JP2002341013A - Positioning device and positioning terminal - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the conventional problem that the fluctuation of a target to be measured is difficult to detect when it is extremely minute. SOLUTION: This positioning device comprises two or more stationary reference stations 7 stationarily set in a range substantially surrounding a zone to be measured for fluctuation to receive the signals from a positioning satellite, two or more positioning terminals 1 set at random in the zone to receive the signal from the positioning satellite, and a fluctuation measuring control part 9 for collecting and analyzing the observation data obtained in the stationary reference stations and positioning terminals to detect the fluctuation of the zone. According to this, an extremely gentle minute fluctuation can be detected, and the fluctuation quantity thereof can be also measured.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning device and a positioning terminal for performing positioning by receiving signals from a positioning satellite or a device similar to a positioning satellite, and more particularly to a wide-range device for detecting crustal deformation and the like. Is to perform positioning.
In the following description, what is described as positioning satellite or satellite is
Unless otherwise specified, it includes devices similar to positioning satellites.

[0002]

2. Description of the Related Art A conventional positioning device will be described with reference to the drawings.

FIG. 9 shows, for example, Japanese Patent Application Laid-Open No. 11-230790.
FIG. 1 is a diagram showing an appearance of a conventional positioning device shown in Japanese Patent Application Laid-Open Publication No. H10-26095. FIG. 9 shows a “crustal movement detection device” that detects a wide range of minute fluctuation such as crustal movement.

In FIG. 9, reference numeral 40 denotes a crustal deformation detecting device,
41 is a pile-shaped support member, 42 is a housing, 43 is a tapered surface, 44 is a cover, 45 is a solar cell, and 46 is an antenna.

[0005] This crustal deformation detecting device 40 drives a pile-shaped support member 41 into a measurement object, and attaches the support member 41 to the support member 41.
This is to fix the axial acceleration sensor and detect the fluctuation of the measurement target.

[0006]

Conventionally, such a device 40 has been used to detect minute fluctuations in a wide range, but such a device is difficult to detect when the fluctuations are extremely small. There was a problem.

There is another problem that it is difficult to measure the actual fluctuation amount.

[0010] Furthermore, when the measurement object fluctuates greatly, there is a problem that the device 40 may be damaged due to the influence.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and a positioning apparatus capable of detecting a very gradual minute fluctuation by using a positioning satellite and measuring the fluctuation amount. The purpose is to gain.

It is another object of the present invention to obtain a positioning terminal which is hardly damaged by the fluctuation of the measurement object by adopting a mechanism capable of measuring without fixing the portion for detecting the fluctuation amount to the measurement object.

Further, when a plurality of positioning terminals are arranged in a certain area, it is possible to adopt a method in which the positioning terminals are scattered from the sky, and an object of the present invention is to provide a positioning device which can simplify the installation work. I do.

[0012]

A positioning device according to a first aspect of the present invention includes a plurality of fixed reference stations which are fixedly installed in a range substantially surrounding a zone which is a variable positioning target area and receive signals from positioning satellites. A plurality of positioning terminals that are randomly installed in the zone and receive signals from the positioning satellites, and collect and analyze observation data obtained by the plurality of fixed reference stations and the positioning terminals to detect fluctuations in the zone And a dynamic positioning control unit.

According to a second aspect of the present invention, in the positioning apparatus, the fixed reference station and the positioning terminal each receive a signal from the positioning satellite and a satellite positioning receiver, and the observation data observed by the satellite positioning receiver. A data preprocessing unit that performs preprocessing of the data, a data compression unit that compresses the processing data from the data preprocessing unit in a reproducible manner, and a data communication unit that performs data transmission between the fluctuation positioning control unit and It has.

According to a third aspect of the present invention, in the positioning device, the variable positioning control unit transmits data to and from the fixed reference station or the positioning terminal, and the data compressed by the data compression unit. A data decompression unit to be restored, a positioning calculation unit that calculates the position of the positioning terminal using the collected observation data, and a change in the zone by detecting and removing that the positioning terminal has moved the zone. It has a fluctuation detecting section for detecting, and a positioning mode setting section for resetting an observation cycle for the positioning terminal when a fluctuation is detected.

