  • the present invention relates to an antenna device pedestal for an air vehicle such as a multi-rotor helicopter and a real-time kinematic positioning reference station.
  • UAVs Unmanned Aerial Vehicles
  • unmanned exploration helicopters have been studied for military use in the United States and other countries.
  • an air vehicle such as a multi-rotor helicopter, which is also called a drone, be used more positively in pesticide spraying and the like.
  • the permissible amount of pesticides can be applied in consideration of the movement of pests such as stink bugs during harvesting.
  • Accurate spraying to the pesticide spraying area of the headland is required, and when pesticide-free cultivation fields are adjacent, pesticide drift is taken into consideration due to wind etc., and pesticides are not sprayed to the pesticide-free cultivation field. It is required to be accurately applied to the pesticide application area away from the headland.
  • RTK Real Time Kinetic
  • the present inventor must perform troublesome work for obtaining the three-dimensional antenna device position coordinates of the portable type RTK positioning reference antenna device every time the RTK positioning reference station is constructed, and RTK positioning must be performed. I realized that it was not easy to build a reference station.
  • An object of the present invention is to provide an antenna device pedestal and a real-time kinematic positioning reference station capable of easily constructing an RTK positioning reference station in consideration of the above-mentioned conventional problems.
  • the first invention is an antenna device pedestal in which an antenna device for constructing a real-time kinematic positioning reference station is set.
  • the antenna device pedestal is provided with a pedestal position coordinate writing unit on which the three-dimensional pedestal position coordinates of the antenna device pedestal are written, which is obtained in advance.
  • the second invention is characterized in that the present invention is provided with an antenna device relative position setting mechanism for uniquely setting the antenna device relative position with respect to the antenna device pedestal of the set antenna device. Antenna device pedestal.
  • the relative position of the antenna device with respect to the antenna device pedestal is uniquely set by fitting the leg of the antenna device into the recess formed on the pedestal surface of the antenna device pedestal.
  • the second antenna device pedestal of the present invention is characterized by the above.
  • the fourth invention is the antenna device pedestal of the first invention, characterized in that the pedestal position coordinate writing unit is provided by using an RF tag or a barcode.
  • the antenna device is an antenna device used for radio control of an air vehicle for spraying a drug in a field.
  • the pedestal position of the antenna device pedestal is the first antenna device pedestal of the present invention, characterized in that it is located in the vicinity of the field.
  • the sixth aspect of the present invention is the fifth aspect of the antenna device pedestal of the present invention, which comprises a field environment measurement unit for measuring the environment of the field.
  • the seventh invention is a real-time kinematic positioning reference station constructed by using the antenna device set on the antenna device pedestal of the first invention.
  • the antenna device is set on the antenna device pedestal at a position relative to the antenna device pedestal that is uniquely set, and is set in real time based on a signal obtained from the positioning satellite and the written pedestal position coordinates. It is a real-time kinematic positioning reference station characterized by transmitting a kinematic error signal.
  • the RTK positioning reference station 1000 is an example of the real-time kinematic positioning reference station in the present invention.
  • the RTK positioning reference antenna device 1100 is an example of the antenna device in the present invention, and the leg 1110 is an example of the leg in the present invention.
  • the antenna device pedestal 1200 is an example of the antenna device pedestal in the present invention.
  • the pedestal surface 1210 is an example of the pedestal surface in the present invention, and the recess 1212 is an example of the recess in the present invention.
  • the pedestal position coordinate writing unit 1220 is an example of the pedestal position coordinate writing unit in the present invention.
  • the antenna device relative position setting mechanism 1230 is an example of the antenna device relative position setting mechanism in the present invention.
  • the field environment measurement unit 1240 is an example of the field environment measurement unit in the present invention.
  • the multi-rotor helicopter 2000 is an example of an air vehicle in the present invention.
  • the RTK error signal of the present embodiment is an example of the real-time kinematic error signal in the present invention.
  • the pesticide of the present embodiment is an example of the drug in the present invention.
  • FIG. 1 is a schematic perspective view of the pesticide spraying system of the embodiment of the present invention
  • FIG. 2 is a schematic perspective view of the antenna device pedestal 1200 of the embodiment of the present invention. Is a schematic cross-sectional view of the RTK positioning reference station 1000 according to the embodiment of the present invention.
  • the RTK positioning reference station 1000 is a real-time kinematic positioning reference station constructed by using the RTK positioning reference antenna device 1100 set on the antenna device pedestal 1200.
  • the creation of the field map for radio control is performed using the RTK Positioning Reference Station 1000. You may.
  • the creation of such a field map is performed in collaboration with the RTK positioning mobile antenna device held by the field map creator who circulates around the field F.
  • the RTK positioning reference antenna device 1100 is set on the antenna device pedestal 1200 at a position relative to the antenna device pedestal 1200 that is uniquely set, and is based on the signal obtained from the positioning satellite and the written pedestal position coordinates. RTK error signal is transmitted.
  • the transmission of the transmitted RTK error signal and the error correction of the signal obtained from the positioning satellite by the RTK error signal may be performed by the multi-rotor helicopter 2000 or by a user's mobile terminal device or the like.
  • three-dimensional pedestal position coordinates which are a triplet of pedestal longitude, pedestal latitude, and pedestal altitude, expressing the pedestal position of the antenna device pedestal 1200 are used.
  • the legs 1110 of the RTK positioning reference antenna device 1100 are extended with a width of approximately 4 meters and the relative height of the antenna device relative to the antenna device pedestal 1200 is approximately 1. It is set to be .5 meters.
  • Such numerical data may be displayed on the monitor of the RTK positioning reference antenna device 1100, the user's mobile terminal device, or the like.
  • the antenna device pedestal 1200 is an antenna device pedestal in which the RTK positioning reference antenna device 1100 for constructing the RTK positioning reference station 1000 is set, and is a pedestal position coordinate writing unit 1220, an antenna device relative position setting mechanism 1230, and a field. It has an environment measurement unit 1240 and.
