JP7616938B2 - Location Search Method - Google Patents

Description

The present invention relates to a location search method that uses RTK positioning, which performs relative positioning between two points, to register a desired location in advance, and then searches for and identifies the registered location.

Car navigation systems and the like have been known to receive signals from the Global Navigation Satellite System (GNSS) to determine positioning. The positioning error in GNSS is on the order of a few meters, which is an error level that is practical for use in car navigation systems and the like.

On the other hand, surveying and other such tasks require highly accurate positioning, with a positioning error of a few centimeters. For this reason, positioning technologies such as DGPS (Differential GPS) and RTK (Real Time Kinematic) are used.

Positioning using quasi-zenith satellites has also begun, and as the number of receivable satellites increases, positioning accuracy is improving in mountainous and urban areas. By using the RTK service using the L6 band provided by the quasi-zenith satellite Michibiki, even more accurate positioning can be achieved.

In recent years, applications and services that require centimeter-level high-precision location information have expanded beyond surveying to include determining the location of public infrastructure such as water, gas, and electricity meters, and the locations of underground water pipes, gas pipes, and utility conduits, as well as autonomous driving of unmanned vehicles.

Patent Document 1 discloses a navigation device for patrol monitoring used when performing patrol monitoring of underground buried objects such as water pipes and gas pipes. According to Patent Document 1, the navigation device for patrol monitoring includes a current position detection means for detecting a current position, a map data acquisition means for acquiring map data, a display means for displaying the map data as a map screen, a portable storage medium that stores information about underground buried objects, and a control means for superimposing and displaying information about underground buried objects read from the portable storage medium on the map screen displayed on the display means.

While normal navigation devices only display roads and facilities that are visible above ground, the navigation device of Patent Document 1 can also display information about underground buried objects that are not visible above ground, making it possible to check underground buried objects on the map screen even at night or when there is snowfall.

Patent document 2 also discloses a communication system that transmits information on the location, time, and current status of a construction object all at once, with the aim of correcting discrepancies between the location of the object being searched for and the database.

JP 2004-279172 A Patent No. 4113523

In recent years, there has been an increasing need to grasp the location information of public infrastructure equipment. For example, when reading water and gas meters or inspecting equipment, the equipment is often buried underground and is small, so it takes time to find its location when reading meters or inspecting equipment. Furthermore, it becomes even more difficult to find the equipment if there is soil or weeds on top of it. Even above-ground equipment can be buried under snow in areas with heavy snowfall, making it difficult to identify the location of the equipment.

In addition, when checking the location of underground buried equipment, if there is a large error in locating the equipment, the area that needs to be excavated will become larger, wasting a lot of time and effort. In addition, if the positioning error is large, there is a risk that construction equipment may come into contact with other equipment during excavation.

For example, the patrol surveillance navigation device disclosed in Patent Document 1 allows a vehicle to approach the vicinity of underground buried objects using a car navigation system, but depending on the accuracy of the navigation system, it may take a long time to identify the underground buried objects.

In other words, although there is a need to utilize GNSS and RTK services that allow for outdoor positioning, using GNSS alone reduces positioning accuracy.

In addition, the L6 band equipment that enables Michibiki's highly accurate positioning is expensive and large, so L6 band equipment may not be suitable for fields that require small, portable devices.

In addition, RTK services in mobile communication services are expected to provide highly accurate positioning, but because they require an Internet connection, they cannot be used outside the service areas of mobile networks, such as in mountainous areas or tunnels.

In addition, if you use a location measuring device overseas, you will not be able to use the above services as they are not provided.

For this reason, applications and services that require location information on public infrastructure require rapid movement to the equipment location and quick identification of the equipment location. Furthermore, high positioning accuracy is required to identify the equipment location.

The present invention aims to provide a location search method that can easily select the registration process for a desired location by following a predetermined flow depending on whether the user is inside or outside a mobile network area that can receive correction data from electronic reference points used for RTK positioning, and depending on the reception conditions of GNSS signals, and can easily perform a search according to the registration process for the registered location, and can also locate the desired location with high accuracy.

In order to achieve the above object, the position search method of the present invention is a position search method using RTK positioning that performs relative positioning between two points, in which a desired point is registered in advance and the registered point is searched for and identified, and the method comprises a registration process of the desired point and a search process of the registered point, and in the registration process, as a first registration method, when the desired point is located in an area where correction information using absolute position information of the electronic reference point from electronic reference points arranged around the desired point can be received and GNSS signals can be received stably, the position information of the desired point is obtained by RTK positioning between a mobile station installed at the desired point and the electronic reference point. and as a second registration method, when the desired point is located in an area where the correction information can be received and the GNSS signal cannot be stably received, a mobile station installed in the vicinity of the desired point and in an area where the GNSS signal can be stably received is set as a second registration method reference point, the second registration method reference point is positioned by RTK positioning between the second registration method reference point and the electronic reference point, and the relative position from the second registration method reference point to the desired point is actually measured to calculate and register the position information of the desired point. As a third registration method, when the desired point is located in an area where the correction information cannot be received and the GNSS signal cannot be stably received, a mobile station installed in the vicinity of the desired point and in an area where the GNSS signal can be stably received is set as a second registration method reference point, the second registration method reference point is positioned by RTK positioning between the second registration method reference point and the electronic reference point, and the relative position from the second registration method reference point to the desired point is actually measured, and the position information of the desired point is calculated and registered. When the desired point is located in an area where GNSS signals can be stably received and a landmark that exists even during a search for the desired point is set as a third registration method reference point, a reference station is installed at the third registration method reference point, a mobile station is installed at the desired point, and a relative position between the reference station and the mobile station is measured by RTK positioning between the reference station and the mobile station, and relative position information of the mobile station from the landmark is registered. In the search step, the search for the desired point related to the first registration method is performed by RTK positioning between the mobile station and an electronic reference point, and the mobile station is registered as position information of the desired point. The desired point is searched for by moving the mobile station to a location where the mobile station has been placed, and the search for the desired point related to the second registration method is performed by RTK positioning between the mobile station and an electronic reference point, the mobile station is moved to the second registration method reference point, and the relative position from the second registration method reference point to the desired point is actually measured to search for the desired point, and the search for the desired point related to the third registration method is performed by installing a reference station at the landmark, and using a mobile station, the desired point is searched for using the relative position information between the reference station and the mobile station by RTK positioning between the reference station and the mobile station.

The position search method according to the present invention is characterized in that, in searching for the desired location according to the first registration method, the mobile station is provided with a display unit capable of displaying the current location of the mobile station on a map, and the display unit is also capable of displaying the registered desired location on the map, and the user of the position search method is able to search for the desired location by moving the mobile station so that the display of the current location of the mobile station matches the display of the desired location on the map.