In a positioning apparatus according to a fourth aspect of the present invention, the positioning calculation section identifies a measurement point of each observation data, and separates the observation data of the positioning terminal from the observation data of the fixed reference station. And a terminal-based approximate position calculation unit that calculates the approximate position of each positioning terminal using the terminal-specific observation data from the data identification unit; an output of the terminal-specific approximate position calculation unit; and a plurality of fixed reference stations. Using zone area information for each zone, a zone identification unit for each terminal that identifies the zone in which the positioning terminal is located, observation data for each reference station from the data identification unit, and using the zone area information, A zone-based parameter calculating unit for calculating a correction parameter used for positioning calculation of the positioning terminal, terminal-based observation data from the data identifying unit, and the terminal-based zone identifying unit Et zone information, and using the correction parameter from the zone specific parameter calculating unit, and has a network positioning calculation unit that outputs the positioning data make positioning calculation of the positioning terminal.

According to a fifth aspect of the present invention, in the positioning device, the fluctuation detecting section smoothes the positioning data from the positioning calculating section in a predetermined band, and the positioning terminal using an output of the LPF. Has a step-like signal detecting unit for detecting a step-like signal generated when moving in the zone.

According to a sixth aspect of the present invention, in the positioning device, the positioning mode setting unit extracts a fluctuation component of a zone from the fluctuation data from the fluctuation detecting unit;
It has an observation cycle setting unit that detects a change in each positioning terminal using the output of the significant change identification unit and sets an observation cycle of each positioning terminal in response to the detection.

A positioning terminal according to a seventh aspect of the present invention is provided with an outer shell, an outer shell support stabilizing portion for stably supporting the outer shell in the variable positioning target area, and installed inside the outer shell, A satellite positioning receiver that receives a signal from a positioning satellite, an attitude stabilizer fixed to the satellite positioning receiver, and a shock absorbing viscous fluid filled between the outer shell and the attitude stabilizer. It is provided.

[0019] In a positioning terminal according to an eighth aspect of the present invention, the position of the center of gravity of the attitude stabilizing unit is set to the lowest position so that the satellite positioning receiving unit always faces upward.

According to a ninth aspect of the present invention, in the positioning terminal, the outer shell is substantially spherical, and the outer shell support stabilizing portions are provided at equal angular intervals on the outer shell.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 A positioning device according to Embodiment 1 of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a configuration of a positioning terminal of the positioning device according to Embodiment 1 of the present invention. In the drawings, the same reference numerals indicate the same or corresponding parts.

In FIG. 1, 1 is a positioning terminal, 2 is an outer shell,
Reference numeral 3 denotes an outer shell support stabilizer for stably supporting the outer shell 2 on a measurement target (variable positioning target area), 4 denotes a satellite positioning receiver,
Reference numeral 5 denotes an attitude stabilizing part fixed to the satellite positioning receiver 4, and reference numeral 6 denotes a shock absorbing viscous fluid filled between the outer shell 2 and the satellite positioning receiver 4 and the attitude stabilizing part 5.

FIG. 2 is a diagram showing a fixed reference station of the positioning device according to the first embodiment.

In FIG. 2, reference numeral 7 denotes a fixed reference station, 4 denotes a satellite positioning receiving unit, and 8 denotes a fixed unit which fixedly supports the satellite positioning receiving unit 4.

FIG. 3 is a diagram showing the overall configuration of the positioning device according to the first embodiment.

In FIG. 3, reference numeral 9 denotes a variable positioning control unit such as a personal computer, 10 denotes a variable positioning target area, and 11 denotes a wireless line for exchanging data between the positioning terminal 1 or the fixed reference station 7 and the variable positioning control unit 9. is there. The illustration of the wireless line 11 is partially omitted.

