JP4088490B2 - Positioning apparatus and positioning method for moving body - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an apparatus for receiving radio waves from a GPS (Global Positioning System) satellite and measuring position information of a moving body.
[0002]
[Prior art]
As shown in FIG. 17, a conventional mobile positioning device receives radio waves from a plurality of satellites 91, 92, 93, and 94 with an antenna of a mobile body 80, and positions of the satellites included in signals from the satellites. The position of the moving body is measured based on the position information of the satellite obtained from the information or the position information server and the distance information between the satellite and the moving body.
[0003]
[Problems to be solved by the invention]
However, in a conventional mobile positioning device, the radio wave received by the antenna includes not only the direct wave from the satellite but also the reflected wave from the building or the like in a place where there are many buildings or the like such as an urban area. Due to the influence of a phenomenon called multipath, there is a problem in that the positioning accuracy of the moving body deteriorates. Therefore, an object of the present invention is to solve the above-described problems and provide a positioning device and a positioning method for accurately positioning a mobile object.
[0004]
[Means for Solving the Problems]
In order to solve the above-described problem, a mobile positioning apparatus according to the present invention is a positioning apparatus that receives radio waves from each of a plurality of different satellites and calculates the position of the mobile body based on the received radio waves. An antenna that receives radio waves from each of the satellites in a manner in which the direction of arrival can be identified, and a first satellite classification table that classifies the satellites into a plurality of groups according to the arrival directions of the radio waves received by the antennas And classifying the satellites defined by the satellite arrangement information obtained in advance according to the groups in the first satellite classification table, and comparing each group with the first satellite classification table. And a second satellite classification table that classifies the satellites so that the degree of coincidence of the satellites belonging to the highest is included, and is included in the same group in the first satellite classification table and the second satellite classification table That Common Direct wave extraction means for extracting radio waves from the satellite as direct waves, and position calculation for calculating the position of the moving body based on the direct waves extracted by the direct wave extraction means among the radio waves received by the antenna And a means.
[0005]
According to the present invention, by receiving radio waves from a satellite with the antenna, the arrival directions of radio waves received from a plurality of satellites are identified, and the arrangement information of each of the plurality of satellites obtained in advance and the above Based on the arrival direction of the radio wave received by the antenna, the arrival direction of the direct wave is predicted, and the direct wave is extracted from the radio wave received by the antenna based on the predicted arrival direction of the direct wave. Since the position of the moving body is calculated based on the extracted direct wave, the influence of the reflected wave can be eliminated in the position calculation. As a result, the positioning of the moving body can be performed with high accuracy.
[0006]
In the mobile positioning apparatus according to the present invention, the antenna includes a plurality of directional antennas arranged so that beam directions are different from each other.
[0007]
According to the present invention, the antenna is composed of a plurality of directional antennas arranged so that their beam directions are different from each other, so that each directional antenna receives radio waves arriving from the beam direction and receives each directional antenna. The arrival directions of radio waves received from a plurality of satellites can be identified from the beam direction of the antenna. In addition, the positioning device can be configured simply without having a drive unit that changes the beam direction of the directional antenna for receiving radio waves coming from a plurality of directions.
[0008]
The mobile positioning apparatus according to the present invention is characterized in that the antenna is configured by a directional antenna including a drive unit that changes a beam direction.
[0009]
According to the present invention, the driving unit receives radio waves from a plurality of satellites while changing the beam direction of the directional antenna, and the beam direction when receiving each radio wave is the arrival direction of the radio waves. Each direction of arrival of radio waves received from the satellite can be identified by a small number of directional antennas.
[0010]
A mobile communication terminal according to the present invention includes the above-described mobile positioning apparatus of the present invention.
[0011]
According to the present invention, the direct wave is extracted from the radio waves from the satellite affected by the multipath phenomenon, and the position of the mobile communication terminal is calculated based on the extracted direct wave. The influence can be eliminated. As a result, positioning of the mobile communication terminal can be performed with high accuracy.
[0012]
Further, in the mobile positioning method according to the present invention, the antenna that receives the radio waves from each of the plurality of satellites in a manner capable of identifying the direction of arrival of the radio waves identifies the direction of arrival of the radio waves from each of the plurality of satellites. Radio wave receiving step, direct wave extraction means, a first satellite classification table for classifying the satellites into a plurality of groups according to the direction of arrival of the radio wave received by the antenna, and the previously obtained The satellites determined by the satellite arrangement information are classified according to the groups in the first satellite classification table, and the degree of coincidence of the satellites belonging to each group is the highest compared to the first satellite classification table. A second satellite classification table that classifies so as to be higher, and is included in the same group in the first satellite classification table and the second satellite classification table Common A direct wave extracting step for extracting radio waves from the satellite as a direct wave, and a position calculating unit for calculating the position of the moving body based on the direct wave extracted by the direct wave extracting unit. It is characterized by.
[0013]
According to the present invention, by receiving radio waves from a satellite with the antenna, the arrival directions of radio waves received from a plurality of satellites are identified, and the arrangement information of each of the plurality of satellites obtained in advance and the above Based on the arrival direction of the radio wave received by the antenna, the arrival direction of the direct wave is predicted, and the direct wave is extracted from the radio wave received by the antenna based on the predicted arrival direction of the direct wave. Since the position of the moving body is calculated based on the extracted direct wave, the influence of the reflected wave can be eliminated in the position calculation. As a result, the positioning of the moving body can be performed with high accuracy.
[0014]
In the radio wave positioning method according to the present invention, in the radio wave receiving step, radio waves from each of the plurality of satellites are identified by the plurality of directional antennas arranged so that the beam directions are different from each other. And receiving.
[0015]
According to the present invention, the antenna is composed of a plurality of directional antennas arranged so that their beam directions are different from each other, so that each directional antenna receives radio waves arriving from the beam direction and receives each directional antenna. The arrival directions of radio waves received from a plurality of satellites can be identified from the beam direction of the antenna. In addition, the positioning device can be configured simply without having a drive unit that changes the beam direction of the directional antenna for receiving radio waves coming from a plurality of directions.
[0016]
Also, in the positioning method of the moving body of the present invention, in the radio wave receiving step, radio waves from each of the plurality of satellites are identified and received by a directional antenna having a drive unit that changes the beam direction. It is characterized by doing.