The position search method according to the present invention is characterized in that, in searching for the desired point related to the second registration method, the mobile station is provided with a display unit capable of displaying the current location of the mobile station on a map, and the display unit is also capable of displaying the second registration method reference point and the registered desired point on the map, and the user of the position search method identifies the second registration method reference point by moving the mobile station so that the display of the current location of the mobile station on the map matches the display of the second registration method reference point, and is able to search for the desired point using the relative position from the second registration method reference point to the desired point.

The position search method according to the present invention is characterized in that, in searching for the desired point according to the third registration method, the mobile station is provided with a display unit capable of displaying the position of the landmark and the registered desired point on a map, and the display unit is capable of displaying the current location of the mobile station on the map using the relative position information between the reference station and the mobile station by displaying the reference station in alignment with the landmark displayed on the map, and the user of the position search method is capable of searching for the desired point by moving the mobile station so that the display of the current location of the mobile station on the map matches the display of the registered desired point.

In addition, in the location search method according to the present invention, a buried object and/or a submerged object is present at the desired location, and the location search method is characterized in that it is used to register and search for the location of the buried object and/or the submerged object.

According to the present invention, a desired location is registered in advance, and when searching for and identifying this registered location, the desired location is first registered. In this case, the registration method can be easily selected according to a predetermined flow depending on the reception environment for correction data from the electronic reference point used for RTK positioning and the reception status of GNSS signals, so that it is easy to grasp the positions of more public infrastructure facilities, etc.

In addition, since the type of search method in the search process is determined according to the type of registration method in the registration process, it is possible to easily select not only the registration method but also the search method according to a predetermined flow, making it easy to grasp the locations of more public infrastructure facilities, etc.

In this case, RTK positioning can perform highly accurate relative positioning between two points, and by combining this RTK positioning with absolute position information from electronic reference points and stationary landmarks such as traffic lights and signs, it becomes possible to easily register desired locations in advance with high accuracy, and then easily search for and identify these registered locations.

In this case, if the desired location is located in an area where correction information can be received from the surrounding electronic reference points used for RTK positioning, and GNSS signals can be stably received, the location information of the desired location can be calculated and registered using RTK positioning between a mobile station installed at the desired location and the electronic reference point, and the desired location can be easily searched for by moving the mobile station to the location registered as the location information of the desired location using RTK positioning between the mobile station and the electronic reference point. This makes it possible to easily and accurately register and search for the desired location by using the correction data of the electronic reference points from the mobile network and the GNSS signals.

Furthermore, if the desired point is located in an area where correction information from the electronic reference point used for RTK positioning can be received, but GNSS signals cannot be received stably, a mobile station installed in an area around the desired point where GNSS signals can be received stably can be used as the second registration method reference point, the second registration method reference point can be positioned using RTK positioning, the relative position from the second registration method reference point to the desired point can be measured to register the position information of the desired point, and the desired point can be searched for using the relative position from the second registration method reference point. This makes it possible to easily register and search for the desired point even if GNSS signals cannot be received stably from the desired point.

In addition, if the desired location is located in an area where correction information from an electronic reference point cannot be received, but GNSS signals can be stably received, a landmark such as a traffic light that remains unchanged at the same location even during a search can be used as a third registration method reference point instead of absolute position information, a reference station can be installed at the third registration method reference point, a mobile station can be installed at the desired location, and the relative position of the reference station installed at the landmark and the mobile station can be used by RTK positioning to easily register the location information of the desired location, and in the search, a reference station can be installed at the landmark, and a mobile station can be used to easily search for the desired location using the relative position of the reference station and the mobile station by RTK positioning between the reference station and the mobile station.

As a result, even if the desired location is located in an area where correction information cannot be received from electronic reference points in a mobile network area, such as mountainous regions, the location of the target facility can be determined with high accuracy based on the relative positions of the reference station and the mobile station using RTK positioning between the reference station set up as a landmark and the mobile station, making it possible to easily search for the desired location in a short amount of time. Because of this, there is no need for wide-area search work as occurs when positioning errors are large, making it possible to reduce unnecessary work, equipment, and personnel.

In addition, according to the location search method of the present invention, by registering the location of buried objects or submerged objects at a desired location, it becomes possible to easily search for the location of buried objects or submerged objects that are buried in snow or covered in grass.

1 is a block diagram showing a configuration of a location information registration and search system that uses a first registration method for registering a desired location in a location search method and RTK positioning for performing a search for the registered location. 4 is a flowchart showing a first registration method in a registration process by the location information registration and search system shown in FIG. 1 . FIG. 13 is a diagram showing an example of a display of a facility point displayed on a map in a registration process according to the first registration method. 4 is a flowchart of a search process for searching for a registration point corresponding to a first registration method by the position information registration and search system shown in FIG. 1 . FIG. 13 is a diagram showing an example of a display of a facility point displayed on a map in a search process corresponding to the first registration method. A block diagram showing the configuration of a location information registration and search system that uses RTK positioning to implement a second registration method for registering a desired location in a location search method and to search for the registered location. 7 is a flowchart showing a second registration method in the registration process by the location information registration and search system shown in FIG. 6 . FIG. 13 is a diagram showing an example of a display of a facility point on a map in a registration process according to the second registration method. 7 is a flowchart of a search process for searching for a registration point corresponding to a second registration method by the position information registration and search system shown in FIG. 6 . FIG. 13 is a diagram showing an example of a display of a facility point displayed on a map in a search process corresponding to the second registration method. A block diagram showing the configuration of a location information registration and search system that uses RTK positioning to implement a third registration method for registering a desired location in a location search method and to search for the registered location. 12 is a flowchart showing a third registration method in the registration process by the location information registration and search system shown in FIG. 11 . FIG. 13 is a diagram showing an example of a display of a facility point on a map in a registration process according to the third registration method. 12 is a flowchart of a search process for searching for a registration point corresponding to the third registration method by the position information registration and search system shown in FIG. 11 . FIG. 13 is a diagram showing an example of a display of a facility point displayed on a map in a search process corresponding to the third registration method.

The following describes an embodiment of the position search method according to the present invention with reference to the drawings. The present invention is a position search method that easily selects a registration method according to the reception status of the GNSS signal in RTK positioning and the reception status of correction data from the electronic reference point used in RTK positioning, moves the mobile station to register position information related to the desired point, and easily searches for the desired point by RTK positioning in accordance with the selected registration method. In this case, RTK positioning can perform relative positioning between two points with high accuracy, and by combining this RTK positioning with absolute position information of the electronic reference point and immovable landmarks such as signals and signs, it becomes possible to easily register the desired point in advance with high accuracy, and easily search for and identify the registered point.

The position search method of the present invention comprises a registration process for registering a desired location of a buried object, etc., using RTK positioning, which performs relative positioning between two points, and a search process for searching for the registered location of a buried object, etc. Note that a buried object is defined as something that has been buried artificially, and a buried object is defined as something that has become buried as a result of being buried by snow, soil, etc.

