JP2021009109A - Positioning method, positioning system, control device, and mobile station - Google Patents

Abstract

To provide a positioning method or the like which secures positioning accuracy and furthermore enables the extension of an antenna station to be suppressed.SOLUTION: A positioning method includes, in a processing executed by at least one processor, a step of acquiring a positioning signal of at least three frequencies from a fixed reference point receiving a positioning signal transmitted by a positioning satellite. The positioning method further includes a step of generating correction information in each of a plurality of base stations on the basis of the positioning signal of at least three frequencies, and a step of transmitting the correction information to a mobile station. Further, the positioning method includes a step of selecting correction information to be used for positioning of the position of the mobile station from among a plurality of pieces of correction information received by the mobile station.SELECTED DRAWING: Figure 4

Description

The disclosure in this specification relates to a technique for positioning a mobile station moving with a mobile body.

Patent Document 1 discloses a positioning system for positioning a mobile station. This positioning system includes an antenna station whose position is known and a VRS information broadcasting center that generates correction information about a virtual reference point. The VRS information broadcasting center generates correction information using the antenna station as a virtual reference point and transmits it to the mobile station.

Japanese Unexamined Patent Publication No. 2002-318273

In the technique of Patent Document 1, in order to ensure positioning accuracy, it is desirable that the baseline length from the antenna station to the mobile station is relatively short. However, in order to shorten the baseline length, the antenna stations need to be densely arranged. Therefore, in the technique of Patent Document 1, it may be necessary to increase the number of antenna stations in order to secure the positioning accuracy.

The object to be disclosed is to provide a positioning method and the like capable of suppressing the addition of antenna stations while ensuring positioning accuracy.

The plurality of aspects disclosed herein employ different technical means to achieve their respective objectives. Further, the scope of claims and the reference numerals in parentheses described in this section are examples showing the correspondence with the specific means described in the embodiment described later as one embodiment, and limit the technical scope. is not it.

One of the disclosed positioning methods is a positioning method implemented by a computer (200, 300) for positioning the position of a mobile station (20) moving together with a mobile body (2), and is performed by at least one processor (201, 300). In the process executed in 301), the positioning signals of at least three frequencies are acquired from the fixed reference point (4) that receives the positioning signals transmitted by the positioning satellite (5) (S20), and the positioning signals of at least three frequencies are obtained. Based on the positioning signal, correction information for each of the plurality of base stations (3) is generated (S30; S31), the correction information is transmitted to the mobile station (S40), and the correction information received by the mobile station is used. This includes a step of performing correction and positioning the position of the mobile station based on the positioning signal received by the mobile station (S70).

One of the disclosed positioning systems includes a mobile station (20) that moves together with the mobile body (2) and a control device (300) of a base station (3) that communicates with the mobile station, and positions the mobile station. A positioning system that acquires positioning signals of at least three frequencies from a fixed reference point (4) that receives positioning signals transmitted by a positioning satellite (5), and an acquisition unit (310) of at least three frequencies. Received by the mobile station, the correction information generation unit (320) that generates correction information in each of the plurality of base stations based on the positioning signal, and the correction information transmission unit (330) that transmits the correction information to the mobile station. It is provided with a mobile station position calculation unit (260) that performs correction using the correction information and positions the position of the mobile station based on the positioning signal received by the mobile station.

One of the disclosed control devices is a control device of a base station (3) that communicates with a mobile station (20) that moves together with the mobile body (2).
An acquisition unit (310) that acquires positioning signals of at least three frequencies from a fixed reference point (4) that receives a positioning signal transmitted by a positioning satellite (5).
A correction information generation unit (320) that generates correction information in each of a plurality of base stations based on positioning signals of at least three frequencies.
The correction information transmitter (330) that transmits the correction information to the mobile station,
To be equipped.

One of the disclosed mobile stations is a mobile station (20) that communicates with the control device (300) of the base station (3) and moves together with the mobile body (2).
A correction information acquisition unit (210) that acquires correction information in each of a plurality of base stations generated based on positioning signals of at least three frequencies.
A mobile station position calculation unit (260) that performs correction using the received correction information and positions itself based on the received positioning signal, and
To be equipped.

According to these disclosures, correction information is generated based on positioning signals having three or more frequencies. By using the correction information generated at three or more frequencies for positioning, it is possible to suppress a decrease in accuracy due to a longer baseline length as compared with the case where the correction information generated at two or less frequencies is used. Therefore, the range in which positioning accuracy can be ensured can be expanded around the base station. From the above, it is possible to provide a positioning method or the like capable of suppressing the addition of antenna stations while ensuring positioning accuracy.