[0017]
According to the present invention, the driving unit receives radio waves from a plurality of satellites while changing the beam direction of the directional antenna, and the beam direction when receiving each radio wave is the arrival direction of the radio waves. Each direction of arrival of radio waves received from the satellite can be identified by a small number of directional antennas.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
(First Embodiment) A mobile positioning apparatus according to a first embodiment of the present invention will be described. First, the configuration of the mobile positioning apparatus according to the first embodiment of the present invention will be described with reference to FIG. FIG. 1 is a configuration diagram of a mobile positioning apparatus according to a first embodiment of the present invention. The mobile positioning apparatus 100 according to this embodiment includes an antenna 110, a direct wave extraction unit (direct wave extraction unit) 120, and a position calculation unit (position calculation unit) 130. The positioning device 100 is configured, for example, by disposing an antenna 110 on the surface of a mobile communication terminal such as a mobile phone possessed by a mobile body and mounting a direct wave extraction unit 120 and a position calculation unit 130 inside the mobile communication terminal. The Hereinafter, each component will be described in detail.
[0019]
The antenna 110 includes a plurality of directional antennas 111, 112, 113, and 114 arranged so that beam directions are different from each other, and each directional antenna receives radio waves coming from the beam direction. Thus, the arrival directions of radio waves arriving from a plurality of directions are identified. In the present embodiment, the number of directional antennas is four, but the number of antennas is not limited to four.
[0020]
The direct wave extraction unit 120 is a part that extracts a direct wave from radio waves received by the antenna 110, and includes a satellite arrangement acquisition unit 121, a direct wave arrival direction prediction unit 122, and a direct wave determination unit 123. Composed.
[0021]
The satellite arrangement acquisition unit 121 is a part that acquires satellite arrangement information based on the orbit information of the satellite by using a position information server, a self-memory of a mobile device included in the mobile body, or a radio wave from the satellite.
[0022]
The direct wave arrival direction prediction unit 122 is based on the arrival directions of radio waves arriving from a plurality of directions identified by receiving radio waves from the satellite by the antenna 110 and the satellite arrangement information received from the satellite arrangement acquisition unit 121. Thus, it is a part for predicting the arrival direction of the direct wave from each of the plurality of satellites. Details of the prediction method will be described later.
[0023]
The direct wave determination unit 123 is based on the arrival directions of the radio waves from the plurality of satellites received by the antenna 110 and the arrival directions of the direct waves from the plurality of satellites predicted by the direct wave arrival direction prediction unit 122. This is the part that determines and extracts the direct wave from the radio wave received by the antenna 110.
[0024]
The position calculation unit 130 is a part that calculates the position of the moving body based on the direct wave extracted by the direct wave extraction unit 120. More specifically, the direct wave determination unit 123 receives the direct wave determination result, and uses only the direct wave among the radio waves received by the antenna 110 or the radio wave from the satellite from which only the direct wave is received by the antenna 110. This is the part that measures the position of the moving object.
[0025]
Subsequently, the operation of the mobile positioning apparatus according to the present embodiment will be described, and a mobile positioning method according to the embodiment of the present invention will be described. FIG. 2 is a diagram illustrating a processing flow of a positioning method for a moving object.
[0026]
As shown in FIG. 2, the mobile positioning apparatus 100 according to the present embodiment first includes an antenna 110 including a plurality of directional antennas 111, 112, 113, and 114 arranged so that beam directions are different from each other. By receiving the radio wave from the satellite, the arrival directions of the radio waves coming from a plurality of directions are identified (step S1). In the present embodiment, since the directional antennas having a directivity angle of about 90 degrees are arranged so that the beam directions are different every 90 degrees, the arrival directions of radio waves are identified in four directions in units of 90 degrees. The antenna 110 may be configured by providing a large number of directional antennas having a smaller directivity angle. For example, directional antennas having a directivity angle of about 45 degrees can be arranged so that the beam directions are different every 45 degrees, and the arrival directions of radio waves can be divided into 8 directions in units of 45 degrees. Further, the number of directional antennas and the number of directions for identifying the arrival direction of radio waves do not necessarily have to match. For example, four directional antennas having a directional angle of 135 degrees may be arranged so that the beam directions are different every 90 degrees, and the arrival directions of radio waves can be divided into eight directions for identification. The concept of two directional antennas out of four directional antennas having a directional angle of 135 degrees will be described with reference to FIG. In FIG. 3, A and B indicate the directivity angles of the directional antennas 111 and 112 having a directivity angle of 135 degrees on the simulated sky. Further, each of the directional antennas 111 and 112 has a reception sensitivity distribution with respect to the angle θ as shown in the upper part and the right part of FIG. In this case, a satellite from which radio waves are received only by the directional antenna 111 can be identified as radio waves coming from the direction AA on the simulated sky in the figure. Further, a radio wave received only by the directional antenna 112 can be identified as a radio wave arriving from the BB direction on the simulated sky in the figure. The radio waves received by both the directional antennas 111 and 112 can be identified as radio waves coming from the direction AB in the figure. Therefore, when all four directional antennas are used, the arrival directions of radio waves can be identified in eight directions. As described above, the number of directional antennas and the number of directions for identifying the arrival direction of radio waves do not necessarily match, and are determined by the number of directional antennas, the directional angle of each directional antenna, and the reception sensitivity distribution. The direction of arrival of radio waves can be identified by the number of directions.
[0027]
Next, the satellite arrangement acquisition unit 121 acquires satellite arrangement information based on the satellite orbit information (step S2). Specifically, when looking up to the sky from the moving object based on the approximate position of the moving object (for example, the position of the moving object obtained by the same method as conventional GPS positioning), time, and satellite orbit information Get the satellite arrangement.
[0028]
Next, the direct wave arrival direction prediction unit 122 receives the arrival directions of radio waves arriving from a plurality of directions identified by the antenna 110 receiving radio waves from the satellite, and the satellite arrangement acquired by the satellite arrangement acquisition unit 121. Based on the information, the arrival direction of the direct wave from each of the plurality of satellites is predicted (step S3).
[0029]
Hereinafter, the operation of the direct wave arrival direction prediction unit 122 in the direct wave arrival direction prediction step (step S3) will be specifically described. First, the direct wave arrival direction prediction unit 122 creates a satellite classification table 1 that classifies a plurality of satellites that have transmitted radio waves into groups for each of the directional antennas 111, 112, 113, and 114 that have received the respective radio waves. That is, the satellite classification table 1 is a table for classifying the satellites that have transmitted radio waves for each arrival direction of radio waves, with the beam directions of the directional antennas 111, 112, 113, and 114 as units. FIG. 4 shows an example of the satellite classification table 1. In the satellite classification table 1 of FIG. 4, A to D indicate groups for classifying the satellites for each directional antenna that receives radio waves from the satellites. The groups corresponding to the directional antennas 111, 112, 113, and 114 are shown. In addition, (1) to (8) are numbers displayed for each satellite that has transmitted radio waves. Note that the number of groups in the satellite classification table 1 is not necessarily the same as the number of antennas. For example, the satellites can be classified into eight directions by receiving radio waves with four directional antennas having a directional angle of 135 degrees as described above. In this way, it is possible to identify the arrival direction of radio waves by classifying satellites by the number of directional antennas, the number of groups determined by the directional angle of each directional antenna and the reception sensitivity distribution. In the following description of the present embodiment, a case will be described in which the number of directional antennas and the number of directions for identifying the arrival direction of radio waves are the same.
