WO2022049737A1 - Dispositif de distribution de signal de renforcement de positionnement et procédé de distribution de signal de renforcement de positionnement - Google Patents

Dispositif de distribution de signal de renforcement de positionnement et procédé de distribution de signal de renforcement de positionnement Download PDF

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WO2022049737A1
WO2022049737A1 PCT/JP2020/033652 JP2020033652W WO2022049737A1 WO 2022049737 A1 WO2022049737 A1 WO 2022049737A1 JP 2020033652 W JP2020033652 W JP 2020033652W WO 2022049737 A1 WO2022049737 A1 WO 2022049737A1
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electronic reference
positioning
reference points
area
signal distribution
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PCT/JP2020/033652
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English (en)
Japanese (ja)
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武 網嶋
龍平 高橋
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三菱電機株式会社
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Priority to JP2022545329A priority Critical patent/JP7183485B2/ja
Priority to PCT/JP2020/033652 priority patent/WO2022049737A1/fr
Publication of WO2022049737A1 publication Critical patent/WO2022049737A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections

Definitions

  • the technology related to this disclosure relates to a positioning augmentation signal distribution device.
  • GNSS Global Navigation Satellite System
  • MICHIBIKI centimeter-class positioning reinforcement service
  • CLAS uses information from "electronic reference points", which are GNSS continuous observation points located at 1300 national translations, in order to achieve centimeter-class accuracy.
  • This electronic reference point is managed by the Geographical Survey Institute and is equipped with a GNSS receiver that receives radio waves from the GNSS satellite.
  • the radio wave information received by the electronic reference point is collected by the air traffic control station as observation data of the electronic reference point.
  • the positioning reinforcement signal distribution device in the control station generates a positioning reinforcement signal from the collected observation data of the electronic reference point and distributes it using the L6 signal of the quasi-zenith satellite system.
  • the ground is divided into a plurality of areas, and a virtual grid in which grid points are arranged at equal intervals is set.
  • the positioning reinforcement information includes the correction value of the delay of the positioning signal in the ionosphere.
  • this correction value will be referred to as an ionospheric correction value.
  • the ionospheric correction value is calculated for each grid point using the measurement results of the pseudo distances obtained from each of the plurality of electronic reference points.
  • the above-mentioned positioning reinforcement signal includes the corresponding ionospheric correction value for each of the grid points.
  • CLAS uses the L6 signal of the quasi-zenith satellite system, it is subject to a transmission capacity limitation of about 2 kbps (bits per second). This means that it is necessary to suppress (for example, compress) the amount of positioning reinforcement information to a certain amount in order to distribute the positioning reinforcement signal to the entire range of the service target.
  • Patent Document 1 discloses a technique of limiting the amount of positioning reinforcement information to a certain amount and distributing it to a ground station terminal.
  • the present disclosure technology aims to solve the above problems, and provides a positioning augmentation signal distribution device that prevents deterioration of correction information accuracy in an area with local ionospheric disturbance without increasing the total amount of information. With the goal.
  • the positioning reinforcement signal distribution device is a positioning reinforcement signal distribution device that distributes a positioning reinforcement signal that reinforces a satellite positioning service by using observation data from a plurality of electronic reference points, and is a positioning reinforcement signal distribution device.
  • Provides an input interface, a processing circuit, and an output interface the input interface outputs the number of electronic reference points used for each input area to the processing circuit, and the processing circuit outputs each area.
  • the input number of used electronic reference points is selected, and the spatially dense portion of the selected electronic reference points is repeatedly placed in the area so as to be spatially coarse. It is characterized by replacing it with an electronic reference point that has not been selected.
  • the positioning augmentation signal distribution device Since the positioning augmentation signal distribution device according to the present disclosure technology has the above configuration, it is possible to prevent deterioration of the correction information accuracy in the area where there is local ionospheric disturbance without increasing the total amount of information.
  • FIG. 6A is a block diagram showing a hardware configuration that realizes the function of the positioning augmentation signal distribution device according to the first embodiment.
