JP7269246B2 - Receiver and receiver control method - Google Patents

Description

The present technology relates to a receiver and a receiver control method. More specifically, the present invention relates to a receiver that measures the current position and a receiver control method.

BACKGROUND ART Conventionally, GNSS (Global Navigation Satellite System) typified by US GPS (Global Positioning System) has been widely used in car navigation devices, smartphones, and the like for the purpose of measuring the current position. SBAS (Satellite-Based Augmentation System) is used to improve the positioning accuracy of this GNSS. This SBAS is a system that actually measures GNSS errors at a plurality of monitoring stations and distributes data for correcting the errors to receivers via satellites.

In Japan, SBAS using an operational multi-purpose satellite (MTSAT: Multi-functional Transport Satellite) is operated. SBAS using this MTSAT is also called MSAS (MTSAT Satellite-based Augmentation System). Similarly, the United States operates an SBAS called WAAS (Wide Area Augmentation System), and Europe operates an SBAS called EGNOS (European Geostationary Navigation Overlay Service). In addition, in India, the operation of SBAS called GAGAN (GPS Aided GEO Augmented Navigation) is scheduled to start.

SBAS is not the only system that improves positioning accuracy. For example, Japan's QZSS (Quasi-Zenith Satellite System) can also correct GNSS errors by a method similar to SBAS (see, for example, Non-Patent Document 1). Similar to QZSS, Russia plans to operate SDCM (the System for Differential Corrections and Monitoring) and China plans to operate BDSBAS (BeiDou Satellite-Based Augmentation System) as a system for correcting GNSS errors.

"Quasi-Zenith Satellite System Interface Specification Sub-meter Level Augmentation Service (S-QZSS-L1S-002)", [online], Cabinet Office and Quasi-Zenith Satellite System Service Co., Ltd., Internet (http://qzss.go. jp/en/technical/download/pdf/ps-is-qzss/is-qzss-l1s-002.pdf?t=1533627361013)

In the prior art described above, positioning accuracy can be improved by correcting errors using data from any of the systems, such as SBAS and QZSS. However, each system, such as SBAS, has advantages and disadvantages. For example, the service area of QZSS is narrower than that of SBAS, but the correction accuracy is higher than that of SBAS. Therefore, when using a plurality of systems, it is required to consider the characteristics of those systems and select data from an appropriate system for correction.

The present technology has been developed in view of such circumstances, and an object of the present technology is to correct the signal with appropriate data in a receiver that receives the signal from the satellite.

The present technology has been made to solve the above-described problems. A first aspect of the present technology is to provide a satellite signal transmitted from each of a predetermined number of positioning satellites and a service to correct the satellite signal. a receiver that receives correction data from a plurality of correction systems with different service areas, and a processing unit that performs processing for correcting the satellite signal using any of the correction data; It is the control method. This brings about an effect that the satellite signal is corrected by any one of the plurality of correction data.

In the first aspect, the processing unit includes a receiver position measurement unit that measures the position of the receiver as a receiver position using the satellite signals, and a receiver position measurement unit that calculates the correction data based on the receiver position. a correction data selection unit that selects one of them as selection data; and a correction unit that corrects the satellite signal using the selection data and supplies the satellite signal to the receiver position measurement unit. A new receiver position may be determined using the acquired satellite signals. This has the effect of correcting the satellite signal with data selected based on the receiver position.

In the first aspect, the processing unit further includes a monitor station position storage unit that stores the position of a monitor station corresponding to one of the plurality of correction systems as a monitor station position, and the correction data selection unit may select correction data corresponding to the monitoring station as the selection data when the receiver position is within a certain distance from the monitoring station position. This brings about the effect that the satellite signal is corrected by the correction data corresponding to the monitoring station within a certain distance.

Further, in this first aspect, the processing unit further includes a monitor station position storage unit that stores positions of monitor stations corresponding to the plurality of correction systems as monitor station positions, and the correction data selector includes: , correction data corresponding to the monitor station position closest to the receiver position may be selected as the selection data. This has the effect of correcting the satellite signal with the correction data corresponding to the monitor station position closest to the receiver position.

Further, in this first aspect, the processing unit further includes a service area storage unit that stores information indicating the service area corresponding to one of the plurality of correction systems, and the correction data selection unit includes the If the receiver position is within the stored service area, the correction data corresponding to the stored service area may be selected as the selection data. This has the effect of correcting the satellite signal with the correction data corresponding to the service area including the receiver position.

Further, in this first aspect, the processing unit may preferentially select data with high correction accuracy from among the correction data. This brings about an effect that the satellite signal is corrected by correction data with high correction accuracy.

In the first aspect, the processing unit may select one of the correction data as selection data for each positioning satellite and correct the satellite signal corresponding to the positioning satellite using the selection data. good. This has the effect of correcting the satellite signal with the data selected for each satellite.

In the first aspect, the processing unit may preferentially select data whose update time is closer to the current time among the correction data for each of the positioning satellites. This brings about the effect that the satellite signal is corrected by the correction data whose update time is closer to the current time.

Further, in this first aspect, the processing unit may preferentially select data having a small deterioration index among the correction data for each of the positioning satellites. This brings about the effect that the satellite signal is corrected by the correction data with the smaller deterioration index.

In the first aspect, the processing unit may preferentially select data whose correction amount is within a predetermined effective range among the correction data for each of the positioning satellites. This brings about an effect that the satellite signal is corrected by the correction data whose correction amount is within the predetermined range.

Further, in this first aspect, the processing unit includes a satellite tracking unit that tracks satellites corresponding to each of the correction data, and a satellite tracking unit that selects one of the correction data as selection data to select the satellite signal. a correcting unit for correcting data, wherein the satellite tracking unit tracks the satellite corresponding to the selected data among the satellites corresponding to each of the corrected data, and does not track the satellite not corresponding to the selected data. may be This has the effect of excluding satellites that do not correspond to the selection data from the tracking targets.

Moreover, in this first aspect, the plurality of correction systems may include a QZSS (Quasi-Zenith Satellite System). This brings about an effect that the satellite signal is corrected by the QZSS correction data.

Moreover, in this first aspect, the plurality of correction systems may include an SBAS (Satellite-Based Augmentation System). As a result, the satellite signal is corrected by the SBAS correction data.

