WO2023182407A1 - Dispositif de traitement d'informations, procédé de traitement d'informations et programme - Google Patents

Dispositif de traitement d'informations, procédé de traitement d'informations et programme Download PDF

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Publication number
WO2023182407A1
WO2023182407A1 PCT/JP2023/011402 JP2023011402W WO2023182407A1 WO 2023182407 A1 WO2023182407 A1 WO 2023182407A1 JP 2023011402 W JP2023011402 W JP 2023011402W WO 2023182407 A1 WO2023182407 A1 WO 2023182407A1
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Prior art keywords
positioning
data
information processing
processing device
observation
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PCT/JP2023/011402
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English (en)
Japanese (ja)
Inventor
颯海 川手
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ソニーセミコンダクタソリューションズ株式会社
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Publication of WO2023182407A1 publication Critical patent/WO2023182407A1/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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the present disclosure relates to an information processing device, an information processing method, and a program.
  • Patent Document 1 discloses a technology related to an autonomous mobile robot that estimates its own position by using GNSS (Global Navigation Satellite System) and moves along a movement route from its own position to a predetermined movement target position. .
  • GNSS Global Navigation Satellite System
  • the elevation angle of each navigation satellite is determined at the positioning start time (current time, time 5 minutes later, etc.) and positioning end time, and a plurality of satellites whose elevation angles are equal to or greater than a predetermined angle threshold are determined to be receivable.
  • a satellite set consisting of a combination of multiple navigation satellites is selected to estimate self-position with stable accuracy.
  • a type of relative positioning called RTK (Real Time Kinematic) positioning method is used.
  • two GNSS receivers receive signals from four or more satellites, and information is sent and received between the mobile station and the fixed station to correct any discrepancies, thereby improving accuracy. Get high location information.
  • the aim is to calculate self-position with stable accuracy by selecting multiple satellites to receive signals by considering only the position of each satellite, but further improvement in accuracy is required for positioning. .
  • a plurality of sets of usage start times and usage end times of data used for positioning processing are determined for observation data acquired by a mobile station and including signals received from navigation satellites, and the plurality of sets of usage start times and usage end times are determined. and a control unit that calculates a plurality of positioning data through positioning processing based on the observation data used by the reference station and the observation data of the reference station, and generates final positioning data based on the plurality of positioning data.
  • an information processing device is provided.
  • the processor determines a plurality of sets of use start times and use end times of data used for positioning processing for observation data acquired by the mobile station and including signals received from navigation satellites. calculating a plurality of positioning data through positioning processing based on the observation data used by the plurality of sets and the observation data of the reference station; and calculating the final positioning data based on the plurality of positioning data.
  • An information processing method is provided, comprising: generating data.
  • the computer determines multiple sets of usage start times and usage end times of data used for positioning processing for observation data acquired by a mobile station and including signals received from navigation satellites. Then, based on the observation data used by the plurality of sets and the observation data of the reference station, a plurality of positioning data are calculated by a positioning process, and final positioning data is generated based on the plurality of positioning data.
  • a program is provided that functions as a control unit.
  • FIG. 1 is a diagram illustrating an overview of a positioning system according to an embodiment of the present disclosure.
  • FIG. 1 is a block diagram showing an example of the configuration of a moving body 10 according to the present embodiment.
  • FIG. 2 is a block diagram showing an example of the configuration of an information processing device 20 according to the present embodiment.
  • FIG. 7 is a diagram illustrating an example of solution data (positioning data) of positioning processing when unstable data is not removed.
  • FIG. 7 is a diagram illustrating an example of solution data (positioning data) of positioning processing when unstable data is removed based on takeoff and landing times according to the present embodiment.
  • FIG. 6 is a diagram illustrating an improvement in the accuracy of positioning data when the use start time and use end time are determined based on the shooting start and end time according to the present embodiment.
  • FIG. 7 is a diagram illustrating an improvement in accuracy of positioning data when a use start time and a use end time are determined by adding a predetermined margin time to the shooting start and end time according to the present embodiment. It is a figure showing an example of the number of satellites observed by mobile object 10 according to this embodiment.
  • FIG. 6 is a diagram illustrating an improvement in the accuracy of positioning data when the use start time and use end time are determined based on the start and end time of securing a predetermined number of observation satellites according to the present embodiment. It is a figure which shows an example of the Fix rate of several positioning data by embodiment.
  • FIG. 6 is a diagram illustrating generation of final positioning data by connecting Fix solutions according to the present embodiment. It is a figure which shows the comparison result of the Fix solution in several observation data by this embodiment.
  • 7 is a flowchart illustrating an example of the flow of input waveform data generation processing according to the present embodiment.
  • FIG. 1 is a diagram illustrating an overview of a positioning system according to an embodiment of the present disclosure.
  • the positioning system includes a mobile body 10, which is an example of a mobile station, a reference station 3, and an information processing device 20.
  • the mobile body 10 and the reference station 3 each receive signals from a plurality of navigation satellites 2 (2a, 2b).
  • the data acquired by the mobile object 10 and including signals received from a plurality of navigation satellites 2 is referred to as mobile station observation data
  • the data acquired by the reference station 3 and including signals received from a plurality of navigation satellites 2 is referred to as reference station observation data. It is called.
  • the reference station 3 may be, for example, a base station installed on the ground, or may be any base station that can obtain a Log equivalent to a base station, such as an electronic reference point or a virtual reference point.
  • a PPK (Post Processing Kinematic) positioning method is used as an example, which achieves more accurate positioning by correcting mobile station observation data later based on reference station observation data.
