JP7624947B2 - Correction information account setting system and method - Google Patents

Description

The present invention relates to a technique for setting a correction information account.

There is a conventional technology that detects the position information of a moving object, such as a vehicle, with high accuracy by attaching a receiver to the moving object and using correction information to correct errors in the position information based on the position information of the moving object acquired by the receiver.

Specifically, for example, the mobile body is equipped with a receiver capable of receiving position information transmitted from artificial satellites such as GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), and GALILEO, and a receiver capable of receiving correction information distributed from a correction information server that corrects errors in the position information. Positioning the position of the mobile body using the position information transmitted from the artificial satellite and the correction information distributed from the correction information server is called GNSS (Global Navigation Satellite System) positioning. In addition, as a more highly accurate positioning method, there is RTK (Real Time Kinematic) positioning, which continues to position the position of the mobile body in the order of centimeters in real time based on the acquired position information and correction information. RTK positioning is also called RTK-GNSS positioning, and in order to realize RTK positioning, in addition to the receiver equipped in the mobile body, a reference station that serves as a reference for the position information may be required. Such highly accurate positioning is expected to be used for automatic driving of automobiles, agricultural machinery, construction machinery, drones, etc. As a highly accurate positioning method, Patent Document 1 discloses a technology that changes the data format of the correction data to be transmitted, enabling highly accurate positioning even when the communication capacity of the received correction information data is small.

JP 2015-155917 A

However, although Patent Document 1 concerns the data volume and quality of the correction information, it does not describe the correction information account required to use the correction information.

Only one correction information account can be used per communication device to request correction information distribution from the correction information server. Therefore, if a user has multiple mobile objects equipped with communication devices and wishes to use correction information in any number of mobile objects, including one or more of the mobile objects, a correction information account is required for each mobile object that uses the correction information. Furthermore, the specifications of each correction information account differ depending on the correction information distribution company or the type of contract. Therefore, the user registers an account corresponding to the positioning method they wish to use in the communication device equipped in the mobile object according to their purpose. Then, if the positioning accuracy drops, they can switch to another account corresponding to the positioning method used as appropriate.

When registering or switching a correction information account in a communication device, the user must check which accounts are available. This not only means that the correction information account cannot be used immediately, but also that the correction information account cannot be switched immediately, resulting in issues such as positioning being insufficiently accurate, which could affect the safety of autonomous driving, etc. Another issue is that multiple users may compete for correction information accounts that correspond to the desired positioning accuracy.

The object of the present invention is to easily set up the assignment or switching of correction information accounts.

As a preferred example of the present invention, a communication device attached to a moving body and receiving correction information for correcting an error in a position of the moving body;
A correction information account setting system having a server communicating with the communication device,
The server,
acquiring a required positioning condition of the moving object from the communication device;
Selecting a correction information account based on the required positioning conditions;
The communication device includes:
A correction information account setting system for setting a selected correction information account.

According to the present invention, the correction information account can be easily set.

FIG. 1 is a schematic configuration diagram of a correction information account setting system. FIG. 2 is a block diagram showing an example of a hardware configuration of a communication device. 2 is a block diagram showing an example of the configuration of a control unit of a communication device; 13 illustrates an example of a correction information account setting screen. FIG. 13 is a schematic diagram showing a method for allocating a correction information account. FIG. 11 is a schematic diagram showing a method for switching and returning a correction information account. FIG. 4 is a flow chart showing a process flow executed by the communication device. FIG. 4 is a flow chart showing a process flow executed by the communication device.

Each embodiment of the present invention will be specifically described below with reference to the drawings. Note that in the drawings, except for the flow chart diagrams, arrows without symbols indicate a connection relationship. On the other hand, arrows with symbols indicate data exchange. In all cases, the direction of the arrow indicates data exchange with respect to a target part in the direction indicated by the arrow. In addition, in this specification, the correction information account may be abbreviated to account.

The correction information account setting system 100 in the first embodiment of the present invention includes a mobile body 102 and a communication device 101 mounted on the mobile body 102, as shown in FIG. 1. The communication device 101 exchanges information with various external servers. Here, an example will be described in which one communication device is attached to one mobile body. A configuration in which multiple communication devices are attached to one mobile body may also be used.

Figure 2 shows an example of the hardware configuration of the communication device 101, which includes a GNSS receiving unit 202 and a correction information receiving unit 203. The GNSS receiving unit 202 is a communication terminal having an antenna capable of receiving GNSS information. In this specification, GNSS information refers to position information of the mobile object 102 transmitted from artificial satellites such as GPS, GLONASS, and GALILEO. The correction information receiving unit 203 is a communication terminal having an antenna capable of receiving correction information that corrects errors in the position information of the mobile object.

