JP4268002B2 - Positioning device and positioning method using artificial satellite having positioning function - Google Patents

Description

  The present invention relates to a positioning device and a positioning method for positioning information by receiving positioning information from an artificial satellite. For example, the present invention relates to a positioning device and a positioning method for positioning a position by receiving positioning information from one artificial satellite at different times.

  In positioning using a conventional GPS (Global Positioning System), positioning signals from at least four GPS satellites are directly received by a GPS receiver, and their own space-time information is recognized. Alternatively, the correction value information is transmitted to the user after receiving the positioning signal at the electronic reference point. Alternatively, there is a pseudo GPS satellite system that receives radio waves emitted by GPS satellites in orbit, for example, near the roof of a building and retransmits them behind the building.

  In these, it is necessary to receive positioning signals at the same time from at least four GPS satellites. Therefore, positioning cannot be performed unless at least four GPS satellites can be captured. On the other hand, in urban areas, positioning signals from GPS satellites are blocked (blocked) by buildings or the like, and it is often difficult to simultaneously receive positioning signals from four GPS satellites. Furthermore, while high-precision positioning is required, there are many cases where it is desired to measure the position without requiring so much accuracy. In such a case, a means capable of positioning without receiving positioning signals from at least four GPS satellites is desired.

In this regard, in the prior art, an iso-Doppler line is calculated using Doppler frequency data on multiple orbits after a lapse of time using one non-geostationary satellite, and the intersection is used as position data of the receiver. A means for transmitting radio waves from the ground surface toward the non-stationary satellite is required (for example, Patent Document 1). However, with regard to positioning of a position, there is a demand for a means that can easily perform positioning by simply receiving a positioning signal from a satellite without transmitting it to the satellite.
Japanese Patent Laid-Open No. 9-329662

  An object of the present invention is to receive positioning signals from fewer than four satellites and to determine the position within a practically usable error range.

The positioning device according to the present invention is:
A direction from the earth side / positioning position to be measured toward the artificial satellite that transmits the satellite position / time information including the satellite position and the satellite time indicating the time at the satellite position toward the earth. A satellite direction detector for detecting
A receiver that sequentially receives satellite position and time information from the one satellite;
When the satellite direction detecting unit detects the direction of the one artificial satellite, the satellite position / time information corresponding to the detected direction of the one artificial satellite is received by the receiving unit. An extraction unit for extracting satellite direction correspondence information from
Using the direction of the one artificial satellite detected by the satellite direction detection unit and the satellite direction correspondence information extracted by the extraction unit, a positioning position estimation unit that approximates the approximate position of the earth side / positioning position When,
Three satellite position / time information having different satellite times are input from the receiving unit that sequentially receives satellite position / time information from the one artificial satellite, and based on the input three satellite position / time information. A plurality of positioning position candidates indicating the earth side / positioning position candidates are calculated, and the plurality of positioning position candidates calculated from the plurality of positioning position candidates by comparing the estimated position estimated by the position estimating unit. And a position determining unit that determines one as the earth side / positioning position.

The position determination unit
Based on the input three satellite position / time information, a range equation indicating the relationship between the distance between the satellite position of the one artificial satellite and the earth side / positioning position at the different satellite time is expressed as the three satellite position / It is created corresponding to time information, and a plurality of positioning position candidates indicating the earth side / positioning position candidates are calculated from the created range equation.

The positioning device according to the present invention is:
A direction from the earth side / positioning position to be measured toward the artificial satellite that transmits the satellite position / time information including the satellite position and the satellite time indicating the time at the satellite position toward the earth. A satellite direction detector for detecting
A receiver that sequentially receives satellite position and time information from the one satellite;
When the satellite direction detecting unit detects the direction of the one artificial satellite, the satellite position / time information corresponding to the detected direction of the one artificial satellite is received by the receiving unit. An extraction unit for extracting satellite direction correspondence information from
Using the direction of the one artificial satellite detected by the satellite direction detection unit and the satellite direction correspondence information extracted by the extraction unit, a positioning position estimation unit that approximates the approximate position of the earth side / positioning position When,
Four or more satellite position / time information having different satellite times are input from the receiving unit that sequentially receives the satellite position / time information from the one artificial satellite, and the four or more satellite positions / time input are input. A plurality of positioning position candidates indicating the earth side / positioning position candidates are calculated based on the information, and the plurality of positioning position candidates calculated are compared with the estimated position estimated by the positioning position estimating unit. Positioning position candidate calculation unit for selecting a plurality of positioning position candidates indicating the positioning position candidates after selection
A statistical processing unit that creates one post-statistic processing candidate indicating the positioning position candidate after statistical processing by performing statistical processing on the plurality of post-selection candidates determined by the positioning position candidate calculation unit;
It is determined whether the one post-statistical processing candidate created by the statistical processing unit is within a predetermined error range, and if the statistical processing candidate is within the predetermined error range, the post-statistical processing candidate is determined as the earth side / positioning position. And a positioning position determination unit.

The positioning position candidate calculation unit
Based on the input four or more satellite position / time information, the four or more range equations indicating the relationship between the distance between the satellite position of the one artificial satellite and the earth side / positioning position at the different satellite times. And a plurality of positioning position candidates indicating the earth side / positioning position candidates are calculated from the created range equations.

The statistical processing unit
Statistical processing using an average and a standard deviation is performed on the plurality of post-selection candidates.

The positioning method according to the present invention is:
A direction from the earth side / positioning position to be measured toward the artificial satellite that transmits the satellite position / time information including the satellite position and the satellite time indicating the time at the satellite position toward the earth. Detecting
Sequentially receiving satellite position and time information from the one artificial satellite;
When the direction of the one artificial satellite is detected, the satellite position / time information corresponding to the detected direction of the one artificial satellite is received from the satellite position / time information received from the one artificial satellite. A process of extracting as correspondence information;
Using the detected direction of the one satellite and the extracted satellite direction correspondence information to estimate the approximate position of the earth side / positioning position;
Three satellite position / time information having different satellite times are inputted from the satellite position / time information sequentially received from the one satellite, and the earth side / time information is inputted based on the inputted three satellite position / time information. By calculating a plurality of positioning position candidates indicating positioning position candidates, and comparing the calculated positioning position candidates with the estimated position obtained by the estimation of the earth side / positioning position, from the plurality of positioning position candidates And determining one as the earth side / positioning position.