FIGS. 4 and 5 are diagrams showing examples of the arrangement of the respective devices in the positioning device according to the first embodiment.

FIG. 6 is a diagram showing a configuration of each device in the positioning device according to the first embodiment.

In FIG. 6, reference numeral 12 denotes a data pre-processing unit for pre-processing data observed by the satellite positioning receiving unit 4, 13 a data compression unit for compressing the output of the data pre-processing unit 12 in a reproducible manner, 14 Is a data communication unit for performing data transmission with the fluctuation positioning control unit 9.

In FIG. 1, reference numeral 15 denotes a data decompression unit for restoring the data compressed by the data compression unit 13, 16 denotes a positioning calculation unit for calculating the position of the positioning terminal 1 using the collected observation data, and 17 denotes a positioning. A fluctuation detecting unit 18 that detects that the terminal 1 has moved on the measurement target (the fluctuation positioning target area 10) and removes the same to detect the fluctuation of the measurement target. This is a positioning mode setting unit that resets the observation cycle for the positioning terminal 1 that is no longer being used.

Further, in FIG.
And observation data obtained from the fixed reference station 7, reference numeral 20 denotes preprocessing data output from the data preprocessing unit 12, reference numeral 21 denotes compressed data output from the data compression unit 13, reference numeral 22 denotes a positioning result obtained by the positioning calculation unit 16. Data, 23 is positioning data 2
From 2 the positioning terminal 1 is the measurement target (variable positioning target area 10)
The fluctuation data 24, which is the fluctuation amount of the measurement object obtained by removing the amount moved upward, is an output of the positioning mode setting unit 18,
This is an observation command that specifies the observation cycle of each positioning terminal 1.

FIG. 7 is a diagram showing a detailed configuration of the positioning calculation unit of the fluctuation positioning control unit of the positioning device according to the first embodiment.

In FIG. 7, reference numeral 25 denotes a data identification unit for identifying the measurement point of each observation data 19 and separating the data of the positioning terminal 1 and the data of the fixed reference station 7. Reference numeral 26 denotes each positioning terminal using the observation data for each terminal. The terminal-based approximate position calculator 27 for calculating the approximate position 1 uses the output of the terminal-based approximate position calculator 26 and the zone area information for each zone surrounded by the plurality of fixed reference stations 7 to locate the positioning terminal 1. A terminal-specific zone identification unit for identifying a zone, 28 includes a plurality of fixed reference stations 7
Zone area information 29 for each zone surrounded by
The zone-specific parameter calculation unit 30 for calculating the correction parameters used for the positioning calculation of the positioning terminal 1 for each zone is “observation data 31 for each terminal”, and “30” for each positioning terminal 1 which is the output of the zone identification unit 27 for each terminal. A network positioning calculation unit for performing positioning calculation of the positioning terminal 1 using the “zone information” and the “correction parameter” used for the positioning calculation of the positioning terminal 1 in each zone, which is an output of the zone-specific parameter calculation unit 29; Reference observation data 32 is reference station specific observation data.

FIG. 8 is a diagram showing a detailed configuration of the fluctuation detecting section and the positioning mode setting section of the fluctuation positioning control section of the positioning device according to the first embodiment.

In FIG. 8, reference numeral 33 denotes a terminal movement detection unit for detecting a signal when each positioning terminal 1 moves on a measurement target (variable positioning target area 10); L to smooth in the band required by the unit
PF and 35 are step-like signal detection units that detect a step-like signal generated when the positioning terminal 1 moves on the measurement target using the output of the LPF 34.

Also, in FIG.
7 detects the fluctuation component of the positioning terminal 1 using the output of the significant fluctuation discrimination unit 36 and extracts the fluctuation component of the measurement target from the output of 7.
This is an observation cycle setting unit that sets the observation cycle of.

Next, the operation of the positioning device according to the first embodiment will be described with reference to the drawings.