[0030]
Next, the direct wave arrival direction prediction unit 122 creates a satellite arrangement map in which satellites are arranged on the simulated sky based on the satellite arrangement information acquired by the satellite arrangement acquisition unit 121. FIG. 5 is an example of a satellite layout diagram, and (1) to (8) are the numbers assigned to the satellites placed on the simulated sky based on the satellite placement information. The satellite classification table 1 in FIG. The true satellite arrangement of the satellites {circle around (1)} to {circle around (8)} included in FIG. N in the figure indicates the north direction in the simulated sky.
[0031]
Next, as shown in FIG. 6, the direct wave arrival direction prediction unit 122 sets an area in which the radio wave reception ranges of the directional antennas 111, 112, 113, and 114 are assumed in the created satellite arrangement diagram. In FIG. 6, A ′ to D ′ indicate the radio wave reception ranges of the respective directional antennas provided by virtually setting the radio wave reception ranges of the directional antennas 111, 112, 113, and 114. X and Y are division axes that indicate the boundaries of the radio wave reception range of the directional antenna, which is virtually provided with the radio wave reception range of the directional antenna, and the satellites arranged in the simulated sky with this division axis as a boundary. It can be classified according to the radio wave reception range of each antenna. At this stage, since the azimuth to which the mobile body itself is pointing is unknown, the direction of the beam direction of the directional antennas 111, 112, 113, and 114 included in the positioning device is also unknown, and therefore, the directivity is determined at this stage. The direction of the split axis provided in the satellite layout map with the radio wave reception range of the directional antennas 111, 112, 113, 114 is set appropriately. Here, the area where the radio wave reception range of the directional antenna is hypothesized is not necessarily the same as the number of directional antennas. As described above, the number of directional antennas, the directional angle of each directional antenna, and the reception It is also possible to provide a number of regions defined by the sensitivity distribution.
[0032]
Next, the direct wave arrival direction prediction unit 122 classifies the satellites for each radio wave reception range of the directional antenna divided by the division axis, and creates the satellite classification table 2. FIG. 7 shows a satellite classification table 2 created based on the satellite layout diagram of FIG. 6. In FIG. 7, A ′ to D ′ indicate the radio wave reception ranges of the directional antennas 111, 112, 113, and 114, respectively. A group is shown in which satellites are classified for each of the areas provided. In addition, (1) to (8) indicate the numbers of the satellites arranged on the simulated sky. The number of groups in the satellite classification table 2 does not have to be the same as the number of directional antennas. As described above, the number of directional antennas, the number defined by the respective directional angles and reception sensitivity distributions. Can be classified into groups. In the present embodiment, the following description explains a case where the number of directional antennas and the number of groups in the satellite classification table 2 are the same.
[0033]
Next, the direct wave arrival direction predicting unit 122 compares the created satellite classification table 1 with the satellite classification table 2 and performs an operation for calculating the number of satellites with which the satellites belong to the same group. Then, as shown in the satellite layout diagram of FIG. 6, the angle θ formed by the division axis (X in FIG. 6) and a certain direction on the simulated sky (N indicating the north side in FIG. 6) is used as a parameter. The division axis is rotated, the update of the satellite classification table 2 is repeated, and the calculation for calculating the number of satellites to which the satellite groups in the satellite classification table 1 and the satellite classification table 2 match is repeated. Then, as in the satellite classification table 2 shown in FIG. 9, the parameter θ in the satellite layout diagram when the number of satellites to which the satellites belong to the satellite classification table 1 and the satellite classification table 2 is the largest is shown in FIG. It calculates | requires as (theta) max like this. By obtaining this θmax, the direction of the beam direction of each of the directional antennas 111, 112, 113, and 114 is predicted, and the satellite classification table 2 of FIG. 9 created based on the satellite arrangement diagram of FIG. The direction of arrival of direct waves is predicted.
[0034]
Subsequently, the direct wave determination unit 123 includes a satellite classification table 1 based on the arrival direction of the radio wave obtained by receiving the radio wave with the antenna 110 and a satellite based on the arrival direction of the direct wave predicted by the direct wave arrival direction prediction unit 122. The classification table 2 is compared. In this comparison, the satellite classification table 1 and the satellite classification table 2 obtain satellites whose satellite group does not match, and the radio waves from the satellites whose group does not match are reflected from the building due to multipath phenomenon, and the rest Radio waves from the satellite are determined as direct waves and extracted (step S4). For example, as shown in the satellite classification table 1 in FIG. 4 and the satellite classification table 2 in FIG. 9, when all the satellite groups belong to each other, it is assumed that there is no reflected wave from the building or the like due to the multipath phenomenon, and the antenna All radio waves received at 110 are determined to be direct waves from the satellite. On the other hand, when the radio wave received by the antenna 110 is affected by the multipath phenomenon and the received radio wave includes a reflected wave from a building or the like, the reflected wave is different from the arrival direction of the direct wave. 10 is obtained, and the satellite classification table 1 in FIG. 10 is compared with the satellite classification table 2 in FIG. The radio wave corresponding to the satellite of (6) is determined as a reflected wave, and the remaining radio waves are determined as direct waves.
[0035]
Next, the position calculation unit 130 calculates the position of the moving body based on the direct wave extracted by the direct wave extraction unit 120 (step S5).
[0036]
Then, the effect | action and effect of the positioning apparatus of the moving body which concern on this embodiment are demonstrated. The mobile positioning apparatus according to the present embodiment is an antenna 110 composed of a plurality of directional antennas 111, 112, 113, 114 arranged so that beam directions are different from each other. By receiving the radio wave, it is possible to identify the arrival directions of the radio waves received by the antenna 110 from the beam directions of the directional antennas 111, 112, 113, and 114 that have received the radio waves. In addition, the positioning device can be configured simply without having a drive unit that changes the beam direction of the directional antenna for receiving radio waves coming from a plurality of directions.