The positioning method according to the present invention is:
A direction from the earth side / positioning position to be measured toward the artificial satellite that transmits the satellite position / time information including the satellite position and the satellite time indicating the time at the satellite position toward the earth. Detecting
Sequentially receiving satellite position and time information from the one artificial satellite;
When the direction of the one artificial satellite is detected, the satellite position / time information corresponding to the detected direction of the one artificial satellite is received from the satellite position / time information received from the one artificial satellite. A process of extracting as correspondence information;
Using the detected direction of the one satellite and the extracted satellite direction correspondence information to estimate the approximate position of the earth side / positioning position;
Four or more satellite position / time information having different satellite times are inputted from the satellite position / time information sequentially received from the one artificial satellite, and based on the inputted four or more satellite position / time information. A plurality of positioning position candidates indicating the earth side / positioning position candidates are calculated, and the plurality of positioning positions are compared by comparing the calculated positioning position candidates with the approximate position obtained by the earth side / position estimation. Selecting a plurality of post-selection candidates indicating the position candidate after selection and selecting the position candidates; and
Creating a single post-statistic processing candidate indicating the positioning position candidate after statistical processing by performing statistical processing on the determined plurality of post-selection candidates;
Determining whether the one post-statistic processing candidate created is within a predetermined error range, and determining the post-statistic processing candidate as the earth side / positioning position when it is within the predetermined error range. It is characterized by that.

The positioning program according to the present invention is:
A direction from the earth side / positioning position to be measured toward the artificial satellite that transmits the satellite position / time information including the satellite position and the satellite time indicating the time at the satellite position toward the earth. Processing to detect
A process of sequentially receiving satellite position / time information from the one artificial satellite;
When the direction of the one artificial satellite is detected, the satellite position / time information corresponding to the detected direction of the one artificial satellite is received from the satellite position / time information received from the one artificial satellite. Processing to extract as correspondence information;
Using the detected direction of the one artificial satellite and the extracted satellite direction correspondence information, a process of approximating the approximate position of the earth side / positioning position;
Three satellite position / time information having different satellite times are inputted from the satellite position / time information sequentially received from the one satellite, and the earth side / time information is inputted based on the inputted three satellite position / time information. By calculating a plurality of positioning position candidates indicating positioning position candidates, and comparing the calculated positioning position candidates with the estimated position obtained by the estimation of the earth side / positioning position, from the plurality of positioning position candidates The computer is caused to execute processing for determining one as the earth side / positioning position.

The positioning program according to the present invention is:
A direction from the earth side / positioning position to be measured toward the artificial satellite that transmits the satellite position / time information including the satellite position and the satellite time indicating the time at the satellite position toward the earth. Processing to detect
A process of sequentially receiving satellite position / time information from the one artificial satellite;
When the direction of the one artificial satellite is detected, the satellite position / time information corresponding to the detected direction of the one artificial satellite is received from the satellite position / time information received from the one artificial satellite. Processing to extract as correspondence information;
Using the detected direction of the one artificial satellite and the extracted satellite direction correspondence information, a process of approximating the approximate position of the earth side / positioning position;
Four or more satellite position / time information having different satellite times are inputted from the satellite position / time information sequentially received from the one artificial satellite, and based on the inputted four or more satellite position / time information. A plurality of positioning position candidates indicating the earth side / positioning position candidates are calculated, and the plurality of positioning positions are compared by comparing the calculated positioning position candidates with the approximate position obtained by the earth side / position estimation. A process of selecting a plurality of post-selection candidates indicating the positioning position candidates after selecting the position candidates and selecting,
A process of creating one post-statistical process candidate indicating the positioning position candidate after the statistical process by performing a statistical process on the plurality of determined post-selection candidates;
The computer determines whether the created candidate after statistical processing is within a predetermined error range, and determines the post-statistical processing candidate as the earth side / positioning position when it is within the predetermined error range. It is made to perform.

A computer-readable recording medium according to the present invention includes:
A direction from the earth side / positioning position to be measured toward the artificial satellite that transmits the satellite position / time information including the satellite position and the satellite time indicating the time at the satellite position toward the earth. Processing to detect
A process of sequentially receiving satellite position / time information from the one artificial satellite;
When the direction of the one artificial satellite is detected, the satellite position / time information corresponding to the detected direction of the one artificial satellite is received from the satellite position / time information received from the one artificial satellite. Processing to extract as correspondence information;
Using the detected direction of the one artificial satellite and the extracted satellite direction correspondence information, a process of approximating the approximate position of the earth side / positioning position;
Three satellite position / time information having different satellite times are inputted from the satellite position / time information sequentially received from the one satellite, and the earth side / time information is inputted based on the inputted three satellite position / time information. By calculating a plurality of positioning position candidates indicating positioning position candidates, and comparing the calculated positioning position candidates with the estimated position obtained by the estimation of the earth side / positioning position, from the plurality of positioning position candidates A position positioning program for causing a computer to execute processing for determining one as the earth side / positioning position is recorded.