A large number of positioning terminals 1 shown in FIG. 1 are installed in an area of a measurement target (variable positioning target area 10).
The change of the set point is detected using satellite observation data. The plurality of outer shell support stabilizers 3 around the outer shell 2 can be stably installed on the measurement target. In addition, since the measurement target is not fixed to the measurement target, it can be moved on the measurement target when the measurement target greatly changes.

Further, since the satellite positioning receiving section 4 is only located inside the positioning terminal 1 and the outer shell 2 via the shock absorbing viscous fluid 6, even when the positioning terminal 1 moves, the attitude stabilizing section 5 always operates. It is possible to keep observing the positioning satellite above. The positioning terminal 1 is a portion for receiving a radio wave even when the attitude is tilted, that is, a satellite positioning receiving section fixed to an attitude stabilizing section 5 having an appropriate center of gravity position, that is, a center of gravity position set at the bottom. 4 has a structure that always faces upward.

Further, since the satellite positioning receiver 4 is separated from the outer shell 2 by the shock absorbing viscous fluid 6, when the positioning terminal 1 is installed in a certain area, a method of scattering the terminal from above is used. It is also possible.

The fixed reference station 7 shown in FIG.
Is installed to generate correction parameters used when performing positioning calculations. The fixed reference station 7 whose installation position is known and the positioning terminal 1 to be subjected to positioning calculation simultaneously observe the same positioning satellite, and by using the difference of the observation data, the positioning accuracy of the positioning terminal 1 can be increased to about cm. Will be possible. However, in the method of increasing the positioning accuracy by simply calculating the difference, accuracy deterioration depending on the distance between the fixed reference station 7 and the positioning terminal 1 occurs. In the first embodiment, it is possible to eliminate such a deterioration in accuracy by adopting a network positioning calculation technique described later.

FIG. 3 shows an example of the overall configuration of the first embodiment. By arranging many positioning terminals 1 in the fluctuation positioning target area 10, it is possible to perform positioning including partial fluctuations. The fixed reference station 7 is arranged so as to surround the variable positioning target area 10. Thereby, the positioning accuracy of the positioning terminal 1 can be improved. The fluctuation positioning control unit 9 is connected to the plurality of positioning terminals 1 and the plurality of fixed reference stations 7 using the wireless line 11, and collects observation data and sets an observation period.

4 and 5 show examples of the arrangement of a plurality of positioning terminals 1 and a plurality of fixed reference stations 7. FIG. A plurality of variable positioning target areas 10 surrounded by three fixed reference stations 7 are indicated by dotted lines. Each of the fluctuation measurement target areas 10 is also called a “zone”. The network positioning calculation technique generates correction parameters for each of the zones using observation data of the surrounding fixed reference station 7. Basically, the fixed reference station 7 and the positioning terminal 1
Although it is possible to generate a correction parameter that does not depend on the distance between them, it is necessary to limit the distance of each fixed reference station 7 in order to secure required accuracy.

The applicable range of the correction parameter to be generated is not limited to the inside of the zone. If the distance is very small, the correction parameter for the zone can be applied to an area outside the zone.

Further, such a network positioning calculation technique is a satellite positioning technique that can be applied to other than the combination of the positioning terminal 1 and the fixed reference station 7 according to the first embodiment.

FIG. 6 shows a detailed configuration of the positioning terminal 1, the fixed reference station 7, and the variable positioning control unit 9. The positioning terminal 1 and the fixed reference station 7 transmit the observation data 19 obtained by the satellite positioning reception unit 4 to the pre-processed pre-processed data 20 to the variable positioning control unit 9,
The observation command 24 indicating the observation cycle output by the fluctuation positioning control unit 9 is received. The transmission path of these data is the data communication unit 14. In order to narrow the required band of the wireless line 11, the data amount is reduced by using the data preprocessing unit 12 and the data compression unit 13 before transmission. The pre-processing by the data pre-processing unit 12 also contributes to reducing the calculation load of the fluctuation positioning control unit 9.

The satellite positioning receiving section 4 uses the signal from the positioning satellite to synchronize the time information of the apparatus with the satellite signal, so that the time of the observation data 19 can be synchronized between the plurality of positioning terminals 1 and the fixed reference station 7. Sex is guaranteed.