[0037]
Further, the direct wave arrival direction prediction unit 122 uses the directional antennas 111, 112, 113, 114 based on the arrival directions of the radio waves received by the antenna 110 and the satellite arrangement information acquired from the satellite arrangement acquisition unit 121. The direction of the direct beam arrival direction is predicted based on the predicted direction of the beam direction and the direction of the predicted beam direction and the satellite arrangement information acquired from the satellite arrangement acquisition unit 121. Even if the direction of the beam direction of the directional antennas 111, 112, 113, 114 cannot be measured, the arrival direction of the direct wave can be predicted.
[0038]
Then, the direct wave determination unit 123 directly selects the direct wave out of the radio waves received by the antenna 110 based on the arrival directions of the radio waves received by the antenna 110 and the direct wave arrival direction predicted by the direct wave arrival direction prediction unit 122. Since the wave is determined and extracted, and the position calculation unit 130 calculates the position of the moving body based on the direct wave extracted by the direct wave determination unit 123, the influence of the reflected wave can be eliminated in the position calculation. As a result, the positioning of the moving body can be performed with high accuracy.
[0039]
(Second Embodiment) Next, a mobile positioning apparatus according to a second embodiment of the present invention will be described. First, the configuration of a positioning apparatus for a moving body according to a second embodiment of the present invention will be described with reference to FIG. FIG. 11 is a configuration diagram of a mobile positioning apparatus according to the second embodiment of the present invention. Similar to the positioning apparatus of the first embodiment, the mobile positioning apparatus 200 according to the present embodiment includes an antenna 210, a direct wave extraction unit (direct wave extraction unit) 220, and a position calculation unit (position calculation unit) 230. And is configured. Hereinafter, each component will be described in detail.
[0040]
The antenna 210 and the position calculation unit 230 are components similar to the antenna 110 and the position calculation unit 130 of the first embodiment, respectively. The direct wave extraction unit 220 includes a satellite arrangement acquisition unit 221, a direct wave arrival direction prediction unit 222, a direct wave determination unit 223, and a self-direction measurement unit 224. The determination unit 223 is a component similar to the satellite arrangement acquisition unit 121 and the direct wave determination unit 123 of the first embodiment.
[0041]
The self-orientation measuring unit 224 is a part that measures the self-orientation of the moving object, and for example, an electronic compass is used.
[0042]
The direct wave arrival direction prediction unit 222 is based on the directional antenna 211 based on the self-direction of the moving object measured by the self-direction measuring unit 224 and the relative angle between the moving object and the directional antennas 211, 212, 213, and 214. , 212, 213, and 214, and the direct wave from each of the plurality of satellites based on the direction of the beam direction and the satellite arrangement information received from the satellite arrangement acquisition unit 221. This is the part that predicts the direction of arrival. Details of the prediction method will be described later.
[0043]
Subsequently, the operation of the mobile positioning apparatus according to the present embodiment will be described, and a mobile positioning method according to the embodiment of the present invention will be described. FIG. 12 is a diagram illustrating a processing flow of the positioning method of the moving body according to the present embodiment.
[0044]
In FIG. 12, the radio wave reception step (step S11) and the satellite arrangement acquisition step (step S12) are the same as the radio wave reception step (step S1) and the satellite arrangement acquisition step (step S2) of the first embodiment, respectively.
[0045]
As shown in FIG. 12, the mobile positioning apparatus 200 according to the present embodiment performs the processing of the radio wave reception step (step S11) and the satellite arrangement acquisition step (step S12). The self-orientation of the body is measured (step S13).
[0046]
Next, the direct wave arrival direction prediction unit 222 predicts the arrival direction of the direct wave based on the satellite arrangement information acquired by the satellite arrangement acquisition unit 221 and the self direction of the moving body measured by the self direction measurement unit 224. (Step S14).
[0047]
Hereinafter, the operation of the direct wave arrival direction prediction unit 222 in the direct wave arrival direction prediction step (step S14) will be specifically described. First, the direct wave arrival direction predicting unit 222 classifies a plurality of satellites that have transmitted radio waves into groups for each of the directional antennas 211, 212, 213, and 214 that have received the respective radio waves, as shown in FIG. A classification table 1 is created. As in the first embodiment, the number of groups in the satellite classification table 1 is not necessarily the same as the number of antennas. That is, the arrival directions of radio waves can be identified by classifying satellites according to the number of directional antennas and the number of groups set in advance according to the respective directivity angles and reception sensitivity distributions. In the following description of the present embodiment, a case will be described in which the number of directional antennas and the number of directions for identifying the arrival direction of radio waves are the same.
[0048]
Next, the direct wave arrival direction prediction unit 222 creates a satellite arrangement diagram as shown in FIG. 5 in which the satellites are arranged on the simulated sky based on the satellite arrangement information acquired by the satellite arrangement acquisition unit 221.
[0049]
Next, the direct wave arrival direction prediction unit 222 determines the mobile body's self-direction measured by the mobile body's self-direction measurement unit 224 and the relative angles of the mobile body and the directional antennas 211, 212, 213, and 214. Based on this, the direction of the beam direction of each of the directional antennas 211, 212, 213, and 214 is acquired.
[0050]
Next, the direct wave arrival direction predicting unit 222 adds the directional antenna to the satellite arrangement map created based on the satellite arrangement information based on the obtained beam direction directions of the directional antennas 211, 212, 213, and 214. Areas imagining the radio wave reception ranges 211, 212, 213, and 214 are set as shown in FIG. In FIG. 13, A ′ to D ′ indicate the radio wave reception ranges of the respective directional antennas, which are virtually provided with the radio wave reception ranges of the directional antennas 211, 212, 213, and 214. X and Y are division axes that indicate boundaries of the radio wave reception ranges of the directional antennas 211, 212, 213, and 214 that virtually provide the radio wave reception ranges of the directional antennas. Can be classified according to the radio wave reception range of each directional antenna. Note that the angle of the split axis here is uniquely obtained from the satellite layout drawing because the direction of the beam direction of each directional antenna has already been calculated. Here, as in the first embodiment, the area where the radio wave reception range of the directional antenna is hypothesized does not necessarily have to be the same as the number of directional antennas. It is also possible to provide a number of regions defined by the directivity angle of the directional antenna and the reception sensitivity distribution.
[0051]
Next, the direct wave arrival direction prediction unit 222 classifies the satellites for each radio wave reception range of the directional antenna divided by the division axis, and creates the satellite classification table 2. FIG. 14 shows a satellite classification table 2 created based on the satellite layout diagram of FIG. 13, where A ′ to D ′ indicate the radio wave reception ranges of the directional antennas 211, 212, 213, and 214, respectively. A group is shown in which satellites are classified for each of the areas provided. In addition, (1) to (8) indicate the numbers of the satellites arranged on the simulated sky. In addition, the satellite classification table 2 created by the above processing is a prediction of the arrival direction of the direct wave. Note that, as in the first embodiment, the number of groups in the satellite classification table 2 does not have to be the same as the number of directional antennas. As described above, the number of directional antennas and the respective directivity angles And a number of groups defined by the reception sensitivity distribution.