A computer-readable recording medium according to the present invention includes:
A direction from the earth side / positioning position to be measured toward the artificial satellite that transmits the satellite position / time information including the satellite position and the satellite time indicating the time at the satellite position toward the earth. Processing to detect
A process of sequentially receiving satellite position / time information from the one artificial satellite;
When the direction of the one artificial satellite is detected, the satellite position / time information corresponding to the detected direction of the one artificial satellite is received from the satellite position / time information received from the one artificial satellite. Processing to extract as correspondence information;
Using the detected direction of the one artificial satellite and the extracted satellite direction correspondence information, a process of approximating the approximate position of the earth side / positioning position;
Four or more satellite position / time information having different satellite times are inputted from the satellite position / time information sequentially received from the one artificial satellite, and based on the inputted four or more satellite position / time information. A plurality of positioning position candidates indicating the earth side / positioning position candidates are calculated, and the plurality of positioning positions are compared by comparing the calculated positioning position candidates with the approximate position obtained by the earth side / position estimation. A process of selecting a plurality of post-selection candidates indicating the positioning position candidates after selecting the position candidates and selecting,
A process of creating one post-statistical process candidate indicating the positioning position candidate after the statistical process by performing a statistical process on the plurality of determined post-selection candidates;
The computer determines whether the created candidate after statistical processing is within a predetermined error range, and determines the post-statistical processing candidate as the earth side / positioning position when it is within the predetermined error range. A position positioning program for execution is recorded.

The positioning device according to the present invention is:
The present invention is characterized in that the self-detecting direction of one artificial satellite and the respective positions of the single artificial satellite at at least three times are detected while the self-stationary and the position of the single artificial satellite is measured.

The positioning device according to the present invention is:
It is characterized in that at least one artificial satellite receives different positions at different times at the time of stationary and measures its own position.

  According to the present invention, the possibility of positioning can be greatly increased. In addition, according to the present invention, the position can be measured without receiving positioning signals from a plurality of artificial satellites. Further, according to the present invention, by estimating the current position with one artificial satellite, the possibility of positioning can be greatly increased even in a situation where other GPS satellites or geostationary satellites cannot be captured.

Embodiment 1 FIG.
The first embodiment will be described with reference to FIGS. In the first embodiment, an artificial satellite (hereinafter referred to as positioning) that transmits positioning information (including satellite position / time information described later), which is information for positioning a desired position on the earth side (ground, sea, sky, etc.). This is an embodiment in which positioning information is received from one aircraft (also referred to as a satellite), and the position is measured while being stationary. In the past, GPS satellites were used as positioning satellites, and positioning was performed using four GPS satellites, but positioning is based on positioning information from one positioning satellite. . Hereinafter, a quasi-zenith satellite system will be described as an example of a positioning satellite. The “quasi-zenith satellite system” will be described later. The “positioning satellite” means an artificial satellite that transmits positioning information as described above, and includes a GPS satellite and a quasi-zenith satellite system. Hereinafter, as an example of a positioning satellite, a quasi-zenith satellite system I will explain it.

  FIG. 1 is a diagram showing a positioning system according to the first embodiment. Positioning apparatus 100 according to Embodiment 1 receives positioning information from one quasi-zenith satellite system 500 and performs positioning. The quasi-zenith satellite system 500 moves in the quasi-zenith satellite orbit 510.

  Next, the quasi-zenith satellite system will be described. The “quasi-zenith satellite system” refers to an artificial satellite having a higher elevation angle than a normal artificial satellite. For example, the elevation angle can ensure 60 degrees or more. In the positioning system of the first embodiment, information necessary for positioning is acquired from one quasi-zenith satellite system. The quasi-zenith satellite system orbits the earth so that it has an inclination angle of about 45 degrees from the equator plane once a day according to the rotation of the earth. Three quasi-zenith satellite systems are arranged, and the three arranged quasi-zenith satellite systems are located over Japan so that their orbital planes are different and change every 8 hours. Therefore, any one of the three quasi-zenith satellite systems exists above Japan. Thus, when the positioning device 100 receives positioning information from the quasi-zenith satellite system on the ground side due to the presence of the quasi-zenith satellite system with an elevation angle of 60 degrees or more in Japan, the valleys of buildings in urban areas Etc., positioning information is not easily blocked. Conventionally, positioning is performed by receiving positioning information from at least four GPS satellites, but these GPS satellites have low elevation angles. For this reason, the positioning information from these four GPS satellites is easily blocked by a building or the like as described above, and it is often impossible to receive the positioning information of all four aircraft. Conventionally, there are many cases where four GPS satellites cannot be captured even when there is no blockage by a building or the like. On the other hand, in the quasi-zenith satellite system, one of the three is always located above Japan. Therefore, positioning information can be obtained reliably from the quasi-zenith satellite system. On the other hand, if the positioning information necessary for positioning is obtained from one positioning satellite and the positioning information is obtained from a quasi-zenith satellite system with a high elevation angle, the probability of receiving the positioning information is remarkably high. Become bigger. As described above, the quasi-zenith satellite system has a high elevation angle, and one of the three quasi-zenith satellite systems exists above Japan, thereby improving the reliability of positioning.

In FIG. 1, a quasi-zenith satellite system 500 moves in a quasi-zenith satellite orbit 510. At each time t ₀ , t ₁ , t ₂ , t ₃ , X (t ₀ ), X (t ₁ ), X (t ₂ ), X (t, which are positions in the quasi-zenith satellite orbit 510 at each time ₃ ) shows a state of being located. Here, X (t ₀ ), X (t ₁ ), X (t ₂ ), X (t ₃ ), etc. are a coordinate system (hereinafter referred to as a first coordinate system) whose origin is the earth center (center of the earth). .). Unless otherwise specified, the coordinates used in the following are coordinates in the first coordinate system with the earth center as the origin. Further, the position of the quasi-zenith satellite system 500 at the time t _i (coordinate position in the first coordinate system) is expressed as X (t _i ) = (X _i1 , X _i2 , X _i3 ).

  The positioning device 100 receives the positioning information transmitted from the quasi-zenith satellite system 500 and measures the position. The positioning device 100 includes a satellite direction detection unit 10, a reception unit 20, an extraction unit 30, a storage unit 40, an in-device clock 50, a positioning unit 60, a display unit 70, and a reception antenna 75 as components. The positioning unit 60 includes a positioning position approximating unit 61 and a position determining unit 62, and the position determining unit 62 includes a range equation creating / calculating unit 62a and a comparison determining unit 62b. The function of each component (each unit) will be described later.