The fluctuation positioning control unit 9 restores the compressed data 21 collected via the data communication unit 14 to the original observation data 19 by the data decompression unit 15. Using the observation data 19, the positioning calculation unit 16 performs positioning calculation for each positioning terminal 1. Using the positioning data 22 that is the calculation result, the fluctuation detecting unit 17 generates fluctuation data 23 by compensating the amount by which the positioning terminal 1 has moved on the measurement target by a method described later. The positioning mode setting unit 18 uses the fluctuation data 23 to determine the positioning terminal 1 in which the fluctuation has actually occurred, and the positioning terminal 1
The positioning mode setting unit 18 generates an observation command 24 for setting the observation cycle to be short.

As described above, by setting the observation cycle to be short for the positioning terminal 1 in which the fluctuation has occurred, it becomes possible to collect necessary data while controlling the total observation data to be small.

In the positioning terminal 1 shown in FIG. 1, since the outer shell supporting and stabilizing portion 3 around the outer shell 2 has such a configuration, the conditions for stable installation are limited. Therefore,
When the user moves on the measurement target, the user moves between the finite number of states. Also, the movement amount can be expected to take a substantially discrete value, and the time response signal can be expected to be a step-like signal. Furthermore, it is possible to identify the amount of movement of the positioning terminal 1 itself from the positioning result.

FIG. 7 shows a detailed configuration of the positioning calculation unit 16.
The network positioning calculation unit 30 needs to identify a zone corresponding to each positioning terminal 1. In addition, the output of the zone-specific parameter calculation unit 29, which is the correction parameter in the corresponding zone, is required. For each terminal observation data 31 of each positioning terminal 1, zone-specific parameter calculation unit 2
9 to perform high-accuracy positioning calculation.

As a method of identifying the zone corresponding to each positioning terminal 1, the approximate position of each positioning terminal 1 is calculated by the terminal-specific approximate position calculation unit 26 using the terminal-specific observation data 31. This may be accurate enough to identify the zone in which the positioning terminal 1 is included. If this level of accuracy is obtained, calculation can be performed if there is observation data 19 or pre-processed data 20 of each positioning terminal 1.

A method for obtaining the output of the zone-specific parameter calculator 29 will be described. A method of performing high-accuracy positioning using a single fixed reference station 7 and the positioning terminal 1 is well known. A correction parameter used in this method is generated using observation data of a plurality of fixed reference stations 7. Observation data for a certain positioning satellite is superimposed on observation data of a plurality of fixed reference stations 7 at each point in the zone in proportion to the distance between the point and each fixed reference station 7 to obtain observation data at each point in the zone. Can be synthesized. High-precision positioning calculation of each positioning terminal 1 is performed using the observation data generated at the approximate position of each positioning terminal 1 in this manner. Since it is synthesized using the observation data of a plurality of fixed reference stations 7,
Accuracy deterioration depending on the distance between the specific fixed reference station 7 and the positioning terminal 1 does not occur.

FIG. 8 shows a detailed configuration of the fluctuation detecting section 17 and the positioning mode setting section 18. Thus, in order to detect a change due to the movement of the positioning terminal 1 itself from the positioning data 22,
The LPF 34 is used to pass only a necessary band. Using the output of the LPF 34, the step-like signal detection unit 3
5 detects the step-like signal and removes it from the original positioning data 22. It is assumed that the fluctuation waveform to be measured does not include a step-like component. Further, since the positioning terminal 1 can also estimate the fluctuation value of the step-like signal from the structure of the outer shell support stabilizing portion 3 around the outer shell 2, only the step signal close to this is regarded as the fluctuation due to the movement of the positioning terminal 1 itself. It is possible.