The registration process in the position search method according to the present invention can use the first, second and third registration methods depending on the reception state of correction data from the electronic reference point used for RTK positioning and the reception state of the GNSS signal in RTK positioning, and the search process searches for a registration point corresponding to each of the first, second and third registration methods.

[First registration method and its location search method]
First, a location information registration and search system using a first registration method of a desired location and a location search method for performing a search for the registered location will be described with reference to FIGS.

Figure 1 is a block diagram showing a first registration method for registering a desired location in a location search method, and the configuration of a location information registration search system that uses RTK positioning to search for the registered location. Figure 2 is a flowchart showing the first registration method in the registration process by the location information registration search system shown in Figure 1, and Figure 3 is a diagram showing an example of the display of an equipment location displayed on a map in the registration process by the first registration method. Figure 4 is a flowchart for searching for a registration location corresponding to the first registration method by the location information registration search system shown in Figure 1, and Figure 5 is a diagram showing an example of the display of an equipment location displayed on a map in the search process corresponding to the first registration method.

As shown in FIG. 1, the location information registration and search system 1 registers and searches for the location of a desired location, that is, a facility 64, and includes a GNSS 3, an electronic reference station 5, a mobile station 10, and a display terminal 20.

The GNSS3 in the location information registration and search system 1 is a satellite positioning system such as QZSS (quasi-zenith satellite system) or GPS, and radio signals for positioning are transmitted from satellites. Quasi-zenith satellites such as "Michibiki" can be used as satellites in the GNSS3.

The electronic reference station 5 in the location information registration search system 1 is fixedly installed on the ground, receives radio signals for positioning from GNSS3 satellites, calculates the difference between the location information determined by the received radio signals and the predefined absolute location information of the electronic reference station 5 as correction data, and transmits the absolute location information of the electronic reference station 5 and the calculated correction data to the mobile station 10 via the mobile network 4.

The electronic reference station 5 in the location information registration search system 1 is fixedly installed on the ground, receives radio signals for positioning from GNSS3 satellites, calculates the difference between the location information determined by the received radio signals and the predefined absolute location information of the electronic reference station 5 as an error in the electronic reference station 5, and can transmit this together with the absolute location information of the electronic reference station 5. In the vicinity (surrounding area) of the electronic reference station 5, the positioning error appears similar to that of the electronic reference station 5, so the positioning error of the mobile station 10 located around the electronic reference station 5 can be corrected using the error in the electronic reference station 5.

In this case, the absolute position information of the electronic reference station 5 and the calculated error at the electronic reference station 5 are defined as correction data, and the electronic reference station 5 transmits the correction data to the mobile station 10 via the mobile network 4 (mobile phone network) of a telecommunications carrier or the like.

In addition, in the present invention, when one of the points in the relative positioning between two points of RTK positioning is the electronic reference station 5, in addition to the position information measured using radio signals received from GNSS3 satellites, the absolute position information of the electronic reference station 5 is required to correct the positioning error against the absolute position information that serves as the reference at the electronic reference station 5. Since this absolute position information of the electronic reference station 5 is different from RTK positioning when the electronic reference station 5 is not used, in this case, "correction information using the absolute position information of the electronic reference point" and "correction information" are defined as information for correcting the positioning error using the absolute position information of the electronic reference station 5, and are not limited to the absolute position information of the electronic reference station 5 itself, but also include the case of the positioning error at the electronic reference station 5 calculated using the absolute position information of the electronic reference station 5. Therefore, in the present invention, the correction information is a concept included in the correction data.

The electronic reference station 5 constitutes the electronic reference point 6 of the present invention, functions as the electronic reference point 6, and includes the electronic reference point 6. In the following explanation, the electronic reference station 5 will be used. The electronic reference station 5 is installed by the Geospatial Information Authority of Japan or a telecommunications carrier, and provides correction data (correction information) to the mobile station 10 via a mobile network 4 such as LTE (Long Term Evolution) of the telecommunications carrier, etc.

The mobile station 10 in the location information registration search system 1 is equipped with a receiving antenna 14 that receives radio signals for positioning from GNSS 3 satellites, a GNSS receiver 11 that calculates location data from the signals received by the receiving antenna 14, an antenna 15 that receives radio signals from an electronic reference station 5 installed on the ground via a mobile network 4 of a telecommunications carrier or the like, a communication device 13 that receives correction data from the electronic reference station 5 received by the antenna 15, and an RTK calculation unit 12 that calculates the location data from the GNSS receiver 11 and the correction data from the communication device 13 and outputs corrected location data.

The corrected position data output from the RTK calculation unit 12 of the mobile station 10 is corrected position information of the mobile station 10 obtained by RTK positioning between the mobile station 10 and the electronic reference station 5.

As shown in FIG. 1, the display terminal 20 in the location information registration search system 1 is connected to the mobile station 10, either wired or wirelessly, and moves with the mobile station 10, and has a control processing unit 22 that performs processing using corrected location data from the RTK calculation unit 12 of the mobile station 10, a map data unit 21 for acquiring map data corresponding to the corrected location data, a display unit 23 that displays the map data, etc., and an operation unit 25 where a user or the like performs input operations. The control processing unit 22 has a built-in CPU and executes programs stored in the memory unit 29 to perform various processes.

The control processing unit 22 has a location registration processing unit 26 that performs registration processing from the first registration method to the third registration method, a search and guidance processing unit 27 that performs guidance and search processing to the facility location 65 (see Figure 5) corresponding to the first registration method to the third registration method, and a condition setting processing unit 28 that performs setting processing of various conditions for guidance, display, etc.

The control processing unit 22 also controls the map data unit 21, the display unit 23, and the operation unit 25. The control processing unit 22 outputs map data from the map data unit 21 to the display unit 23, and controls it so that the registered point of the equipment 64, the current position of the mobile station 10, etc. are displayed on the map. The display unit 23 displays the map on a display screen such as an LCD, and displays the registered point, the current position of the mobile station 10, etc. on the map.

The memory unit 29 stores programs for processing by the control processing unit 22, the registration processes for the first to third registration methods, various data in the search process, condition setting data, etc.

In addition, instead of acquiring map data from the pre-stored map data unit 21, the display terminal 20 may connect to a GIS (Geographic Information System) server to acquire map data corresponding to the corrected position data.

The display terminal 20 is preferably a tablet terminal in which the display unit 23 and the operation unit 25 are integrated. Note that the display terminal 20 is not limited to a tablet terminal and may be something else. Hereinafter, the display terminal will be referred to as the tablet terminal 20.

The tablet terminal 20 may also be configured integrally with the mobile station 10 and provided within the mobile station 10. By configuring the tablet terminal 20 integrally with the mobile station 10, the mobile station has a display unit, making it easier to handle.