1 is an overall diagram showing a configuration example of a positioning system according to a first embodiment of the present technology; FIG. It is a block diagram which shows one structural example of the high frequency signal processing part in 1st Embodiment of this technique. It is a block diagram showing an example of composition of a digital signal processing part in a 1st embodiment of this art. It is a block diagram which shows one structural example of the satellite signal processing part in 1st Embodiment of this technique. It is a block diagram which shows one structural example of the satellite processing unit in 1st Embodiment of this technique. It is a block diagram showing a configuration example of a positioning calculation unit in the first embodiment of the present technology. It is a figure which shows an example of the information hold|maintained at the monitoring station position storage part in 1st Embodiment of this technique. It is a figure which put together each characteristic of SBAS and QZSS in a 1st embodiment of this art. It is a flow chart which shows an example of operation of a receiver in a 1st embodiment of this art. 6 is a flowchart showing correction data selection processing according to the first embodiment of the present technology; It is a figure which shows an example of the information hold|maintained at the monitoring station location storage part in the 1st modification of 1st Embodiment of this technique. It is a flow chart which shows correction data selection processing in the 1st modification of a 1st embodiment of this art. It is a block diagram which shows one structural example of the positioning calculation part in the 2nd modification of 1st Embodiment of this technique. It is a flow chart which shows correction data selection processing in the 2nd modification of a 1st embodiment of this art. It is a block diagram showing a configuration example of a positioning calculation unit in a third modification of the first embodiment of the present technology. FIG. 13 is a flow chart showing correction data selection processing in a third modification of the first embodiment of the present technology; FIG. It is a figure showing an example of selection data for every satellite in the 3rd modification of a 1st embodiment of this art. It is a block diagram showing an example of composition of a digital signal processing part in a 2nd embodiment of this art. It is a timing chart showing an example of operation of a receiver in a 2nd embodiment of this art. 1 is a diagram showing an example of a schematic configuration of an IoT system 9000 to which technology according to the present disclosure can be applied; FIG.

Hereinafter, a form for carrying out the present technology (hereinafter referred to as an embodiment) will be described. Explanation will be given in the following order.
1. First embodiment (example of selecting one of a plurality of correction data)
2. Second Embodiment (Example of selecting one of a plurality of correction data and reducing the number of satellites to be tracked)
3. Application example

<1. First Embodiment>
[Configuration example of positioning system]
FIG. 1 is an overall diagram showing a configuration example of a positioning system according to a first embodiment of the present technology. This positioning system is a system for acquiring the current position using signals from satellites, and includes satellites 100 and receivers 200 .

The receiver 200 receives satellite signals from the satellite 100 and acquires its own current position. This receiver 200 comprises an antenna 201 , a crystal oscillator 210 , a high frequency signal processing section 220 and a digital signal processing section 300 . During positioning, the receiver 200 acquires, for example, a GPS positioning satellite as the satellite 100 . Receiver 200 can acquire satellites as satellites 100 in each of a plurality of systems for correcting satellite signals from positioning satellites (hereinafter referred to as "correction systems"). Systems that correct these satellite signals are also called augmentation systems.

SBAS and QZSS, for example, are conceivable as correction systems. These correction systems include, for example, monitoring stations, satellites, and control stations. The monitoring station actually measures the GNSS error, and the control station generates correction data for correcting the error and distributes it to the receiver via satellite. Further, in each of a plurality of correction systems such as SBAS and QZSS, service areas in which services for correcting satellite signals are provided are different from each other. Here, "different service areas" means that the shapes of the areas do not completely match, and even if there is some overlap, areas with different detailed shapes are not the same area.

The number of correction systems used by the receiver 200 is, for example, two. Hereinafter, one of them will be referred to as "correction system A" and the other will be referred to as "correction system B". Note that the receiver 200 can also utilize more than two correction systems.

Antenna 201 receives a signal transmitted from satellite 100 . Here, satellite signals from positioning satellites (GPS satellites, etc.) include information necessary for positioning, such as time data and navigation data. On the other hand, signals from satellites that support the correction system (operational multipurpose satellites, quasi-zenith satellites, etc.) include correction data for correcting satellite signals from positioning satellites. The antenna 201 supplies the high frequency signal in the received signal to the high frequency signal processing section 220 . Note that the antenna 201 is an example of a receiving unit described in the claims.

The crystal oscillator 210 utilizes the piezoelectric phenomenon of crystal to generate a clock signal with a constant frequency. The crystal oscillator 210 supplies the generated clock signal to the high frequency signal processing section 220 via the signal line 219 .

The high frequency signal processing section 220 amplifies the high frequency signal and converts it into a digital signal in synchronization with the clock signal. The high-frequency signal processing section 220 supplies the converted digital signal to the digital signal processing section 300 via the signal line 229 .

The digital signal processor 300 processes the digital signal and corrects the satellite signal from the positioning signal using any one of a plurality of correction data. The digital signal processing unit 300 acquires the current position and current time as the receiver position and receiver time using the corrected satellite signal, and outputs them to the outside as necessary. Note that the digital signal processing unit 300 is an example of the processing unit described in the claims.

It should be noted that although receiver 200 utilizes a satellite-based correction system that delivers correction data via satellites, a satellite-free correction system may also be utilized. Non-satellite-based correction systems include, for example, beacon-based correction systems that deliver correction data via beacon signals from lighthouses.

[Configuration example of high-frequency signal processing unit]
FIG. 2 is a block diagram showing a configuration example of the high-frequency signal processing unit 220 according to the first embodiment of the present technology. This high-frequency signal processing section 220 comprises a low-noise amplifier 221 , a mixer 222 , a low-pass filter 223 and a phase synchronization circuit 224 . The high-frequency signal processing unit 220 also includes an AGC (Auto Gain Control) circuit 225 and an ADC (Analog to Digital Converter) 226 .

The low noise amplifier 221 amplifies the high frequency signal RFIN from the antenna 201 . This low noise amplifier 221 supplies the amplified high frequency signal RFIN to the mixer 222 .

Phase lock circuit 224 multiplies clock signal CLK _TCXO from crystal oscillator 210 . This phase synchronization circuit 224 generates the clock signal CLK _MIX by multiplication. Phase lock circuit 224 then supplies the clock signal CLK _MIX to mixer 222 .

Mixer 222 down-converts the frequency of the radio frequency signal to a lower first intermediate frequency by mixing the radio frequency signal RFIN with the local signal. The mixer 222 supplies the mixed first intermediate frequency signal to the low-pass filter 223 .

The low-pass filter 223 passes frequency components below a predetermined cut-off frequency in the first intermediate frequency signal and supplies it to the AGC circuit 225 .