In the positioning mode setting unit 18, the significant change identification unit 36 first identifies, from the change detection unit 17, a change that needs to change the observation period. In particular,
The minimum value of the variation is held as a threshold, and when a variation larger than the threshold is detected, it is determined that the variation has occurred. When it is determined that a change has occurred, the change is instructed to the next observation cycle setting unit 37. If the fluctuation does not occur for a certain period of time, it is determined that the fluctuation has ended,
This is instructed to the next observation cycle setting unit 37.

The observation cycle setting unit 37 outputs an observation command 24 for shortening the observation cycle to the positioning terminal 1 in which the fluctuation has occurred, and outputs the observation cycle to the positioning terminal 1 in which the fluctuation has not occurred. The observation command 24 is output so as to lengthen.

As described above, by adopting a structure in which the positioning terminal 1 can move on the positioning target, the possibility that the positioning terminal 1 is destroyed even when a large fluctuation of the positioning target occurs is reduced. In addition, by adopting a structure that protects the satellite positioning receiver 4 from the impact of the outer shell 2, it is possible to adopt a method of spraying from the sky even when the positioning terminal 1 is installed in a wide positioning target area 10. And the amount of work required for installation can be greatly reduced.

Further, by adopting the method based on satellite positioning for detecting fluctuations, it is possible to detect even extremely slow fluctuations. In addition, by adopting a so-called network positioning method as a high-accuracy satellite positioning method, a positioning accuracy independent of the distance between the positioning terminal 1 and the fixed reference station 7 can be ensured, so that a change can be detected with higher accuracy.

[0059]

According to the first aspect of the present invention, there is provided a positioning device comprising:
As described above, a plurality of fixed reference stations that are fixedly installed in a range that roughly surrounds a zone that is a variable positioning target area and receive signals from positioning satellites, and are randomly installed in the zone, and receive signals from the positioning satellites. A plurality of positioning terminals to receive, and a fluctuation positioning control unit that collects and analyzes observation data obtained by the plurality of fixed reference stations and the positioning terminals and detects fluctuations in the zone, so that extremely gradual minute fluctuations And the variation can be measured.

As described above, in the positioning device according to a second aspect of the present invention, each of the fixed reference station and the positioning terminal receives a signal from the positioning satellite, and a satellite positioning receiver. A data pre-processing unit that performs pre-processing of the observation data observed in the above, a data compression unit that compresses the processing data from the data pre-processing unit in a reproducible manner, and a data transmission between the fluctuation positioning control unit. Since the data communication unit is provided, it is possible to detect an extremely gradual minute change and to measure the amount of the change.

As described above, in the positioning device according to the third aspect of the present invention, the variable positioning control unit performs the data communication with the fixed reference station or the positioning terminal, and the data compression unit. A data decompression unit for restoring the data compressed in, a positioning calculation unit that calculates the position of the positioning terminal using the collected observation data, and detecting and removing that the positioning terminal has moved the zone, Since the fluctuation detection unit that detects the fluctuation of the zone, and a positioning mode setting unit that resets the observation cycle for the positioning terminal when the fluctuation is detected, it is possible to detect a very gradual minute fluctuation, In addition, there is an effect that the fluctuation amount can be measured.

As described above, in the positioning device according to a fourth aspect of the present invention, the positioning calculation unit identifies a measurement point of each observation data and compares the observation data of the positioning terminal and the observation data of the fixed reference station. A data identification unit to be separated, a terminal-based approximate position calculation unit that calculates the approximate position of each positioning terminal using the terminal-based observation data from the data identification unit, an output of the terminal-based approximate position calculation unit, and a plurality of Using zone area information for each zone surrounded by a fixed reference station, a zone identification unit for each terminal that identifies the zone where the positioning terminal is located, reference station-based observation data from the data identification unit, and using the zone area information. A zone-based parameter calculator for calculating a correction parameter used for positioning calculation of the positioning terminal for each zone; and terminal-based observation data from the data identifier, Zone information from the terminal-specific zone identification unit, and using the correction parameter from the zone specific parameter calculating unit, because it has a network positioning calculation unit that outputs the positioning data make positioning calculation of the positioning terminal,
It is possible to detect an extremely gradual minute change and measure the amount of the change.