  • the PPK positioning method communication between the mobile object 10 and the reference station is not required, so a radio license is not required for observation, and the observation location can be determined without considering whether communication with the reference station is possible. Furthermore, it is possible to avoid limitations in data quality (decrease in positioning accuracy) due to poor communication conditions with the reference station.
  • the mobile object 10 has a function of moving within space by autonomous movement.
  • the mobile object 10 may be, for example, a small flying object (a so-called drone) that autonomously flies in space, such as an unmanned aerial vehicle (UAV).
  • the mobile object 10 has a GNSS receiver and receives (observation) signals from the navigation satellite 2 (GNSS satellite).
  • GNSS satellites include satellites of various countries, such as GPS (Global Positioning System), quasi-zenith satellites, GLONASS, and Galileo.
  • FIG. 1 shows two satellites, the navigation satellite 2a and the navigation satellite 2b, as an example, the present invention is not limited to this.
  • the mobile object 10 estimates its own position (that is, the position of an observation point, data indicating latitude and longitude in this embodiment) by independent positioning that calculates the position based on signals received from four or more navigation satellites 2, and flies autonomously. It is possible.
  • the mobile object 10 may be provided with an imaging unit 130 that performs aerial photography automatically or in response to a user's operation during autonomous flight (autonomous movement).
  • an imaging unit 130 that performs aerial photography automatically or in response to a user's operation during autonomous flight (autonomous movement).
  • three-dimensional display can be realized using the plurality of captured images acquired by the imaging unit 130. Such a plurality of captured images are used, for example, to create a three-dimensional map.
  • the imaging unit 130 is provided in the moving body 10, but the present disclosure is not limited thereto.
  • the information processing device 20 calculates the relative positional relationship between two points (observation point and reference point) based on the mobile station observation data acquired by the mobile object 10 and the reference station observation data acquired by the reference station 3.
  • the position (latitude and longitude) of the observation point is calculated by the relative positioning obtained.
  • Relative positioning is more accurate than independent positioning. For example, a plurality of captured images acquired by the above-mentioned imaging unit 130 are added with the imaging time and location information (also referred to as a geotag) of the imaging point, but at the time of imaging, the position calculated by independent positioning is Information is added and can be subsequently updated to more accurate coordinates (location information) based on the results of the relative positioning.
  • Relative positioning includes DGPS (Differential GPS), which performs positioning independently with multiple receivers and calculates the relative position from the position information of each, and DGPS (Differential GPS), which calculates the relative position from the position information of each receiver.
  • DGPS Different GPS
  • interferometric positioning that determines the relative position between receivers, and generally has higher accuracy than DGPS.
  • interferometric positioning is used in post-processing. More specifically, the PPK positioning method, which is an example of interferometric positioning, is used to correct the data recorded by the mobile object 10 with the data acquired from the reference station 3, thereby achieving more accurate positioning.
  • Patent Document 1 discloses predicting the elevation angle of a satellite during observation and receiving signals from a plurality of satellites exceeding a predetermined angle threshold. No consideration is given to improving accuracy.
  • the accuracy of positioning processing is improved by removing unstable data from observation data and using (stable) observation data in an appropriate range for post-processing.
  • a plurality of appropriate ranges of observation data i.e., each usage observation data based on multiple sets of usage start times and usage end times
  • a solution is obtained for each, and multiple Further accuracy improvement can be achieved by generating final positioning data from the solution.
  • FIG. 2 is a block diagram showing an example of the configuration of the mobile object 10 according to this embodiment.
  • the mobile object 10 includes a control section 110, a position sensor 120, an imaging section 130, an altitude sensor 140, a storage section 150, a communication section 160, and a flight mechanism 170.
  • Control unit 110 The control unit 110 functions as an arithmetic processing device and a control device, and controls overall operations within the mobile body 10 according to various programs.
  • the control unit 110 is realized by, for example, an electronic circuit such as a CPU (Central Processing Unit) or a microprocessor. Further, the control unit 110 may include a ROM (Read Only Memory) that stores programs to be used, calculation parameters, etc., and a RAM (Random Access Memory) that temporarily stores parameters that change as appropriate.
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the control unit 110 also functions as a self-position estimation unit 111, a flight control unit 112, and an observation data storage control unit 113.
  • the self-position estimating unit 111 estimates the self-position based on the data acquired by the position sensor 120.
  • the self-position estimation unit 111 uses GNSS (Global Navigation Satellite System) to calculate latitude and longitude data as the self-position. More specifically, the self-position estimation unit 111 may estimate the self-position by independent positioning that calculates the position based on signals received from four or more navigation satellites 2 (GNSS satellites).
  • GNSS Global Navigation Satellite System
  • the flight control unit 112 controls the flight mechanism 170 to achieve autonomous flight. Specifically, the flight control unit 112 controls the flight mechanism 170 based on the position and attitude of the moving body 10 so that the moving body 10 is in a target state (position, attitude). For example, the flight control unit 112 controls the vehicle to move along a movement route from its own position estimated by the control unit 110 to a predetermined movement target position.
  • the travel route may be a flight route that is newly set and stored in the storage unit 150.
  • the flight control unit 112 is not limited to autonomous flight along a flight route, but can also perform flight control according to user instructions received via the communication unit 160.
  • the attitude (YAW angle) of the moving body 10 is obtained, for example, by an attitude sensor (not shown) such as a gyro sensor or an electronic compass mounted on the moving body 10.
  • the observation data storage control unit 113 controls the storage of observation data including the signal received from the navigation satellite 2 by the position sensor 120 in the storage unit 150.
  • receiving a signal from the navigation satellite 2 is referred to as observation.