  • FIG. 6B is a block diagram showing a hardware configuration for executing software that realizes the function of the positioning augmentation signal distribution device according to the first embodiment.
  • FIG. 1 It is a figure which shows the arrangement example of the electronic reference point in a certain area. It is a figure which shows the electronic reference point selected in the area by the conventional method. It is a figure which shows the electronic reference point selected in the area by the technique which concerns on Embodiment 1.
  • FIG. It is a functional block diagram which shows the function of the positioning reinforcement signal distribution apparatus which concerns on Embodiment 2.
  • FIG. 1 is a diagram showing an outline of the positioning system according to the first embodiment, and shows CLAS using the quasi-zenith satellite 1.
  • the positioning system shown in FIG. 1 includes, for example, a quasi-zenith satellite 1, a GNSS satellite 2, a ground station terminal 3, a main control station 4, an electronic reference point 5, and an uplink station 6.
  • the quasi-zenith satellite 1 is the first satellite that transmits positioning reinforcement information a to the ground station terminal 3.
  • the positioning reinforcement information a is information used for correcting the positioning information b, and includes correction values for various errors.
  • the correction values included in the positioning reinforcement information a include a correction value for the propagation delay of the positioning information in the ionosphere, a correction value for the propagation delay of the positioning information in the troposphere, and an error (integrity information) of these correction values.
  • the GNSS satellite 2 is a second satellite that transmits positioning information b to the ground station terminal 3.
  • the GNSS satellite 2 is a GPS (Global Positioning Systems) satellite.
  • the positioning information b is information used for positioning of the ground station terminal 3.
  • the ground station terminal 3 is a terminal that performs positioning using the positioning information b. Further, the ground station terminal 3 corrects the positioning information b by using the positioning reinforcement information a to perform positioning.
  • the quasi-zenith satellite 1 transmits the positioning supplement information c to the ground station terminal 3 in addition to the positioning reinforcement information a.
  • the positioning supplement information c is information that complements the positioning using the positioning information b by the ground station terminal 3.
  • the main control station 4 includes the positioning augmentation signal distribution device according to the first embodiment.
  • the positioning reinforcement signal distribution device generates the positioning reinforcement information a.
  • the positioning reinforcement information a generated by the positioning reinforcement signal distribution device of the main control station 4 is output to the uplink station 6.
  • the uplink station 6 transmits the positioning reinforcement information a to the quasi-zenith satellite 1.
  • the quasi-zenith satellite 1 distributes the positioning reinforcement information a received from the main control station 4 via the uplink station 6 to the ground station terminal 3 as an L6 signal.
  • the electronic reference points 5 are arranged at a plurality of locations on the ground, receive positioning information b (GNSS signal) from the GNSS satellite 2, and have known position information of the electronic reference point 5 and the received positioning information b. Is used to estimate the amount of error included in the positioning information b, and the correction information for correcting the estimated amount of error is transmitted to the main control station 4.
  • the electronic reference points 5 are arranged at about 1300 points at intervals of about 20 km.
  • ionospheric correction value For example, in Japan, grid points are set at about 350 points at intervals of about 60 km.
  • the quasi-zenith satellite 1 distributes the positioning reinforcement information a including the ionospheric correction value every 30 seconds.
  • the ionospheric correction value is the amount of delay in positioning information at the distance from the GNSS satellite 2 to each grid point that occurs in the ionosphere.
  • the ground station terminal 3 measures the pseudo distance between the GNSS satellite and the ground station terminal 3 using the positioning information b, and uses the measured pseudo distance as the ionization layer correction value included in the positioning reinforcement information a. By correcting it, a highly accurate pseudo distance can be obtained.
  • the positioning reinforcement information a including the ionospheric correction value is discrete from the continuous information in the entire space. Compressed into information.
  • the transmission capacity of the positioning reinforcement information a including the ionospheric correction value is defined as about 2 kbps.
  • the ground station terminal 3 is set at the position closest to the ground station terminal 3 in the positioning reinforcement information a distributed from the quasi-zenith satellite 1.
