JP2017181109A - Receiver, positioning system, vehicle, and positioning method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the time required for positioning solution to converge.SOLUTION: A receiver 100 comprises an input unit 101 and a positioning calculation unit 102. The receiver 100 is mounted on a mobile body and the input unit 101 of the receiver 100 is a functional element which accepts input of positional data 201 indicating a position of the mobile body from the outside. The positioning calculation unit 102 of the receiver 100 is a functional element which performs interference positioning and calculates ambiguity generated in the interference positioning from the positional data 201 which has been input through the input unit 101.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a receiver, a positioning system, a vehicle, and a positioning method.

  A-GPS (Assisted Global Positioning System) is a solution to the problem that the receiver cannot start the positioning calculation without receiving the navigation message including the almanac and the ephemeris from the satellite. This is a technique that speeds up the start of positioning calculation.

Special table 2008-54592

  Conventional A-GPS can shorten the time to start positioning by inputting a navigation message from a satellite to the receiver from the outside, but until the positioning solution converges in centimeter class positioning The time cannot be shortened.

  An object of the present invention is to shorten the time until the positioning solution converges.

A receiver according to one embodiment of the present invention includes:
Mounted on mobile objects,
An input unit for receiving input of position data indicating the position of the moving body from the outside;
A positioning calculation unit that performs interference positioning and calculates ambiguity generated in the interference positioning from position data input through the input unit.

  In the present invention, the receiver mounted on the moving body calculates the ambiguity generated in the interference positioning, that is, the positioning solution, from the position data indicating the position of the moving body input from the outside. The time until the solution converges can be shortened.

3 is a block diagram illustrating a configuration of a receiver according to Embodiment 1. FIG. 1 is a block diagram showing a configuration of a positioning system according to Embodiment 1. FIG. FIG. 4 is a diagram showing how ambiguity calculation is performed by the receiver according to Embodiment 1; The flowchart which shows operation | movement of a prior art example, and operation | movement of the positioning system which concerns on Embodiment 1. FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the part which is the same or it corresponds in each figure. In the description of the embodiments, the description of the same or corresponding parts will be omitted or simplified as appropriate.

Embodiment 1 FIG.
*** Explanation of configuration ***
With reference to FIG. 1, a configuration of receiver 100 according to the present embodiment will be described.

  The receiver 100 includes an input unit 101 and a positioning calculation unit 102.

  As will be described later, the receiver 100 is mounted on a moving body, and the input unit 101 is a functional element that receives input of position data 201 indicating the position of the moving body from the outside.

  The positioning calculation unit 102 is a functional element that performs interference positioning and calculates ambiguity generated in the interference positioning from the position data 201 input via the input unit 101.

  In the present embodiment, the positioning calculation unit 102 not only uses the GPS satellite 110 but also performs high-precision positioning using the quasi-zenith satellite 120. Specifically, the positioning calculation unit 102 performs centimeter-class RTK (Real Time Kinetic) positioning using the observation data 111 from the GPS satellite 110 and the reinforcement data 121 from the quasi-zenith satellite 120. The observation data 111 is a navigation message including an almanac and an ephemeris received from the GPS satellite 110, a pseudorange calculated from the received wave, a carrier phase, Doppler, and S / N (Signal-to-Noise ratio), and a positioning calculation unit 102 is input. Note that the navigation message including the almanac and the ephemeris may be input to the positioning calculation unit 102 from the outside via the Internet or the like as in the case of the conventional A-GPS. The reinforcement data 121 may be directly input from the quasi-zenith satellite 120 to the positioning calculation unit 102 or may be input from the server device of the ground reinforcement information distribution center 130 to the positioning calculation unit 102. When the positioning calculation unit 102 performs high-precision positioning using the observation data 111 and the reinforcement data 121, the positioning calculation unit 102 shortens the time for the positioning solution to converge to the centimeter class by using the position data 201 from the outside.

  In the present embodiment, the functions of the input unit 101 and the positioning calculation unit 102 are realized by software.

  Although not shown, the receiver 100 includes hardware such as an antenna, an amplifier circuit, a filter, an RF (Radio Frequency) circuit, a baseband circuit, a processor, and a memory.

  The memory stores programs that realize the functions of the input unit 101 and the positioning calculation unit 102. This program is read into the processor and executed by the processor.

  Information, data, signal values, and variable values indicating the processing results of the input unit 101 and the positioning calculation unit 102 are stored in a memory or a register or cache memory in the processor.

  With reference to FIG. 2, a configuration of positioning system 200 according to the present embodiment will be described.

  The positioning system 200 includes the receiver 100 described above, and also includes a storage device 210, an imaging device 220, and a processing device 230.