Next, a first registration method in the registration process by the location information registration and search system 1 shown in FIG. 1 will be described with reference to the flowchart shown in FIG. 2 and the map displayed on the display unit 23 shown in FIG. 3. In the following description, the equipment 64 to be registered is a meter buried underground. The first registration method is implemented when the desired location is located within an area where correction data can be received from the surrounding electronic reference stations 5 used for RTK positioning, and GNSS signals can be received stably.

As shown in FIG. 2, first, a check is made to see if the mobile station 10 owned by the user is located in an area of the mobile network 4 where it can receive correction data from the electronic reference station 5 used for RTK positioning (S1 shown in FIG. 2). If the mobile station 10 is located in an area where it cannot receive correction data from the electronic reference station 5 used for RTK positioning (No in S1), the process moves to the third registration method shown in FIG. 12, which will be described later.

If the mobile station 10 is located in an area where it can receive correction data from the electronic reference station 5 (Yes in S1), the mobile station 10 is installed on the equipment to be registered (underground meter) 64, positioning is started, and data on the latitude and longitude where the mobile station 10 is located is obtained (S2). In this case, it is confirmed whether the mobile station 10 can stably receive GNSS signals (S3).

If the mobile station 10 cannot stably receive the GNSS signal (No in S3), the process proceeds to the second registration method shown in FIG. 7, which will be described later. If the mobile station 10 can stably receive the GNSS signal (Yes in S3), the process proceeds to the first registration method in S4 and onward.

RTK positioning is performed between the mobile station 10 installed on the meter, which is the desired location, and the electronic reference station 5 (S4). That is, the mobile station 10 receives position data from the GNSS 3 and correction data from the electronic reference station 5 of the mobile network 4, acquires corrected position data, and transfers it to the tablet terminal 20. As a result, the position of the mobile station 10 is fixed at the location of the meter, and the mobile station 10 determines the acquired corrected position data as the installation location 65 of the meter (S5).

The location registration processing unit 26 stores the corrected location data of the meter's positioning result in the memory unit 29, and registers the installation location 65 on the map (S6). The memory unit 29 also stores necessary information such as location information on the meter's installation location 65, the date and time of positioning, and the number of the selected registration method. As a result, as shown in FIG. 3, the display unit 23 of the tablet terminal 20 displays the registered installation location 65 of the meter on the map with a mark consisting of a symbol or figure.

As a result, the meter's location information is calculated and registered using RTK positioning between the mobile station 10 installed at the meter at the desired location and the electronic reference station 5, completing the registration process of the first registration method.

Next, the search process for searching for a registration point corresponding to the first registration method by the location information registration search system shown in FIG. 1 will be described with reference to the flowchart shown in FIG. 4 and the map shown in FIG. 5.

The search process by the location information registration search system is carried out by the search and guidance processing unit 27 of the mobile station 10 and the tablet terminal 20, and is a process in which the mobile station 10 is moved to a location registered as the location information of the equipment by RTK positioning between the mobile station 10 and the electronic reference station 5 to perform a search. The flowchart shown in Figure 4 shows an example of a search process for searching for the registration location of a meter buried underground as a desired location by the first registration method.

First, the facility and location to be searched for are specified from the menu displayed on the display unit 23 of the tablet terminal 20. The tablet terminal 20 reads out information on the specified facility and location to be searched for from the memory unit 29 (S30). In this case, it is confirmed by which registration method the facility location 65 was registered, based on the facility and location information read out from the memory unit 29 (S31).

It is determined whether the registration method of the equipment location 65 is the first registration method (S32), and if it is not the first registration method (No in S32), it is determined whether it is the second registration method (S33). If it is the second registration method, the process moves to the search flowchart corresponding to the second registration method shown in FIG. 9, and if it is the third registration method (No in S33), the process moves to the search flowchart corresponding to the third registration method shown in FIG. 14.

In the case of the first registration method (Yes in S32), the latitude and longitude of the registration point of the equipment 64 to be registered stored in the memory unit 29 are read out in order to perform a search corresponding to the first registration method (S34). The mobile station 10 held by the user is connected to the tablet terminal 20, a map of the area around the meter, which is the equipment 64, is displayed on the tablet terminal 20, and positioning is started (S35).

The mobile station 10 also calculates corrected position data from the position data obtained from GNSS 3 and the correction data from the electronic reference station 5. That is, the latitude and longitude data of the current position of the mobile station 10 is calculated by RTK positioning between the mobile station 10 and the electronic reference station 5 (S36). As shown in FIG. 5, the tablet terminal 20 displays the current position 70 of the mobile station 10 as a mark on the map in addition to the mark of the equipment point 65 on the meter. The distance and direction between the two points are calculated from the registered latitude and longitude of the equipment 64 to be registered and the latitude and longitude of the current position (S37).

The tablet terminal 20 checks whether the distance between the two points is 10 cm or less (S38). If the distance between the two points exceeds 10 cm (No in S38), it checks whether the distance between the two points is 10 m or less (S39). If the distance between the two points is 10 m or less (Yes in S39), it displays a warning message on the display unit 23 saying "A search object is located within 10 m of the receiver's position," along with the distance and direction to the search object (facility) (S40). The mobile station 10 is then moved according to the display (S41), and the process proceeds to S36.

If the distance between the two points exceeds 10 m (No in S39), the tablet device 20 displays the distance and direction to the search object on the display unit 23 (S42). Then, the process proceeds to S41. If the distance between the two points is 10 cm or less (Yes in S38), the display unit 23 displays "You have arrived at the location of the search object. Guidance will end" (S43).

In this way, the search and guidance processing unit 27 on the tablet terminal 20 calculates the difference between the positioning value (current position) of the mobile station 10 and the registered value (latitude and longitude) of the installation site 65, displays the current position and a message on the map, and moves the mobile station 10 so that the positioning value of the mobile station 10 matches the registered value, guiding the mobile station 10 so that the current position 70 of the mobile station 10 matches the installation site 65 on the map, and the mobile station 10 can arrive at the desired installation site 65.

The judgment values for determining the distance between the registered latitude and longitude of the equipment 64 to be registered and the latitude and longitude of the current location of the mobile station 10 are 10 cm and 10 m, but this is data that is set in advance by the condition setting processing unit 28 of the tablet terminal 20, and the data is not limited to this, and the data can be set according to the installation conditions of the equipment, etc.

In addition, in FIG. 4, the tablet terminal 20 first checks in S38 whether the distance between both points is 10 cm or less, and if the distance between both points exceeds 10 cm (No in S38), it checks whether the distance between both points is 10 m or less (S39). However, a flowchart in which the distance between both points is first checked to see if it is 10 m or less, and then, if the distance between both points is within 10 m, it checks whether the distance between both points is 10 cm or less, is also envisioned, and it is natural that the flowchart is not limited to the order shown in FIG. 4.