  Next, the operation will be described. Regarding the positions described below, “X” indicates the position of the quasi-zenith satellite system 500, and “U” indicates the position of the positioning device 100 to be positioned (hereinafter also referred to as a user position). FIG. 2 is a flowchart showing a process in which the positioning device 100 receives positioning information from the quasi-zenith satellite system 500 and measures the position. Note that the positioning device 100 performs positioning without moving during positioning. The operation will be described with reference to FIG.

In S101, the satellite direction detection unit 10 detects the direction of the quasi-zenith satellite system 500 from the user position (earth side / positioning position) toward the quasi-zenith satellite system 500. The direction detection will be described with reference to FIGS. FIG. 3 is a conceptual diagram showing how a direction is detected. For example, a message requesting input for detecting the direction of the quasi-zenith satellite system 500 is displayed on the display unit 70. According to the display, input is performed from the key input unit 102. Thereby, the detection process is started. The quasi-zenith satellite system 500 transmits a beacon including the transmission time from the quasi-zenith satellite system 500. The satellite direction detection unit 10 detects the direction in which the reception intensity of the beacon (used as a satellite direction detection signal for detecting the direction of the quasi-zenith satellite system 500) is strongest by the reception antenna 75. Satellite direction detecting unit 10, the detected direction is the direction of the Quasi-Zenith Satellite System 500 also detects the transmission time of the aforementioned reception intensity at this time is included in the strongest beacon, the time and t ₀ To do. In other words, this detects the direction of the quasi-zenith satellite system 500 at time t ₀ when the quasi-zenith satellite system 500 transmits a beacon. FIG. 4 is a diagram showing a coordinate system representing the position of the quasi-zenith satellite system 500. As shown in FIG. 4, the satellite direction detection unit 10 detects the direction of the quasi-zenith satellite system 500 using a second coordinate system (polar coordinate display) with the user position as the origin. The satellite direction detection unit 10 acquires θ ₀ and φ ₀ in the second coordinate system as the detection direction of the quasi-zenith satellite system 500 at time t ₀ . In the following description, only the direction of the quasi-zenith satellite system 500 at time t ₀ (X ₂ (t ₀ ) described later) is displayed using the second coordinate system. The other positions of the quasi-zenith satellite system 500 and the user position are coordinates in the first coordinate system with the earth center as the origin.

In S102, the positioning apparatus 100 calculates X (t ₀ ) = (X ₀₁ , X ₀₂ , X ₀₃ ), which is the position of the quasi-zenith satellite system 500 at the time t ₀ in the first coordinate system with the earth center as the origin. get. That is, the quasi-zenith satellite system 500 transmits the satellite position / time information including the satellite position indicating its own position and the satellite time indicating the time at the position. Here, “satellite time” refers to the time according to the satellite clock provided in the quasi-zenith satellite system 500. The receiving unit 20 receives the satellite position / time information and stores it in the storage unit 40. Extraction unit 30, when the satellite direction detecting unit 10 detects the direction of the Quasi-Zenith Satellite System 500, a satellite position and having a satellite time which indicates the time t ₀ is the time when the quasi-zenith satellite system 500 transmits a beacon Time information is extracted as satellite direction correspondence information with reference to the storage unit 40. The extracted satellite direction correspondence information includes time t ₀ and X (t ₀ ) = (X ₀₁ , X ₀₂ , X ₀₃ ), which is the position of the quasi-zenith satellite system 500 at the satellite time t ₀ . In this way, the extraction unit 30 extracts the position X (t ₀ ) = (X ₀₁ , X ₀₂ , X ₀₃ ) of the quasi-zenith satellite system 500 at the satellite time t ₀ .

In S103, the positioning position estimation unit 61 of the positioning unit 60 estimates a rough user position (approximate position) indicating the approximate position of the user position (the earth side / positioning position) that is the position of the positioning device 100 to be positioned. . “Approximate” refers to the user position indirectly from the direction of the quasi-zenith satellite system 500 in the second coordinate system at the time t ₀ and the position of the quasi-zenith satellite system 500 in the first coordinate system at the time t _0. It means to calculate. This will be described in detail below with reference to FIG. With respect to the satellite direction correspondence information of the quasi-zenith satellite system 500, the positioning position estimation unit 61 receives the time t ₀ when the satellite direction correspondence information is transmitted from the quasi-zenith satellite system 500 and the reception unit 20 receives the satellite direction correspondence information. A time difference Δt from the time t ₀ + Δt is calculated. The positioning position approximating unit 61 multiplies Δt by the speed of light to calculate the distance r ₀ between the quasi-zenith satellite system 500 and the user position at time t ₀ . The positioning position approximating unit 61 uses this r _{0 as} the position (polar coordinate display) of the quasi-zenith satellite system 500 at the time t ₀ in the second coordinate system, X ₂ (t ₀ ) = (r ₀ , θ ₀ , φ ₀ ). That is, in FIG. 4, a vector X ₂ (t ₀ ) from the user position that is the origin of the second coordinate system toward the quasi-zenith satellite system 500 is determined. In addition, the position of the quasi-zenith satellite system 500 at the time t ₀ in the first coordinate system with the earth center as the origin is included in the satellite direction correspondence information as described above, and X (t ₀ ) = (X ₀₁ , X ₀₂ , X ₀₃ ). Therefore, in FIG. 4, the vector X (t ₀ ) from the earth to the quasi-zenith satellite system 500 is determined. The positioning position estimation unit 61 includes a position X ₂ (t ₀ ) = (r ₀ , θ ₀ , φ ₀ ) in the second coordinate system, and a position X (t ₀ ) = (X ₀₁ , X ₀₂ , X ₀₃ ) is known, and the vector U ₀ = (U ₀₁ , U ₀₂ , U ₀₃ ) from the earth center to the user position is set to the user coarse position (approximate position) indicating the approximate position of the user position. ).