[0052]
Hereinafter, the direct wave determination step (step S15) and the position calculation step (step S16) are the same as the direct wave determination step (step S4) and the position calculation step (step S5) of the first embodiment, respectively.
[0053]
Then, the effect | action and effect of the positioning apparatus of the moving body which concern on this embodiment are demonstrated. The mobile positioning device according to the present embodiment is an antenna 210 composed of a plurality of directional antennas 211, 212, 213, and 214 arranged so that beam directions are different from each other. By receiving radio waves, the arrival directions of the radio waves received by the antenna 210 can be identified from the beam directions of the directional antennas 211, 212, 213, and 214 that have received the radio waves. In addition, the positioning device can be configured simply without having a drive unit that changes the beam direction of the directional antenna for receiving radio waves coming from a plurality of directions.
[0054]
Further, the direct wave arrival direction prediction unit 222 acquires the direction of the beam direction of the directional antennas 211, 212, 213, and 214 based on the self direction of the moving body measured by the self direction measurement unit 224, and Since the direction of arrival of direct waves from each of the plurality of satellites is predicted based on the direction and the satellite arrangement information acquired from the satellite arrangement acquisition unit 221, complicated calculation as described in the first embodiment is required. It is possible to predict the direction of arrival of direct waves.
[0055]
Then, based on the arrival directions of the radio waves received by the antenna 210 and the arrival directions of the direct waves predicted by the direct wave arrival direction prediction unit 222, the direct wave determination unit 223 receives the radio waves received by the antenna 210. Among them, the direct wave is determined and extracted, and the position calculation unit 230 calculates the position of the moving body based on the direct wave extracted by the direct wave determination unit 223, so that it is possible to eliminate the influence of the reflected wave in the position calculation. As a result, the positioning of the moving body can be performed with high accuracy.
[0056]
(Third Embodiment) Next, a mobile positioning apparatus according to a third embodiment of the present invention will be described. First, the configuration of a mobile positioning apparatus according to a third embodiment of the present invention will be described with reference to FIG. FIG. 15: is a block diagram of the positioning apparatus of the moving body which concerns on the 3rd Embodiment of this invention. A mobile positioning apparatus 300 according to the present embodiment includes an antenna 310, a direct wave extraction unit (direct wave extraction unit) 320, and a position calculation unit (position calculation unit) 330. This apparatus is configured, for example, by disposing an antenna 300 on the surface of a mobile communication terminal such as a mobile phone included in a mobile body and mounting a direct wave extraction unit 320 and a position calculation unit 330 inside the mobile communication terminal. Hereinafter, each component will be described in detail.
[0057]
The antenna 310 is configured in such a manner that the directional antenna 311 can be rotated by the drive unit 312, and the directional antenna 311 receives radio waves coming from the beam direction of the directional antenna 311 at a plurality of predetermined rotation positions, respectively. Thus, the arrival directions of radio waves arriving from a plurality of directions are identified.
[0058]
The direct wave extraction unit 320 includes a satellite arrangement acquisition unit 321, a direct wave arrival direction prediction unit 322, and a direct wave determination unit 323. The satellite arrangement acquisition unit 321 and the direct wave determination unit 323 each include a first It is the same component as the satellite arrangement | positioning acquisition part 121 of 1 embodiment, and the direct wave determination part 123. FIG. Further, the position calculation unit 330 is the same component as the position calculation unit 130 of the first embodiment.
[0059]
The direct wave arrival direction prediction unit 322 is based on the arrival directions of radio waves arriving from a plurality of directions identified by receiving radio waves from the satellite by the antenna 310 and the satellite arrangement information received from the satellite arrangement acquisition unit 321. Thus, it is a part for predicting the arrival direction of the direct wave from each of the plurality of satellites. Details of the prediction method will be described later.
[0060]
Subsequently, the operation of the mobile positioning apparatus according to the present embodiment will be described, and a mobile positioning method according to the embodiment of the present invention will be described. In addition, the processing flow of the positioning method of the mobile body which concerns on this embodiment is demonstrated using the FIG. 2 utilized in 1st Embodiment. In addition, FIGS. 4 to 10 will be described with appropriate assistance.
[0061]
As shown in FIG. 2, the mobile positioning apparatus 300 according to the present embodiment includes a satellite arriving from the beam direction of the directional antenna 311 at a plurality of predetermined rotational positions, with the directional antenna 311 rotated by the driving unit 312. Are received, each arrival direction of the radio waves coming from a plurality of directions is identified (step S1). In this embodiment, the directional antenna 311 having a directivity angle of about 90 degrees is rotated by the drive unit 312 and receives radio waves every 90 degrees, so the arrival direction of radio waves is divided into four directions in units of 90 degrees. Identify. The directional antenna 311 may be a directional antenna having a smaller directional angle, and radio waves may be received at a larger number of rotational positions. For example, by receiving a radio wave every time a directional antenna having a directivity angle of about 45 degrees rotates 45 degrees, it is possible to identify the arrival direction of the radio wave by dividing it into 8 directions in units of 45 degrees. In addition, the directivity angle of the directional antenna 311 and the angular pitch of the rotation position where the radio wave is received while rotating the directional antenna 311 are not necessarily matched. For example, radio waves can be received by rotating a directional antenna 311 having a directivity angle of 30 degrees at an angular pitch of 15 degrees. In the following description of the present embodiment, a case will be described in which the directivity angle of the directional antenna 311 is the same as the angular pitch of the rotational position where the radio wave is received while the directional antenna 311 is rotated.
[0062]
The satellite arrangement acquisition step (step S2) to be performed next is the same as the satellite arrangement acquisition step (step S2) of the first embodiment.
[0063]
Next, direct wave arrival direction prediction unit 322 receives arrival directions of radio waves arriving from a plurality of directions identified by antenna 310 receiving radio waves from the satellite, and satellite arrangement acquired by satellite arrangement acquisition unit 321. Based on the information, the arrival direction of the direct wave from each of the plurality of satellites is predicted (step S3).