  • the positioning reinforcement information a including the ionospheric correction value corresponding to the grid points
  • the positioning information b can be accurately corrected. That is, the narrower the grid spacing is, the more the ground station terminal 3 can receive the ionospheric correction value corresponding to the grid points set in the vicinity, so that the positioning accuracy is improved.
  • the transmission capacity of the positioning reinforcement information a is limited (about 2 kbps), and the grid spacing cannot be narrowed.
  • the grid spacing is widened from the initial 60 km spacing to an integer multiple of the spacing (for example, 120 km spacing)
  • positioning is performed.
  • Accuracy deteriorates from the centimeter class to the digital meter class.
  • by including only the coefficient when the ionization layer correction value is approximated by the function in the positioning reinforcement information a and transmitting it the amount of information to be transmitted is reduced, but the positioning accuracy is in the centimeter class due to the approximation error. Deteriorates to the Digimeter class.
  • the delay of the positioning information b in the ionosphere strongly affected by the ionospheric disturbance is different from the delay of the positioning information b in the ionosphere weakly affected by the ionospheric disturbance. Become. This difference in delay greatly deteriorates the accuracy of the ionospheric correction value, which is the correction value of the pseudo distance.
  • the positioning reinforcement signal distribution device transmits the positioning reinforcement information a from the quasi-zenith satellite 1 based on the statistical information of the index value of the occurrence degree of ionospheric disturbance for each area.
  • the interval between points is set in advance.
  • the grid spacing is set according to the degree of influence of the ionospheric disturbance in the past, so that the ground station terminal 3 can maintain the positioning accuracy even if the ionospheric disturbance occurs.
  • the grid spacing is not fixed to a predetermined value (for example, 60 km) and the grid spacing can be widened in an area where the degree of influence of ionospheric disturbance is low, the amount of information of the positioning reinforcement information a can be reduced. Is possible.
  • FIG. 2 is a block diagram showing the configuration of the positioning augmentation signal distribution device according to the first embodiment, and is a device provided in the main control station 4 shown in FIG. 1.
  • the positioning augmentation signal distribution device shown in FIG. 2 includes a database 40, a grid setting unit 41, a calculation unit 42, and a transmission unit 43, and is based on positioning correction information measured by each of a plurality of electronic reference points 5. Therefore, positioning reinforcement information a corresponding to each of the plurality of grid points is generated.
  • the database 40 is a database in which index values of the degree of ionospheric disturbance for each area are stored, and for example, past historical data of ionospheric correction values corresponding to each grid point for each area is stored. The ionospheric correction value is monitored for each area for a long period of time and stored in the database 40 until the degree of ionospheric disturbance for each area can be specified.
  • the spatial variation of the ionospheric correction value for each grid point is large, and in the area not so affected by the ionospheric disturbance, the spatial variation of the ionospheric correction value for each grid point is large. Is small. That is, the ionospheric correction value can be an index value of the degree of occurrence of ionospheric disturbance.
  • the database 40 may be provided with a device provided separately from the positioning augmentation signal distribution device according to the first embodiment.
  • the positioning augmentation signal distribution device according to the first embodiment wirelessly or wiredly connects to the device and reads out the data stored in the database 40.
  • the positioning augmentation signal distribution device according to the first embodiment does not have to include the database 40.
  • the grid setting unit 41 is a setting unit that sets the interval between grid points for transmitting positioning reinforcement information a from the quasi-zenith satellite 1 based on statistical information of index values of the degree of ionospheric disturbance for each area. For example, the grid setting unit 41 sets the interval of the grid points for transmitting the positioning reinforcement information a based on the statistical information of the past historical data of the ionospheric correction value for each area read from the database 40.
  • FIG. 3 is a diagram showing a grid for each area set on the ground.
  • Japan is divided into areas (1) to (12), and a grid is set for each area.
  • the grid point spacing is statically set by the grid setting unit 41.
  • Static means that the interval between grid points is set in advance based on the statistical information of the index value of the degree of occurrence of ionospheric disturbance for each area.
  • the grid setting unit 41 sets the grid spacing so that the total number of grid points corresponding to each of the positioning reinforcement information a distributed from the quasi-zenith satellite 1 is equal to or less than the specified value.