In S104, the position determination unit 62 creates a range equation for obtaining a user position to be positioned. The range equation creating / calculating unit 62a of the position determining unit 62 inputs three satellite position / time information having different satellite times, which are sequentially received by the receiving unit 20 from the quasi-zenith satellite system 500. That is, in FIG. 1, the receiving unit 20 is the satellite position / time information at each time t ₁ , t ₂ , t ₃ (t ₁ , X (t ₁ )), (t ₂ , X (t ₂ )). , (T ₃ , X (t ₃ )) are received sequentially. The receiving unit 20 stores the received information in the storage unit 40. The range equation creation / calculation unit 62 a reads these pieces of information from the storage unit 40. Alternatively, the data may be directly input from the receiving unit 20 to the range equation creating / calculating unit 62a without being stored in the storage unit 40. Then, the range equation creating / calculating unit 62a is the input three satellite position / time information (t ₁ , X (t ₁ )), (t ₂ , X (t ₂ )), (t ₃ , X (T ₃ )), the range equation indicating the relationship between the distance between the quasi-zenith satellite system 500 and the user position at each time is expressed as the quasi-zenith satellite system 500 and the user position at each time t ₁ , t ₂ , t ₃ . Are created for r ₁ , r ₂ , and r ₃ that indicate the distance of. That is, the user position U = (U ₁ , U ₂ , U ₃ ) with the user position as an unknown number. The unknown user position U = (U ₁ , U ₂ , U ₃ ) and the coordinates of each satellite position of the quasi-zenith satellite system 500 at times t ₁ , t ₂ , t ₃ are X (t ₁ ) = (X ₁₁ , X ₁₂ , X ₁₃ ), X (t ₂ ) = (X ₂₁ , X ₂₂ , X ₂₃ ), X (t ₃ ) = (X ₃₁ , X ₃₂ , X ₃₃ ), the quasi-zenith satellite system 500 A range equation is created for distances r ₁ , r ₂ , r ₃ between the user position and the user position. That is,
(U ₁ −X ₁₁ ) ² + (U ₂ −X ₁₂ ) ² + (U ₃ −X ₁₃ ) ² = r ₁ ² (Formula 1)
(U ₁ −X ₂₁ ) ² + (U ₂ −X ₂₂ ) ² + (U ₃ −X ₂₃ ) ² = r ₂ ² (Formula 2)
(U ₁ −X ₃₁ ) ² + (U ₂ −X ₃₂ ) ² + (U ₃ −X ₃₃ ) ² = r ₃ ² (Formula 3)
Create Range equation creating-calculating section 62a, for r ₁ ~r _3, as in the case where the sought r ₀ at a time when the satellite position and time information by device clock 50 is transmitted from QZSS 500 Then, the time difference Δt with respect to the time received by the receiving unit 20 is calculated, and the time difference Δt is multiplied by the speed of light to calculate r ₁ to r ₃ . Therefore, in (Expression 1) to (Expression 3), the unknown is only the user position U = (U ₁ , U ₂ , U ₃ ). Therefore, the user position U is obtained by simultaneous (Equation 1) to (Equation 3).

  In S105, the range equation creation / calculation unit 62a obtains two user position candidates (positioning position candidates) as two solutions by simultaneously combining (Expression 1) to (Expression 3). That is, when the solutions are calculated by combining (Equation 1) to (Equation 3), since it is a quadratic equation, two solutions are obtained, and two user position candidates (positioning corresponding to the two solutions) are obtained. Position candidate) is obtained.

In S106, the comparison determination unit 62b determines the user position to be positioned. The comparison determining unit 62b compares the two user position candidates with the user coarse position obtained in S103, U ₀ = (U ₀₁ , U ₀₂ , U ₀₃ ). Comparison determination unit 62b, as a result of the comparison, one of the two user position candidates, the user position candidate closer to the user coarse position U _0, is determined as the user position (earth side-located position). After the determination, for example, the comparison determination unit 62b sends the determined user position to the display unit 70, and the display unit 70 displays the user position and ends the process.

  In the first embodiment, since the positioning device 100 measures the position based on the positioning information from one quasi-zenith satellite system 500 and does not need a plurality of positioning satellites, the positioning information from the required number of positioning satellites. It is possible to eliminate the situation where positioning is not possible because of no acquisition.

  In the first embodiment, the positioning information is received by receiving positioning information at three different times from one quasi-zenith satellite system 500 and creating three range equations based on the received positioning information. Therefore, it is possible to easily position the desired position.

  In the first embodiment, since the positioning device 100 measures the position based on the positioning information from one quasi-zenith satellite system 500, the positioning information is not easily blocked by a building or the like even in an urban area and can be measured reliably. The possibility can be improved.

Embodiment 2. FIG.
The second embodiment will be described with reference to FIGS. While the first embodiment creates three range equations based on the three positioning information at times t _{1 to} t ₃ and obtains the user position, the second embodiment has four or more different n or more. Embodiment 1 is different from Embodiment 1 in that a user position candidate is obtained based on the pieces of positioning information (n ≧ 4) and a user position is finally determined by performing statistical processing on the obtained user position candidate. Different.

  FIG. 5 is a diagram showing a position positioning system according to the second embodiment. The quasi-zenith satellite system 500 is the same as that of the first embodiment. Positioning apparatus 200 according to Embodiment 2 performs positioning position estimation section 61, positioning position candidate calculation section 63, and statistical processing in positioning section 60 for each component of positioning apparatus 100 according to Embodiment 1. A statistical processing unit 66 and a positioning position determination unit 67 that determines whether a user position candidate obtained as a result of the statistical processing is within a predetermined error range. The positioning position candidate calculation unit 63 includes a range equation creation / calculation unit 64 and a selection unit 65. The function of each component (each part) will be described below.

  Next, the operation will be described. FIG. 6 is a flowchart illustrating a process in which the positioning apparatus 200 according to Embodiment 2 receives positioning information from the quasi-zenith satellite system 500 and measures the user position. In addition, the positioning device 200 performs the positioning in a stationary manner without moving the position during the positioning. The operation will be described with reference to FIG.