[0064]
Hereinafter, the operation of the direct wave arrival direction prediction unit 322 in the direct wave arrival direction prediction step (step S3) will be specifically described. First, the direct wave arrival direction prediction unit 322 classifies a plurality of satellites that have transmitted radio waves into groups for each predetermined rotational position of the directional antenna 311 that has received the respective radio waves, as shown in FIG. create. In the satellite classification table 1 of FIG. 4, A to D indicate groups for classifying the satellites for each predetermined rotation position of the directional antenna 311 that has received radio waves from the satellite, and each time the directional antenna 311 rotates 90 degrees. Indicates that it is receiving radio waves from the satellite. As described above, the directivity angle of the directional antenna 311 and the angular pitch of the rotational position where the radio wave is received while rotating the directional antenna 311 are not necessarily matched. Therefore, the number of groups in the satellite classification table 1 does not have to be the same as the number obtained by dividing 360 degrees, which is an angle of one rotation of the directional antenna 311, by the directional angle of the directional antenna. It is possible to provide as many groups as the number of times radio waves are received at a predetermined angular pitch during rotation.
[0065]
Next, the direct wave arrival direction prediction unit 322 creates a satellite arrangement diagram as shown in FIG. 5 in which satellites are arranged on the simulated sky based on the satellite arrangement information acquired by the satellite arrangement acquisition unit 321.
[0066]
Next, as shown in FIG. 6, the direct wave arrival direction prediction unit 322 sets an area in which the radio wave reception range at a plurality of predetermined rotational positions of the directional antenna 311 is hypothesized in the created satellite arrangement diagram. In FIG. 6, A ′ to D ′ virtually provide a radio wave reception range at each rotation position of the directional antenna 311 when receiving radio waves from the satellite every time the directional antenna 311 rotates 90 degrees. Shows the area. X and Y are division axes indicating the boundaries of the radio wave reception range provided by imagining the radio wave reception range at a predetermined rotational position of the directional antenna 311. The satellites arranged in the simulated sky are directed to the division axis as a boundary. It can classify | categorize for every radio wave reception range in the predetermined rotation position of the property antenna 311. At this stage, since the azimuth to which the moving body itself faces is unknown, the direction of the beam direction at a plurality of predetermined rotational positions of the directional antenna 311 included in the positioning device is also unknown. The direction of the split axis provided in the satellite layout diagram is set appropriately, assuming the radio wave reception range at a predetermined rotation position of the directional antenna 311. In this embodiment, the radio wave reception ranges set in the satellite layout are set so as not to overlap each other, but radio waves are received at a finer rotation angle pitch with respect to the directivity angle of the directional antenna 311. Therefore, it is also possible to set a radio wave reception range according to this. In the following description of the present embodiment, a case where radio wave reception ranges do not overlap each other will be described.
[0067]
Next, the direct wave arrival direction prediction unit 322 classifies the satellites for each radio wave reception range at a predetermined rotation position of the directional antenna 311 divided by the division axis, and creates a satellite classification table 2 as shown in FIG. To do. In this case, A ′ to D ′ in FIG. 7 indicate groups in which satellites are classified into regions in which radio wave reception ranges are provided virtually every time the directional antenna 311 rotates 90 degrees. In the present embodiment, the number of groups in the satellite classification table 2 is the same as the number of times the radio wave is received during one rotation of the directional antenna 311 so that the radio wave reception ranges set in the satellite layout diagram do not overlap each other. However, as described above, it is also possible to receive radio waves at a finer rotation angle pitch with respect to the directivity angle of the directional antenna 311. Therefore, it is possible to obtain the number of groups corresponding to this. is there.
[0068]
Hereinafter, the processing performed by the positioning device 300 according to the present embodiment is the same method as in the first embodiment.
[0069]
Then, the effect | action and effect of the positioning apparatus of the moving body which concern on this embodiment are demonstrated. The mobile positioning device according to the present embodiment is a directional antenna that is rotated by a drive unit 312 that changes the beam direction as an antenna 310 that receives radio waves from each of a plurality of satellites in a manner in which the direction of arrival can be identified. 311, the directional antenna 311 receives a radio wave arriving from the beam direction of the directional antenna 311 at each of the plurality of predetermined rotation positions at the plurality of predetermined rotation positions, and the predetermined direction of the directional antenna 311 when the radio wave is received. Since the direction of the beam at the rotation position is the arrival direction of the received radio wave, the arrival direction of each radio wave received by the antenna 310 can be identified. In addition, the arrival direction of many radio waves can be identified with one directional antenna.
[0070]
Further, the direct wave arrival direction prediction unit 322 has a plurality of predetermined rotational positions of the directional antenna 311 based on the arrival directions of the radio waves received by the antenna 310 and the satellite arrangement information acquired from the satellite arrangement acquisition unit 321. The direction of the beam direction is predicted, and the arrival direction of the direct wave is predicted based on the predicted direction of the beam direction and the satellite arrangement information acquired from the satellite arrangement acquisition unit 321. Even if the direction of the beam direction of the directional antenna 311 cannot be measured, the arrival direction of the direct wave can be predicted.
[0071]
Then, based on the arrival directions of the radio waves received by the antenna 310 and the arrival directions of the direct waves predicted by the direct wave arrival direction prediction unit 322, the direct wave determination unit 323 receives the radio waves received by the antenna 310. Among them, the direct wave is determined and extracted, and the position calculation unit 330 calculates the position of the moving body based on the direct wave extracted by the direct wave determination unit 323, so that it is possible to eliminate the influence of the reflected wave in the position calculation. As a result, the positioning of the moving body can be performed with high accuracy.
[0072]
(Fourth Embodiment) Next, a mobile positioning apparatus according to a fourth embodiment of the present invention will be described. First, the configuration of a mobile positioning apparatus according to a fourth embodiment of the present invention will be described with reference to FIG. FIG. 16: is a block diagram of the positioning apparatus of the moving body which concerns on the 4th Embodiment of this invention. Similar to the third embodiment, the mobile positioning apparatus 400 according to the present embodiment includes an antenna 410, a direct wave extraction unit (direct wave extraction unit) 420, and a position calculation unit (position calculation unit) 430. It is prepared for. Hereinafter, each component will be described in detail.
[0073]
The antenna 410 and the position calculation unit 430 are the same components as the antenna 310 and the position calculation unit 330 of the third embodiment, respectively. The direct wave extraction unit 420 includes a satellite arrangement acquisition unit 421, a direct wave arrival direction prediction unit 422, a direct wave determination unit 423, and a self-direction measurement unit 424. The determination unit 423 is the same component as the satellite arrangement acquisition unit 321 and the direct wave determination unit 323 of the third embodiment, and the self-direction measurement unit 424 is the same as the self-direction measurement unit 224 of the second embodiment. Is a component of
[0074]
The direct wave arrival direction prediction unit 422 is based on the relative direction angle between the mobile body's self-direction measured by the self-direction measurement unit 424 and a plurality of predetermined rotational positions of the mobile body and the directional antenna 411. The direction of the direct wave from each of the plurality of satellites is predicted based on the direction of the beam direction at each of the predetermined rotation positions and the satellite arrangement information received from the satellite arrangement acquisition unit 421. It is a part to do. Details of the prediction method will be described later.