The AGC circuit 225 controls the gain for the signal according to the level of the input first intermediate frequency signal and outputs the first intermediate frequency signal with a constant level to the ADC 226 .

The ADC 226 converts the first intermediate frequency signal from the AGC circuit 225 into a digital signal DOUT and supplies the digital signal DOUT to the digital signal processing section 300 .

[Configuration example of digital signal processing unit]
FIG. 3 is a block diagram showing a configuration example of the digital signal processing unit 300 according to the first embodiment of the present technology. This digital signal processing section 300 comprises a digital front end 310 , a satellite signal processing section 320 , a positioning calculation section 340 , a satellite allocation section 350 and a receiver clock section 360 .

The digital front end 310 passes the digital signal DOUT of the first intermediate frequency from the high-frequency signal processing unit 220 through a digital filter to perform processing such as reducing the frequency to a second intermediate frequency. This digital front end 310 supplies the digital signal of the second intermediate frequency to the satellite signal processing section 320 as a baseband signal.

The satellite signal processing unit 320 captures and tracks the assigned satellite based on the baseband signal, decodes the signal of the tracked satellite, and acquires navigation data and correction data. The satellite signal processing unit 320 also obtains a pseudo range from the satellite time, which is the transmission time of the tracked satellite, and the receiver time. The satellite signal processing unit 320 then supplies the pseudoranges, navigation data and correction data to the positioning calculation unit 340 .

The positioning calculator 340 obtains the receiver time based on the pseudorange, navigation data and correction data from the satellite signal processor 320 and measures the receiver position. The positioning calculation unit 340 supplies the receiver time to the receiver clock unit 360, and outputs the receiver time and the receiver position to the outside. The positioning calculation unit 340 also obtains the satellite positions from the navigation data and supplies them to the satellite allocation unit 350 together with the receiver positions. Assume that the receiver position is measured, for example, every time a certain period of time elapses.

The satellite allocation section 350 determines satellites to be acquired based on the receiver position and satellite position, and allocates them to each of the plurality of units in the satellite signal processing section 320 . Positioning satellites (ie, visible satellites) within the field of view of receiver 200 are selected for acquisition. The satellite allocator 350 supplies identification information of the allocated satellites to each unit. For example, a C/A (Coarse/Acquisition) code is used as the identification information. Positioning calculation requires four or more positioning satellites, and it is desirable to allocate eight or more positioning satellites in order to obtain more stable position accuracy. In addition to positioning satellites such as GPS, SBAS operational multi-purpose satellites and correction system satellites such as QZSS quasi-zenith satellites are allocated. The quasi-zenith satellite is also used as a positioning satellite.

The receiver time clock unit 360 keeps time. When the receiver time is acquired by the positioning calculation unit 340, the receiver time measuring unit 360 corrects the time being measured by the receiver time. Also, the receiver time clock unit 360 supplies the current time to the satellite signal processing unit 320 as the receiver time.

[Configuration example of satellite signal processing unit]
FIG. 4 is a block diagram showing a configuration example of the satellite signal processing unit 320 according to the first embodiment of the present technology. A plurality of satellite processing units 330 are provided in the satellite signal processing section 320 . Different satellites are assigned to each of the satellite processing units 330 as acquisition targets by a control signal from the satellite assigning section 350 .

[Configuration example of satellite processing unit]
FIG. 5 is a block diagram showing one configuration example of the satellite processing unit 330 in the first embodiment of the present technology. This satellite processing unit 330 comprises a satellite acquisition section 331 , a satellite tracking section 332 , a pseudorange calculation section 333 , a navigation data decoder 334 and correction data decoders 335 and 336 .

The satellite capture unit 331 captures the assigned satellite. The satellite acquisition unit 331 inputs, for example, the exclusive OR of the assigned satellite identification information (C/A code) and the input baseband signal to the correlator to obtain a correlation value. The satellite acquisition unit 331 outputs the carrier frequency offset and the code phase that maximize the correlation value to the satellite tracking unit 332 as the acquisition result. In order to increase the SN (Signal to Noise) ratio, the satellite acquisition unit 331 can also integrate the correlation value for a certain period of time and output the carrier wave frequency offset or the like that maximizes the integrated value.

The satellite tracking section 332 tracks the captured satellite. The satellite tracking unit 332 synchronizes with the carrier wave and code timing using the carrier wave frequency offset and code phase as initial values, and further synchronizes the navigation data and correction data with the physical frame to reproduce the satellite time. The satellite tracking unit 332 supplies time information indicating the satellite time to the pseudorange calculation unit 333 . Satellite tracking section 332 also inputs the demodulated signal synchronized with the physical frame to navigation data decoder 334 and correction data decoders 335 and 336 .

The pseudorange calculator 333 acquires pseudoranges by calculation. This pseudo-range calculator 333 estimates the propagation time of the satellite signal from the difference between the satellite time and the receiver time, and multiplies it by the speed of light to estimate the propagation distance between the satellite 100 and the receiver 200 . This estimated propagation distance is called a pseudorange because it contains errors due to satellite clock and satellite orbit errors, ionosphere, troposphere, multipath delays, etc., compared to the actual geometric distance. The pseudorange calculator 333 supplies the acquired pseudorange to the positioning calculator 340 .

The navigation data decoder 334 demodulates the demodulated signal from the captured satellite to obtain navigation data. The navigation data decoder 334 supplies the acquired navigation data to the positioning calculator 340 .

The correction data decoder 335 demodulates the demodulated signal from the satellite corresponding to the correction system A and obtains correction data. The correction data decoder 335 supplies the acquired correction data DA to the positioning calculator 340 .

Correction data decoder 336 demodulates the demodulated signal from the satellite corresponding to correction system B to obtain correction data. The correction data decoder 336 supplies the acquired correction data DB to the positioning calculator 340 .

As described above, satellite processing unit 330 is capable of decoding all of the respective signals of positioning satellites such as GPS, satellites corresponding to correction system A, and satellites corresponding to correction system B. Therefore, the satellite allocation unit 350 can arbitrarily allocate any of positioning satellites such as GPS, satellites corresponding to the correction system A, and satellites corresponding to the correction system B to each of the satellite processing units 330. .

Note that satellites (quasi-zenith satellites, etc.) corresponding to correction system A and satellites (operational multi-purpose satellites, etc.) corresponding to correction system B usually do not overlap. Thus, if a satellite processing unit 330 is assigned a satellite for correction system A, that unit will not obtain correction data for correction system B.