As described above, in the positioning device according to the fifth aspect of the present invention, the fluctuation detecting section may include an LPF for smoothing the positioning data from the positioning calculating section in a predetermined band;
Since it has a step-like signal detecting unit that detects a step-like signal generated when the positioning terminal moves through the zone using the output of the LPF, it is possible to detect a very gradual minute change, and to determine the amount of the change. This has the effect that measurement can also be performed.

As described above, in the positioning device according to the sixth aspect of the present invention, the positioning mode setting unit extracts the fluctuation component of the zone from the fluctuation data from the fluctuation detecting unit; Uses the output of the significant change identification unit to detect changes in each positioning terminal, and has an observation period setting unit that sets the observation period of each positioning terminal in accordance with this. In addition, there is an effect that the fluctuation amount can be measured.

As described above, the positioning terminal according to a seventh aspect of the present invention provides an outer shell, an outer shell support stabilizing portion for stably supporting the outer shell in the variable positioning target area, A satellite positioning receiver that is installed inside and receives a signal from a positioning satellite, an attitude stabilizer fixed to the satellite positioning receiver, and a shock absorber filled between the outer shell and the attitude stabilizer. Since the viscous fluid for use is provided, it is hard to be damaged due to the fluctuation of the measurement object, and the installation operation can be simplified.

As described above, in the positioning terminal according to the eighth aspect of the present invention, the position of the center of gravity is set to the lowest position in the attitude stabilizing section so that the satellite positioning receiving section always faces upward. Therefore, there is an effect that it is hard to be damaged due to the fluctuation of the measurement object, and the installation work can be simplified.

As described above, in the positioning terminal according to the ninth aspect of the present invention, the outer shell is substantially spherical, and the outer shell supporting and stabilizing portions are provided at equal angular intervals on the outer shell. Therefore, there is an effect that it is hard to be damaged due to the fluctuation of the measurement object, and the installation work can be simplified.

[Brief description of the drawings]

FIG. 1 is a diagram showing a positioning terminal of a positioning device according to Embodiment 1 of the present invention.

FIG. 2 is a diagram showing a fixed reference station of the positioning device according to Embodiment 1 of the present invention.

FIG. 3 is a diagram showing an overall configuration of a positioning device according to Embodiment 1 of the present invention.

FIG. 4 is a diagram showing an example of an arrangement of a positioning device according to Embodiment 1 of the present invention.

FIG. 5 is a diagram showing an example of an arrangement of a positioning device according to the first embodiment of the present invention.

FIG. 6 is a diagram showing a configuration of a positioning terminal, a fixed reference station, and a variable positioning control unit of the positioning device according to Embodiment 1 of the present invention.

FIG. 7 is a diagram showing a detailed configuration of a positioning calculation unit of the fluctuation positioning control unit of the positioning device according to the first embodiment of the present invention.

FIG. 8 is a diagram showing a detailed configuration of a fluctuation detection unit and a positioning mode setting unit of a fluctuation positioning control unit of the positioning device according to Embodiment 1 of the present invention.

FIG. 9 is a diagram showing a conventional crustal deformation detection device.

[Explanation of symbols]

1 positioning terminal, 2 outer shell, 3 outer shell support stabilizing section, 4 satellite positioning receiving section, 5 attitude stabilizing section, 6 viscous fluid for shock absorption, 7 fixed reference station, 8 fixed section, 9 variable positioning control section, 11 wireless line , 12 data preprocessing unit, 13 data compression unit, 14 data communication unit, 15 data decompression unit,
16 positioning calculation section, 17 fluctuation detection section, 18 positioning mode setting section, 25 data identification section, 26 terminal-based approximate position calculation section, 27 terminal-based zone identification section, 28 zone area information, 29 zone-based parameter calculation section, 30 network Positioning calculation unit, 33 terminal movement detection unit, 34 LP
F, 35 step-like signal detection unit, 36 significant change identification unit, 37 observation cycle setting unit.