S201 to S203 are the same as S101 to S103. That is, in S201, the direction of the quasi-zenith satellite system 500 is detected as in S101. In S202, as in S102, X (t ₀ ) = (X ₀₁ , X ₀₂ , X ₀₃ ), which is the position in the first coordinate system of the quasi-zenith satellite system 500, is acquired. In S203, the user coarse position U ₀ = (U ₀₁ , U ₀₂ , U ₀₃ ) is calculated as in S103.

In S204, the range equation creating / calculating unit 64 is the satellite position / time information at _three different times t ₁ , t ₂ , t ₃ (t ₁ , X (t ₁ )), (t ₂ , X ( t ₂ )), (t ₃ , X (t ₃ )). These may be input directly from the receiving unit 20, or the satellite position / time information received by the receiving unit 20 may be stored in the storage unit 40, and the range equation creation / calculation unit 64 may read from the storage unit 40.

  Next, the process of the loop from S205 to S208, returning from S208 to S209 and returning to S205 will be described.

First, a range equation is created in S205. Assuming that the user position is unknown, the user position U = (U ₁ , U ₂ , U ₃ ). Further, the coordinates of each satellite position of the quasi-zenith satellite system 500 at the satellite time t _i are set as X (t _i ) = (X _i1 , X _i2 , X _i3 ). Also, let r _i be the distance (range ranging) between the quasi-zenith satellite system 500 and the user position at time t _i . The range equation is given by (Expression 4) below. The range equation creation / calculation unit 64 creates (Equation 4). Before the loop, in (Expression 4), as described in S204, n = 3.

In S206, the range equation creation / calculation unit 64 selects three of the n range equations according to (Equation 4) and creates a set of simultaneous equations to obtain a solution. Here, the combination of selecting three from n range equations is _n C ₃ = n! / {6 (n-3)! } There are streets. The range equation creating / calculating unit 64 creates a set of _n C _three simultaneous equations and solves each created simultaneous equation. All of the solutions of the simultaneous equations are user position candidates (a plurality of positioning position candidates). Two user position candidates are obtained from one set of simultaneous equations (corresponding to two solutions of the quadratic equation). The sorting unit 65 sorts the two user position candidates that are closer to the user coarse position, compared to the user coarse position U ₀ = (U ₀₁ , U ₀₂ , U ₀₃ ). Thus, it is set as a post-selection candidate. That is, the selection unit 65 selects one of the two user position candidates obtained from each set of simultaneous equations, which is close to the user coarse position U ₀ , and determines m = _n C ₃ (number) post-selection candidates in total. To do. U _k = (U _k1 , U _k2 , U _k3 ) (k = 1, 2, 3... M)
Put it.

In S207, the statistical processing unit 66 performs statistical processing on the m post-selection candidates obtained in S206. Specifically, for the post-selection candidates U _k = (U _k1 , U _k2 , U _k3 ) (k = 1, 2, 3,... _M ), statistical processing for obtaining the average, variance, and standard deviation of the coordinates shown below I do. Let the average value of the coordinates be <U _j >. Σ represents a standard deviation, and σ ² represents a variance.

The statistical processing unit 66 determines the user position U = (U ₁ , U ₂ , U ₃ ) to be obtained.
U = (<U ₁ > + σ ₁ , <U ₂ > + σ ₂ , <U ₃ > + σ ₃ ) is created as a post-statistical processing candidate that is a user position candidate after statistical processing.

In S208, the positioning position determination unit 67 determines whether U = (<U ₁ > + σ ₁ , <U ₂ > + σ ₂ , <U ₃ > + σ ₃ ), which is a candidate after statistical processing, is within a predetermined error range. . The standard deviation in the range direction σ _r = [(1 / m) · {Σ (Σ (∂f / ∂U _j ) (U _kj − <U _j >)) ² }] ¹ and ^{/ 2,} it is determined by comparing the range ranging error [delta] _r. Here, the “range distance measurement error δ _r ” is a known value stored in advance in the storage unit 40 as a determination target. When the standard deviation σ _{r in the} range direction is equal to or less than the range ranging error δ _r , that is, when “σ _r ≦ δ _r ”, the positioning position determination unit 67 determines that the error range is acceptable, and after statistical processing The candidate U = (<U ₁ > + σ ₁ , <U ₂ > + σ ₂ , <U ₃ > + σ ₃ ) is determined as the user position (earth side / positioning position), and the process ends. On the other hand, if the standard deviation σ _r in the range direction is larger than the range ranging error δ _r , that is, if “σ _r > δ _r ”, the positioning position determination unit 67 determines that the error is not allowed, and goes to S209. move on.

In S209, the range equation creation / calculation unit 64 inputs the satellite position / time information at the next time. That is, in the above S205~S207 is n number of satellite position and time information of the time _t 1 ~t _n performs the process of obtaining the created position based on the range equations, in yet S209, range equation creating and calculating unit 64 inputs the satellite position at the next time t _{n + 1-time} information of the time t _n. In S205, the range equation at the satellite position / time information time at time tn _{+ 1} is further added. In S206, it solves select three from range equations n + 1 plus the range equation (present) at time t _{n + 1} satellite position and time information time. That is, a solution is calculated from a set of _{n + 1} C _three simultaneous equations, and thereafter, the same processing as S206 to S208 is repeated. In the determination in S208, if the positioning position determination unit 67 determines that it is not within the error range (determined as σ _r > δ _r ), the process proceeds to S209, and the satellite position / time information at time t _{n + 2} is input. Repeat the above process.

  As described above, the positioning device 100 according to the first embodiment and the positioning device 200 according to the second embodiment include the direction in which one quasi-zenith satellite system 500 exists and at least one quasi-zenith satellite system 500. It is characterized in that each position at three times is detected while stationary, and its own position is measured.

  In Embodiments 1 and 2, the positioning information is received from one quasi-zenith satellite system 500, but at least one quasi-zenith satellite system 500 receives different positions at different times while stationary. Then, the position of the self (positioning device) may be measured.

  In the second embodiment, the positioning device 200 calculates a positioning position candidate of a position to be positioned using the satellite position / time information from one quasi-zenith satellite system 500, and the calculated positioning position candidate. In addition, since the positioning position is determined by performing statistical processing, the positioning position within a predetermined error range can be acquired.