[0075]
Subsequently, the operation of the mobile positioning apparatus according to the present embodiment will be described, and a mobile positioning method according to the embodiment of the present invention will be described. In addition, the processing flow of the positioning method of the mobile body which concerns on this embodiment is demonstrated using the FIG. 12 utilized in 2nd Embodiment. Moreover, FIGS. 4-14 is also used suitably and demonstrated.
[0076]
In FIG. 12, the radio wave reception step (step S11) is the same as the radio wave reception step (step S1) of the third embodiment, and the satellite arrangement acquisition step (step S12) and the self-orientation measurement step (step S13) are respectively performed. This is the same as the satellite arrangement acquisition step (step S12) and the self-orientation measurement step (step S13) of the second embodiment.
[0077]
As shown in FIG. 12, the mobile positioning apparatus 400 according to the present embodiment performs processing of a radio wave reception step (step S <b> 11), a satellite arrangement acquisition step (step S <b> 12), and a mobile body self-azimuth measurement step (step S <b> 13). After performing, the direct wave arrival direction prediction unit 422 is based on the relative angle between the mobile body's self-direction measured by the self-direction measurement unit 424 and a plurality of predetermined rotation positions of the mobile body and the directional antenna 411. The direction of the beam direction at a predetermined rotational position of the directional antenna 411 is acquired, and the arrival of direct waves from each of the plurality of satellites based on the direction of the beam direction and the satellite arrangement information acquired by the satellite arrangement acquisition unit 421 A direction is predicted (step S14).
[0078]
Hereinafter, the operation of the direct wave arrival direction prediction unit 422 in the direct wave arrival direction prediction step (step S14) will be specifically described. First, the direct wave arrival direction prediction unit 422 classifies a plurality of satellites that have transmitted radio waves into groups for each predetermined rotational position of the directional antenna 411 that has received the respective radio waves, as shown in FIG. create. As in the third embodiment, the directivity angle of the directional antenna 411 and the rotation angle pitch for receiving radio waves while rotating the directional antenna 411 are not necessarily matched. For example, a radio wave can be received by rotating a directional antenna 411 having a directivity angle of 30 degrees with an angular pitch of 15 degrees. In the following description of the present embodiment, a case will be described in which the directivity angle of the directional antenna 411 is the same as the angular pitch of the rotational position where the radio wave is received while the directional antenna 411 is rotated.
[0079]
Next, the direct wave arrival direction prediction unit 422 creates a satellite layout diagram as shown in FIG. 5 in which the satellites are arranged on the simulated sky based on the satellite arrangement information acquired by the satellite arrangement acquisition unit 421.
[0080]
Next, the direct wave arrival direction prediction unit 422 is based on the mobile body's self-direction measured by the mobile body's self-direction measurement unit 422 and the relative angle of each of the predetermined rotational positions of the mobile body and the directional antenna 411. The direction of the beam direction at each of a plurality of predetermined rotational positions of the directional antenna 411 is acquired.
[0081]
Next, the direct wave arrival direction predicting unit 422 displays the directional antenna on the satellite arrangement map created based on the satellite arrangement information based on the direction of the beam direction at each of the plurality of predetermined rotation positions of the acquired directional antenna 411. An area imagining the radio wave reception range at a plurality of predetermined rotation positions 411 is set as shown in FIG. In FIG. 13, A ′ to D ′ virtually provide a radio wave reception range at each rotation position of the directional antenna 411 when receiving radio waves from the satellite every time the directional antenna 411 rotates 90 degrees. Shows the area. X and Y are split axes indicating the boundary of the radio wave reception range provided by virtually setting the radio wave reception range at the predetermined rotation position of the directional antenna 411, and the satellite arranged in the simulated sky is pointed at the split axis as a boundary. It can classify | categorize for every radio wave reception range in the predetermined rotation position of the property antenna 411. Note that the angle of the split axis here is uniquely obtained from the satellite layout drawing because the direction of the beam direction at each of a plurality of predetermined rotational positions of the directional antenna 411 has already been calculated. As in the third embodiment, the radio wave reception ranges set in the satellite layout diagram are set so as not to overlap with each other in this embodiment, but with a finer rotation with respect to the directivity angle of the directional antenna 411. Since it is possible to receive radio waves at an angular pitch, it is also possible to set a radio wave reception range according to this. In the following description of the present embodiment, a case where radio wave reception ranges do not overlap each other will be described.
[0082]
Next, the direct wave arrival direction prediction unit 422 classifies the satellites for each radio wave reception range at a predetermined rotational position of the directional antenna 411 divided by the division axis, and creates a satellite classification table 2 as shown in FIG. To do. In this case, A ′ to D ′ in FIG. 14 indicate groups in which satellites are classified for each region in which a radio wave reception range is virtually provided every time the directional antenna 411 rotates 90 degrees. As in the third embodiment, in this embodiment, the number of groups in the satellite classification table 2 is the number of radio waves during one rotation of the directional antenna 411 so that the radio wave reception ranges set in the satellite layout diagram do not overlap each other. However, as described above, it is possible to receive radio waves with a finer rotation angle pitch with respect to the directivity angle of the directional antenna 411 as described above. It is also possible to get the number of groups.
[0083]
Hereinafter, the processing performed by the positioning device 400 according to the present embodiment is the same method as in the third embodiment.
[0084]
Then, the effect | action and effect of the positioning apparatus of the moving body which concern on this embodiment are demonstrated. The mobile positioning apparatus according to the present embodiment is a directional antenna that is rotated by a drive unit 412 that changes a beam direction as an antenna 410 that receives radio waves from each of a plurality of satellites in a manner in which the arrival direction can be identified. 411, when the directional antenna 411 receives a radio wave arriving from the beam direction of the directional antenna 411 at each of the plurality of predetermined rotation positions at the plurality of predetermined rotation positions, the predetermined direction of the directional antenna 411 when the radio wave is received. Since the beam direction at the rotation position is the arrival direction of the received radio wave, the arrival direction of each radio wave received by the antenna 410 can be identified. In addition, the arrival direction of many radio waves can be identified with one directional antenna.