  • the point where the signal is received is called an observation point.
  • the moving object 10 can be continuously observed while flying (moving) along a flight path.
  • Observation data also includes signal reception time.
  • the observation data also includes altitude information of the mobile object 10 at the time of observation.
  • control unit 110 performs control to store control logs related to flight and imaging, and captured images obtained by the imaging unit 130 in the storage unit 150 in addition to observation data. So-called Exif information such as the imaging time and a geotag (location information calculated by the self-position estimating unit 111) is added to the captured image.
  • Position sensor 120 is a receiver that receives data used to calculate position. As an example, this is realized by a GNSS receiver that receives navigation satellites 2 such as GPS, quasi-zenith satellites, GLONASS, Galileo, and BeiDou. The signal received from the navigation satellite 2 by the position sensor 120 is stored in the storage unit 150 as observation data. Further, such a signal is also used for self-position estimation by the self-position estimating section 111.
  • the imaging unit 130 includes one or more lenses (optical system) and an imaging device such as a CCD or CMOS, and performs aerial photography automatically or in response to a user's operation during flight.
  • an imaging device such as a CCD or CMOS
  • the altitude sensor 140 calculates the altitude of the mobile object 10 and outputs it to the control unit 110.
  • the altitude sensor 140 is realized by, for example, an atmospheric pressure sensor.
  • the altitude sensor 140 can measure changes in atmospheric pressure and calculate the height of the mobile object 10 (from the ground).
  • the storage unit 150 is realized by a ROM (Read Only Memory) that stores programs, calculation parameters, etc. used in the processing of the control unit 110, and a RAM (Random Access Memory) that temporarily stores parameters that change as appropriate.
  • the storage unit 250 can store flight routes, observation data, captured images, and the like.
  • the communication unit 160 communicates with an external device to transmit and receive data.
  • the communication unit 160 uses, for example, a wired/wireless LAN (Local Area Network), Wi-Fi (registered trademark), Bluetooth (registered trademark), a mobile communication network (LTE (Long Term Evolution), 4G (fourth generation mobile 5G (5th generation mobile communication system)), etc.
  • the communication unit 160 receives flight route information and user operations from the information processing device 20, and also transmits observation data and captured images to the information processing device 20.
  • the flight mechanism 170 is a mechanism for making the mobile body 10 fly.
  • the flight mechanism 170 includes, for example, one or more motors driven by energy supplied from a battery (not shown) mounted on the moving object 10 and one or more propellers (for example, four rotors).
  • the flight mechanism 170 is driven under the control of the flight control unit 112 and allows the mobile object 10 to fly.
  • the configuration of the mobile body 10 has been specifically described above. Note that the configuration of the mobile body 10 according to this embodiment is not limited to the example shown in FIG. 2.
  • the moving body 10 may be provided with an acceleration sensor, a magnetic sensor (an example of a direction sensor), and an obstacle detection sensor (for example, an optical sensor) that detects obstacles.
  • the moving body 10 can fly while avoiding obstacles using an obstacle detection sensor.
  • the sensing result of the obstacle detection sensor may be included in the observation data and stored in the storage unit 150.
  • the moving body 10 may have a configuration that does not include the imaging unit 130.
  • the moving object 10 may have a removable storage medium, and observation data and captured images may be written in the storage medium. Further, each function of the control unit 110 may be realized by a separate processor.
  • FIG. 3 is a block diagram showing an example of the configuration of the information processing device 20 according to this embodiment.
  • the information processing device 20 includes a communication section 210, a control section 220, an operation input section 230, a display section 240, and a storage section 250.
  • the communication unit 210 communicates with an external device and sends and receives data. Further, the communication unit 210 is configured to use, for example, a wired/wireless LAN (Local Area Network), Wi-Fi (registered trademark), Bluetooth (registered trademark), mobile communication network (LTE (Long Term Evolution), 4G (fourth generation It is possible to connect to a network using 5G (5th generation mobile communication system), etc.
  • the communication unit 210 receives observation data from the mobile object 10 via wireless communication.
  • the communication unit 210 transmits user operation information to the mobile body 10 by wireless communication.
  • the communication unit 210 also receives observation data from the reference station 3 via the Internet.
  • Control unit 220 The control unit 220 functions as an arithmetic processing device and a control device, and controls overall operations within the information processing device 20 according to various programs.
  • the control unit 220 is realized by, for example, an electronic circuit such as a CPU (Central Processing Unit) or a microprocessor. Further, the control unit 220 may include a ROM (Read Only Memory) that stores programs to be used, calculation parameters, etc., and a RAM (Random Access Memory) that temporarily stores parameters that change as appropriate.
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the control unit 220 also functions as a mobile station observation data acquisition unit 221, a reference station observation data acquisition unit 222, a usage time determination unit 223, a positioning processing unit 224, a precision improvement unit 225, and a display control unit 226. .
  • the mobile station observation data acquisition unit 221 acquires mobile station observation data obtained by the mobile object 10.
  • the mobile station observation data acquisition unit 221 may receive mobile station observation data from the mobile body 10 via wireless communication via the communication unit 210.
  • the mobile station observation data acquisition unit 221 may read the mobile station observation data from a storage medium such as an SD (Secure Digital) memory card that is taken out from the mobile object 10 and inserted into the information processing device 20.
  • SD Secure Digital
  • the reference station observation data acquisition unit 222 acquires the reference station observation data obtained by the reference station 3.
  • the reference station observation data acquisition unit 222 may connect to the Internet via the communication unit 210 and download the mobile station observation data from a server in which the reference station observation data obtained by the reference station 3 is stored.