Although two correction data decoders are provided, three or more correction data decoders are provided when three or more correction systems are used.

Also, although both correction data decoders 335 and 336 are arranged in all satellite processing units 330, this arrangement is not limiting. If any satellite processing unit 330 is assigned only satellites corresponding to correction system A, correction data decoder 336 is unnecessary and can be omitted. Similarly, if any satellite processing unit 330 is assigned only satellites corresponding to correction system B, correction data decoder 335 is unnecessary and can be omitted. Further, the correction data decoders 335 and 336 are not required for the satellite processing unit 330 to which no satellite corresponding to the correction system is assigned, and may be arranged without the correction data decoders.

[Configuration example of positioning calculation unit]
FIG. 6 is a block diagram showing a configuration example of the positioning calculation unit 340 according to the first embodiment of the present technology. The positioning calculation unit 340 includes a monitoring station position storage unit 341 , a satellite position calculation unit 342 , a correction data selection unit 343 , a pseudorange correction unit 344 and a receiver position calculation unit 345 .

The monitor station position storage unit 341 stores the positions of the monitor stations of the correction system A as monitor station positions. Preferably, the service area of correction system A, which is stored, is smaller than the service area of correction system B. QZSS, which has a narrower service area than SBAS, is used as the correction system A, and the position of the monitor station is stored in the monitor station position storage unit 341 in advance.

The satellite position calculator 342 obtains satellite positions by satellite orbit calculation using navigation data. In the satellite orbit calculation, satellite orbit error correction is performed as necessary. The satellite position calculation unit 342 supplies the obtained satellite positions to the satellite allocation unit 350 and the receiver position calculation unit 345 .

The correction data selection unit 343 selects correction data of one of a plurality of correction systems with different service areas. Upon receiving the receiver position from the receiver position calculator 345, the correction data selector 343 selects correction data for one of the plurality of correction systems based on the receiver position. For example, the correction data selection unit 343 reads the monitor station positions of the correction system A from the monitor station position storage unit 341, and if the receiver position is within a certain distance from any of the monitor station positions, the correction data selection unit 343 corrects the correction system A. Select data DA. On the other hand, the correction data selection unit 343 selects the correction data DB of the correction system B when the condition is not met. The correction data selection unit supplies the selected correction data to the satellite position calculation unit 342 and the pseudorange correction unit 344 as selection data.

However, when the position of the receiver has not been measured or when the validity period of the correction data has passed, the correction data selection section 343 selects the correction data without using the receiver time. In this case, for example, of the correction data DA and DB, the one whose effective period has not passed, the one with the wider service area, or the one with the higher nominal correction accuracy is selected.

The pseudorange correction unit 344 corrects the pseudoranges of all positioning satellites using the selection data from the correction data selection unit 343 . The pseudorange correction section 344 supplies the corrected pseudorange to the receiver position calculation section 345 .

Here, the correction targets of the SBAS correction data are satellite clock error, satellite orbit error, and ionospheric delay. In SBAS, the correction of satellite clock errors only is called "fast correction", and the correction of satellite clock and satellite orbit errors is called "long term correction". Correction of the ionospheric delay is also referred to as "ionospheric correction". Regarding each correction, an index regarding reliability and correction accuracy is distributed as a deterioration index. The satellite clock error and ionospheric delay degradation indicators are used in the pseudorange corrector 344 , and the satellite orbit error degradation indicators are used in the satellite position calculator 342 . For details of the SBAS correction method, see "MINIMUM OPERATIONAL PERFORMANCE STANDARDS FOR GLOBAL POSITIONING SYSTEM/SATELLITE-BASED AUGMENTATION SYSTEM AIRBORNE EQUIPMENT", [online], IEEE, Internet (https://standards.globalspec.com/std/10072442/ rtca-do-229)”.

On the other hand, in QZSS, DGPS (Differential GPS) correction is performed. In this DGPS correction, the pseudoranges are directly corrected in the pseudorange correction section 344 . In QZSS, although the deterioration index for DGPS correction is not distributed, "Quasi-Zenith Satellite System Interface Specification Sub-meter Level Augmentation Service (S-QZSS-L1S-002)", [online], Cabinet Office and Quasi-Zenith Satellite System Service Co., Ltd. Internet (http://qzss.go.jp/en/technical/download/pdf/ps-is-qzss/is-qzss-l1s-002.pdf?t=1533627361013) A method of calculating an error dispersion index (deterioration index) is exemplified as a user algorithm.

If the correction data is SBAS data, the satellite clock error and ionospheric delay data in the correction data is supplied to the pseudorange correction unit 344, and the satellite orbit error data is supplied to the satellite position calculation unit 342. . On the other hand, when the correction data is QZSS data, the correction data is supplied to the pseudorange correction section 344 .

The receiver position calculator 345 calculates the receiver position and receiver time by substituting the pseudoranges and satellite positions of four or more satellites into simultaneous equations. The receiver position calculation unit 345 outputs the receiver time to the receiver clocking unit 360 and the outside, and outputs the receiver position to the correction data selection unit 343 and the outside.

FIG. 7 is a diagram showing an example of information held in the monitor station location storage unit 341 according to the first embodiment of the present technology. In the monitor station position storage unit 341, position information indicating the respective monitor station positions of the plurality of monitor stations of the correction system A is stored. For example, the location information MA1 of the first monitoring station of the correction system A, the location information MA2 of the second monitoring station, and the like are stored.

FIG. 8 is a diagram summarizing the respective features of SBAS and QZSS in the first embodiment of the present technology. The positioning accuracy of SBAS is lower than that of QZSS, but the service area of SBAS is wider than that of QZSS. Also, the number of monitoring stations of SBAS is smaller than that of QZSS. Also, in SBAS, fast, long-term and ionospheric corrections are performed, whereas in QZSS only DGPS corrections are performed.

For example, as correction system A, QZSS is used, and as correction system B, SBAS is used.

[Example of receiver operation]
FIG. 9 is a flow chart showing an example of the operation of the receiver 200 according to the first embodiment of the present technology. This operation is started, for example, when a processing application for positioning the receiver position is executed.

The receiver 200 determines whether or not the current time (that is, receiver time) is the positioning time at which positioning should be performed (step S901). If the current time is not the positioning time (step S901: No), the receiver 200 repeats step S901.