[Second registration method and its location search method]
Next, a second registration method of a desired location and a location information registration search system for searching for the registered location will be described with reference to Figures 6 to 10. The second registration method is a registration method that is implemented when the desired location is located within an area where correction data can be received from the surrounding electronic reference stations 5 used for RTK positioning, and when GNSS signals cannot be received stably.

Figure 6 is a block diagram showing a second registration method for registering a desired location in the location search method, and the configuration of a location information registration search system that uses RTK positioning to search for the registered location. Figure 7 is a flowchart showing the second registration method in the registration process by the location information registration search system shown in Figure 6, and Figure 8 is a diagram showing an example of the display of an equipment location displayed on a map in the registration process by the second registration method. Figure 9 is a flowchart of the search process for searching for a registration location corresponding to the second registration method by the location information registration search system shown in Figure 6, and Figure 10 is a diagram showing an example of the display of an equipment location displayed on a map in the search process corresponding to the second registration method.

In the location information registration search system 30 for implementing the second registration method and searching for its registration points, parts similar to those in the location information registration search system 1 for implementing the first registration method and searching for its registration points are given the same reference numerals and their description is omitted.

As shown in FIG. 6, the location information registration and search system 30 includes a GNSS 3, an electronic reference station 5, a mobile station 10, a tablet terminal 20, and a distance and direction measuring device 67. The electronic reference station 5 functions as the electronic reference point 6 of the present invention.

The distance and direction measuring device 67 shown in FIG. 6 is a measuring device that actually measures the relative position from the second registration method reference point 61 (shown in FIG. 8) to the desired location, the equipment location 65 (shown in FIG. 8). The distance and direction measuring device 67 may be a compass, a tape measure, a laser length measuring device, or the like, as long as it can measure direction and distance. The second registration method reference point 61 is a reference point that indicates the position of the mobile station 10 after the mobile station 10 has been moved to an area where the mobile station 10 can stably receive GNSS signals in the second registration method.

In the second registration method, a case where GNSS signals cannot be stably received at the equipment location to be registered means, for example, a state in which radio waves from the satellite are reflected and blocked by a building, and the mobile station cannot stably receive GNSS signals. On the other hand, reception of correction data from the reference electronic station 5 is less affected by buildings. As a result, in order for the mobile station to stably receive GNSS signals, it is required to move from the equipment location to be registered to a location where the satellite can be seen, without being affected by buildings. Usually, a movement of a few meters is sufficient.

Next, the second registration method in the registration process by the location information registration and search system 30 shown in FIG. 6 will be described with reference to the flowcharts shown in FIG. 2 and FIG. 7 and the map displayed on the display unit 23 shown in FIG. 8. In the following description, the equipment 64 to be registered is a meter buried underground.

As shown in FIG. 2, the mobile station 10 checks whether it can stably receive GNSS signals, and if the mobile station 10 cannot stably receive GNSS signals (No in S3 shown in FIG. 2), it transitions to the second registration method shown in FIG. 7.

As shown in FIG. 7, the mobile station 10 is installed in an area around the location of the equipment 64 to be registered and where GNSS signals can be received stably (S10). The mobile station 10 is fixed using a tripod or the like, and the fixed position is set as the second registration method reference point 61 (S11).

Next, the mobile station 10 located at the second registration method reference point 61 locates the second registration method reference point 61 by RTK positioning with the electronic reference station 5, obtains corrected position data using the position data from the GNSS signal and the correction data from the electronic reference station 5 of the mobile network 4, transfers it to the tablet terminal 20 as the position data of the second registration method reference point 61, and stores it in the memory unit 29 (S12).

Next, the relative position from the point set as the second registration method reference point 61 to the equipment 64 to be registered is measured by the distance and direction measuring device 67, and the measured relative position value is input from the operation unit 25 to the position registration processing unit 26 (S13).

Next, as shown in FIG. 8, an equipment location 65 is registered on a map based on the position data of the second registration method reference point 61 measured by the mobile station 10, and the direction and distance data from the second registration method reference point 61 to the equipment 64 to be registered (S14). The memory unit 29 also stores necessary information such as the location information of the meter's equipment location, the date and time of positioning, and the number of the selected registration method. As a result, as shown in FIG. 8, the tablet terminal 20 displays with marks on the map on the display unit 23 the second registration method reference point 61 where GNSS signals can be stably received and the registered equipment location 65 of the meter.

As a result, the position of the second registration method reference point 61, which is the position of the mobile station 10, is determined using RTK positioning between the second registration method reference point 61 and the electronic reference station 5, the relative position from the second registration method reference point 61 to the meter location is actually measured, the meter position information is calculated and registered, and the registration process of the second registration method is completed.

Next, the search process for searching for a registration point corresponding to the second registration method by the location information registration search system 30 shown in FIG. 6 will be described with reference to the flowchart shown in FIG. 9. The flowchart shown in FIG. 9 shows the search process for searching for the location of meters buried underground.

As shown in FIG. 4, first, the facility and location to be searched are specified from a menu displayed on the display unit 23 of the tablet terminal 20 (S30). This causes the tablet terminal 20 to read information on the specified facility and location to be searched from the memory unit 29. In this case, it is confirmed by which method the facility location was registered based on the facility and location information read from the memory unit 29 (S31).

It is determined whether the registration method for the equipment location is the first registration method (S32), and if it is not the first registration method (No in S32), it is determined whether it is the second registration method (S33), and if it is the second registration method, the second registration method is selected (Yes in S33), and the process proceeds to the search flowchart corresponding to the second registration method shown in Figure 9.

As shown in FIG. 9, the latitude and longitude of the position of the second registration method reference point 61 in the second registration method stored in the memory unit 29 is read (S50), and the mobile station 10 is connected to the tablet terminal 20 to start RTK positioning (S51).

The mobile station 10 also calculates corrected position data from the position data obtained from GNSS 3 and the correction data from the electronic reference station 5 in order to move to the second registration method reference point 61. That is, the latitude and longitude data of the current position 70 of the mobile station 10 is calculated by RTK positioning between the mobile station 10 and the electronic reference station 5 (S52). The distance and direction between both points are calculated from the registered latitude and longitude of the second registration method reference point 61 and the latitude and longitude of the current position of the mobile station 10 (S53). It is checked whether the distance between both points is 10 cm or less (S54).

As shown in FIG. 10, the search and guidance processing unit 27 of the tablet terminal 20 displays on the map the calculated current position 70 of the mobile station 10 and the second registration method reference point 61 in addition to the mark of the meter installation point 65. If the distance between the two points exceeds 10 cm (No in S54), the tablet terminal 20 checks whether the distance between the two points is 10 m or less (S55).