  • the pedestal position coordinate writing unit 1220 is a pedestal position coordinate writing unit that is obtained in advance and in which the three-dimensional pedestal position coordinates of the antenna device pedestal 1200 are written.
  • the antenna device relative position setting mechanism 1230 is an antenna device relative position setting mechanism for uniquely setting the antenna device relative position with respect to the antenna device pedestal 1200 of the RTK positioning reference antenna device 1100 to be set.
  • the antenna device relative position with respect to the antenna device pedestal 1200 is uniquely set by suspending the weight ball 1121 from the RTK positioning reference antenna device 1100 toward the weight ball target 1211 on the upper surface of the antenna device pedestal 1200 with the weight thread 1122. Will be done.
  • the leg 1110 of the RTK positioning reference antenna device 1100 is fitted into the recess 1212 formed in the pedestal surface 1210 of the antenna device pedestal 1200, so that the antenna device for the antenna device pedestal 1200 is fitted.
  • the relative position may be set uniquely.
  • FIG. 4 is a schematic perspective view of the RTK positioning reference station 1000 according to the embodiment of the modified example of the present invention.
  • the number of legs 1110 is 3 so that a tripod is formed, the number of recesses 1212 is also 3.
  • the RTK positioning reference antenna device 1100 is a three-dimensional antenna device that expresses its own antenna device position.
  • the position coordinates can be accurately calculated from the pedestal position coordinates written in the pedestal position coordinate writing unit 1220 based on the relative position of the antenna device.
  • the RTK positioning reference antenna device 1100 recognizes the relative position of the antenna device in advance.
  • the pedestal position coordinate writing unit 1220 is provided by using an RF (Radio Frequency) tag or a barcode.
  • RF Radio Frequency
  • the pedestal position coordinates may be automatically input by electrical or optical reading, or may be manually input.
  • the above-mentioned data related to the field map may be uploaded to a cloud server or the like and managed, but if the data capacity of the pedestal position coordinate writing unit 1220 is sufficient, the pedestal position is near the field F. It may be written in the pedestal position coordinate writing unit 1220 together with the pedestal position coordinates so that the correspondence relationship with the antenna device pedestal 1200, which is the position, is clear.
  • the RTK positioning reference antenna device 1100 is an antenna device used for radio control of the multi-rotor helicopter 2000 for spraying pesticides in the field F.
  • the pedestal position of the antenna device pedestal 1200 is a position near the field F.
  • the field environment measurement unit 1240 is a field environment measurement unit that measures the environment of the field F.
  • the measurement regarding the environment of the field F is performed for the field temperature, the field humidity and the field water level by using, for example, the installed microcomputer, the battery and the camera built in the RTK positioning reference antenna device 1100.
  • the field environment measurement unit 1240 may be buried underground or exposed above the ground.
  • the field water level is caused by the movement of float members 1241f arranged vertically according to the height of the water W, which is rotated against an urging force such as a spring or a magnet. It is measured by the field water level measuring unit 1241 of the field environment measuring unit 1240 having a plurality of switch members 1241s to be turned on and off.
  • FIG. 5 is a schematic front view of the field water level measuring unit 1241 according to the embodiment of the present invention.
  • the result of the measurement regarding the environment of the field F may be notified to the user's mobile terminal device or the like via the network using wireless communication.
  • the period T ⁇ in which the battery voltage V of the battery output voltage V ⁇ is output and the period T ⁇ in which the battery voltage V is not output corresponding to the battery sleep period are It is adjusted in consideration of power consumption.
  • FIG. 6 is an explanatory diagram of the relationship between the battery voltage V and the time t of the field water level measuring unit 1241 according to the embodiment of the present invention.
  • the field environment measurement unit 1240 In order to reduce the power consumption of the field environment measurement unit 1240, it is desirable to use a timer driven by a battery specification of 150 amperes and 3.2 volts. Almost 10 minutes of unit drive is required for notification of the result of one measurement, and notification of the result of 10 measurements per day takes place for almost a year without battery charging. Of course, the field water level may be measured, for example, only three times a day.
  • the program of the invention related to the present invention is for causing a computer to perform the operation of all or a part of the steps (or steps, operations, actions, etc.) of the pesticide spraying method of the invention related to the present invention described above. It is a program that works in cooperation with a computer.
  • the recording medium of the invention related to the present invention performs all or part of the operation of all or part of the steps (or steps, operations, actions, etc.) of the pesticide spraying method of the invention related to the present invention described above. It is a recording medium on which a program to be executed by a computer is recorded, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.
  • operation of a step means an operation of all or a part of the above-mentioned steps.
  • one usage form of the program of the invention related to the present invention is a form in which the program is transmitted in a transmission medium such as the Internet, light, radio waves, sound waves, etc., read by a computer, and operates in cooperation with the computer. It may be.
  • the recording medium includes a ROM (Read Only Memory) and the like.
  • the computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may include a firmware, an OS (Operating System), and further peripheral devices.
  • a CPU Central Processing Unit
  • OS Operating System
  • the configuration of the present invention may be realized by software or hardware.
  • the antenna device pedestal and real-time kinematic positioning reference station in the present invention can easily construct an RTK positioning reference station, and are used for the antenna device pedestal and real-time kinematic positioning reference station for an aircraft such as a multi-rotor helicopter. Useful for the purpose.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Catching Or Destruction (AREA)

Abstract

The inventor of the present invention noticed that, every time an RTK positioning reference station is constructed, it is necessary to do troublesome work for obtaining the three-dimensional antenna-device position coordinates of a portable-type RTK positioning reference antenna device, and therefore it is not easy to construct the RTK positioning reference station.　The present invention includes an antenna-device pedestal (1200) on which an RTK positioning reference antenna device (1100) for constructing an RTK positioning reference station (1000) is set, the antenna-device pedestal (1200) including a pedestal-position-coordinates written section (1220) in which three-dimensional pedestal position coordinates of the antenna-device pedestal (1200) are written, the three-dimensional pedestal position coordinates being obtained in advance.