  • the specified value is the total number of grid points that satisfy the limitation of the transmission capacity of the positioning reinforcement information a.
  • the specified value is, for example, about 250.
  • the calculation unit 42 calculates the positioning correction information corresponding to each grid point for each interval set by the grid setting unit 41 based on the observation data observed by each of the plurality of electronic reference points 5.
  • the calculation unit 42 in the first embodiment calculates the ionospheric correction value which is the positioning correction information.
  • the transmission unit 43 performs a process of transmitting the positioning reinforcement information a including the ionospheric correction value calculated by the calculation unit 42 to the quasi-zenith satellite 1. For example, the transmission unit 43 transmits the positioning reinforcement information a to the quasi-zenith satellite 1 via the uplink station 6.
  • the quasi-zenith satellite 1 distributes the positioning reinforcement information a received from the main control station 4 to the ground station terminal 3.
  • FIG. 4 is a functional block diagram showing the functions of the CLASS correction value distribution device.
  • FIG. 4A is a functional block diagram showing the function of the correction value distribution device when the electronic reference point to be used is determined in advance for each area.
  • FIG. 4B is a functional block diagram showing the function of the CLAS correction value distribution device that dynamically selects the electronic reference point.
  • a table of reference point numbers with different densities is prepared in advance for each area, and the total amount of information is kept below a certain level depending on the ionospheric disturbance. By switching the table for each area, the reference point density can be switched.
  • the relationship between the number of grids and the number of electronic reference points used is considered as follows. Even if the grid point spacing is determined for each area based on the statistical information of the index value of the degree of ionospheric disturbance, if the number of electronic reference points used to calculate the positioning reinforcement information a is not sufficient, each grid point The information obtained about is not meaningful. Conversely, it may be possible to increase the number of electronic reference points used regardless of the number of grids, but if the number of electronic reference points used is gradually increased, there will be a significant difference in the results obtained at some point. Is gone. Considering the time consumed for calculation and calculation efficiency, it is desirable to change the number of electronic reference points to be used according to the number of grids.
  • the electronic reference points can be selected almost in a grid pattern. It is also possible to directly use the observation data of the electronic reference point without performing the grid processing.
  • the method of selecting the electronic reference point to be used is considered as follows. If the electronic reference points used in the area have spatial roughness, the positioning accuracy deteriorates in the coarse portion. This is because if the point where the positioning is actually performed is far from the point where the correction information is generated, the correction accuracy deteriorates. Therefore, in order to obtain a uniform correction effect, it is desirable that the correction effect is spatially evenly distributed as much as possible.
  • the ground station terminal 3 performs positioning using the positioning information b, and it is desired that the positioning point of the ground station terminal 3 can always be surrounded by any of the selected electronic reference points. That is, as the electronic reference point to be used, we also want to select the electronic reference point along the coast to some extent. This is because in CLAS, when positioning is performed, correction information of four points around the positioning point of the ground station terminal 3 is interpolated to generate a correction value at the positioning point. Therefore, it is desirable to be surrounded by 4 points. If it is not surrounded by 4 points, extrapolation will be performed. Since extrapolation has lower accuracy than interpolation, positioning accuracy also deteriorates. Although the explanation was given for positioning points, the same can be said for grid points.
  • the technology according to the first embodiment is defined by dividing the ground into a plurality of areas.
  • the significance of defining an area is considered as follows.
  • the boundary of the area is defined according to the spatial distribution shape of the degree of occurrence. Can be considered. By doing so, the affinity with this technology that changes the number of grids for each area is improved.
  • the method of defining the area is not limited to this. Areas may be defined according to the "eight regional divisions" that are commonly used in Hokkaido, Tohoku, Kanto, Chubu, Kinki, Chugoku, Shikoku, and Kyushu Okinawa.
  • the GNSS positioning information service is used for navigation of a moving body such as a vehicle, it may follow an area used in the navigation industry.
  • FIG. 3 is an example showing what kind of boundary the ground area is defined by.
  • FIG. 7 shows the electronic reference points in the area when the Tohoku region is used as the unit of the area.