  In the second embodiment, the positioning device 200 receives satellite position / time information at a plurality of times from one quasi-zenith satellite system 500, and four positioning apparatuses 200 correspond to the received satellite position / time information. Since the positioning position is calculated by creating the above range equation, the positioning position can be easily obtained.

  In the second embodiment, since the positioning device 200 performs the statistical processing using the average and the standard deviation for the plurality of positioning position candidates obtained from the range equation, the statistical processing can be quickly processed. .

Embodiment 3 FIG.
The third embodiment will be described with reference to FIG. The third embodiment is an embodiment in which the operation of each component of the positioning device 100 according to the first embodiment and the positioning device 200 according to the second embodiment is a method, a program, and a recording medium on which the program is recorded. is there.

  In the first embodiment and the second embodiment, the operations of the components of the positioning device 100 and the positioning device 200 are related to each other, and the operations of the components are related to the operations described above. Can be replaced as a series of operations. And it can be set as embodiment of method invention by replacing in this way.

  Moreover, it can be set as the embodiment of a program by replacing the operation | movement of each said component with the process of each component.

  Further, by recording the program on a computer-readable recording medium, an embodiment of a computer-readable recording medium on which the program is recorded can be obtained.

  The embodiment of the program and the embodiment of the computer-readable recording medium on which the program is recorded can be configured by a program operable by a computer.

  FIG. 7 shows a positioning apparatus 300 according to the third embodiment, showing a case where the operation of the positioning apparatus 100 according to the first embodiment or the operation of the positioning apparatus 200 according to the second embodiment is executed by a program. In FIG. 7, a CPU (Central Processing Unit) 80 for executing a program is connected to a magnetic storage device 90, an external device connection unit 94, a display unit 70, a key input unit 102, and a ROM (Read Only Memory) via a bus 98. 95 etc. are connected. The magnetic storage device 90 stores an operating system (OS) 91, a program group 92, and a file group 93. The program group 92 is executed by the CPU 80 and the OS 91. In addition, a DVD (Digital Versatile Disc) drive can be connected to the external device connection unit 94. A DVD 97 on which the program is recorded (an example of a computer-readable recording medium on which the program is recorded) can be set in the DVD drive 96 and the program can be stored as one of the program groups 92.

  Each processing in the embodiment of the program and the embodiment of the computer-readable recording medium on which the program is recorded is executed by the program, and this program is recorded in the magnetic storage device 90 and the magnetic storage device 90. To the CPU 80, and each operation is executed by the CPU 80. Further, the software and program of each embodiment may be executed by firmware stored in the ROM 95. Or you may implement | achieve the program mentioned above with the combination of software, firmware, and hardware.

It is a figure which shows the positioning system which concerns on Embodiment 1. FIG. 5 is a flowchart illustrating a process in which the positioning device 100 receives positioning information from the quasi-zenith satellite system 500 and measures a user position. It is a conceptual diagram which shows a mode that a direction is detected. 2 is a diagram showing a coordinate system representing the position of the quasi-zenith satellite system 500. FIG. It is a figure which shows the position positioning system which concerns on Embodiment 2. FIG. 5 is a flowchart illustrating a process in which a positioning device 200 receives positioning information from a quasi-zenith satellite system 500 and measures a user position. It is a figure which shows the positioning apparatus 300 which concerns on Embodiment 3. FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 Satellite direction detection part, 20 Receiving part, 30 Extraction part, 40 Storage part, 50 In-device clock, 60 Positioning part, 61 Positioning position estimation part, 62 Position determination part, 62a Range equation creation / calculation part, 62b Comparison determination part 63 Positioning position candidate calculation unit, 64 range equation creation / calculation unit, 65 selection unit, 66 statistical processing unit, 67 positioning position determination unit, 70 display unit, 75 receiving antenna, 80 CPU, 90 magnetic storage device, 91 OS, 92 program group, 93 file group, 94 external device connection unit, 95 ROM, 96 DVD drive, 97 DVD, 98 bus, 100, 200, 300 positioning device, 102 key input unit, 500 quasi-zenith satellite system, 510 quasi-zenith satellite Orbit.

Claims (7)