Description

測位基準局Positioning reference station
　本発明は、マルチローターヘリコプターのような飛行体などのためのアンテナ装置台座およびリアルタイムキネマティック測位基準局に関する。 The present invention relates to an antenna device pedestal for an air vehicle such as a multi-rotor helicopter and a real-time kinematic positioning reference station.
　無人探査ヘリコプターなどのＵＡＶ（Ｕｎｍａｎｎｅｄ　Ａｅｒｉａｌ　Ｖｅｈｉｃｌｅ）は、米国などで軍事利用を目的として研究されてきた。 UAVs (Unmanned Aerial Vehicles) such as unmanned exploration helicopters have been studied for military use in the United States and other countries.
　近年では、リチウムイオンバッテリー技術が急速に発展してきており、ＬｉＰｏ（Ｌｉｔｈｉｕｍ　Ｐｏｌｙｍｅｒ）バッテリーなどのバッテリーを搭載するＵＡＶが農薬散布作業などの農業利用を目的として実用化されている（たとえば、特許文献１参照）。 In recent years, lithium-ion battery technology has been rapidly developed, and UAVs equipped with batteries such as LiPo (Lithium Polymer) batteries have been put into practical use for agricultural use such as pesticide spraying work (for example, Patent Document 1). reference).
特開２０１４－７６６７６号公報Japanese Unexamined Patent Publication No. 2014-76676
　ところで、本発明者は、ＵＡＶのような飛行体がさまざまな利用を目的としてより広く実用化されることが望ましいと考えている。 By the way, the present inventor believes that it is desirable that an air vehicle such as a UAV be put into practical use more widely for various purposes.
　より具体的には、本発明者は、ドローンとも呼ばれる、マルチローターヘリコプターのような飛行体が、農薬散布などにおいてより積極的に利用されることが望ましいと考えている。 More specifically, the present inventor believes that it is desirable that an air vehicle such as a multi-rotor helicopter, which is also called a drone, be used more positively in pesticide spraying and the like.
　近年では、正確性が農薬散布に要求される場合が比較的に多くなってきた。 In recent years, there have been relatively many cases where accuracy is required for pesticide application.
　たとえば、小麦が栽培されている圃場と米が栽培されている圃場とが隣接している場合においては、収穫にともなうカメムシなどのような害虫の移動も考慮し、許容された散布量の農薬が枕地の農薬散布区域へ正確に散布されることが要求され、無農薬栽培圃場が隣接している場合においては、風などにより農薬のドリフトも考慮し、農薬が無農薬栽培圃場には散布されないように枕地から離れた農薬散布区域へ正確に散布されることが要求される。 For example, when the field where wheat is cultivated and the field where rice is cultivated are adjacent to each other, the permissible amount of pesticides can be applied in consideration of the movement of pests such as stink bugs during harvesting. Accurate spraying to the pesticide spraying area of the headland is required, and when pesticide-free cultivation fields are adjacent, pesticide drift is taken into consideration due to wind etc., and pesticides are not sprayed to the pesticide-free cultivation field. It is required to be accurately applied to the pesticide application area away from the headland.
　正確性が要求される農薬散布を実現するために、マルチローターヘリコプターの無線操縦はＲＴＫ（Ｒｅａｌ　Ｔｉｍｅ　Ｋｉｎｅｍａｔｉｃ）測位基準アンテナ装置を利用してしばしば行われ、無線操縦のための圃場地図の作成もＲＴＫ測位基準アンテナ装置を利用して行われることがあるが、ＲＴＫ測位基準局を構築するためのＲＴＫ測位基準アンテナ装置は、かなり高価であるので、夜間などには持帰られるポータブルタイプであることが望ましい。 In order to realize pesticide spraying that requires accuracy, radio control of multi-rotor helicopters is often performed using an RTK (Real Time Kinetic) positioning reference antenna device, and field maps for radio control are also created by RTK. Although it is sometimes performed using a positioning reference antenna device, the RTK positioning reference antenna device for constructing an RTK positioning reference station is quite expensive, so it is desirable that it is a portable type that can be taken home at night. ..
　本発明者は、ＲＴＫ測位基準局を構築するときごとに、ポータブルタイプであるＲＴＫ測位基準アンテナ装置の三次元的なアンテナ装置位置座標を得るための面倒な作業が行われなければならず、ＲＴＫ測位基準局の構築が容易ではないことに気付いた。 The present inventor must perform troublesome work for obtaining the three-dimensional antenna device position coordinates of the portable type RTK positioning reference antenna device every time the RTK positioning reference station is constructed, and RTK positioning must be performed. I realized that it was not easy to build a reference station.
　本発明は、上述された従来の課題を考慮し、ＲＴＫ測位基準局を容易に構築することができるアンテナ装置台座およびリアルタイムキネマティック測位基準局を提供することを目的とする。 An object of the present invention is to provide an antenna device pedestal and a real-time kinematic positioning reference station capable of easily constructing an RTK positioning reference station in consideration of the above-mentioned conventional problems.
　第１の本発明は、リアルタイムキネマティック測位基準局を構築するためのアンテナ装置がセットされるアンテナ装置台座であって、
　あらかじめ得られる、前記アンテナ装置台座の三次元的な台座位置座標が書込まれる台座位置座標書込み部を備えたことを特徴とするアンテナ装置台座である。 The first invention is an antenna device pedestal in which an antenna device for constructing a real-time kinematic positioning reference station is set.
The antenna device pedestal is provided with a pedestal position coordinate writing unit on which the three-dimensional pedestal position coordinates of the antenna device pedestal are written, which is obtained in advance.