  • a base station installed on the ground is assumed as an example of the reference station 3, but the base station is not limited to this, and it is possible to obtain a log equivalent to a base station, such as an electronic reference point or a virtual reference point. There may be.
  • the user specifies from which reference station 3 and when the mobile station observation data is to be acquired.
  • the user operates to obtain mobile station observation data corresponding to the date and time of flight, which is obtained by the reference station 3 located near the location where the mobile object 10 was flown.
  • the usage time determining unit 223 has a function of determining multiple sets of usage start times and usage end times of observation data used for positioning processing, which will be described later, for mobile station observation data. By determining the usage start time and usage end time by the usage time determination unit 223, unstable data can be excluded from the observation data, and stable and appropriate data can be obtained in the positioning process described later. In this embodiment, several criteria for determining unstable data are set, and based on each criterion, observation data in a plurality of appropriate ranges (i.e., each usage observation data with multiple sets of usage start time and usage end time) is set. ), and the positioning processing unit 224 obtains each solution, so that the later-described high-precision unit 225 finally generates more accurate positioning data from the multiple solutions obtained by the positioning processing unit 224. can do.
  • the usage time determining unit 223 can determine multiple sets of usage start times and usage end times using multiple criteria described below.
  • the use time determining unit 223 may determine the use start time and use end time based on the movement start and end time of the mobile body 10 (mobile station).
  • the movement start and end times are, for example, the takeoff and landing times of the mobile body 10.
  • the use time determining unit 223 determines the takeoff time (movement start time) of the mobile object 10 as the use start time of the observation data, and the landing time (movement end time) as the use end time of the observation data.
  • FIG. 4 is a diagram showing an example of solution data (positioning data) of positioning processing when unstable data is not removed.
  • the mobile object 10 performs observation (reception of signals from the navigation satellite 2) with obstacles such as people in the vicinity of the mobile object 10. is performed, and unstable data may be obtained.
  • FIG. 4 data indicating the latitude and longitude of each observation point (including each observation point on the flight route) observed by the mobile object 10 is shown as solution data of the positioning process.
  • a Float solution or a Fixed solution is obtained for the position information (data indicating latitude and longitude) of each observation point.
  • the Fix solution is a solution with higher accuracy (fewer errors) than the Float solution, and the height of the Fix rate (ratio of Fix solutions to all solutions) is a measure of the positioning accuracy. It is desirable to obtain as many highly accurate solutions (Fix solutions) as possible. In this embodiment, the height of positioning accuracy will be explained using a fix rate as an example.
  • an integer value bias (N) is calculated in the process of calculating the number of L (carrier phase).
  • the integer bias is the true ambiguity (the distance between the satellite and the receiver at the beginning of the observation), and should be an integer multiple of the carrier wavelength (an integer, that is, there is no part below the decimal point), but it must be determined from the beginning. Therefore, a calculation method for obtaining an approximate solution (for example, the LAMBDA method; the least-squares ambiguity decorrelation adjustment) is used.
  • the solution positioning data; data indicating latitude and longitude
  • the integer value bias is A solution obtained using integer values
  • the calculation method generally used to find the integer bias is a successive approximation method, so the integer bias is fixed during the period when the carrier wave can be observed continuously (i.e., the solution once found is used in calculations). Therefore, an incorrect solution may adversely affect subsequent calculations, leading to an incorrect solution (decreased accuracy).
  • FIG. 5 is a diagram showing an example of solution data (positioning data) of the positioning process when unstable data is removed based on takeoff and landing times according to the present embodiment.
  • unstable observation data before and after take-off and landing is removed, that is, used observation data that is extracted using the take-off time as the start time of use and the landing time as the end time of use, for example, is used for positioning processing.
  • This makes it possible to reduce the negative influence of unstable data on calculations and increase the fix rate.
  • the calculation result of a fix rate of 98.7% shown in FIG. 5 is an example, an experimental result was obtained in which the fix rate is higher than at least when all observation data is used.
  • the use time determination unit 223 may determine the use start time and use end time by further subtracting a predetermined time from the takeoff and landing time. That is, the use time determination unit 223 may set a predetermined time after takeoff time as the use start time, and a predetermined time before landing time as the use end time.
  • the takeoff and landing times can be determined from the control log acquired from the mobile object 10.
  • the information processing device 20 can also acquire the control log of the mobile object 10 together with the mobile station observation data.
  • the control log includes data related to flight control, and allows acquisition of takeoff and landing times.
  • the use time determining unit 223 can also determine the takeoff and landing times based on the altitude information of the mobile object 10.
  • the altitude information of the mobile object 10 is included in, for example, mobile station observation data.
  • the use time determining unit 223 may set the time when the altitude of the mobile body 10 exceeds a predetermined value as the use start time, and the time when the altitude of the mobile body 10 falls below the predetermined value as the use end time. This makes it possible to exclude unstable data due to insufficient altitude.
  • the use time determining unit 223 may determine the use start time and use end time based on the shooting start and end time of the mobile object 10 (mobile station).
  • the usage time determining unit 223 determines the imaging start time of the mobile object 10 as the observation data usage start time, and the imaging end time as the observation data usage end time.
  • the shooting start and end times may be obtained from the control log obtained from the moving object 10 or from Exif information added to the captured image. It is assumed that photography will be carried out at a target point or in good conditions, such as when the altitude of the mobile object 10 has reached a sufficient height or when the flight is stable, and the observation data while photography is being performed. By using this method, it is expected that the negative impact on positioning processing due to unstable observation data before the start of shooting or after the end of shooting can be reduced.