On the other hand, if the current time is the positioning time (step S901: Yes), the receiver 200 acquires satellites of the GPS or correction system (step S902) and tracks them (step S903). The receiver 200 also executes correction data selection processing for selecting correction data (step S910). The receiver 200 then obtains the pseudoranges to each positioning satellite and corrects them using the selected data (step S905). Next, the receiver 200 performs positioning calculation using the corrected pseudo-ranges and satellite positions to obtain the receiver position and receiver time (step S906). After step S906, the receiver 200 repeatedly executes steps S901 and subsequent steps.

FIG. 10 is a flowchart showing correction data selection processing according to the first embodiment of the present technology. The receiver 200 determines whether the receiver position is within a certain distance from the position of any monitor station in the correction system A (step S911). Since the correction system A usually has a plurality of monitoring stations, the condition of step S911 is satisfied when the receiver 200 is located within a certain distance from at least one of them. If the condition of step S911 is satisfied (step S911: Yes), the receiver 200 selects the correction data of correction system A (step S912).

On the other hand, if the condition of step S911 is not satisfied (step S911: No), the receiver 200 selects the correction data of correction system B (step S913). After step S912 or S913, the receiver 200 ends the correction data selection process.

When the service area of the correction system A (such as QZSS) is narrower than that of the correction system B (such as SBAS), the correction system A generally has higher correction accuracy (in other words, the baseline length is shorter) in that area, and is given priority. It is desirable to use As in steps S911 and S912 described above, when the position of the receiver is close to the monitoring station of correction system A, correction system A, which has higher accuracy, is used. can be improved. On the other hand, when the position of the receiver is far from the monitoring station of the correction system A, the correction accuracy of the correction system A may be lower than that of the correction system B. Therefore, by using the correction data of the correction system B as in step S913, the correction accuracy can be improved more than when the correction data of the correction system A is used.

As described above, according to the first embodiment of the present technology, the receiver 200 selects one of a plurality of correction data based on the receiver position. Therefore, correction accuracy can be improved.

[First modification]
In the first embodiment described above, the receiver 200 selects the correction data depending on whether the receiver is within a certain distance from the monitoring station of the correction system A having a narrower service area. However, if the service areas of correction systems A and B are approximately the same size, it may not be possible to make an appropriate judgment simply by referring to the distance from the monitoring station of one of the correction systems. be. The receiver 200 of the first modified example of the first embodiment differs from the first embodiment in that appropriate data is selected from a plurality of correction data having similar service areas.

FIG. 11 is a diagram showing an example of information held in the monitor station location storage unit 341 in the first modification of the first embodiment of the present technology. The receiver 200 of the first modified example of the first embodiment uses the correction systems A and B having approximately the same service area size. Here, "similar" means that the difference in area of the service areas is within a predetermined allowable value.

The monitor station position storage unit 341 of the first modification of the first embodiment holds the position information of the monitor stations of the correction systems A and B, respectively. For example, in association with SYSA, which is the identification information of correction system A, location information MA1, MA2, etc. of the monitoring station of that system is stored. Further, in association with SYSB, which is the identification information of correction system B, location information MB1, MB2, etc. of the monitoring station of that system is held.

FIG. 12 is a flowchart showing correction data selection processing in the first modification of the first embodiment of the present technology. The correction data selection process of the first modification of the first embodiment differs from that of the first embodiment in that step S921 is executed instead of step S911.

Receiver 200 determines whether the receiver location is closer to the correction system A monitor station than to the correction system B monitor station. In other words, it is determined whether or not the system corresponding to the monitor station closest to the receiver position is correction system A (step S921).

If the receiver position is closer to the monitoring station of correction system A than to the monitoring station of correction system B (step S921: Yes), receiver 200 selects the correction data of correction system A (step S912). On the other hand, if the receiver position is closer to the monitoring station of correction system B than to the monitoring station of correction system A (step S921: No), receiver 200 selects the correction data of correction system B (step S913). .

In the first modified example of the first embodiment, receiver 200 uses two correction systems, but it is also possible to use three or more correction systems.

Thus, according to the first modification of the first embodiment of the present technology, the receiver 200 selects correction data corresponding to the monitor station position closest to the receiver position. In general, the closer the position is to the monitoring station, the greater the geographical correlation, and the higher the correction accuracy of that position. Therefore, the correction accuracy can be improved by selecting correction data corresponding to the nearest monitoring station.

[Second modification]
In the first embodiment described above, the receiver 200 selects the correction data depending on whether the receiver is within a certain distance from the monitoring station of the correction system A having a narrower service area. However, if the service areas of the correction systems A and B are approximately the same, it may not be possible to make an appropriate judgment only by referring to the distance from the monitoring station. Receiver 200 of the second modification of the first embodiment differs from the first embodiment in that appropriate data is selected from a plurality of pieces of correction data having similar service areas.

FIG. 13 is a block diagram showing a configuration example of the positioning calculation unit 340 in the second modification of the first embodiment of the present technology. The positioning calculator 340 of the second modification of the first embodiment differs from that of the first embodiment in that a service area storage 346 is provided instead of the monitor station position storage 341 . The receiver 200 of the first modified example of the first embodiment uses the correction systems A and B having approximately the same service area size.

The service area storage unit 346 stores information indicating the service area of one of the correction systems A and B (for example, the correction system A). For example, map information describing the boundaries of the service area is stored. It is desirable that the service area storage unit 346 holds information on the service area of the correction system with the higher nominal value of correction accuracy.

FIG. 14 is a flowchart showing correction data selection processing in the second modification of the first embodiment of the present technology. The correction data selection process of the second modification of the first embodiment differs from that of the first embodiment in that step S931 is executed instead of step S911.

The receiver 200 refers to the information in the service area storage unit 346 and determines whether or not the receiver position is within the service area of the correction system A (step S931). If the receiver position is within the service area of correction system A (step S931: Yes), receiver 200 selects correction data for correction system A (step S912). On the other hand, if the receiver position is outside the service area of correction system A (step S931: No), receiver 200 selects correction data for correction system B (step S913).

Although receiver 200 uses two correction systems in the second modification of the first embodiment, it is also possible to use three or more correction systems.

Thus, according to the second modification of the first embodiment of the present technology, the receiver 200 selects correction data corresponding to the service area including the receiver position. appropriate correction data can be selected.

[Third Modification]
In the first embodiment described above, all satellite signals of positioning satellites are corrected using selected data selected from a plurality of correction data. However, the selected data is not necessarily valid for all positioning satellites. The receiver 200 of the third modification of the first embodiment differs from the first embodiment in that effective correction data is selected for each satellite.