　第２の本発明は、前記セットされるアンテナ装置の前記アンテナ装置台座に対するアンテナ装置相対位置を一意的に設定するためのアンテナ装置相対位置設定機構を備えたことを特徴とする第１の本発明のアンテナ装置台座である。 The second invention is characterized in that the present invention is provided with an antenna device relative position setting mechanism for uniquely setting the antenna device relative position with respect to the antenna device pedestal of the set antenna device. Antenna device pedestal.
　第３の本発明は、前記アンテナ装置の脚が前記アンテナ装置台座の台座表面に形成された凹部へ嵌込まれることにより、前記アンテナ装置台座に対する前記アンテナ装置相対位置が一意的に設定されることを特徴とする第２の本発明のアンテナ装置台座である。 According to the third aspect of the present invention, the relative position of the antenna device with respect to the antenna device pedestal is uniquely set by fitting the leg of the antenna device into the recess formed on the pedestal surface of the antenna device pedestal. The second antenna device pedestal of the present invention is characterized by the above.
　第４の本発明は、前記台座位置座標書込み部は、ＲＦタグまたはバーコードを利用して設けられることを特徴とする第１の本発明のアンテナ装置台座である。 The fourth invention is the antenna device pedestal of the first invention, characterized in that the pedestal position coordinate writing unit is provided by using an RF tag or a barcode.
　第５の本発明は、前記アンテナ装置は、圃場において薬剤を散布するための飛行体の無線操縦に利用されるアンテナ装置であり、
　前記アンテナ装置台座の台座位置は、前記圃場の近傍の位置であることを特徴とする第１の本発明のアンテナ装置台座である。 In the fifth aspect of the present invention, the antenna device is an antenna device used for radio control of an air vehicle for spraying a drug in a field.
The pedestal position of the antenna device pedestal is the first antenna device pedestal of the present invention, characterized in that it is located in the vicinity of the field.
　第６の本発明は、前記圃場の環境に関する測定を行う圃場環境測定ユニットを備えたことを特徴とする第５の本発明のアンテナ装置台座である。 The sixth aspect of the present invention is the fifth aspect of the antenna device pedestal of the present invention, which comprises a field environment measurement unit for measuring the environment of the field.
　第７の本発明は、第１の本発明の前記アンテナ装置台座へ前記セットされるアンテナ装置を利用して前記構築されるリアルタイムキネマティック測位基準局であって、
　前記アンテナ装置は、一意的に設定される前記アンテナ装置台座に対するアンテナ装置相対位置で前記アンテナ装置台座へセットされ、測位衛星から得られた信号、および前記書込まれた台座位置座標に基づいてリアルタイムキネマティック誤差信号を発信することを特徴とするリアルタイムキネマティック測位基準局である。 The seventh invention is a real-time kinematic positioning reference station constructed by using the antenna device set on the antenna device pedestal of the first invention.
The antenna device is set on the antenna device pedestal at a position relative to the antenna device pedestal that is uniquely set, and is set in real time based on a signal obtained from the positioning satellite and the written pedestal position coordinates. It is a real-time kinematic positioning reference station characterized by transmitting a kinematic error signal.
　本発明により、ＲＴＫ測位基準局を容易に構築することが可能なアンテナ装置台座およびリアルタイムキネマティック測位基準局を提供することができる。 INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide an antenna device pedestal and a real-time kinematic positioning reference station capable of easily constructing an RTK positioning reference station.
本発明における実施の形態の農薬散布システムの模式的な斜視図Schematic perspective view of the pesticide spraying system of the embodiment of the present invention 本発明における実施の形態のアンテナ装置台座の模式的な斜視図Schematic perspective view of the antenna device pedestal of the embodiment of the present invention 本発明における実施の形態のＲＴＫ測位基準局の模式的な断面図Schematic cross-sectional view of the RTK positioning reference station according to the embodiment of the present invention. 本発明における変形例の実施の形態のＲＴＫ測位基準局の模式的な斜視図Schematic perspective view of the RTK positioning reference station according to the embodiment of the modified example in the present invention. 本発明における実施の形態の圃場水位測定部の模式的な正面図Schematic front view of the field water level measuring unit of the embodiment of the present invention 本発明における実施の形態の圃場水位測定部のバッテリー電圧と時間との間の関係の説明図Explanatory drawing of relationship between battery voltage and time of field water level measurement part of embodiment of this invention
　図面を参照しながら、本発明における実施の形態について詳細に説明する。 The embodiment of the present invention will be described in detail with reference to the drawings.
　以下同様であるが、いくつかの構成要素は図面において示されていないこともあるし透視的にまたは省略的に示されていることもある。 The same applies below, but some components may not be shown in the drawings, or may be shown transparently or abbreviated.
　ＲＴＫ測位基準局１０００は、本発明におけるリアルタイムキネマティック測位基準局の例である。 The RTK positioning reference station 1000 is an example of the real-time kinematic positioning reference station in the present invention.
　ＲＴＫ測位基準アンテナ装置１１００は本発明におけるアンテナ装置の例であり、脚１１１０は本発明における脚の例である。 The RTK positioning reference antenna device 1100 is an example of the antenna device in the present invention, and the leg 1110 is an example of the leg in the present invention.
　アンテナ装置台座１２００は、本発明におけるアンテナ装置台座の例である。台座表面１２１０は本発明における台座表面の例であり、凹部１２１２は本発明における凹部の例である。台座位置座標書込み部１２２０は、本発明における台座位置座標書込み部の例である。アンテナ装置相対位置設定機構１２３０は、本発明におけるアンテナ装置相対位置設定機構の例である。圃場環境測定ユニット１２４０は、本発明における圃場環境測定ユニットの例である。 The antenna device pedestal 1200 is an example of the antenna device pedestal in the present invention. The pedestal surface 1210 is an example of the pedestal surface in the present invention, and the recess 1212 is an example of the recess in the present invention. The pedestal position coordinate writing unit 1220 is an example of the pedestal position coordinate writing unit in the present invention. The antenna device relative position setting mechanism 1230 is an example of the antenna device relative position setting mechanism in the present invention. The field environment measurement unit 1240 is an example of the field environment measurement unit in the present invention.