If the distance between the two points is 10 m or less (Yes in S55), the display unit 23 displays a warning message saying "The second registration method reference point is within 10 m of the receiver's position" along with the distance and direction to the second registration method reference point (S56). The user then moves the mobile station 10 according to the display (S57) and proceeds to S52.

If the distance between the two points exceeds 10 m (No in S55), the tablet device 20 displays the distance and direction to the second registration method reference point 61 on the display unit 23 (S58). Then, the process proceeds to S57.

If the distance between the two points is less than 10 cm (Yes in S54), the display unit 23 will display "You have arrived at the second registration method reference point. Guidance will end." (S59).

As a result, the search and guidance processing unit 27 on the tablet terminal 20 calculates the difference between the current position 70 of the mobile station 10 and the registered values (latitude and longitude) of the second registration method reference point 61, and displays the current position 70 of the mobile station 10 and a message on the map. The mobile station 10 is moved so that the positioning value of the mobile station 10 matches the registered value of the second registration method reference point 61, and the current position 70 of the mobile station 10 matches the second registration method reference point 61 on the map, thereby arriving at the second registration method reference point 61.

Next, the tablet terminal 20 displays the relative position from the second registration method reference point 61 to the equipment location 65, and the user or the like uses the distance and direction measuring device 67 to measure the distance to the equipment location 65 based on the information on the relative position displayed on the tablet terminal 20 (S60). The equipment location 65 is determined by the actual measurement.

In this way, in the second registration method and its position search method, a mobile station is installed in an area where GNSS signals can be stably received, the installation position of the mobile station 10 is set as the second registration method reference point 61, and the second registration method reference point 61 is identified by moving the mobile station 10 so that the display of the current location of the mobile station 10 matches the display of the second registration method reference point 61, and the relative position from the second registration method reference point 61 to the meter point is actually measured to determine the equipment point 65. This makes it possible to search even if the equipment to be searched is in a location where GNSS signals cannot be stably received.

[Third registration method and its location search method]
Next, a third registration method of a desired point and a location information registration search system for searching for the registered point will be described with reference to Figures 11 to 15. The third registration method is a registration method that is implemented when the desired point is located in an area where correction information from surrounding electronic reference stations used for RTK positioning cannot be received and GNSS signals can be stably received.

Figure 11 is a block diagram showing the configuration of a location information registration search system 40 that uses a third registration method in the location search method and RTK positioning to search for the registration point. Figure 12 is a flowchart showing the third registration method in the registration process by the location information registration search system 40 shown in Figure 11, and Figure 13 is a diagram showing an example of the display of an equipment point displayed on a map in the registration process by the third registration method. Figure 14 is a flowchart of the search process for searching for a registration point corresponding to the third registration method by the location information registration search system 40 shown in Figure 11, and Figure 15 is a diagram showing an example of the display of an equipment point displayed on a map in the search process corresponding to the third registration method.

In the location information registration search system 40 for implementing the third registration method and searching for its registration points, parts similar to those in the location information registration search system 1 for implementing the first registration method and searching for its registration points are given the same reference numerals and their description is omitted.

As shown in FIG. 11, the location information registration and search system 40 for implementing the third registration method for registering a desired location and searching for the registered location includes a GNSS 3, a reference station 45, a mobile station 18, and a tablet terminal 20.

The reference station 45 in the location information registration search system 40, which implements the third registration method and searches for the registration point, performs relative RTK positioning with the mobile station 18, and has a receiving antenna 50 that receives radio signals for positioning from GNSS3 satellites, a GNSS receiver 46 that calculates position data from the signal received by the receiving antenna 50, a processing unit 47 that processes the position data from the GNSS receiver 46, and a radio 48 that outputs the position data of the reference station 45 processed by the processing unit 47 from an antenna 49. The radio 48 communicates with the mobile station 18 and outputs the position data of the reference station 45 to the mobile station 18.

The mobile station 18 in the location information registration search system 40 performs relative RTK positioning with the reference station 45, and has a radio 16 and an antenna 15 that receive position data from the reference station 45. The position data of the reference station 45 received by the radio 16 is input to the RTK calculation unit 19, which calculates the difference between the position data received by the GNSS receiver 11 and the position data from the reference station 45 to calculate the relative position from the reference station 45.

In this way, the reference station 45 and the mobile station 18 are connected by wireless communication (Bluetooth, wireless LAN, commercial/special low-power radio, etc.) via their respective radios 48 (reference station 45) and radios 16 (mobile station 18), and the mobile station 18 receives the position data calculated by the reference station 45 from the GNSS signal as reference data (data for relative positioning by RTK positioning), and the RTK calculation unit 19 calculates the difference between the position data of the mobile station 18 received by the GNSS receiver 11 and the position data (reference data) from the reference station 45 to calculate the relative position from the reference station 45. It is preferable that the distance between the reference station 45 and the mobile station 18 is within 200 meters within a short-range communication area.

The tablet terminal 20 in the location information registration search system 40 is connected to the mobile station 18, either wired or wirelessly, and moves with the mobile station 18. It has a control processing unit 22 that performs processing using data on the relative position of the mobile station 18 from the reference station 45 received from the RTK calculation unit 19 and position data of a landmark that serves as a unique reference point, a map data unit 21 for acquiring map data corresponding to the position data of the landmark, a display unit 23 that displays the map data, etc., and an operation unit 25 where a user, etc., performs input operations. The control processing unit 22 has a built-in CPU and executes programs stored in the memory unit 29 to perform various processes.

That is, the tablet terminal 20 has the same configuration in the control processing unit 22 and map data unit 21 as the tablet terminal 20 used in FIG. 1 (first registration method/search method) and FIG. 6 (second registration method/search method), and in FIG. 1 and FIG. 6, the control processing unit 22 and map data unit 21 perform processing using corrected position data from the RTK calculation unit 12 of the mobile station 10, but the tablet terminal 20 in FIG. 11 relating to the third registration method/search method is different in that it performs processing using data on the relative position of the mobile station 18 from the reference station 45 received from the RTK calculation unit 19 and position data of a landmark that serves as a unique reference point, and the other configurations are the same as the tablet terminal 20 in FIG. 1 and FIG. 6.

As shown in Figures 1 and 6, the tablet terminal 20 may be configured integrally with the mobile station 18 and provided within the mobile station 18. By configuring the tablet terminal 20 integrally with the mobile station 18, the mobile station 18 has a display unit, making it easier to handle.

The third registration method and the location information registration search system 40 using RTK positioning to search for the registration point are used when the desired point of the installed equipment, etc., is located in an area where correction information from the electronic reference station 5 cannot be received, and correction information from the electronic reference station 5 cannot be received, but GNSS signals can be received stably. Therefore, the third registration method uses fixed equipment that is installed and does not move, such as traffic lights, fire hydrants, road signs, etc., that do not move even when searching for the equipment point, as landmarks, and sets the landmarks as the third registration method reference point 62 (shown in FIG. 13), which is a unique reference point, and installs a reference station 45 that can be located by GNSS signals at the third registration method reference point 62. In particular, in snowy regions, equipment that is not buried in snow and does not move, such as traffic lights on the road, as the third registration method reference point 62.