  • the positioning augmentation signal distribution device spatially displays the reference point number list of each area shown in FIGS. 4A and 4B in the area according to the number of electronic reference points used. Automatically select so that there is no unevenness in density. A description of the operation is shown below.
  • FIG. 5 shows a processing flow of the positioning augmentation signal distribution device according to the first embodiment.
  • the operations described below are performed for all defined areas. For the sake of simplicity, the areas are numbered, and the work is carried out in order from the first area. It is assumed that the first area uses M electronic reference points. The number M of electronic reference points used in the first area is input via an input interface described later.
  • the calculation unit 42 of the positioning augmentation signal distribution device which will be described later, randomly selects M electronic reference points from the N electronic reference points arranged in the first area (ST1), and selects a list of candidates. create.
  • the calculation unit 42 of the positioning reinforcement signal distribution device calculates the distance to the nearest electronic reference point for each of the M electronic reference points (ST2). This distance information is referred to here as the "recent point distance”.
  • the calculation unit 42 of the positioning augmentation signal distribution device identifies the set of electronic reference points having the shortest recent point distance, and excludes one of the specified sets of electronic reference points from the list of candidates ( ST3). At this point, the number of electronic reference points in the candidate list is M-1.
  • the fact that the recent point distance is short means that the distance between the electronic reference points is short, and it is spatially dense.
  • the calculation unit 42 of the positioning reinforcement signal distribution device calculates the following for all of the NM electronic reference points that have not been selected from the first area.
  • the calculation unit 42 adds one of the unselected NM electronic reference points to the candidate list (ST4), and recently points for each of the M electronic reference points in the updated candidate list.
  • the distance is calculated (ST5) and its minimum value is recorded (ST6). That is, the calculation unit 42 calculates the distance information and records the shortest value thereof.
  • the calculation unit 42 performs this process at all NM reference points (ST7, ST4-ST6).
  • the electronic reference point having the maximum value of the latest point distance is added as a new point (ST8). Choosing the electronic reference point that maximizes the minimum value of the nearest point distance means that the electronic reference point is selected so as to be spatially coarse.
  • the calculation unit 42 of the positioning reinforcement signal distribution device performs the above selection flow until it converges (ST9, ST2-ST8).
  • "convergence” may mean, for example, a state in which the electronic reference points do not change.
  • the minimum value of the recent point distance may be larger than a predetermined value. That is, this is a convergence condition.
  • the modification of the candidate list for the first area is completed, the second area, the third area, and so on are carried out in order. Since the disclosed technology specifies the electronic reference points to be used for each area, the total number of electronic reference points can be prevented from exceeding the above-mentioned transmission capacity limit. In addition, the electronic reference point can be selected so that there is no spatial unevenness in the area.
  • the problems dealt with by the disclosed technology can be expressed by the following mathematical formulas.
  • the nearest point distances di and min calculated for each electronic reference point can be expressed by the following mathematical formula 1.
  • the minimum value of the nearest point distance can be expressed by the following mathematical formula 2.
  • the problem of finding M electronic reference points for which the minimum value of the nearest point distance is maximized can be expressed by Equation 3.
  • the present disclosure technique shows that the calculation unit 42 of the positioning augmentation signal distribution device performs iterative calculation and substantially solves the so-called max min min problem shown by the above formulas 1 to 3.
  • the positioning reinforcement signal distribution device includes the function of the positioning reinforcement signal shown in FIG. 4 and the processing circuit for executing the processing shown in FIG.
  • the processing circuit may be dedicated hardware, or may be a CPU (Central Processing Unit) that executes a program stored in the memory.
  • FIG. 6A is a block diagram showing a hardware configuration that realizes the function of the positioning augmentation signal distribution device according to the first embodiment.
  • FIG. 6B is a block diagram showing a hardware configuration for executing software that realizes the function of the positioning augmentation signal distribution device according to the first embodiment.
  • the input interface 100 outputs the number of used electronic reference points used for each input area to the processing circuit.
  • the processing circuit 102 selects the input number of electronic reference points for each area, and repeatedly spatially selects the spatially dense portion of the selected electronic reference points. Replace with unselected GNSS in the area so that it is coarse.