　マルチローターヘリコプター２０００は、本発明における飛行体の例である。 The multi-rotor helicopter 2000 is an example of an air vehicle in the present invention.
　本実施の形態のＲＴＫ誤差信号は、本発明におけるリアルタイムキネマティック誤差信号の例である。 The RTK error signal of the present embodiment is an example of the real-time kinematic error signal in the present invention.
　本実施の形態の農薬は、本発明における薬剤の例である。 The pesticide of the present embodiment is an example of the drug in the present invention.
　はじめに、図１から３を主として参照しながら、本実施の形態の農薬散布システムについて具体的に説明する。 First, the pesticide spraying system of the present embodiment will be specifically described with reference mainly to FIGS. 1 to 3.
　ここに、図１は本発明における実施の形態の農薬散布システムの模式的な斜視図であり、図２は本発明における実施の形態のアンテナ装置台座１２００の模式的な斜視図であり、図３は本発明における実施の形態のＲＴＫ測位基準局１０００の模式的な断面図である。 Here, FIG. 1 is a schematic perspective view of the pesticide spraying system of the embodiment of the present invention, and FIG. 2 is a schematic perspective view of the antenna device pedestal 1200 of the embodiment of the present invention. Is a schematic cross-sectional view of the RTK positioning reference station 1000 according to the embodiment of the present invention.
　本実施の形態の農薬散布システムの動作について説明しながら、本発明に関連した発明の農薬散布方法についても説明する。 While explaining the operation of the pesticide spraying system of the present embodiment, the pesticide spraying method of the invention related to the present invention will also be described.
　ＲＴＫ測位基準局１０００は、アンテナ装置台座１２００へセットされるＲＴＫ測位基準アンテナ装置１１００を利用して構築されるリアルタイムキネマティック測位基準局である。 The RTK positioning reference station 1000 is a real-time kinematic positioning reference station constructed by using the RTK positioning reference antenna device 1100 set on the antenna device pedestal 1200.
　マルチローターヘリコプター２０００の無線操縦のみならず、インターネットなどを介して無料で提供される地図よりしばしばより正確である、無線操縦のための圃場地図の作成が、ＲＴＫ測位基準局１０００を利用して行われてもよい。このような圃場地図の作成は、圃場Ｆの周囲を巡回する圃場地図作成者によって保持される、ＲＴＫ測位移動アンテナ装置との協働で行われる。 Not only the radio control of the multi-rotor helicopter 2000, but also the creation of the field map for radio control, which is often more accurate than the map provided free of charge via the Internet etc., is performed using the RTK Positioning Reference Station 1000. You may. The creation of such a field map is performed in collaboration with the RTK positioning mobile antenna device held by the field map creator who circulates around the field F.
　ＲＴＫ測位基準アンテナ装置１１００は、一意的に設定されるアンテナ装置台座１２００に対するアンテナ装置相対位置でアンテナ装置台座１２００へセットされ、測位衛星から得られた信号、および書込まれた台座位置座標に基づいてＲＴＫ誤差信号を発信する。 The RTK positioning reference antenna device 1100 is set on the antenna device pedestal 1200 at a position relative to the antenna device pedestal 1200 that is uniquely set, and is based on the signal obtained from the positioning satellite and the written pedestal position coordinates. RTK error signal is transmitted.
　発信されたＲＴＫ誤差信号の受信、および測位衛星から得られた信号のＲＴＫ誤差信号による誤差補正は、マルチローターヘリコプター２０００で行われてもよいし、ユーザー携帯端末装置などで行われてもよい。 The transmission of the transmitted RTK error signal and the error correction of the signal obtained from the positioning satellite by the RTK error signal may be performed by the multi-rotor helicopter 2000 or by a user's mobile terminal device or the like.
　たとえば、アンテナ装置台座１２００の台座位置を表現する、台座経度および台座緯度ならびに台座高度の三つ組みである三次元的な台座位置座標が、利用される。 For example, three-dimensional pedestal position coordinates, which are a triplet of pedestal longitude, pedestal latitude, and pedestal altitude, expressing the pedestal position of the antenna device pedestal 1200 are used.
　たとえば、ほぼ２キロ平方メートルの範囲においてＲＴＫ誤差信号を発信するために、ＲＴＫ測位基準アンテナ装置１１００の脚１１１０はほぼ４メートルの幅で広げられ、アンテナ装置台座１２００に対するアンテナ装置相対高さはほぼ１．５メートルであるように設定される。このような数値データは、ＲＴＫ測位基準アンテナ装置１１００のモニターまたはユーザー携帯端末装置などに表示されてもよい。 For example, in order to transmit an RTK error signal in a range of approximately 2 km2, the legs 1110 of the RTK positioning reference antenna device 1100 are extended with a width of approximately 4 meters and the relative height of the antenna device relative to the antenna device pedestal 1200 is approximately 1. It is set to be .5 meters. Such numerical data may be displayed on the monitor of the RTK positioning reference antenna device 1100, the user's mobile terminal device, or the like.
　アンテナ装置台座１２００は、ＲＴＫ測位基準局１０００を構築するためのＲＴＫ測位基準アンテナ装置１１００がセットされるアンテナ装置台座であって、台座位置座標書込み部１２２０と、アンテナ装置相対位置設定機構１２３０と、圃場環境測定ユニット１２４０と、を有する。 The antenna device pedestal 1200 is an antenna device pedestal in which the RTK positioning reference antenna device 1100 for constructing the RTK positioning reference station 1000 is set, and is a pedestal position coordinate writing unit 1220, an antenna device relative position setting mechanism 1230, and a field. It has an environment measurement unit 1240 and.