The communication device 101 is attached to the mobile object 102 and outputs position information of the mobile object 102. The communication device 101 may be configured to receive power from the mobile object 102.

The moving body 102 may be a vehicle such as an automobile having a moving mechanism such as wheels, or may be an industrial vehicle such as a power shovel, tractor, or road roller. It may also be a robot or a cart equipped with a traveling function.

The communication device 101 includes a controller unit 204 in addition to a GNSS receiving unit 202 and a correction information receiving unit 203. The controller unit 204 includes a GNSS signal processing unit 205 that processes the GNSS information received by the GNSS receiving unit 202, and a correction information processing unit 206 that processes the correction information received by the correction information receiving unit 203.

The controller unit 204 is configured using a computer, for example, as shown in FIG. 3. The computer includes a CPU 204a, a ROM 204b, a RAM 204c, and an interface (I/F) 204d. These are connected via a bus 204e. The CPU 204a executes instructions (software) stored in the ROM 204b, thereby executing the GNSS signal processing unit 205 and the correction information processing unit 206, and realizing functions such as connecting to the Internet 104 and outputting position information. The controller unit 204 may be configured with multiple GNSS signal processing units 205.

Returning to FIG. 2 for further explanation, the controller unit 204 includes a GNSS signal processing unit 205 and a correction information processing unit 206 as functional blocks. The GNSS signal processing unit 205 may be installed in a location other than inside the controller unit 204. Specifically, the GNSS signal processing unit 205 may be installed on the cloud. In the controller unit 204, the CPU 204a executes software stored in the ROM 204b, thereby executing the processing of the GNSS signal processing unit 205 and the correction information processing unit 206. Settings and data confirmation of the communication device 101 are output to the operation device 208. Examples of the operation device 208 include a tablet and a PC (Personal Computer).

Next, the exchange of information between the communication device 101 and various servers (computers) will be described. As shown in FIG. 1, in this specification, a configuration in which three servers are used will be described. The communication device 101 transmits its operating status to the management server 106 via the carrier network 103, the gateway 105, and the Internet 104. The operating status refers to, for example, the positioning status and information on the correction information account.

The management server 106 manages the operation status of each of the multiple communication devices 101 mounted on the multiple mobile objects 102. The communication devices 101 may be configured to transmit operation information of the mobile objects 102 to the operation information collection server 110. Note that operation information refers to, for example, error information and driving routes.

The operation information collecting server 110 allows a user to remotely monitor the status of the mobile unit 102 by using the operation information 111 collected by the operation information collecting server 110. By using the operation information collecting server 110, the user can remotely check whether a correction information account is being used by the mobile unit 102, etc.

The correction information server 108 calculates correction information corresponding to the correction information account, and transmits the correction information to the communication device 101 upon request from the communication device 101. To receive correction information from the correction information server 108, it is necessary to register a correction information account in the communication device 101, and the user registers information about the correction information account in advance in the communication device 101 mounted on the mobile object 102. The correction information is calculated based on the positioning settings of the registered correction information account.

The method of registering the correction information account can be a method in which the user attempts to connect to the communication device 101 via wired or wireless connection and sets it up, or a method in which the user connects to the management server 106 and sets it up automatically from the correction information account held by the management server 106. In this embodiment, the communication device 101 is connected to the Internet 104 in order to receive correction information from the correction information server 108. Note that when the communication device 101 is mounted on a mobile object 102, it may be configured to connect to the Internet 104 from the carrier network 103 using a gateway 105.

Figure 4 shows an example of a correction information account setting screen of the communication device 101. In this embodiment, a GUI (Graphic User Interface) screen is shown as the display unit 401 that displays the correction information account setting screen. The display unit of the operation device 208 may be used as the correction information account setting screen. The setting screen may be a CLI (Command Line Interface), and is not limited to any means that can accept input from the user. When using correction information without automatically assigning it, the user himself needs to register a correction information account in the communication device 101. Examples of information required to register a correction information account include a host name (URL) 402, a port number 403, a user name 404, a password 405, and a mount point 406. By registering this information in the communication device 101, the correction information can be used.