  • the input interface 100 is an interface in which the grid setting unit 41 relays the information input from the database 40, and the calculation unit 42 relays the information input from the electronic reference point 5.
  • the output interface 101 is an interface for relaying information output from the transmission unit 43 to the uplink station 6.
  • the processing circuit 102 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA. (Field-Programmable Gate Array) or a combination of these is applicable.
  • the functions of the grid setting unit 41, the calculation unit 42, and the transmission unit 43 may be realized by separate processing circuits. Further, these functions may be collectively realized by one processing circuit.
  • the functions of the grid setting unit 41, the calculation unit 42, and the transmission unit 43 are realized by software, firmware, or a combination of software and firmware.
  • the software or firmware is written as a program and stored in the memory 104.
  • the processor 103 realizes the functions of the grid setting unit 41, the calculation unit 42, and the transmission unit 43 by reading and executing the program stored in the memory 104. That is, the positioning augmentation signal distribution device according to the first embodiment stores the function of the positioning augmentation signal shown in FIG. 4 and the program in which the processing shown in FIG. 5 is executed as a result when executed by the processor 103.
  • a memory 104 for the purpose is provided.
  • the memory 104 may be a computer-readable storage medium in which a program for making the computer function as a grid setting unit 41, a calculation unit 42, and a transmission unit 43 is stored.
  • the memory 104 may include, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically-volatile), or an EEPROM (Electrically-EPROM).
  • a RAM Random Access Memory
  • ROM Read Only Memory
  • flash memory an EPROM (Erasable Programmable Read Only Memory)
  • EEPROM Electrically-volatile
  • EEPROM Electrically-EPROM
  • the functions of the grid setting unit 41, the calculation unit 42, and the transmission unit 43 may be partially realized by dedicated hardware and partly realized by software or firmware.
  • the function is realized by a processing circuit as dedicated hardware, and for the grid setting unit 41 and the calculation unit 42, the processor 103 reads out the program stored in the memory 104 and executes it. You may realize the function with.
  • the processing circuit can realize each of the above functions by hardware, software, firmware or a combination thereof.
  • FIG. 7 shows the arrangement of all 134 electronic reference points arranged in the Tohoku area as an example of the electronic reference points arranged in the area.
  • FIG. 8 shows the result of randomly selecting an electronic reference point by designating the number of used electronic reference points as 24 among the 134 electronic reference points in FIG. 7.
  • FIG. 9 is a diagram showing the arrangement of 24 electronic reference points in the list of candidates obtained by the technique according to the first embodiment.
  • FIG. 9 shows that the arrangement of the electronic reference points selected by the present disclosure technique has no spatial coarseness and density bias, and the electronic reference points along the coast are also uniformly selected.
  • the positioning augmentation signal distribution device can specify the number of electronic reference points to be used for each area, and automatically, there is no spatial coarseness and density bias in the area, and The number of electronic reference points used can be selected so that the electronic reference points along the coast are also selected uniformly.
  • the present disclosure technique can provide a positioning augmentation signal distribution device that prevents deterioration of the correction information accuracy in an area having local ionospheric disturbance without increasing the total amount of information.
  • Embodiment 2 shows the case where the disclosed technology is realized by a processing circuit.
  • the second embodiment shows a case where it is realized as an apparatus.
  • FIG. 10 is a functional block diagram showing the functions of the positioning augmentation signal distribution device according to the second embodiment.
  • the positioning augmentation signal distribution device selects / deletes a selection unit that randomly selects M electronic reference points, a calculation unit that calculates the latest point distance of each point, and a point with the shortest latest point distance.
  • Select / delete part to select, select / add one from unselected points, recalculate part to recalculate the latest point distance of each point, record to record the minimum value of the latest point distance of each point Part, a judgment part that determines whether the processing is completed at all unselected points, a selection part that selects the point that takes the maximum value from the minimum value of the nearest point distance of each point as a new point, and the latest of each point.
  • a determination unit for determining whether the minimum value of the point distance is longer than the previous time is provided.