　台座位置座標書込み部１２２０は、あらかじめ得られる、アンテナ装置台座１２００の三次元的な台座位置座標が書込まれる台座位置座標書込み部である。 The pedestal position coordinate writing unit 1220 is a pedestal position coordinate writing unit that is obtained in advance and in which the three-dimensional pedestal position coordinates of the antenna device pedestal 1200 are written.
　アンテナ装置相対位置設定機構１２３０は、セットされるＲＴＫ測位基準アンテナ装置１１００のアンテナ装置台座１２００に対するアンテナ装置相対位置を一意的に設定するためのアンテナ装置相対位置設定機構である。 The antenna device relative position setting mechanism 1230 is an antenna device relative position setting mechanism for uniquely setting the antenna device relative position with respect to the antenna device pedestal 1200 of the RTK positioning reference antenna device 1100 to be set.
　錘球１１２１がＲＴＫ測位基準アンテナ装置１１００からアンテナ装置台座１２００の上面の錘球標的１２１１へ向かって錘糸１１２２で吊架されることにより、アンテナ装置台座１２００に対するアンテナ装置相対位置が一意的に設定される。 The antenna device relative position with respect to the antenna device pedestal 1200 is uniquely set by suspending the weight ball 1121 from the RTK positioning reference antenna device 1100 toward the weight ball target 1211 on the upper surface of the antenna device pedestal 1200 with the weight thread 1122. Will be done.
　なお、図４に示されているように、ＲＴＫ測位基準アンテナ装置１１００の脚１１１０がアンテナ装置台座１２００の台座表面１２１０に形成された凹部１２１２へ嵌込まれることにより、アンテナ装置台座１２００に対するアンテナ装置相対位置が一意的に設定されてもよい。 As shown in FIG. 4, the leg 1110 of the RTK positioning reference antenna device 1100 is fitted into the recess 1212 formed in the pedestal surface 1210 of the antenna device pedestal 1200, so that the antenna device for the antenna device pedestal 1200 is fitted. The relative position may be set uniquely.
　ここに、図４は、本発明における変形例の実施の形態のＲＴＫ測位基準局１０００の模式的な斜視図である。 Here, FIG. 4 is a schematic perspective view of the RTK positioning reference station 1000 according to the embodiment of the modified example of the present invention.
　脚１１１０の個数は三脚が構成されるように３であるので、凹部１２１２の個数も３である。 Since the number of legs 1110 is 3 so that a tripod is formed, the number of recesses 1212 is also 3.
　セットされるＲＴＫ測位基準アンテナ装置１１００のアンテナ装置台座１２００に対するアンテナ装置相対位置は一意的に設定されるので、ＲＴＫ測位基準アンテナ装置１１００はそれ自身のアンテナ装置位置を表現する三次元的なアンテナ装置位置座標を、アンテナ装置相対位置に基づいて、台座位置座標書込み部１２２０へ書込まれた台座位置座標から正確に算出することができる。 Since the relative position of the antenna device relative to the antenna device pedestal 1200 of the RTK positioning reference antenna device 1100 to be set is uniquely set, the RTK positioning reference antenna device 1100 is a three-dimensional antenna device that expresses its own antenna device position. The position coordinates can be accurately calculated from the pedestal position coordinates written in the pedestal position coordinate writing unit 1220 based on the relative position of the antenna device.
　ＲＴＫ測位基準アンテナ装置１１００は、アンテナ装置相対位置をあらかじめ認識していることが望ましい。 It is desirable that the RTK positioning reference antenna device 1100 recognizes the relative position of the antenna device in advance.
　台座位置座標書込み部１２２０は、ＲＦ（Ｒａｄｉｏ　Ｆｒｅｑｕｅｎｃｙ）タグまたはバーコードを利用して設けられる。 The pedestal position coordinate writing unit 1220 is provided by using an RF (Radio Frequency) tag or a barcode.
　ＲＴＫ測位基準アンテナ装置１１００がアンテナ装置台座１２００へセットされたときに、台座位置座標は電気的なまたは光学的な読込みにより自動で入力されてもよいし手動で入力されてもよい。 When the RTK positioning reference antenna device 1100 is set on the antenna device pedestal 1200, the pedestal position coordinates may be automatically input by electrical or optical reading, or may be manually input.
　たとえば、上述された圃場地図に関するデータは、クラウドサーバーなどへアップロードされて管理されてもよいが、台座位置座標書込み部１２２０のデータ容量に余裕がある場合には、台座位置が圃場Ｆの近傍の位置であるアンテナ装置台座１２００との対応関係がはっきりするように、台座位置座標とともに台座位置座標書込み部１２２０へ書込まれてもよい。 For example, the above-mentioned data related to the field map may be uploaded to a cloud server or the like and managed, but if the data capacity of the pedestal position coordinate writing unit 1220 is sufficient, the pedestal position is near the field F. It may be written in the pedestal position coordinate writing unit 1220 together with the pedestal position coordinates so that the correspondence relationship with the antenna device pedestal 1200, which is the position, is clear.
　つぎに、図１および３を主として参照しながら、本実施の形態の農薬散布システムについてより具体的に説明する。 Next, the pesticide spraying system of the present embodiment will be described more specifically with reference to FIGS. 1 and 3.
　ＲＴＫ測位基準アンテナ装置１１００は、圃場Ｆにおいて農薬を散布するためのマルチローターヘリコプター２０００の無線操縦に利用されるアンテナ装置である。 The RTK positioning reference antenna device 1100 is an antenna device used for radio control of the multi-rotor helicopter 2000 for spraying pesticides in the field F.