FIG. 15 is a block diagram showing a configuration example of the positioning calculation unit 340 in the third modified example of the first embodiment of the present technology. The positioning calculation section 340 of the third modification of the first embodiment differs from that of the first embodiment in that the monitoring station position storage section 341 is not arranged.

FIG. 16 is a flowchart showing correction data selection processing in the third modification of the first embodiment of the present technology. The correction data selection process of the third modification of the first embodiment differs from that of the first embodiment in that steps S941 to S945 are executed instead of step S911.

Receiver 200 initializes index K (K is an integer) (step S941). The receiver then determines whether K is smaller than SV_MAX, which is the number of satellites being tracked (step S942).

If K is smaller than SV_MAX (step S942: Yes), the receiver 200 determines whether or not the correction data of the correction system A for the K-th satellite among the positioning satellites being tracked is valid (step S943). ).

Here, the fact that the correction data of the correction system A for the positioning satellite are valid means, for example, that all of the following conditions are satisfied.
(a) the corresponding satellite mask flags in the correction data are valid;
(b) The current time is within the expiration date of the correction data.
(c) The elapsed time from the update time of the correction data is shorter than the elapsed time of the other correction system. In other words, the update time is closer to the current time than the other correction system.
(d) The value of the deterioration index of the correction data is below a certain value.
(e) The correction amount of correction data is within a predetermined valid range.

Regarding (a), the correction system may not be able to correct satellite signals for all positioning satellites being tracked. For example, satellite signals of positioning satellites whose elevation angle is less than a certain angle may not be corrected. Satellites to be corrected by the correction system are described in the correction data by satellite mask flags or the like.

In addition, regarding (c), the correction data has a temporal correlation in addition to the geographical correlation with the propagation delay error. can be expected to improve correction accuracy and positioning accuracy. If a plurality of correction data with different elapsed times exist for the same correction system, it is determined whether the maximum value of the elapsed time is shorter than that of other correction systems. Alternatively, it is determined whether or not the elapsed time of the correction data that causes the largest propagation delay error is shorter than that of other correction systems.

Regarding (d), the degradation index may not be distributed depending on the correction system, and the degradation index may need to be estimated by a user algorithm or the like.

Also, regarding (c) to (e), these conditions are optional and not essential. Whether or not these conditions are met is determined as necessary. The receiver 200 can also determine each condition in a predetermined order. For example, when a deterioration index equal to or less than a certain value is not obtained for (d), the receiver 200 can also determine whether the correction amount is within the valid range for (e).

If the correction data of correction system A is valid (step S943: Yes), receiver 200 selects the correction data of correction system A as data for correcting the satellite signal of the K-th positioning satellite (step S912). .

On the other hand, if the correction data of correction system A is invalid (step S943: No), receiver 200 determines whether or not the correction data of correction system B for the K-th satellite is valid (step S944). .

If the correction data of correction system B is valid (step S944: Yes), receiver 200 selects the correction data of correction system B as data for correcting the satellite signal of the K-th positioning satellite (step S913). .

On the other hand, if the correction data of the correction system B is invalid (step S944: No), the satellite signal of the K-th positioning satellite is used as it is for positioning calculation without being corrected. Receiver 200 then increments K (step S945). Step S945 is also executed after step S912 or S913.

After step S945, receiver 200 repeatedly executes step S942 and subsequent steps. Also, when K is equal to or greater than SV_MAX (step S942: No), the receiver 200 terminates the correction data selection process.

In steps S943 and S944, it is determined whether or not the correction data of correction system A is valid before that of correction system B, so correction system A is preferentially selected. Therefore, it is desirable that the correction system A has a higher correction accuracy than the correction system B. FIG. For example, QZSS is set as the correction system A, and SBAS is set as the correction system B.

FIG. 17 is a diagram illustrating an example of selection data for each satellite in the third modification of the first embodiment of the present technology; Assume that the receiver 200 is tracking four positioning satellites whose identification information (C/A code, etc.) is S1, S2, S3, and S4. Further, the correction data DA of the correction system A are valid for the positioning satellites S1, S2 and S3, and are invalid for the positioning satellite S4. On the other hand, the correction data DB of the correction system B is valid for the positioning satellites S2, S3 and S4, and is invalid for the positioning satellite S1.

In this case, the receiver 200 selects the effective correction data DA as the data for correcting the satellite signal of the positioning satellite of S1. Both of the correction data DA and DB are valid for the positioning satellites S2 and S3, but in this case, the receiver 200 selects the correction data DA with higher correction accuracy. Also, the receiver 200 selects the effective correction data DB as the data for correcting the satellite signal of the positioning satellite in S4.

Although receiver 200 uses two correction systems in the third modification of the first embodiment, it is also possible to use three or more correction systems.

In addition, receiver 200 fixes data to be selected when both correction data DA and DB are valid, but is not limited to this configuration. For example, when both the correction data DA and DB are valid, the receiver 200 performs any one of step S911 of the first embodiment, step S921 of the first modification, and step S931 of the second modification. You can also choose one of them.

In this way, according to the third modification of the first embodiment of the present technology, the receiver 200 selects effective correction data for each satellite. The data can be used to correct satellite signals.

<2. Second Embodiment>
In the first embodiment described above, receiver 200 tracked satellites in both correction systems A and B. FIG. However, after selecting one correction system, there is less need to track the other satellite. The receiver 200 of the second embodiment differs from that of the first embodiment in that the unselected satellite is excluded from the tracking target.

FIG. 18 is a block diagram showing a configuration example of the digital signal processing unit 300 according to the second embodiment of the present technology. The digital signal processing section 300 of the second embodiment differs from that of the first embodiment in that a satellite allocation section 351 is arranged instead of the satellite allocation section 350 .

The satellite allocation unit 351 receives the selection data from the positioning calculation unit 340 along with the receiver position and satellite positions. Then, the satellite allocation unit 351 sets the satellite of the system corresponding to the selection data among the correction systems A and B as the tracking target, and excludes the satellite of the system not corresponding to the selection data from the tracking target.

FIG. 19 is a timing chart showing an example of the operation of the receiver 200 according to the second embodiment of the present technology. At timing T0, the receiver 200 starts satellite acquisition and tracking.

Satellite processing units U1-U4 in receiver 200 track GPS positioning satellites S1-S4. Satellite processing unit U5 also tracks SBAS's operational multipurpose satellite S5. The satellite processing unit U6 also tracks the QZSS quasi-zenith satellite S6.