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Tadanobu O 2-3-2, Marunouchi, Chiyoda-ku, Tokyo Mitsui Electric Co., Ltd. (72) Inventor Masayuki Saito 2-3-2, Marunouchi, Chiyoda-ku, Tokyo F term in Ryo Denki Co., Ltd. (reference) 5J062 AA08 AA09 BB06 CC07 DD11 DD12 DD21 EE04

Claims (9)

[Claims] 1. A plurality of fixed reference stations which are fixedly installed in a range substantially surrounding a zone which is a variable positioning target area and receive signals from positioning satellites, and which are randomly installed in the zone and receive signals from the positioning satellites. A positioning apparatus comprising: a plurality of positioning terminals for receiving; and a fluctuation positioning control unit for collecting and analyzing observation data obtained by the plurality of fixed reference stations and the positioning terminals to detect fluctuation of the zone. . 2. The fixed reference station and the positioning terminal each include: a satellite positioning receiving unit that receives a signal from the positioning satellite; and a data preprocessing unit that preprocesses observation data observed by the satellite positioning receiving unit. And a data communication unit that performs data transmission between the fluctuation positioning control unit and a data compression unit that compresses processing data from the data preprocessing unit in a reproducible manner. A positioning device as described. 3. The variable positioning control unit includes: a data communication unit that performs data transmission with the fixed reference station or the positioning terminal; a data decompression unit that decompresses data compressed by the data compression unit; A positioning calculation unit that calculates the position of the positioning terminal using data; a fluctuation detection unit that detects the fluctuation of the zone by detecting and removing that the positioning terminal has moved the zone; and detecting the fluctuation. The positioning device according to claim 1, further comprising: a positioning mode setting unit configured to reset an observation cycle for the positioning terminal when the positioning is performed. 4. The positioning calculation unit identifies a measurement point of each observation data, and separates the observation data of the positioning terminal from the observation data of the fixed reference station; A terminal-based approximate position calculation unit that calculates the approximate position of each positioning terminal using observation data, and the output of the terminal-based approximate position calculation unit, and using zone area information for each zone surrounded by a plurality of fixed reference stations, A terminal-based zone identification unit that identifies a zone in which the positioning terminal is located; a reference station-based observation data from the data identification unit; and the zone area information, which is used for the positioning calculation of the positioning terminal for each zone. A zone-based parameter calculation unit for calculating a parameter, terminal-by-terminal observation data from the data identification unit, zone information from the terminal-by-terminal zone identification unit, and the zone Using the correction parameter from the parameter calculation unit, a positioning apparatus according to claim 3, characterized by having a network positioning calculation unit that outputs the positioning data make positioning calculation of the positioning terminal. 5. An LPF for smoothing positioning data from the positioning calculation section in a predetermined band, and a change detection section generated when the positioning terminal moves through the zone using an output of the LPF. 4. The positioning device according to claim 3, further comprising a step-like signal detector for detecting a step-like signal. 6. A positioning mode setting unit, comprising: a significant variation identifying unit that extracts a zone variation component from variation data from the variation detecting unit; and a variation of each positioning terminal using an output of the significant variation identifying unit. And an observation cycle setting unit for setting an observation cycle of each positioning terminal in response to the detection.
A positioning device as described. 7. An outer shell, an outer shell support stabilizer for stably supporting the outer shell in the variable positioning target area, and a satellite positioning device installed inside the outer shell and receiving a signal from a positioning satellite. A positioning terminal, comprising: a receiving unit; an attitude stabilizing unit fixed to the satellite positioning receiving unit; and a shock absorbing viscous fluid filled between the outer shell and the attitude stabilizing unit. 8. The positioning terminal according to claim 7, wherein the attitude stabilizing section has a center of gravity set at a lowermost position so that the satellite positioning receiving section always faces upward. 9. The positioning terminal according to claim 8, wherein the outer shell is substantially spherical, and the outer shell supporting and stabilizing portions are provided at equal angular intervals on the outer shell.