　アンテナ装置台座１２００の台座位置は、圃場Ｆの近傍の位置である。 The pedestal position of the antenna device pedestal 1200 is a position near the field F.
　圃場環境測定ユニット１２４０は、圃場Ｆの環境に関する測定を行う圃場環境測定ユニットである。 The field environment measurement unit 1240 is a field environment measurement unit that measures the environment of the field F.
　圃場Ｆの環境に関する測定は、たとえば、ＲＴＫ測位基準アンテナ装置１１００に内蔵されている、設置されたマイクロコンピューター、バッテリーおよびカメラを利用して、圃場温度、圃場湿度および圃場水位について行われる。 The measurement regarding the environment of the field F is performed for the field temperature, the field humidity and the field water level by using, for example, the installed microcomputer, the battery and the camera built in the RTK positioning reference antenna device 1100.
　圃場環境測定ユニット１２４０は、地下に埋設されていてもよいし、地上に露出していてもよい。 The field environment measurement unit 1240 may be buried underground or exposed above the ground.
　図５に示されているように、圃場水位は、スプリングまたはマグネットなどの付勢力に抗して回動される、水Ｗの高さに応じて鉛直方向に配列されたフロート部材１２４１ｆの移動によりオンオフされる複数のスイッチ部材１２４１ｓを有する圃場環境測定ユニット１２４０の圃場水位測定部１２４１により測定される。 As shown in FIG. 5, the field water level is caused by the movement of float members 1241f arranged vertically according to the height of the water W, which is rotated against an urging force such as a spring or a magnet. It is measured by the field water level measuring unit 1241 of the field environment measuring unit 1240 having a plurality of switch members 1241s to be turned on and off.
　ここに、図５は、本発明における実施の形態の圃場水位測定部１２４１の模式的な正面図である。 Here, FIG. 5 is a schematic front view of the field water level measuring unit 1241 according to the embodiment of the present invention.
　圃場Ｆの環境に関する測定の結果は、無線通信を利用して、ネットワークを経てユーザー携帯端末装置などに通知されてもよい。 The result of the measurement regarding the environment of the field F may be notified to the user's mobile terminal device or the like via the network using wireless communication.
　図６に示されているように、圃場環境測定ユニット１２４０においては、バッテリー出力電圧Ｖαのバッテリー電圧Ｖが出力される期間Ｔα、およびバッテリースリープ期間に対応する、バッテリー電圧Ｖが出力されない期間Ｔβが消費電力などを考慮して調節される。 As shown in FIG. 6, in the field environment measurement unit 1240, the period Tα in which the battery voltage V of the battery output voltage Vα is output and the period Tβ in which the battery voltage V is not output corresponding to the battery sleep period are It is adjusted in consideration of power consumption.
　ここに、図６は、本発明における実施の形態の圃場水位測定部１２４１のバッテリー電圧Ｖと時間ｔとの間の関係の説明図である。 Here, FIG. 6 is an explanatory diagram of the relationship between the battery voltage V and the time t of the field water level measuring unit 1241 according to the embodiment of the present invention.
　圃場環境測定ユニット１２４０の消費電力を抑制するために、１５０アンペアおよび３．２ボルトのバッテリー仕様で駆動するタイマーが利用されることが望ましい。ほぼ１０分間のユニット駆動が１回の測定の結果の通知のために必要であり、１日あたり１０回の測定の結果の通知はほぼ一年間にわたってバッテリー充電なしに行われる。もちろん、圃場水位は、たとえば、１日あたり３回しか測定されなくてもよい。 In order to reduce the power consumption of the field environment measurement unit 1240, it is desirable to use a timer driven by a battery specification of 150 amperes and 3.2 volts. Almost 10 minutes of unit drive is required for notification of the result of one measurement, and notification of the result of 10 measurements per day takes place for almost a year without battery charging. Of course, the field water level may be measured, for example, only three times a day.
　なお、本発明に関連した発明のプログラムは、上述された本発明に関連した発明の農薬散布方法の全部または一部のステップ（または工程、動作および作用など）の動作をコンピューターに実行させるためのプログラムであって、コンピューターと協働して動作するプログラムである。 The program of the invention related to the present invention is for causing a computer to perform the operation of all or a part of the steps (or steps, operations, actions, etc.) of the pesticide spraying method of the invention related to the present invention described above. It is a program that works in cooperation with a computer.
　また、本発明に関連した発明の記録媒体は、上述された本発明に関連した発明の農薬散布方法の全部または一部のステップ（または工程、動作および作用など）の全部または一部の動作をコンピューターに実行させるためのプログラムを記録した記録媒体であり、読取られたプログラムがコンピューターと協働して利用されるコンピューター読取り可能な記録媒体である。 In addition, the recording medium of the invention related to the present invention performs all or part of the operation of all or part of the steps (or steps, operations, actions, etc.) of the pesticide spraying method of the invention related to the present invention described above. It is a recording medium on which a program to be executed by a computer is recorded, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.
　なお、上述された「一部のステップ（または工程、動作および作用など）」は、それらの複数のステップの内の一つまたはいくつかのステップを意味する。 Note that the above-mentioned "some steps (or process, operation, action, etc.)" means one or several steps among the plurality of steps.
　また、上述された「ステップ（または工程、動作および作用など）の動作」は、上述されたステップの全部または一部の動作を意味する。 Further, the above-mentioned "operation of a step (or process, operation, action, etc.)" means an operation of all or a part of the above-mentioned steps.
　また、本発明に関連した発明のプログラムの一利用形態は、インターネット、光、電波または音波などのような伝送媒体の中を伝送され、コンピューターにより読取られ、コンピューターと協働して動作するという形態であってもよい。 Further, one usage form of the program of the invention related to the present invention is a form in which the program is transmitted in a transmission medium such as the Internet, light, radio waves, sound waves, etc., read by a computer, and operates in cooperation with the computer. It may be.