In the third registration method, signals from the electronic reference station 5 cannot be received as in the first and second registration methods, so the mobile station 18 cannot receive correction data using the absolute position information of the electronic reference point 6 from the electronic reference station 5, and therefore cannot measure the absolute position with high accuracy. However, in the third registration method, although the mobile station 18 and the reference station 45 can only use GNSS signals, the mobile station 18 and the reference station 45 are located relatively close to each other, so the positioning errors at the mobile station 18 and the reference station 45 are approximately equal, and the relative positioning itself between the mobile station 18 and the reference station 45 is highly accurate.

In other words, when positioning is performed using only GNSS signals, positioning errors occur due to the ionosphere's diffuse reflection of radio waves, disturbances, radio wave delays, weather conditions, etc., but by taking advantage of the fact that the positioning errors at the mobile station 18 and the reference station 45 are approximately equal, it is possible to perform the relative positioning itself between the mobile station 18 and the reference station 45 with high accuracy.

In this way, in the location information registration and search system 40 which implements the third registration method and searches for its registration point, the reference station 45 is used as the parent unit, and the mobile station 18 is used as the child unit. The mobile station 18 calculates its relative position with high precision from its position with the reference station 45 by RTK positioning with the reference station 45, and uses a fixed landmark as its own reference point, the third registration method reference point 62, from which relative positioning is performed between the mobile station 18 and the reference station 45, thereby registering and searching for the equipment 64 with high precision.

Next, the third registration method in the registration process by the location information registration and search system 40 shown in FIG. 11 will be described with reference to the flowcharts shown in FIG. 2 and FIG. 12 and the map displayed on the display unit 23 shown in FIG. 13. In the following description, the equipment 64 to be registered is a meter buried underground.

As shown in FIG. 2, the mobile station 18 owned by the user checks whether it is in an area where it can receive correction data from the electronic reference station 5 of the mobile network 4 (S1). If the mobile station 18 is in an area where it cannot receive correction data from the electronic reference station 5 of the mobile network 4 (No in S1), it transitions to the third registration method shown in FIG. 12.

As shown in FIG. 12, a point where GNSS signals can be stably received is set as the third registration method reference point 62, and a reference station 45 capable of positioning using GNSS signals is prepared (S20). The third registration method reference point 62 is selected as a landmark that does not move, such as a traffic light or utility pole. The reference station 45 is installed next to the third registration method reference point 62, and GNSS signals are received to perform positioning (S21).

Next, the mobile station 18 is placed on the equipment 64 to be registered, and receives GNSS signals to perform positioning (S22). The mobile station 18 communicates with the reference station 45, and calculates the direction and distance from its relative position to the reference station 45 using the position data measured by the reference station 45 and the position data of the equipment 64 to be registered measured by the mobile station 18 (S23). The direction and distance are indicated by the distance in the north-south direction (NS direction in FIG. 13) and the east-west direction (EW direction in FIG. 13) from the reference station 45 to the mobile station 18.

In addition, the memory unit 29 stores and registers necessary information such as the positions of traffic lights and other landmarks serving as the third registration method reference point 62, position information regarding the installation location of the meter, the date and time of positioning, and the number of the selected registration method. As a result, as shown in FIG. 13, the display unit 23 of the tablet terminal 20 displays the registered installation location 65 of the meter as a mark on the map, along with the landmark registered as the third registration method reference point 62. In this way, the position information of the equipment 64 to be registered using the third registration method is registered, and the registration process is completed.

Next, the search process for searching for a registration point corresponding to the third registration method by the location information registration search system 40 shown in FIG. 11 will be described with reference to the flowcharts shown in FIG. 4 and FIG. 14. The flowchart shown in FIG. 14 shows the search process for searching for the location of meters buried underground.

As shown in FIG. 4, first, the facility and location to be searched are specified from a menu displayed on the display unit 23 of the tablet terminal 20 (S30). This causes the tablet terminal 20 to read information on the specified facility and location to be searched from the memory unit 29. In this case, it is confirmed by which method the facility location was registered based on the facility and location information read from the memory unit 29 (S31).

It is determined whether the registration method for the equipment location is the first registration method (S32), and if it is not the first registration method (No in S32), it is determined whether it is the second registration method (S33), and if it is not the second registration method, the third registration method is selected (No in S33), and the process proceeds to the search flowchart corresponding to the third registration method shown in Figure 14.

As shown in FIG. 14, relative distance information between the position of the third registration method reference point 62 in the third registration method stored in the memory unit 29 and the search object, which is the meter to be searched, is read out (S70). The relative distance information is the north-south and east-west distance from the third registration method reference point 62 to the search object. A traffic light or utility pole, etc., which serves as a landmark registered as the third registration method reference point 62, is confirmed on the tablet terminal 20 (S71). After confirming the third registration method reference point 62, a reference station 45 is installed next to the third registration method reference point 62, and the reference station 45 receives a GNSS signal after installation to perform positioning (S72). The user carries a mobile station 18, receives a GNSS signal, and performs positioning (S73).

The mobile station 18 communicates with the reference station 45 to obtain position data of the reference station 45, calculates relative position data from the position data measured by the reference station 45 and the position data measured by the mobile station 18, and outputs the calculated relative position data to the tablet terminal 20 (S74). The tablet terminal 20 calculates the distance and direction between the reference station 45 and the mobile station 18 (S75).

Next, the tablet terminal 20 checks whether the distance between the two points is 10 cm or less (S76). As shown in FIG. 15, the search and guidance processing unit 27 of the tablet terminal 20 displays on the map the mark of the registered equipment point 65 of the meter, as well as the calculated current position 70 of the mobile station 10 and the third registration method reference point 62 registered as a landmark.

If the distance between the two points exceeds 10 cm (No in S76), the tablet terminal 20 checks whether the distance between the two points is 10 m or less (S77). If the distance between the two points is 10 m or less (Yes in S77), the display unit 23 displays a warning message saying "A search object is located within 10 m of the receiver's position," along with the distance and direction to the search object (S78). The mobile station is then moved according to the display (S79), and the process proceeds to S74.

If the distance between the two points exceeds 10 m (No in S77), the tablet device 20 displays the distance and direction to the search object on the display unit 23 (S80). Then, the process proceeds to S79.

If the distance between the two points is less than 10 cm (Yes in S76), the display unit 23 displays "You have arrived at the location of the search object. Guidance will end" (S81).

In this way, the search and guidance processing unit 27 of the tablet terminal 20 calculates the difference between the positioning value of the mobile station 18 and the registered value of the equipment location, displays the current position 70 of the mobile station 18 and a message on the map, and guides the mobile station 18 so that the positioning value matches the registered value, moves so that the mobile station 18 matches the equipment location 65 on the map, and arrives at the desired equipment location 65.