  • FIG. 6 is a diagram illustrating the improvement in accuracy of positioning data when the use start time and use end time are determined based on the shooting start and end times according to the present embodiment.
  • the left side of FIG. 6 shows the results of positioning processing (positioning data) without time designation, that is, when all observation data are used.
  • the fix rate which indicates high positioning accuracy, was 48.2%.
  • the fix rate is 98.3%, and the positioning accuracy is improved.
  • the use time determining unit 223 may determine the use start time and use end time by adding a predetermined margin time (for example, several seconds to several tens of seconds) to the shooting start and end time. In other words, the use time determining unit 223 may set a predetermined time before the shooting start time as the use start time, and may set a predetermined time after the shooting end time as the use end time.
  • a predetermined margin time for example, several seconds to several tens of seconds
  • FIG. 7 is a diagram illustrating an improvement in accuracy of positioning data when the use start time and use end time are determined by adding a predetermined margin time to the shooting start and end time according to the present embodiment.
  • the left side of FIG. 7 shows the results of positioning processing (positioning data) without time designation, that is, when all observation data are used.
  • the fix rate which indicates high positioning accuracy, was 48.2%.
  • the fix rate is 99.2%, and the positioning accuracy is improved.
  • the fix rates shown in Figures 6 and 7 are just experimental results, but in any case, by using the observation data that is trimmed based on the shooting start and end time for positioning processing, at least when all observation data is used. It is clear that the fix rate increases compared to Note that here, since the photographing is performed by the moving object 10, the photographing start and end time is used, but this is not limited to this, and if the purpose of the flight is to acquire some information other than photographing (various sensing), that information may be used. The acquisition start and end time may also be used.
  • the use time determining unit 223 determines the start time and end time for use based on the start and end time for securing a predetermined number of observation satellites by the mobile object 10 (mobile station). good. This is because the fewer the number of satellites that can be observed, the more likely the data will be unstable.
  • the use time determining unit 223 determines the start time for securing the predetermined number of observation satellites by the mobile object 10 as the start time for using the observation data, and the end time for securing the predetermined number of observation satellites as the end time for using the observation data.
  • the start and end time of securing a predetermined number of observation satellites by the mobile body 10 (mobile station) is obtained from the observation data acquired from the mobile body 10.
  • FIG. 8 is a diagram showing an example of the number of satellites observed by the mobile object 10 according to the present embodiment.
  • the observation data also includes data on the number of satellites observed by the mobile object 10, as shown in FIG.
  • "observed” means that a signal could be received. That is, the number of satellites observed by the mobile body 10 is the number of navigation satellites 2 whose signals could be received by the mobile body 10.
  • the predetermined number of observation satellites may be the maximum number of antennas of the position sensor 120 provided on the mobile object 10.
  • the position sensor 120 is, for example, a GNSS receiver, and its maximum number of antennas (the number of satellites that can be received) may be set as the predetermined number of observation satellites.
  • the maximum number of antennas is 24, and the use time determining unit 223 determines that the use start time is 5:19:02 when 24 antennas can be observed, and 5:19:02 when 24 antennas can no longer be observed. 23 minutes and 16 seconds is determined as the end time of use. Note that the time when the number of observation satellites temporarily decreases (very short time) may be ignored.
  • FIG. 9 is a diagram illustrating the improvement in accuracy of positioning data when the use start time and use end time are determined based on the start and end time of securing a predetermined number of observation satellites according to the present embodiment.
  • the left side of FIG. 9 shows the results of positioning processing (positioning data) without time specification, that is, when all observation data are used. In this case, the fix rate, which indicates high positioning accuracy, was 48.2%.
  • the fix rate is 99.1%, and the positioning accuracy is improved.
  • the usage time determination unit 223 may count the number of satellites that can be observed by the mobile object 10 when the same satellite can be observed by the reference station. In the positioning process described later, the reference station observation data at the corresponding time is also used, so the stability of the observation data of the reference station 3 is also required.
  • the use time determining unit 223 considers the reference station observation data and counts the number of observed satellites as 1 if the same navigation satellite 2 can be observed by the mobile object 10 and the reference station 3. This makes it possible to use more stable observation data.
  • the use time determination unit 223 uses observation data obtained by dividing the observation data so as to exclude a portion where the number of observation satellites temporarily decreases between the start time of securing a predetermined number of observation satellites and the end time of securing a predetermined number of observation satellites. You can also cut it out.
  • the usage time determining unit 223 stores the first usage observation data from the start of securing a predetermined number of observation satellites to a first intermediate time when the number of observation satellites temporarily decreases: A, and the number of observation satellites restored.
  • the second used observation data from the second intermediate time: B to the end time of reservation may be extracted from the mobile station observation data.
  • the usage time determination unit 223 selects the first usage observation data, the second usage observation data, and the third usage observation data (secured from the start time of securing the predetermined number of observation satellites) without excluding any part of the usage data.
  • observation data up to the end time are output to the positioning processing unit 224.
  • the positioning processing unit 224 performs a positioning process using the first used observation data, a positioning process using the second used observation data, and a positioning process using the third used observation data.
  • the observation data from the first intermediate time: A to the second intermediate time: B is unstable data, positioning processing should be performed separately for the first used observation data and the second used observation data. Therefore, the influence of the unstable data is reduced.
  • the positioning processing unit 224 uses the results of the positioning process using the first observation data to be used, the results of the positioning process using the second observation data to be used, and the results of the positioning process using the third observation data to be used.
  • the usage time determination unit 223 determines the usage start time and usage end time based on the signal strength (strength of the signal received from the navigation satellite 2) at the time of observation by the mobile object 10 (mobile station). You may.