　また、記録媒体としては、ＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）などが含まれる。 Further, the recording medium includes a ROM (Read Only Memory) and the like.
　また、コンピューターは、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）などのような純然たるハードウェアに限らず、ファームウェア、ＯＳ（Ｏｐｅｒａｔｉｎｇ　Ｓｙｓｔｅｍ）、そしてさらに周辺機器を含んでもよい。 Further, the computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may include a firmware, an OS (Operating System), and further peripheral devices.
　なお、上述されたように、本発明の構成は、ソフトウェア的に実現されてもよいし、ハードウェア的に実現されてもよい。 As described above, the configuration of the present invention may be realized by software or hardware.
　本発明におけるアンテナ装置台座およびリアルタイムキネマティック測位基準局は、ＲＴＫ測位基準局を容易に構築することができ、マルチローターヘリコプターのような飛行体などのためのアンテナ装置台座およびリアルタイムキネマティック測位基準局に利用する目的に有用である。 The antenna device pedestal and real-time kinematic positioning reference station in the present invention can easily construct an RTK positioning reference station, and are used for the antenna device pedestal and real-time kinematic positioning reference station for an aircraft such as a multi-rotor helicopter. Useful for the purpose.
　１０００　ＲＴＫ測位基準局
　１１００　ＲＴＫ測位基準アンテナ装置
　１１１０　脚
　１１２１　錘球
　１１２２　錘糸
　１２００　アンテナ装置台座
　１２１０　台座表面
　１２１１　錘球標的
　１２１２　凹部
　１２２０　台座位置座標書込み部
　１２３０　アンテナ装置相対位置設定機構
　１２４０　圃場環境測定ユニット
　１２４１　圃場水位測定部
　１２４１ｆ　フロート部材
　１２４１ｓ　スイッチ部材
　２０００　マルチローターヘリコプター
　Ｆ　圃場
　Ｗ　水 1000 RTK positioning reference station 1100 RTK positioning reference antenna device 1110 leg 1121 weight ball 1122 weight thread 1200 antenna device pedestal 1210 pedestal surface 1211 weight ball target 1212 recess 1220 pedestal position coordinate writing part 1230 antenna device relative position setting mechanism 1240 field environment measurement unit 1241 Field water level measurement unit 1241f Float member 1241s Switch member 2000 Multi-rotor helicopter F Field W water

Claims (7)

  1. 　リアルタイムキネマティック測位基準局を構築するためのアンテナ装置がセットされるアンテナ装置台座であって、
    　あらかじめ得られる、前記アンテナ装置台座の三次元的な台座位置座標が書込まれる台座位置座標書込み部を備えたことを特徴とするアンテナ装置台座。     It is an antenna device pedestal on which an antenna device for constructing a real-time kinematic positioning reference station is set.
    The antenna device pedestal is provided with a pedestal position coordinate writing unit on which the three-dimensional pedestal position coordinates of the antenna device pedestal are written, which is obtained in advance.
  2. 　前記セットされるアンテナ装置の前記アンテナ装置台座に対するアンテナ装置相対位置を一意的に設定するためのアンテナ装置相対位置設定機構を備えたことを特徴とする請求項１に記載のアンテナ装置台座。 The antenna device pedestal according to claim 1, further comprising an antenna device relative position setting mechanism for uniquely setting the antenna device relative position of the set antenna device with respect to the antenna device pedestal.
  3. 　前記アンテナ装置の脚が前記アンテナ装置台座の台座表面に形成された凹部へ嵌込まれることにより、前記アンテナ装置台座に対する前記アンテナ装置相対位置が一意的に設定されることを特徴とする請求項２に記載のアンテナ装置台座。 2. The second aspect of the present invention is that the relative position of the antenna device with respect to the antenna device pedestal is uniquely set by fitting the legs of the antenna device into the recess formed on the pedestal surface of the antenna device pedestal. The antenna device pedestal described in.
  4. 　前記台座位置座標書込み部は、ＲＦタグまたはバーコードを利用して設けられることを特徴とする請求項１に記載のアンテナ装置台座。 The antenna device pedestal according to claim 1, wherein the pedestal position coordinate writing unit is provided by using an RF tag or a barcode.
  5. 　前記アンテナ装置は、圃場において薬剤を散布するための飛行体の無線操縦に利用されるアンテナ装置であり、
    　前記アンテナ装置台座の台座位置は、前記圃場の近傍の位置であることを特徴とする請求項１に記載のアンテナ装置台座。     The antenna device is an antenna device used for radio control of an air vehicle for spraying a drug in a field.
    The antenna device pedestal according to claim 1, wherein the pedestal position of the antenna device pedestal is a position in the vicinity of the field.
  6. 　前記圃場の環境に関する測定を行う圃場環境測定ユニットを備えたことを特徴とする請求項５に記載のアンテナ装置台座。 The antenna device pedestal according to claim 5, further comprising a field environment measurement unit for measuring the field environment.
  7. 　請求項１に記載の前記アンテナ装置台座へ前記セットされるアンテナ装置を利用して前記構築されるリアルタイムキネマティック測位基準局であって、
    　前記アンテナ装置は、一意的に設定される前記アンテナ装置台座に対するアンテナ装置相対位置で前記アンテナ装置台座へセットされ、測位衛星から得られた信号、および前記書込まれた台座位置座標に基づいてリアルタイムキネマティック誤差信号を発信することを特徴とするリアルタイムキネマティック測位基準局。     The real-time kinematic positioning reference station constructed by using the antenna device set on the antenna device pedestal according to claim 1.
    The antenna device is set on the antenna device pedestal at a position relative to the antenna device pedestal that is uniquely set, and is set in real time based on a signal obtained from the positioning satellite and the written pedestal position coordinates. A real-time kinematic positioning reference station characterized by transmitting a kinematic error signal.
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