Thus, in the third registration method and its position search method, even in an area where correction information from the electronic reference station 5 cannot be received, if GNSS signals can be received stably, the reference station 45 is installed at a landmark that serves as the third registration method reference point 62, and the relative position between the reference station 45 and the mobile station 18 is measured by RTK positioning between the reference station 45 and the mobile station 18, making it possible to search for the equipment point based on the relative position between the landmark and the mobile station 18. Furthermore, since highly accurate absolute position coordinates such as those of an electronic reference point are not required, positioning can be performed in a short time.

In the first to third search methods, a mark for the meter installation location 65 is displayed on a surrounding map on the display unit 23 of the tablet terminal 20 to search for the meter (equipment 64). In this case, instead of displaying a surrounding map on the tablet terminal 20, it is also possible to display the surrounding scenery on the display unit 23 through the camera unit (not shown) of the tablet terminal 20 and use AR (Augmented Reality) technology to display the mark at the meter installation location 65 in the displayed surrounding scenery.

That is, the tablet terminal 20 can calculate the installation point 65 from the position photographed by the camera unit, the direction (azimuth) of the photograph, the magnification, etc., and display a mark at the installation point 65 of the meter in the surrounding scenery displayed on the display unit 23. In this case, it is also possible to use AI (Artificial Intelligence) to calculate the equipment point 65 from the surrounding map image and position information of the equipment point 65, and image recognition of the photographed surrounding scenery, and display a mark at the installation point 65 of the meter in the surrounding scenery displayed on the display unit 23.

This is also possible when checking the mark at the installation location 65 of the meter registered using the first to third registration methods on the tablet terminal 20, and it is also possible to display the surrounding scenery on the display unit 23 of the tablet terminal 20 through the camera unit (not shown) of the tablet terminal 20 and display a mark at the installation location 65 of the meter in the displayed scenery.

This invention can be embodied in many forms without departing from its essential characteristics. Therefore, it goes without saying that the above-described embodiments are merely illustrative and are not intended to limit the present invention.

Furthermore, the functional block diagrams shown in Figures 1, 6, and 11 show the functional configuration of the location information registration and search systems 1, 30, and 40 of the present invention, and do not limit the specific implementation form. In other words, it is not necessary to implement hardware corresponding to the functional blocks in the diagram, and it is of course possible to configure the system so that one processor executes a program to realize the functions of multiple functional units. Furthermore, some of the functions realized by software in the embodiments may be realized by hardware, and furthermore, some of the functions realized by hardware may be realized by software.

1, 30, 40 Location information registration and search system 3 GNSS
Reference Signs List 4: Mobile network 5: Reference station 6: Reference point 10, 18: Mobile station 11: GNSS receiver 12, 19: RTK calculation unit 13: Communication device 14: Receiving antenna 15: Antenna (for communication with base station)
16 Wireless device 20 Display terminal (tablet terminal)
21 Map data section 22 Control processing section 23 Display section 25 Operation section 26 Position registration processing section 27 Search and guidance processing section 28 Condition setting processing section 29 Memory section 45 Reference station 46 GNSS receiver 47 Processing section 48 Radio 49 Antenna 50 Antenna 61 Second registration method reference point 62 Third registration method reference point 64 Equipment 65 Equipment location 67 Distance and direction measuring device (measure)
70 Current location of mobile station

Claims (5)

A position search method using RTK positioning that performs relative positioning between two points by registering a desired point in advance and searching for and identifying the registered point,
The method comprises a step of registering the desired location and a step of searching for the registered location,
In the registration process, as a first registration method, when the desired point is located in an area where correction information using absolute position information of the electronic reference point from surrounding electronic reference points can be received, and a GNSS signal can be stably received, the position information of the desired point is calculated and registered by RTK positioning between a mobile station installed at the desired point and the electronic reference point;
As a second registration method, when the desired point is located in an area where the correction information can be received and the GNSS signal cannot be stably received, a mobile station installed in the vicinity of the desired point and in an area where the GNSS signal can be stably received is set as a second registration method reference point, the second registration method reference point is positioned by RTK positioning between the second registration method reference point and the electronic reference point, and the relative position from the second registration method reference point to the desired point is actually measured to calculate and register the position information of the desired point;
As a third registration method, when the desired point is located in an area where the correction information cannot be received and GNSS signals can be stably received, a landmark that exists even when searching for the desired point is set as a third registration method reference point, a reference station is installed at the third registration method reference point, and a mobile station is installed at the desired point, and the relative positions of the reference station and the mobile station are measured between the reference station and the mobile station by RTK positioning, and relative position information of the mobile station from the landmark is registered;
In the search step, the search for the desired point according to the first registration method is performed by moving the mobile station to a point registered as position information of the desired point by RTK positioning between the mobile station and a reference point electronics, and searching for the desired point;
The search for the desired point according to the second registration method includes moving the mobile station to the second registration method reference point by RTK positioning between the mobile station and an electronic reference point, and searching for the desired point by actually measuring the relative position from the second registration method reference point to the desired point;
The search for the desired point in the third registration method is a location search method characterized in that a reference station is installed at the landmark, and the desired point is searched for using the relative position information between the reference station and the mobile station by RTK positioning using a mobile station. In the search for the desired location according to the first registration method,
the mobile station includes a display unit capable of displaying a current location of the mobile station on a map;
The display unit can also display the registered desired point on the map,
2. The position search method according to claim 1, wherein a user of the position search method is able to search for the desired point by moving the mobile station so that a display of the current location of the mobile station coincides with a display of the desired point on the map. In the search for the desired location according to the second registration method,
the mobile station includes a display unit capable of displaying a current location of the mobile station on a map;
The display unit can also display the second registration method reference point and the registered desired point on the map,
The position search method according to claim 1 or 2, characterized in that a user of the position search method identifies the second registration method reference point by moving the mobile station so that the display of the current location of the mobile station on the map coincides with the display of the second registration method reference point, and is able to search for the desired point using the relative position from the second registration method reference point to the desired point. In the search for the desired location according to the third registration method,
the mobile station includes a display unit capable of displaying the position of the landmark and the registered desired point on a map;
the display unit is capable of displaying a current location of the mobile station on the map by using the relative position information between the base station and the mobile station by displaying the base station in correspondence with the landmark displayed on the map;
4. The position search method according to claim 1, wherein a user of the position search method moves the mobile station so that a display of a current location of the mobile station on the map coincides with a display of the registered desired location, thereby enabling the user to search for the desired location. The location search method according to any one of claims 1 to 4, characterized in that a buried object and/or a submerged object is present at the desired location, and the location search method is used to register and search for the location of the buried object and/or the submerged object.

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