  • the usage time determination unit 223 determines the time when the signal strength exceeds a predetermined value as the observation data usage start time, and the time when the signal strength falls below the predetermined value as the observation data usage end time. Information on signal strength is obtained from observation data obtained from the mobile object 10. Note that the time (very short time) during which the signal strength temporarily falls below a predetermined value may be ignored. Further, the usage time determining unit 223 may cut out the usage observation data divided by excluding a certain period of time during which the signal strength was lower than a predetermined value. In this case, the positioning processing unit 224 obtains partial but highly accurate positioning data.
  • the usage time determining unit 223 may determine the usage start time and usage end time based on the environment at the time of observation by the mobile object 10 (mobile station). It is conceivable that the observation data to be used may be observation data in a favorable environment, such as less multipath and no nearby objects (obstacles).
  • the use time determining unit 223 determines the time when the environment of the mobile object 10 satisfies a predetermined condition as the observation data use start time, and the time when the environment no longer satisfies the predetermined condition as the observation data use end time.
  • the predetermined conditions include, for example, that there are few multipaths and that there are no obstacles.
  • the environment information is obtained from observation data acquired from the mobile object 10, a control log, and a log separately recorded by the user during observation. Note that a time (very short time) during which the environment temporarily does not satisfy the predetermined conditions may be ignored. Further, the use time determination unit 223 may cut out the usage observation data divided by excluding a certain period during which the environment does not satisfy a predetermined condition. In this case, the positioning processing unit 224 obtains partial but highly accurate positioning data.
  • the use time determining unit 223 uses a plurality of the above criteria to determine a plurality of sets of use start times and use end times, and outputs a plurality of use observation data to the positioning processing unit 224. For example, the usage time determining unit 223 outputs the usage observation data trimmed at the shooting start and end time and the usage observation data trimmed at the securing start and end time of the number of observation satellites to the positioning processing unit 224.
  • the positioning processing unit 224 performs positioning processing based on the plurality of usage observation data based on the plurality of sets of usage start time and usage end time determined by the usage time determination unit 223 and the observation data of the reference station 3. Calculate positioning data.
  • the positioning process according to this embodiment uses the PPK positioning method as an example.
  • the calculated positioning data is data indicating the latitude and longitude of each observation point.
  • the positioning processing unit 224 performs positioning processing multiple times on one observation data using a filter (also referred to as a parameter set) that distributes various parameters such as a noise threshold. (positioning processing using different filters) may be executed. As a result, even more positioning data (number of observation data used x number of filters) is output.
  • Filters used in positioning processing using the PPK positioning method include, for example, a signal-to-noise ratio threshold (SNR (Signal-to-Noise Ratio) mask), a satellite elevation angle threshold (Elevation Mask), and a mask based on the type of observation satellite (Glonass is Various combinations of masks are possible, such as (excluding, etc.).
  • SNR Signal-to-noise ratio threshold
  • Eleation Mask Satellite elevation angle threshold
  • GaNass is Various combinations of masks are possible, such as (excluding, etc.).
  • the mask described here is an example, and the present embodiment is not limited thereto.
  • the precision improvement unit 225 generates final positioning data based on the plurality of positioning data output from the positioning processing unit 224.
  • further accuracy improvement can be achieved by generating one piece of highly accurate positioning data based on a plurality of pieces of positioning data.
  • the precision improvement unit 225 sets the positioning data with the highest fix rate (that is, the highest accuracy) among the plurality of positioning data as the final positioning data.
  • the precision improvement unit 225 calculates using a stronger filter (positioning process). It is also possible to give priority to the one that has been set and use it as the final positioning data. That is, the precision improvement unit 225 may select the final positioning data from a plurality of positioning data according to the precision of the positioning data and the strength of the filter used in the positioning process.
  • FIG. 10 is a diagram illustrating an example of the fix rate of a plurality of positioning data according to the embodiment.
  • a plurality of positioning data according to the present embodiment can be calculated by a combination of a plurality of used observation data and filters.
  • a strong filter e.g., Elevation Mask 25° (meaning that signals from satellites with an elevation angle of 25° or less are excluded)
  • the Fix of positioning data d1 The rate became 100%.
  • the fix rate of the positioning data d2 was 53.9%. It became.
  • the fix rate of the positioning data d3 was 66%.
  • the fix rate of the positioning data d4 was 100%, as shown in FIG. 10. Furthermore, when using the same weak filter (EL mask 15°) for the observation data used that was trimmed with a margin of 10 seconds at the shooting start and end time, the fix rate of positioning data d5 was 84.6%. It became. Furthermore, when the same weak filter (EL mask 15°) was used for the used observation data that was trimmed at the start and end time of securing a predetermined number of observation satellites, the fix rate of the positioning data d6 was 100%.
  • a weak filter for example, EL mask 15°
  • the precision improvement unit 225 adopts any of the positioning data d1, d4, and d6 with a fix rate of 100% as the final positioning data.
  • the precision improvement unit 225 may employ the positioning data d1 calculated using the strongest filter as the final positioning data. This is because it is thought that by using the strongest filter, more accurate observation data with less noise is used for positioning processing.
  • the precision improvement unit 225 performs positioning processing using a stronger filter, and obtains positioning data with a certain fix rate (for example, 95% or more) (i.e., a certain accuracy). The positioning process may be completed in stages. Further, the precision improvement unit 225 may perform positioning processing a re-set number of times. In this case, the precision improvement unit 225 may employ positioning data with the highest fix rate, or may employ positioning data with a fixed fix rate (for example, 95% or more). If positioning data with a constant fix rate is not obtained, the precision improvement unit 225 may continue to perform positioning processing until it is obtained. Note that the fix rate of each positioning data shown in FIG. 10 is one experimental result, and the present embodiment is not limited to this.