[0085]
Further, the direct wave arrival direction predicting unit 422 has directivity based on the self-orientation of the moving object measured by the self-orientation measuring unit 424 and the relative angles of the plurality of predetermined rotational positions of the moving object and the directional antenna 411. Since the direction of the beam direction at each of the plurality of predetermined rotation positions of the antenna 411 is acquired, and the arrival direction of the direct wave is predicted based on the acquired direction of the beam direction and the satellite arrangement information acquired by the satellite arrangement acquisition unit 421. The arrival direction of a direct wave can be predicted without requiring a complicated calculation as described in the third embodiment.
[0086]
Then, based on the arrival directions of the radio waves received by the antenna 411 and the arrival directions of the direct waves predicted by the direct wave arrival direction prediction unit 422, the direct wave determination unit 423 receives the radio waves received by the antenna 410. Among them, the direct wave is determined and extracted, and the position calculation unit 430 calculates the position of the moving body based on the direct wave extracted by the direct wave determination unit 423. Therefore, it is possible to eliminate the influence of the reflected wave in the position calculation. As a result, the positioning of the moving body can be performed with high accuracy.
[0087]
【The invention's effect】
As described above, according to the present invention, the antenna that receives the radio waves from each of the plurality of satellites in such a manner that the direction of arrival can be identified identifies the direction of arrival of each of the radio waves received from the plurality of satellites. Based on the obtained position information of each of the plurality of satellites and the arrival direction of the radio wave received by the antenna, the direct wave arrival direction is predicted, and the direct wave from the radio waves received by the antenna is estimated. Since the position of the moving body is calculated based on the extracted direct wave, the influence of the reflected wave can be eliminated in the position calculation. As a result, the positioning of the moving body can be performed with high accuracy.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a mobile positioning apparatus according to a first embodiment of the present invention.
FIG. 2 is a diagram showing a processing flow of a mobile positioning method according to the first and third embodiments of the present invention.
FIG. 3 is a diagram for explaining the concept of receiving radio waves from a satellite with four directional antennas and identifying the arrival directions of radio waves in eight directions.
FIG. 4 is a satellite classification table 1 for classifying a satellite that has transmitted a radio wave for each directional antenna that has received the radio wave.
FIG. 5 is a satellite arrangement diagram in which satellites are arranged on a simulated sky based on satellite arrangement information acquired by a satellite arrangement acquisition unit.
FIG. 6 is a satellite layout diagram in which a radio wave reception range of a directional antenna is virtually set.
7 is a satellite classification table 2 created based on the satellite layout diagram of FIG.
FIG. 8 is a satellite layout diagram in which a radio wave reception range of a directional antenna is set.
9 is a satellite classification table 2 created based on the satellite layout diagram of FIG.
FIG. 10 is a satellite classification table 1 created when a received wave includes a reflected wave due to a multipath phenomenon.
FIG. 11 is a configuration diagram of a mobile positioning apparatus according to a second embodiment of the present invention.
FIG. 12 is a diagram showing a processing flow of a positioning method for a moving body according to the second embodiment and the fourth embodiment of the present invention.
FIG. 13 is a satellite layout diagram in which a radio wave reception range of a directional antenna is set.
14 is a satellite classification table 2 created based on the satellite layout diagram of FIG.
FIG. 15 is a configuration diagram of a mobile positioning apparatus according to a third embodiment of the present invention.
FIG. 16 is a configuration diagram of a mobile positioning apparatus according to a fourth embodiment of the present invention.
FIG. 17 is a diagram showing a conventional positioning device for a moving body.
[Explanation of symbols]
110, 210, 310, 410 ... antenna, 111-114, 211-2140, 311, 411 ... directional antenna, 120, 220, 320, 420 ... direct wave extraction unit, 121, 221, 321, 421 ... satellite arrangement acquisition 122, 222, 322, 422 ... direct wave arrival direction prediction unit, 123, 223, 323, 423 ... direct wave determination unit, 224, 424 ... self-direction measuring unit, 130, 230, 330, 430 ... position calculation unit 412 ... Drive unit, 80 ... Moving body, 91-94 ... Satellite

Claims (7)

In a positioning device that receives radio waves from each of a plurality of different satellites and calculates the position of a moving body based on the received radio waves,
An antenna that receives radio waves from each of the plurality of satellites in a manner in which the direction of arrival can be identified;
A first satellite classification table that classifies the satellites into a plurality of groups according to the direction of arrival of radio waves received by the antenna, and a satellite that is defined by the satellite arrangement information that is obtained in advance. A second satellite classification table that classifies the satellites according to the group of the first satellite classification table and classifies the satellites belonging to each group so as to have the highest degree of coincidence as compared with the first satellite classification table. Direct wave extraction means for creating and extracting radio waves from a common satellite included in the same group in the first satellite classification table and the second satellite classification table as a direct wave;
A position calculating means for calculating a position of the moving body based on a direct wave extracted by the direct wave extracting means from among the radio waves received by the antenna; . The said antenna is comprised by the several directional antenna arrange | positioned so that beam directions may mutually differ, The positioning apparatus of the mobile body of Claim 1 characterized by the above-mentioned. The said antenna is comprised with the directional antenna provided with the drive part which changes a beam direction, The positioning apparatus of the moving body of Claim 1 characterized by the above-mentioned. A mobile communication terminal comprising the positioning device according to claim 1. In a positioning method that receives radio waves from each of a plurality of different satellites and calculates the position of the moving body based on the received radio waves,
A radio wave receiving step in which an antenna that receives radio waves from each of the plurality of satellites in a manner capable of identifying the arrival direction thereof, and receives radio waves from each of the plurality of satellites by identifying the arrival direction;
The direct wave extracting means is defined by a first satellite classification table for classifying the satellites into a plurality of groups according to the direction of arrival of the radio wave received by the antenna, and the satellite arrangement information obtained in advance. A second satellite is classified according to the group of the first satellite classification table, and is classified so that the degree of coincidence of the satellites belonging to each group is the highest as compared with the first satellite classification table. A direct wave extraction step of extracting a radio wave from a common satellite included in the same group in the first satellite classification table and the second satellite classification table as a direct wave;
A position calculating unit that calculates a position of the moving body based on the direct wave extracted by the direct wave extracting unit;
A positioning method for a moving object, comprising: 6. The radio wave receiving step according to claim 5, wherein radio waves from each of a plurality of satellites are received by identifying a direction of arrival by a plurality of directional antennas arranged so that beam directions are different from each other. The moving body positioning method described. 6. The radio wave receiving step according to claim 5, wherein radio waves from each of a plurality of satellites are received by identifying a direction of arrival by a directional antenna having a drive unit that changes a beam direction. Positioning method for moving objects.

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