<How correction information accounts are assigned>
In this embodiment, the correction information account of the user is automatically assigned. The display unit 401 of the communication device 101 has a setting item for registering the requested positioning conditions. As setting items of the requested positioning conditions for automatically assigning the correction information account, for example, a positioning accuracy input field 407 and a selection field 408 for a positioning method to be used, such as RTK positioning, VRS (Virtual Reference Station) positioning, or SSR (state space representation) positioning that does not use a reference station, are provided. The positioning accuracy input field 407 includes, for example, the positioning accuracy, the baseline length which is the distance between the reference station and the communication device 101, or the threshold value of the number of captured artificial satellites 601. In addition, a selection field 409 for a correction information server to be used may be provided, and these items may be added as appropriate. The communication device 101 requests the management server 106 to assign a correction information account based on the requested positioning conditions together with the information input into these input fields.

These required positioning condition settings can also be used as conditions for switching or returning the correction information account, which will be described later. When positioning is performed using an assigned correction information account, the location information constantly changes due to the movement of the mobile unit 102, etc. As a result, the threshold value registered in the positioning accuracy input field 407 may no longer satisfy the required conditions. Therefore, by using the input information to switch the correction information account, it is possible to continue positioning that satisfies the requirements. Regarding the return of the correction information account, for example, by making it possible to register the usage period 410 of the automatically assigned correction information account, the account usage period 410 can be used as the return date of the correction information account.

Returning to the explanation of the allocation of the correction information account, the display unit 401 may have a setting item such as a check box 411 so that the communication device 101 can select whether or not to assign the account. Similarly, the automatic switching of accounts and the automatic return of accounts may also be configured to be selected using a check box or the like.

The display unit 401 may be configured to have a message field 412 or the like that displays messages from the management server. Examples of messages from the management server include displaying a log when an account is switched, displaying a correction information account registered in the communication device 101, and the like. By checking the message field 412 on the display unit 401, the user can recognize which account is assigned to the communication device 101 that is being used.

Next, referring to Figure 5, we will explain the flow of assigning a correction information account to the communication device 101 and obtaining the corresponding correction information.

When the communication device 101 is started, the communication device 101 transmits an account allocation request 502 of correction information to the management server 106 together with the requested positioning conditions. The communication device 101 also transmits information necessary for the management server 106 to perform account management in real time, such as the position information of the mobile unit 102.

The management server 106, which has received the account allocation request 502 for the correction information, selects the account information 503 to be allocated to the communication device 101 from among the multiple pieces of account information held by the management server 106, and transmits the account information 503 to the communication device 101. The communication device 101 registers the account information 503 allocated by the management server 106.

At this time, the correction information account assigned by the management server 106 is selected to be an account that satisfies the required positioning conditions, taking into account the input conditions set in the communication device 101. A correction information account setting system having such a configuration can easily set a correction information account that suits the purpose, without having to check the accounts held by the user.

Next, the communication device 101, which has set the account information 503 assigned by the management server 106, transmits an account information inquiry request 504 to the correction information server 108. After checking the account information 503 received from the communication device 101, the correction information server 108 calculates correction information 505 and transmits it to the communication device 101. Note that the management server 106 may be configured to select an account that does not satisfy the required positioning conditions when it is clear that switching the account will lead to improved positioning accuracy even if the registered required positioning conditions are not satisfied. With the correction information account setting system 100 configured in this way, it is possible to measure the location information of the mobile unit 102 using the account with the highest accuracy from among the available accounts.

<How to switch correction information accounts>
6 is a schematic diagram for explaining a method for switching a correction information account registered in the communication device 101 and a method for returning a correction information account. First, a method for switching a correction information account registered in the communication device 101 will be explained. Here, the switching of a correction information account is different from the allocation of a correction information account in that it switches from an already allocated correction information account (first account) to a correction information account (second account) that matches the required positioning conditions. The communication device 101 has setting items for switching the correction information account that has been allocated by the management server 106 and registered. As the setting items, the setting items described in the method for allocating a correction information account are used.

The communication device 101 constantly monitors the set requested positioning conditions as a trigger for the correction information account switching conditions. The monitoring may be configured to be performed by the controller unit 204 of the communication device 101. If the registered account no longer satisfies the requested positioning conditions while the communication device 101 is monitoring the set thresholds, the communication device 101 transmits a correction information account switching request 602 to the management server 106. The management server 106 transmits a new correction information account 603 to the communication device 101.

In this embodiment, an example is shown in which the communication device 101 constantly monitors the set threshold value, and transmits a correction information account switching request 602 to the management server 106 only when the correction information account switching condition is satisfied. The example is not limited to this, and the communication device 101 may be configured to monitor at any period and transmit a correction information account switching request 602 to the management server 106. The correction information account setting system 100 configured in this way can reduce the amount of data processed by the management server 106.