A direction from the earth side / positioning position to be measured toward the artificial satellite that transmits the satellite position / time information including the satellite position and the satellite time indicating the time at the satellite position toward the earth. A satellite direction detector for detecting
A receiver that sequentially receives satellite position and time information from the one satellite;
When the satellite direction detecting unit detects the direction of the one artificial satellite, the satellite position / time information corresponding to the detected direction of the one artificial satellite is received by the receiving unit. An extraction unit for extracting satellite direction correspondence information from
Using the direction of the one artificial satellite detected by the satellite direction detection unit and the satellite direction correspondence information extracted by the extraction unit, a positioning position estimation unit that approximates the approximate position of the earth side / positioning position When,
The receiving unit inputs four or more satellite position / time information having different satellite times from the satellite position / time information sequentially received from the one artificial satellite, and the inputted four or more satellite positions / time are input. A plurality of positioning position candidates indicating the earth side / positioning position candidates are calculated based on the information, and the plurality of positioning position candidates calculated are compared with the estimated position estimated by the positioning position estimating unit. Positioning position candidate calculation unit for selecting a plurality of positioning position candidates indicating the positioning position candidates after selection
A statistical processing unit that creates one post-statistic processing candidate indicating the positioning position candidate after statistical processing by performing statistical processing on the plurality of post-selection candidates determined by the positioning position candidate calculation unit;
It is determined whether the one post-statistical processing candidate created by the statistical processing unit is within a predetermined error range, and if the statistical processing candidate is within the predetermined error range, the post-statistical processing candidate is determined as the earth side / positioning position. A positioning apparatus comprising a positioning position determination unit. The positioning position candidate calculation unit
When the positioning position determination unit determines that the candidate after statistical processing is not within a predetermined error range, the receiver receives one satellite position / time information having a different satellite time received, and the input The plurality of positioning position candidates are newly calculated based on one satellite position / time information and the four or more satellite position / time information, and the newly calculated positioning position candidates and the positioning position estimation are newly calculated. Selecting a plurality of positioning position candidates newly calculated by comparing with the approximate position estimated by the unit, and newly determining a plurality of post-selection candidates,
The statistical processing unit
By performing statistical processing on the plurality of post-selection candidates newly determined by the positioning position candidate calculation unit, a new statistical processing candidate indicating the positioning position candidate after statistical processing is newly created,
The positioning position determination unit
It is determined whether or not the one post-statistical processing candidate newly created by the statistical processing unit is within a predetermined error range, and if it is within the predetermined error range, the post-statistical processing candidate is set as the earth side / positioning position. Decide
The positioning device is
When the positioning position determination unit determines that the one post-statistical processing candidate newly created by the statistical processing unit is not within the predetermined error range, the positioning position determination unit generates a predetermined error range. The determination processing of the plurality of post-selection candidates by the positioning position candidate calculation unit, the creation processing of the post-statistic processing candidates by the statistical processing unit, and the determination processing by the positioning position determination unit until it is determined that there is The positioning device according to claim 1, wherein a series of processing is repeated. The positioning position candidate calculation unit
Based on the input four or more satellite position / time information, the four or more range equations indicating the relationship between the distance between the satellite position of the one artificial satellite and the earth side / positioning position at the different satellite times. 2. The positioning device according to claim 1 , wherein the positioning device generates a plurality of positioning position candidates indicating candidates for the earth side / positioning position from the created range equation, corresponding to each satellite position / time information. . The statistical processing unit
Wherein the plurality of relative after sorting candidates, mean and positioning device according to any one of claims 1 to 3, characterized in that the statistical processing using the standard deviation. A direction from the earth side / positioning position to be measured toward the artificial satellite that transmits the satellite position / time information including the satellite position and the satellite time indicating the time at the satellite position toward the earth. Detecting
Sequentially receiving satellite position and time information from the one artificial satellite;
When the direction of the one artificial satellite is detected, the satellite position / time information corresponding to the detected direction of the one artificial satellite is received from the satellite position / time information received from the one artificial satellite. A process of extracting as correspondence information;
Using the detected direction of the one satellite and the extracted satellite direction correspondence information to estimate the approximate position of the earth side / positioning position;
Four or more satellite position / time information having different satellite times are inputted from the satellite position / time information sequentially received from the one artificial satellite, and based on the inputted four or more satellite position / time information. A plurality of positioning position candidates indicating the earth side / positioning position candidates are calculated, and the plurality of positioning positions are compared by comparing the calculated positioning position candidates with the approximate position obtained by the earth side / position estimation. Selecting a plurality of post-selection candidates indicating the position candidate after selection and selecting the position candidates; and
Creating a single post-statistic processing candidate indicating the positioning position candidate after statistical processing by performing statistical processing on the determined plurality of post-selection candidates;
Determining whether the one post-statistic processing candidate created is within a predetermined error range, and determining the post-statistic processing candidate as the earth side / positioning position when it is within the predetermined error range. A positioning method characterized by that. A direction from the earth side / positioning position to be measured toward the artificial satellite that transmits the satellite position / time information including the satellite position and the satellite time indicating the time at the satellite position toward the earth. Processing to detect
A process of sequentially receiving satellite position / time information from the one artificial satellite;
When the direction of the one artificial satellite is detected, the satellite position / time information corresponding to the detected direction of the one artificial satellite is received from the satellite position / time information received from the one artificial satellite. Processing to extract as correspondence information;
Using the detected direction of the one artificial satellite and the extracted satellite direction correspondence information, a process of approximating the approximate position of the earth side / positioning position;
Four or more satellite position / time information having different satellite times are inputted from the satellite position / time information sequentially received from the one artificial satellite, and based on the inputted four or more satellite position / time information. A plurality of positioning position candidates indicating the earth side / positioning position candidates are calculated, and the plurality of positioning positions are compared by comparing the calculated positioning position candidates with the approximate position obtained by the earth side / position estimation. A process of selecting a plurality of post-selection candidates indicating the positioning position candidates after selecting the position candidates and selecting,
A process of creating one post-statistical process candidate indicating the positioning position candidate after the statistical process by performing a statistical process on the plurality of determined post-selection candidates;
The computer determines whether the created candidate after statistical processing is within a predetermined error range, and determines the post-statistical processing candidate as the earth side / positioning position when it is within the predetermined error range. A positioning program characterized by being executed. A direction from the earth side / positioning position to be measured toward the artificial satellite that transmits the satellite position / time information including the satellite position and the satellite time indicating the time at the satellite position toward the earth. Processing to detect
A process of sequentially receiving satellite position / time information from the one artificial satellite;
When the direction of the one artificial satellite is detected, the satellite position / time information corresponding to the detected direction of the one artificial satellite is received from the satellite position / time information received from the one artificial satellite. Processing to extract as correspondence information;
Using the detected direction of the one artificial satellite and the extracted satellite direction correspondence information, a process of approximating the approximate position of the earth side / positioning position;
Four or more satellite position / time information having different satellite times are inputted from the satellite position / time information sequentially received from the one artificial satellite, and based on the inputted four or more satellite position / time information. A plurality of positioning position candidates indicating the earth side / positioning position candidates are calculated, and the plurality of positioning positions are compared by comparing the calculated positioning position candidates with the approximate position obtained by the earth side / position estimation. A process of selecting a plurality of post-selection candidates indicating the positioning position candidates after selecting the position candidates and selecting,
A process of creating one post-statistical process candidate indicating the positioning position candidate after the statistical process by performing a statistical process on the plurality of determined post-selection candidates;
The computer determines whether the created candidate after statistical processing is within a predetermined error range, and determines the post-statistical processing candidate as the earth side / positioning position when it is within the predetermined error range. A computer-readable recording medium on which a positioning program for execution is recorded.

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