  The storage device 210 is a device that stores a high-precision map 211 in which the positions of a plurality of features 301 are recorded. That is, the storage device 210 is a device that stores the positions of the plurality of features 301. Specifically, the storage device 210 is a flash memory or an HDD (Hard Disk Drive).

  At least the receiver 100 and the imaging device 220 of the positioning system 200 are mounted on the vehicle 300 that is the moving body described above, and the imaging device 220 captures an image 221 of the feature 301 existing around the vehicle 300. It is. Specifically, the imaging device 220 is an in-vehicle camera.

  The processing device 230 generates the position data 201 of the vehicle 300 from the high-accuracy map 211 stored in the storage device 210 and the image 221 captured by the imaging device 220, and calculates the position data 201 using the positioning calculation of the receiver 100. This is an apparatus for inputting to the unit 102. The processing device 230 is specifically a CPU (Central Processing Unit).

  In this embodiment, not only the receiver 100 and the imaging device 220 but also the storage device 210 and the processing device 230 are mounted on the vehicle 300, but the storage device 210 and the processing device 230 are installed outside the vehicle 300. Alternatively, only the storage device 210 may be installed outside the vehicle 300. When the storage device 210 and the processing device 230 are installed outside the vehicle 300, the processing device 230 performs wireless communication with the receiver 100 and the imaging device 220 via a communication device (not shown). To exchange necessary data. When only the storage device 210 is installed outside the vehicle 300, the processing device 230 exchanges necessary data by performing wireless communication with the storage device 210 via a communication device (not shown).

*** Explanation of operation ***
The operation of the positioning system 200 according to the present embodiment will be described with reference to FIGS. 1 to 4. The operation of the positioning system 200 corresponds to the positioning method according to the present embodiment.

In the present embodiment, the positioning system 200 is a high-precision GIS (Geographic).
A virtual GCP (Ground Control Point) is generated from the high-precision map 211 that is Information System) and the image 221 that is camera data. Then, the positioning system 200 instantaneously fixes (FIX) the ambiguity by giving the self-position to the positioning calculation unit 102 of the receiver 100 as the high-precision A-GPS information when performing the centimeter-class positioning calculation. Can do.

  Conventional A-GPS assists in signal acquisition of a receiver, that is, generation of observation data 111, and given information is an almanac and an ephemeris for calculating a satellite orbit. In the present embodiment, as shown in FIG. 1, the position calculation unit 102 of the receiver 100 is provided with position data 201 indicating the self-position with high accuracy as assist information, so that the time of about 60 seconds. It is possible to shorten the time until RTK ambiguity convergence requiring RT.

  In recent years, automatic driving is becoming a reality, and a high-precision map base for automatic driving is being developed. In the present embodiment, as illustrated in FIG. 2, the processing device 230 uses the high-precision map 211 and the camera image 221 to identify the position of the vehicle 300 and calculates the positioning of the receiver 100 as assist information. Position data 201 is given to the unit 102. Specifically, the processing device 230 specifies the positional relationship between the vehicle 300 and the feature 301 existing around the vehicle 300 from the image 221 captured by the imaging device 220. The processing device 230 calculates the position of the vehicle 300 as a self-position from the identified positional relationship and the position of the feature 301 stored in the storage device 210. Then, the processing device 230 inputs the position data 201 indicating the calculated position as assist information to the positioning calculation unit 102 of the receiver 100 via the input unit 101 of the receiver 100.

ここで、Φは位相積算値であり、受信機１００にて観測可能であり、観測データ１１１の一部として測位計算部１０２に与えられる。λは波長であり、Ｎはアンビギュイティ、すなわち、波の数である。このＮを整数に収束させることができればセンチメートル級の測位精度が得られる。そこで、本実施の形態では、図３に示すように、測位計算部１０２が、アシスト情報である位置データ２０１により示された位置より、アンビギュイティを強制的に整数値に確定させることでアンビギュイティをフィックスさせる。これにより、従来はアンビギュイティをフィックスさせるまでの時間として６０秒程度の時間を要していたのに対し、本実施の形態では瞬時にアンビギュイティをフィックスさせることが可能となる。 In RTK positioning by the positioning calculation unit 102 of the receiver 100, the distance R between the GPS satellite 110 and the receiver 100 is expressed by the following equation.

Here, Φ is a phase integration value, which can be observed by the receiver 100, and is given to the positioning calculation unit 102 as a part of the observation data 111. λ is the wavelength and N is the ambiguity, ie the number of waves. If this N can be converged to an integer, centimeter-class positioning accuracy can be obtained. Therefore, in the present embodiment, as shown in FIG. 3, the positioning calculation unit 102 forcibly fixes the ambiguity to an integer value from the position indicated by the position data 201 that is assist information. Fix Guyty. As a result, conventionally, it took about 60 seconds to fix the ambiguity, but in the present embodiment, the ambiguity can be fixed instantaneously.