Assume that the positioning calculation unit 340 starts the process of selecting correction data at timing T1, and selects the QZSS correction data at timing T2. In this case, satellite processing unit U5 terminates tracking of the non-selected SBAS operational multipurpose satellite S5.

Acquisition and tracking of a satellite requires operation of a circuit such as a correlator in the satellite processing unit, so the satellite allocation unit 351 reduces the number of satellites to be tracked, thereby reducing the power consumption of the receiver 200. can be done. Alternatively, the satellite allocation unit 351 can improve the positioning accuracy by allocating new positioning satellites such as GPS in place of the reduced correction system satellites to increase the number of positioning satellites.

Although the receiver 200 uses two correction systems in the second embodiment, it is also possible to use three or more correction systems. Also, any one of the first, second and third modifications can be applied to the second embodiment.

In this way, according to the second embodiment of the present technology, the satellites corresponding to the correction data that are not selected are excluded from the tracking target, so the number of satellites to be tracked can be reduced and power consumption can be reduced.

<3. Application example>
The technology according to the present disclosure can be applied to a technology called IoT (Internet of things), which is the so-called “Internet of things”. The IoT is a mechanism in which an IoT device 9100, which is a "thing", is connected to other IoT devices 9003, the Internet, the cloud 9005, etc., and controls each other by exchanging information. IoT can be used in various industries such as agriculture, homes, automobiles, manufacturing, distribution, and energy.

FIG. 20 is a diagram showing an example of a schematic configuration of an IoT system 9000 to which technology according to the present disclosure can be applied.

The IoT device 9001 includes various sensors such as a temperature sensor, a humidity sensor, an illuminance sensor, an acceleration sensor, a distance sensor, an image sensor, a gas sensor, and a motion sensor. The IoT device 9001 may also include terminals such as smart phones, mobile phones, wearable terminals, and game machines. The IoT device 9001 is powered by an AC power supply, a DC power supply, a battery, contactless power supply, so-called energy harvesting, or the like. The IoT device 9001 can communicate by wire, wireless, close proximity wireless communication, or the like. As communication methods, 3G/LTE, WiFi, IEEE802.15.4, Bluetooth, Zigbee (registered trademark), Z-Wave, etc. are preferably used. The IoT device 9001 may communicate by switching between a plurality of these communication means.

The IoT devices 9001 may form one-to-one, star, tree, and mesh networks. An IoT device 9001 may connect to an external cloud 9005 either directly or through a gateway 9002 . An address is assigned to the IoT device 9001 by IPv4, IPv6, 6LoWPAN, or the like. Data collected from the IoT device 9001 is transmitted to other IoT devices 9003, server 9004, cloud 9005, and the like. The timing and frequency of data transmission from the IoT device 9001 are preferably adjusted, and the data may be compressed and transmitted. Such data may be used as it is, or the data may be analyzed by the computer 9008 by various means such as statistical analysis, machine learning, data mining, cluster analysis, discriminant analysis, combination analysis, and time series analysis. By using such data, various services such as control, warning, monitoring, visualization, automation, and optimization can be provided.

The technology according to the present disclosure can also be applied to home devices and services. The IoT devices 9001 at home include washing machines, dryers, dryers, microwave ovens, dishwashers, refrigerators, ovens, rice cookers, cooking utensils, gas appliances, fire alarms, thermostats, air conditioners, televisions, recorders, audio equipment, Lighting equipment, water heaters, water heaters, vacuum cleaners, fans, air purifiers, security cameras, locks, door/shutter opening/closing devices, sprinklers, toilets, thermometers, weight scales, blood pressure gauges, etc. Furthermore, the IoT device 9001 may include a solar cell, a fuel cell, a storage battery, a gas meter, a power meter, and a distribution board.

The communication method of the IoT device 9001 at home is preferably a low power consumption type communication method. Also, the IoT device 9001 may communicate using WiFi indoors and 3G/LTE outdoors. An external server 9006 for IoT device control may be installed on the cloud 9005 to control the IoT device 9001 . The IoT device 9001 transmits data such as the status of home appliances, temperature, humidity, power consumption, presence or absence of people and animals inside and outside the house. Data transmitted from home appliances are stored in the external server 9006 via the cloud 9005 . New services are provided based on such data. Such an IoT device 9001 can be controlled by voice using voice recognition technology.

In addition, by directly sending information from various household appliances to the television, the status of various household appliances can be visualized. Furthermore, various sensors determine whether or not there is a resident, and by sending data to air conditioners, lighting, etc., it is possible to turn them on and off. Furthermore, advertisements can be displayed through the Internet on displays provided in various home appliances.

An example of the IoT system 9000 to which the technology according to the present disclosure can be applied has been described above. The technology according to the present disclosure can be preferably applied to the IoT device 9001 among the configurations described above. Specifically, the receiver 200 in FIG. 1 can be applied to the IoT device 9001 . By applying the technology according to the present disclosure to the IoT device 9001, it is possible to select appropriate correction data and improve correction accuracy.

In addition, the above-described embodiment shows an example for embodying the present technology, and the matters in the embodiment and the matters specifying the invention in the scope of claims have corresponding relationships. Similarly, the matters specifying the invention in the scope of claims and the matters in the embodiments of the present technology with the same names have corresponding relationships. However, the present technology is not limited to the embodiments, and can be embodied by various modifications to the embodiments without departing from the scope of the present technology.

In addition, the processing procedure described in the above embodiment may be regarded as a method having a series of procedures, and a program for causing a computer to execute the series of procedures or a recording medium for storing the program You can catch it. As this recording medium, for example, CD (Compact Disc), MD (MiniDisc), DVD (Digital Versatile Disc), memory card, Blu-ray disc (Blu-ray (registered trademark) Disc), etc. can be used.

It should be noted that the effects described in this specification are only examples and are not limited, and other effects may be provided.