The communication device 101 returns the already registered correction information account to the management server 106, and sets the correction information account 603 newly assigned by the management server 106 to the communication device 101. After the communication device 101 automatically sets the correction information account, it then sends a setting completion message of the newly assigned correction information account to the management server 106. At this time, the management server 106 manages the correction information account that the communication device 101 used before switching accounts as an unused account. With the correction information account setting system 100 configured in this way, it is possible to measure the position information of the moving body 102 using the most accurate account out of the available accounts.

<How to return your correction information account>
Next, a correction information account return method will be described. The account return described here is a return process that does not involve switching of accounts. The correction information account return method is performed, for example, when the power supply of the communication device 101 is cut off. To check the disconnection state, if the communication device 101 is configured to upload location information to the management server 106 at regular intervals, when the upload of location information is interrupted for a certain period of time, the management server 106 can determine that the power supply of the communication device 101 has been cut off, and the management server 106 can perform the account return process registered in the communication device 101.

The communication device 101 may be configured to have an internal battery or the like so that the account return process to the management server 106 can be performed even if the power is cut off. If the communication device 101 does not have a power source such as an internal battery, the communication device 101 will stop operating when the power to the communication device 101 is cut off, and the communication device 101 will not be able to upload location information to the management server 106. If location information from the communication device 101 is not uploaded for a certain period of time, the management server 106 will return the account registered in the communication device 101.

With the correction information account setting system 100 configured in this way, unused accounts can be collected, thereby improving the positioning accuracy of the location information of other mobile bodies 102.

In addition, if the period for which the account will be used is set in the communication device 101 in the setting item for the required positioning conditions of the correction information account, that period can be used as a trigger for returning the account, and the return process of the account registered in the communication device 101 can be executed.

Next, the process flow executed by the communication device 101 in the second embodiment will be described with reference to FIG.

In step S700, automatic allocation of a correction information account is started. Step S700 is a step that occurs, for example, when the mobile body 102 on which the communication device 101 is mounted is powered on, or when the communication device 101 is directly powered on.

In step S701, the communication device 101 determines whether to automatically assign an account for the correction information. For example, this can be determined by the check box 411 for automatically assigning a correction information account in FIG. 4. Even if the communication device 101 already has information on a correction information account, it refers to the conditions for automatic account assignment and determines whether the account information it already has matches the conditions for automatic account assignment.

If it is determined that automatic allocation of a correction information account is not necessary or that the correction information account already held meets the conditions for automatic account allocation, the result is determined as "No" and the process proceeds to step S706, where the process ends. Note that if a correction information account has already been registered in the communication device 101, then as a separate process flow, the communication device 101 makes a request to the correction information server 108 to distribute the correction information. If it is determined that automatic allocation of a correction information account is necessary, the result is determined as "Yes" in step S701 and the process proceeds to S702.

In S702, the communication device 101 performs a process of sending the required positioning conditions registered in the communication device 101 to the management server 106.

In step S703, the management server 106 searches for a correction information account that matches the requested positioning conditions sent from the communication device 101. If the management server 106 then has an account for matching correction information, the management server 106 sends information about the correction information account to the communication device 101. If the management server 106 does not have an account for matching correction information or is already using an account, it sends a message to that effect to the communication device 101.

Note that, even if the registered required positioning conditions are not met, if it is clear that switching accounts will lead to improved positioning accuracy, the account may be switched. Regarding account switching when the required positioning conditions are not met, the enable/disable status of the function may be registered in advance in the communication device 101. By entering these conditions, even end users who do not know the exact thresholds of the account switching conditions can automatically switch accounts.

The information sent from the management server 106 to the communication device 101 may be configured to be displayed in a field 412 that displays messages from the management server 106. If a correction information account is sent from the management server 106, proceed to S704.

In step S704, the communication device 101 stores the correction information account sent from the management server 106 in its own memory or the like, and sets the correction information account. After that, a process is performed to request the correction information server 108 to distribute the correction information.

In step S705, in response to the correction information distribution request sent from the communication device 101, the correction information server 108 starts distributing the correction information to the communication device 101 based on the correction information account registered in the communication device 101. Then, the process proceeds to the next step S706, where this processing flow ends.

Figure 8 is a diagram illustrating a modified example of the second embodiment, and is a flowchart showing an example of a process flow executed by the communication device when switching the correction information account.

Step S800 indicates that a correction information account has already been registered in the communication device 101, and that the communication device 101 is receiving correction information from the correction information server.

In step S801, the communication device 101 determines whether to automatically switch the correction information account. The determination may be based on a setting item of the requested positioning conditions for whether to switch the correction information account in the communication device 101 settings. If it is not necessary to switch the correction information account, the determination is made as "No" and the process proceeds to step S808, terminating this process. If it is determined that automatic switching of the correction information account is necessary, the determination is made as "Yes" in step S801 and the process proceeds to step S802.