  • the operation of the positioning reinforcement signal distribution device according to the second embodiment will be described below.
  • the part that overlaps with the first embodiment is omitted.
  • the areas are numbered, and the work is carried out in order from the first area. It is assumed that the first area uses M electronic reference points.
  • the selection unit that randomly selects M electronic reference points randomly selects M electronic reference points from the corresponding area and creates a list of candidates.
  • the calculation unit that calculates the nearest point distance of each point calculates the "recent point distance", which is the distance to the nearest electronic reference point for each of the M electronic reference points.
  • the selection / deletion unit that selects / deletes the point with the shortest recent point distance identifies the set of electronic reference points with the shortest recent point distance, and selects one of the specified sets of electronic reference points. Remove from the list of candidates. At this point, the number of electronic reference points in the candidate list is M-1.
  • the fact that the recent point distance is short means that the distance between the electronic reference points is short, and it is spatially dense.
  • the recalculation unit that recalculates the nearest point distance of each point calculates the following for all NM electronic reference points that have not been selected from the first area.
  • the recalculation unit adds one of the unselected NM electronic reference points to the candidate list and calculates the most recent point distance for each of the M electronic reference points in the updated candidate list. do.
  • the recording unit that records the minimum value of the nearest point distance of each point records the minimum value of the latest point distance calculated above.
  • the determination unit that determines whether the processing is completed at all unselected points is the processing of the calculation unit that recalculates the latest point distance of each of the above points, and the recording that records the minimum value of the latest point distance of each point. It is determined whether or not the processing of the unit is performed at all the electronic reference points of NM. The above processing is performed at all NM reference points.
  • the selection unit that selects the point that takes the maximum value from the minimum value of the nearest point distance of each point as a new point adds the electronic reference point that takes the maximum value to the list of candidates as a new point. Choosing the electronic reference point that maximizes the minimum value of the nearest point distance means that the electronic reference point is selected so as to be spatially coarse.
  • the determination unit that determines whether the minimum value of the nearest point distance of each point is longer than the previous time determines whether the above selection flow has converged by performing this determination.
  • the above conditions are predetermined as convergence conditions.
  • the technique according to the present disclosure repeatedly deletes and adds the electronic reference points from the candidates for the electronic reference points used for each area until the convergence condition is satisfied. When the modification of the candidate list for the first area is completed, the second area, the third area, and so on are carried out in order. Since the disclosed technology specifies the electronic reference points to be used for each area, the total number of electronic reference points can be prevented from exceeding the above-mentioned transmission capacity limit. In addition, the electronic reference point can be selected so that there is no spatial unevenness in the area.
  • the positioning augmentation signal distribution device can specify the number of electronic reference points to be used for each area, and automatically, there is no spatial coarseness and density bias in the area, and The number of electronic reference points used can be selected so that the electronic reference points along the coast are also selected uniformly.
  • the present disclosure technique can provide a positioning augmentation signal distribution device that prevents deterioration of the correction information accuracy in an area having local ionospheric disturbance without increasing the total amount of information.

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Abstract

Le dispositif de distribution de signal de renforcement de positionnement selon la présente divulgation distribue un signal de renforcement de positionnement pour utiliser des données d'observation à partir d'une pluralité de points de référence électroniques pour renforcer un service de positionnement par satellite, et est caractérisé en ce qu'il comprend une interface d'entrée, un circuit de traitement, et une interface de sortie, et en ce que l'interface d'entrée émet, vers le circuit de traitement, le nombre de points de référence électroniques à utiliser dans chaque zone d'entrée, et, pour chaque zone, le circuit de traitement sélectionne le nombre d'entré de points de référence électroniques à utiliser et commute de manière itérative un point de référence électronique sélectionné dans une partie spatialement dense avec un point de référence électronique non sélectionné à l'intérieur de la zone de façon à rendre la partie spatialement dense spatialement éparse.
PCT/JP2020/033652 2020-09-04 2020-09-04 Dispositif de distribution de signal de renforcement de positionnement et procédé de distribution de signal de renforcement de positionnement WO2022049737A1 (fr)

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