Note that the present technology can also have the following configuration.
(1) a receiving unit that receives satellite signals transmitted from each of a predetermined number of positioning satellites and correction data of each of a plurality of correction systems having different service areas in which services for correcting the satellite signals are provided;
and a processing unit that performs processing for correcting the satellite signal using any of the correction data.
(2) the processing unit,
a receiver position measuring unit that measures the position of the receiver as a receiver position using the satellite signals;
a correction data selection unit that selects one of the correction data as selection data based on the position of the receiver;
a correcting unit that corrects the satellite signal based on the selected data and supplies the satellite signal to the receiver position measuring unit;
The receiver according to (1), wherein the receiver position measuring unit measures a new receiver position using the corrected satellite signals.
(3) the processing unit further includes a monitor station position storage unit that stores the position of a monitor station corresponding to one of the plurality of correction systems as a monitor station position;
The receiver according to (2), wherein the correction data selection section selects the correction data corresponding to the monitoring station as the selection data when the position of the receiver is within a predetermined distance from the position of the monitoring station.
(4) the processing unit further includes a monitor station position storage unit that stores the position of the monitor station corresponding to each of the plurality of correction systems as a monitor station position;
The receiver according to (2), wherein the correction data selection section selects correction data corresponding to the monitor station position closest to the receiver position as the selection data.
(5) the processing unit further includes a service area storage unit that stores information indicating the service area corresponding to one of the plurality of correction systems;
The reception according to (2) above, wherein the correction data selection unit selects the correction data corresponding to the stored service area as the selection data when the position of the receiver is within the stored service area. machine.
(6) The receiver according to any one of (1) to (5), wherein the processing unit preferentially selects data with high correction accuracy from among the correction data.
(7) The processing unit selects one of the correction data as selection data for each of the positioning satellites, and corrects the satellite signal corresponding to the positioning satellite using the selection data (1) to (6). A receiver according to any one of
(8) The receiver according to (7), wherein the processing unit preferentially selects data whose update time is close to the current time among the correction data for each of the positioning satellites.
(9) The receiver according to (7) or (8), wherein the processing unit preferentially selects data with a small deterioration index from the correction data for each of the positioning satellites.
(10) The receiver according to any one of (7) to (9), wherein the processing unit preferentially selects data whose correction amount is within a predetermined effective range from the correction data for each of the positioning satellites. .
(11) The processing unit
a satellite tracking unit that tracks a satellite corresponding to each of the correction data;
a correction unit that selects one of the correction data as selection data and corrects the satellite signal using the selection data;
any one of (1) to (10) above, wherein the satellite tracking unit tracks a satellite corresponding to the selection data among the satellites corresponding to each of the correction data, and does not track a satellite not corresponding to the selection data; receiver described in .
(12) The receiver according to any one of (1) to (11), wherein the plurality of correction systems include a QZSS (Quasi-Zenith Satellite System).
(13) The receiver according to any one of (1) to (12), wherein the plurality of correction systems include an SBAS (Satellite-Based Augmentation System).
(14) a reception procedure for receiving satellite signals transmitted from each of a predetermined number of positioning satellites and a plurality of correction data in different service areas in which services for correcting the satellite signals are provided;
and a processing procedure for correcting the satellite signal using one of the plurality of correction data.

REFERENCE SIGNS LIST 100 satellite 200 receiver 201 antenna 210 crystal oscillator 220 high-frequency signal processor 221 low-noise amplifier 222 mixer 223 low-pass filter 224 phase synchronization circuit 225 AGC circuit 226 ADC
300 digital signal processing section 310 digital front end 320 satellite signal processing section 330 satellite processing unit 331 satellite acquisition section 332 satellite tracking section 333 pseudo range calculation section 334 navigation data decoder 335, 336 correction data decoder 340 positioning calculation section 341 monitoring station Position storage unit 342 Satellite position calculation unit 343 Correction data selection unit 344 Pseudo-range correction unit 345 Receiver position calculation unit 346 Service area storage unit 350, 351 Satellite allocation unit 360 Receiver time clock unit 9001 IoT device

Claims (7)

a receiving unit that receives satellite signals transmitted from each of a predetermined number of positioning satellites and correction data of each of a plurality of correction systems having different service areas in which services for correcting the satellite signals are provided;
a processing unit that performs processing for correcting the satellite signal using any of the correction data ,
The processing unit is
a receiver position measuring unit that measures the position of the receiver as a receiver position using the satellite signals;
a correction data selection unit that selects one of the correction data as selection data based on the position of the receiver;
a correction unit that corrects the satellite signal based on the selection data and supplies the satellite signal to the receiver position measurement unit;
with
the receiver positioning unit measures a new receiver position using the corrected satellite signals;
The processing unit further includes a monitor station position storage unit that stores the position of the monitor station corresponding to at least one of the plurality of correction systems as a monitor station position,
The correction data selection unit selects one of the correction data as the selection data based on the monitor station position and the receiver position,
each of the plurality of correction systems includes the monitoring station, a satellite and a control station;
The correction data is distributed by the control station via the satellite.
Receiving machine. the monitor station position storage unit stores a position of a monitor station corresponding to one of the plurality of correction systems as the monitor station position;
2. The receiver according to claim 1, wherein said correction data selection section selects correction data corresponding to said monitor station as said selection data when said receiver position is within a predetermined distance from said monitor station position. the monitor station position storage unit stores positions of monitor stations corresponding to the plurality of correction systems as the monitor station positions;
2. The receiver according to claim 1, wherein said correction data selection section selects, as said selection data, correction data corresponding to said monitor station position closest to said receiver position. The processing unit is
a satellite tracking unit that tracks a satellite corresponding to each of the correction data;
a correction unit that selects one of the correction data as selection data and corrects the satellite signal using the selection data;
2. The receiver according to claim 1, wherein said satellite tracking unit tracks a satellite corresponding to said selection data among said satellites corresponding to each of said correction data, and does not track a satellite not corresponding to said selection data. 2. The receiver of claim 1, wherein the plurality of correction systems includes QZSS (Quasi-Zenith Satellite System). 2. The receiver of claim 1, wherein the plurality of correction systems includes an SBAS (Satellite-Based Augmentation System). a receiving procedure for receiving satellite signals transmitted from each of a predetermined number of positioning satellites and respective correction data of correction systems having different service areas in which services for correcting the satellite signals are provided;
a processing procedure in which the processing unit performs processing for correcting the satellite signal using any of the correction data ,
The processing procedure is
a receiver positioning procedure for determining the position of the receiver as a receiver position using the satellite signals;
a correction data selection procedure for selecting one of the correction data as selected data based on the receiver position;
a correction procedure for correcting the satellite signal based on the selected data and supplying the signal to the receiver position measuring unit;
with
determining a new receiver position using the corrected satellite signals in the receiver positioning procedure;
The processing unit includes a monitor station position storage unit that stores a position of a monitor station corresponding to at least one of the plurality of correction systems as a monitor station position,
selecting one of the correction data as the selection data based on the position of the monitoring station and the position of the receiver in the correction data selection procedure;
each of the plurality of correction systems includes the monitoring station, a satellite and a control station;
The correction data is distributed by the control station via the satellite.
Receiver control method.

Images