  • FIG. 11 is a table that compares the fix rate of positioning data when the observation data used according to the present embodiment is trimmed and when it is not trimmed.
  • the example shown in FIG. 11 further shows the fix rate of positioning data when a filter including a set of various masks is used when positioning processing is performed using each observation data used.
  • a GLONASS satellite mask (whether GLONASS satellites are used), an SNR mask, and an EL mask are used as the filter.
  • the highest fix rate using various filters without trimming is 41.9%
  • the highest fix rate using various filters with trimming is 100%, making the overall fix rate 41.9%.
  • Positioning accuracy has improved from 100% to 100%.
  • the precision improvement unit 225 may generate final positioning data by combining Fix solutions (parts with high accuracy) among the plurality of positioning data. For example, the precision improvement unit 225 may partially connect the Fix solutions to generate one piece of positioning data.
  • FIG. 12 is a diagram illustrating generation of final positioning data by connecting Fix solutions according to this embodiment.
  • the broken line forming the positioning data is the Float solution
  • the solid line is the Fix solution.
  • the precision improvement unit 225 synthesizes fixed solution parts from a plurality of positioning data partially including fixed solutions as shown in the upper part of FIG. 12 so as to complement each other (the float solution parts), and It is possible to generate all fixed solution positioning data as shown.
  • the fix solution may be extracted from positioning data having a constant fix rate or positioning data using a filter with a constant strength.
  • the precision improvement unit 225 may compare each piece of positioning data and exclude positioning data that includes a fix solution that is clearly different from other fix solutions.
  • FIG. 13 is a diagram showing a comparison result of Fix solutions in a plurality of observation data according to this embodiment.
  • Z coordinates are compared. All the Z coordinate values used here are fixed solutions, but it can be seen that only data 5 is clearly different from data 1 to data 4. Thereby, there is a high possibility that data 5 is an incorrect Fix solution, and by excluding data 5, positioning accuracy can be further improved.
  • the precision improvement unit 225 may compare not only the Fix solution but also the Float solution. Since an incorrect Fix solution may have a larger error than a Float solution, the Float solution may also be used as a reference.
  • the generation of final positioning data by the precision improvement unit 225 has been described above. Thereby, the accuracy of positioning data can be further improved (higher accuracy).
  • the highly accurate positioning data may be stored in the storage unit 250.
  • the display control unit 226 performs control to display the positioning data whose accuracy has been improved by the accuracy improvement unit 225 on the display unit 240.
  • the output of highly accurate positioning data is displayed as an example of output, but the output of highly accurate positioning data is not limited to display.
  • highly accurate positioning data may be transmitted from the communication unit 210 to an external device.
  • the operation input unit 230 attaches an operation from the user and outputs input information to the control unit 220.
  • the operation input unit 230 is realized by various input devices such as a touch panel, a button, a switch, a keyboard, etc., for example.
  • the display unit 240 has a function of displaying various screens such as an operation screen and a screen containing highly accurate final positioning data.
  • the display unit 240 may be realized by, for example, a liquid crystal display (LCD) device, an organic light emitting diode (OLED) device, or the like.
  • the storage unit 250 is realized by a ROM (Read Only Memory) that stores programs, calculation parameters, etc. used in the processing of the control unit 220, and a RAM (Random Access Memory) that temporarily stores parameters that change as appropriate.
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the configuration of the information processing device 20 has been specifically described above. Note that the configuration of the information processing device 20 according to this embodiment is not limited to the example shown in FIG. 3.
  • the information processing device 20 may be realized by a plurality of devices.
  • the functions of the mobile observation data acquisition section 121, the reference station observation data acquisition section 122, the usage time determination section 123, and the positioning processing section 124, and the function of the precision improvement 125 may be realized by different devices.
  • at least one configuration of the information processing device 20 may be provided in an external device. Further, the information processing device 20 does not need to have all the configurations shown in FIG. 3.
  • FIG. 14 is a flowchart illustrating an example of the flow of input waveform data generation processing according to this embodiment.
  • the information processing device 20 first obtains observation data (mobile station observation data) of the mobile object 10 (step S103). Subsequently, the information processing device 20 determines a plurality of sets of usage start times and usage end times of usage observation data used for positioning processing for the acquired observation data (mobile station observation data) of the mobile object 10 (step S106).
  • the information processing device 20 calculates a plurality of positioning data (positioning process) using the plurality of used observation data and the observation data of the reference station (step S109). Next, the information processing device 20 improves the accuracy of the positioning data based on the plurality of positioning data (step S112).
  • the information processing device 20 outputs (displays) highly accurate positioning data (step S115). Then, this operation ends.
  • the positioning process by performing the positioning process multiple times with different filters for each observation data used, it is possible to further calculate a plurality of positioning data and improve the positioning accuracy of the final positioning data.
  • the observation data that has been trimmed from the observation data leads to a reduction in the amount of data used in the positioning process, which also has the effect of shortening the processing time. For example, when the observation data to be used is trimmed based on the shooting start and end time, the length of the data may become half of the total observation data.
  • one or more computer programs for causing hardware such as a CPU, ROM, and RAM built in the mobile body 10 or the information processing device 20 described above to exhibit the functions of the mobile body 10 or the information processing device 20. can also be created. Also provided is a computer readable storage medium storing the one or more computer programs.