  As described above, the position of the feature 301 is obtained from the high-precision map 211. The position of the vehicle 300 is obtained from the position of the feature 301 by the stereo view of the photographing device 220. More specifically, the positional relationship between the imaging device 220 installed in the vehicle 300 and the GPS antenna of the receiver 100 is determined when the vehicle 300 or the positioning system 200 is manufactured, that is, known in advance. Therefore, the position (x, y, z) of the GPS antenna is known. The position (X, Y, Z) of the GPS satellite 110 is obtained by correcting the position calculated from the ephemeris using a part of the data of the reinforcement data 121. Then, the distance R between the GPS satellite 110 and the GPS antenna is obtained from the position (X, Y, Z) of the GPS satellite 110 and the position (x, y, z) of the GPS antenna. In the above equation, since Φ is an observed quantity, the only unknown is N, and N can be determined.

Conventionally, there is a method of correcting a position on a car navigation application using a GCP whose position is known. In this conventional method, as shown in FIG. 4, first, positioning calculation is performed using observation data 111 from the GPS satellite 110. As a result, position information by satellite positioning is obtained. Next, DR (Dead Reckoning) is performed using vehicle speed data and gyro data. As a result, GPS and INS (Internal
Position information obtained by combining the navigation system) is obtained. Next, the position information is corrected on the application by the GCP correction, and the vehicle position is displayed based on the corrected position information. As a result, the correct vehicle position is temporarily displayed, but if the positioning solution has not converged in the positioning calculation, the displayed vehicle position is shifted with time.

  On the other hand, in this embodiment, it is possible to continuously specify a position with high accuracy by performing correction using GCP directly in the positioning calculation unit 102 of the receiver 100 instead of the application. That is, in this embodiment, as shown in FIG. 4, first, the positioning calculation unit 102 uses the observation data 111 from the GPS satellite 110 and the position data 201 which is high-precision assist information for GCP correction. Calculation is performed. As a result, highly accurate position information can be obtained by satellite positioning. Next, DR is performed using vehicle speed data and gyro data. As a result, highly accurate position information obtained by combining GPS and INS is obtained. Next, the vehicle position is displayed by the application based on the highly accurate position information. In the present embodiment, since the positioning solution is converged by the positioning calculation unit 102, the correct vehicle position is continuously displayed.

*** Explanation of the effect of the embodiment ***
In the present embodiment, receiver 100 mounted on vehicle 300 calculates ambiguity generated by interference positioning, that is, a positioning solution, from position data indicating the position of vehicle 300 input from the outside. The time until the positioning solution converges can be shortened.

  According to the present embodiment, by providing assist information to the receiver 100 from the outside, the positioning solution can be instantaneously converged to the centimeter class, and the convergence time is a problem in practical operation. The availability of class positioning is improved.

*** Other configurations ***
In the present embodiment, the functions of the input unit 101 and the positioning calculation unit 102 of the receiver 100 are realized by software, but the functions of the input unit 101 and the positioning calculation unit 102 are hardware, or software and hardware. It may be realized by a combination of

  As mentioned above, although embodiment of this invention was described, you may implement this embodiment partially. In addition, this invention is not limited to this embodiment, A various change is possible as needed.

  100 receiver, 101 input unit, 102 positioning calculation unit, 110 GPS satellite, 111 observation data, 120 quasi-zenith satellite, 121 augmentation data, 130 augmentation information distribution center, 200 positioning system, 201 position data, 210 storage device, 211 high Accuracy map, 220 photographing device, 221 image, 230 processing device, 300 vehicle, 301 feature.

Claims (4)

In a receiver mounted on a moving object,
An input unit for receiving input of position data indicating the position of the moving body from the outside;
A receiver comprising: a positioning calculation unit that performs interference positioning and calculates ambiguity generated by the interference positioning from position data input via the input unit. A receiver according to claim 1;
A storage device for storing the positions of a plurality of features;
A photographing device for photographing an image of a feature existing around the moving body;
From the image photographed by the photographing device, the positional relationship between the moving body and features existing around the moving body is identified, and the identified positional relationship and the position of the feature stored in the storage device And a processing device that calculates the position of the mobile body and inputs position data indicating the calculated position to the positioning calculation unit of the receiver via the input unit of the receiver.   The vehicle which is the said mobile body in which the receiver and imaging | photography apparatus of the positioning system of Claim 2 are mounted.   Position data indicating the position of the moving body is input to a receiver mounted on the moving body, interference positioning is performed by the receiver, and ambiguity generated by the interference positioning is calculated from the input position data. Positioning method.

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