In step S802, the controller unit 204 of the communication device 101 monitors the requested positioning conditions registered in the communication device 101. The monitoring results are processed in step S803. Note that the frequency of monitoring is not specified in this embodiment.

In step S803, the communication device 101 determines whether other correction information accounts in the management server 106 satisfy the automatic switching conditions based on the monitoring results of the requested positioning conditions processed in step S802. If the requested positioning conditions are not satisfied, the result is determined as "No" and the process returns to step S801, terminating this process. If the requested positioning conditions are satisfied, the result is determined as "Yes" in step S803 and the process proceeds to step S804.

If the account is returned due to a power outage of the communication device 101, the account switching conditions cannot be determined in step S803, so the result is determined as "No" and processing proceeds to step S801. Even in step S801, if the communication device 101 is not turned on and the correction information account has been subjected to a return process, automatic switching of the correction information account is not performed, the result is determined as "No," and processing proceeds directly to step S808, terminating this processing.

In steps S804, S805, S806, and S807, the same processing as the step of automatic allocation of the correction information account described in FIG. 7 is performed. When the processing in step S807 is completed, the process returns to step S802.

Although the embodiments have been described above, the present invention is not limited to the above-mentioned embodiments, and various modifications are included. Furthermore, the above-mentioned embodiments have been described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to those having all of the configurations described.

100...Correction information account setting system, 101...Communication device, 102...Mobile device, 106...Management server, 108...Correction information server

Claims (9)

a communication device attached to the moving object and configured to receive correction information for correcting an error between a position of the moving object and a measured position of the moving object from a correction information server ;
A correction information account setting system having a management server that communicates with the communication device,
The management server includes:
acquiring from the communication device a required positioning condition of the moving body for allocating a correction information account for providing correction information satisfying the positioning condition of the moving body requested by the communication device;
selecting a correction information account for receiving correction information for correcting an error in the position measured by the moving object from the correction information server based on the required positioning condition;
The communication device includes:
Setting the selected correction information account and transmitting the location information of the moving object to the management server at a predetermined period;
A correction information account setting system , in which, when the management server is unable to receive the location information, the correction information account set in the communication device is returned from the communication device to the management server . 2. The correction information account setting system according to claim 1,
A correction information account setting system, wherein the required positioning conditions include at least one of a threshold value of the positioning accuracy of the moving body, a positioning method, and a threshold value of a baseline length which is the distance between a reference station and the communication device . 2. The correction information account setting system according to claim 1,
A correction information account setting system, in which the selected correction information account satisfies the required positioning condition. 2. The correction information account setting system according to claim 1,
A first account is set in the communication device as a correction information account,
When the first account no longer satisfies the requested positioning condition,
The communication device includes:
A correction information account setting system that requests the management server to switch the correction information account. 2. The correction information account setting system according to claim 1,
The communication device includes:
A correction information account setting system having a display unit that displays setting items for registering the required positioning conditions. 2. The correction information account setting system according to claim 1,
The requested positioning condition includes a period during which the correction information account is used,
A correction information account setting system that returns a correction information account set in the communication device based on the period from the communication device to the management server . 2. The correction information account setting system according to claim 1,
The communication device includes:
a first receiving unit that receives a signal for measuring the position of the moving object transmitted from an artificial satellite;
A correction information account setting system having a second receiving unit that receives correction information to correct an error between the position of the moving body and the position of the moving body determined using a signal for determining the position information of the moving body transmitted from the artificial satellite. 8. The correction information account setting system according to claim 7,
A correction information account setting system having a correction information server that delivers the correction information that satisfies the positioning conditions of the moving body of the set correction information account to the communication device in response to a request from the communication device. a communication device attached to the moving object and configured to receive correction information for correcting an error between a position of the moving object and a measured position of the moving object from a correction information server ;
A correction information account setting method for a system including a management server that communicates with the communication device, comprising:
acquiring from the communication device a required positioning condition of the moving object for allocating a correction information account for providing correction information satisfying the positioning condition of the moving object requested by the communication device;
A step in which the communication device selects a correction information account for receiving correction information for correcting an error in the measured position of the moving object from the correction information server based on the required positioning condition;
a step of the communication device setting the selected correction information account and transmitting the location information of the moving object to the management server at a predetermined period ;
a step of causing the management server to return a correction information account set in the communication device to the management server when the management server is unable to receive the location information;
A correction information account setting method having the above-mentioned.

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