  • the present technology can also have the following configuration. (1) Determining multiple sets of usage start times and usage end times of data used for positioning processing for observation data acquired by a mobile station and including signals received from navigation satellites, Calculating a plurality of positioning data through positioning processing based on the observation data used by the plurality of sets and the observation data of the reference station, generating final positioning data based on the plurality of positioning data; An information processing device including a control unit. (2) The information processing device according to (1), wherein the control unit uses a plurality of filters in the positioning process to calculate a plurality of positioning data for each used observation data.
  • the control unit sets the use start time and use end time to a start and end time of movement of the mobile station, a start and end time of photographing by the mobile station, and a start and end time of securing a predetermined number of observation satellites by the mobile station.
  • the control unit determines the use start time and the use end time by adding a predetermined margin time to the start and end time of photographing by the mobile station.
  • the information processing device according to any one of (1) to (9), wherein the observation data includes reception times of the signals continuously acquired by the mobile station while moving.
  • the control unit sets the most accurate positioning data among the plurality of positioning data as the final positioning data.
  • the control unit selects the final positioning data from among the plurality of positioning data according to the degree of accuracy and the strength of the filter used in the positioning process.
  • the information processing device according to item 1.
  • the control unit performs positioning processing using a stronger filter and ends the positioning processing when positioning data with a certain accuracy is obtained. Information processing device.
  • the information processing device wherein a PPK (Post Processing Kinematic) positioning method is used as the interferometric positioning method.
  • the processor determining a plurality of sets of usage start times and usage end times of data used for positioning processing for observation data acquired by a mobile station and including signals received from navigation satellites; Calculating a plurality of positioning data by a positioning process based on each observation data used by the plurality of sets and observation data of a reference station; Generating final positioning data based on the plurality of positioning data; information processing methods, including (20) computer, Determining multiple sets of usage start times and usage end times of data used for positioning processing for observation data acquired by a mobile station and including signals received from navigation satellites, Calculating a plurality of positioning data through positioning processing based on the observation data used by the plurality of sets and the observation data of the reference station, generating final positioning data based on the plurality of positioning data; A program that functions as a control unit.
  • (21) Determining multiple sets of usage start times and usage end times of data used for positioning processing for observation data acquired by a mobile station and including signals received from navigation satellites, calculating a plurality of positioning data through positioning processing based on the observation data used by the plurality of sets and the observation data of the reference station; An information processing device including a control unit.
  • (22) Positioning processing is performed based on the observation data obtained by the mobile station, including the signals received from the navigation satellite, and the observation data of the reference station and the observation data extracted from multiple sets of use start and end times.
  • An information processing device including a control unit that generates final positioning data based on a plurality of positioning data calculated by.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention vise à proposer un dispositif de traitement d'informations, un procédé de traitement d'informations et un programme aptes à améliorer la précision d'un traitement de positionnement. À cet effet, l'invention concerne un dispositif de traitement d'informations qui est muni d'une unité de commande qui : détermine une pluralité d'ensembles d'un horaire de début d'utilisation et d'un horaire de fin d'utilisation pour des données utilisées dans un traitement de positionnement, par rapport à des données d'observation comprenant un signal reçu en provenance d'un satellite de navigation, les données d'observation étant acquises par une station mobile ; calcule une pluralité d'éléments de données de positionnement au moyen du traitement de positionnement, sur la base de chaque élément de données d'observation d'utilisation provenant de la pluralité d'ensembles et de données d'observation provenant d'une station de référence ; et génère des données de positionnement finales sur la base de la pluralité d'éléments de données de positionnement.
PCT/JP2023/011402 2022-03-24 2023-03-23 Dispositif de traitement d'informations, procédé de traitement d'informations et programme WO2023182407A1 (fr)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010078382A (ja) * 2008-09-25 2010-04-08 Hitachi Zosen Corp Ｇｐｓによる位置計測装置および位置計測方法
JP2013083480A (ja) * 2011-10-06 2013-05-09 Electronic Navigation Research Institute Ｒｔｋ測位計算に利用する衛星の選択方法及びその装置
JP2018119818A (ja) * 2017-01-23 2018-08-02 紘生 因 キネマティック測位に利用するパラメータ設定方法及び並列演算装置
CN110749909A (zh) * 2019-07-25 2020-02-04 中国民用航空中南地区空中交通管理局 基于多星座网络事后差分的飞行器位置高精度定位方法
JP2021001736A (ja) * 2019-06-19 2021-01-07 清水建設株式会社 測位アルゴリズムの設定パラメータ決定方法
JP2021143861A (ja) * 2020-03-10 2021-09-24 エアロセンス株式会社 情報処理装置、情報処理方法及び情報処理システム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010078382A (ja) * 2008-09-25 2010-04-08 Hitachi Zosen Corp Ｇｐｓによる位置計測装置および位置計測方法
JP2013083480A (ja) * 2011-10-06 2013-05-09 Electronic Navigation Research Institute Ｒｔｋ測位計算に利用する衛星の選択方法及びその装置
JP2018119818A (ja) * 2017-01-23 2018-08-02 紘生 因 キネマティック測位に利用するパラメータ設定方法及び並列演算装置
JP2021001736A (ja) * 2019-06-19 2021-01-07 清水建設株式会社 測位アルゴリズムの設定パラメータ決定方法
CN110749909A (zh) * 2019-07-25 2020-02-04 中国民用航空中南地区空中交通管理局 基于多星座网络事后差分的飞行器位置高精度定位方法
JP2021143861A (ja) * 2020-03-10 2021-09-24 エアロセンス株式会社 情報処理装置、情報処理方法及び情報処理システム

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