It is a figure which shows the whole structure including the positioning system of 1st Embodiment. It is a block diagram which shows the structure of a base station. It is a block diagram which shows the structure of a locator. It is a sequence diagram which shows an example of the flow of a positioning process. It is a flowchart which shows an example of the selection process performed by a locator ECU. It is a figure which shows the whole structure including the positioning system of 2nd Embodiment. It is a block diagram which shows the structure of the centralized base station and the relay base station in 2nd Embodiment. It is a sequence diagram which shows an example of the flow of the positioning process in 2nd Embodiment.

(First Embodiment)
The positioning system 1 of the first embodiment will be described with reference to FIGS. 1 to 5. The positioning system 1 includes a center device 300 and a locator 20. The center device 300 is installed in the base station 3 which is a stationary facility. The locator 20 is a mobile station mounted on a moving vehicle 2 and moving together with the vehicle 2. The positioning system 1 performs relative positioning between the center device 300 and the locator 20, and positions the self-position of the locator 20. The positioning system 1 uses the positioning signal from the positioning satellite 5 received by the locator 20 and the observation data acquired from the fixed reference point 4 by the center device 300 for relative positioning.

The positioning satellite 5 is an artificial satellite included in at least one satellite positioning system among satellite positioning systems such as GPS, GLONASS, Galileo, IRNSS, QZSS, and Beidou, and periodically transmits a positioning signal. The positioning signal includes a carrier wave, a pseudo-random code, and a navigation message. A carrier wave is a carrier that carries pseudo-random codes and navigation messages. The pseudo-random code is a code unique to each positioning satellite 5, and is composed of a preset periodic pattern. In the case of GPS, a C / A code, a P code, etc. are included as pseudo-random codes. A navigation message is a signal containing information necessary for positioning. The navigation message includes orbit information for each positioning satellite 5, correction value of the satellite clock, correction coefficient of ionospheric propagation delay, satellite health status, and the like.

One positioning satellite 5 can transmit a plurality of types of positioning signals having different carrier frequencies. For example, in the case of the GPS positioning satellite 5, positioning signals having three frequencies of L1 band (1575.42 MHz), L2 band (1227.60 MHz), and L5 band (1176.45 MHz) are transmitted. The three-frequency positioning signals transmitted from each positioning satellite 5 are received at the fixed reference point 4 and the locator 20.

The fixed reference point 4 is a stationary facility that receives a positioning signal from the positioning satellite 5. The fixed reference point 4 is a substantive continuous observation point that is set in advance in a predetermined area (for example, all over Japan). In the case of Japan, the electronic reference point set up and managed by the Geographical Survey Institute of the Ministry of Land, Infrastructure, Transport and Tourism is used as the fixed reference point 4.

Each fixed reference point 4 receives positioning signals of three frequencies or more from each positioning satellite 5, and outputs observation data for each positioning satellite 5. The observed data includes carrier phase, code pseudo-distance, and the like. The observation data is transmitted from the fixed reference point 4 to each center device 300 via an observation data management center (not shown).

The base station 3 is configured to generate correction information described later and transmit it to the locator 20. A plurality of base stations 3 are provided in a service target area (for example, all over Japan) that is a target of the positioning service by the positioning system 1. The base stations 3 are arranged so as to have a distance interval of the same order as the diameter of the range in which the correction information is valid (for example, on the order of several hundred kilometers). The base station 3 is assigned a range in which the correction information is valid as an area for providing the correction information. Adjacent base stations 3 are arranged so that their assigned areas partially overlap each other. In the following, the range in which the areas where this correction information is provided overlap may be referred to as a boundary area.

As shown in FIG. 2, the base station 3 includes a wide area communication unit 31 and a center device 300. The wide area communication unit 31 is a communication module for carrying out wireless communication conforming to a predetermined wide area wireless communication standard. The wide area communication unit 31 is connected to the center device 300 so as to be able to communicate with each other. The wide area communication unit 31 can at least receive the observation data output at the fixed reference point 4 and transmit the correction information described later to the locator 20. Regarding the reception of the observation data for which the correction information has been received, the wide area communication unit 31 receives the observation data from the fixed reference point 4 assigned in advance to each center device 300 among the fixed reference points 4 nationwide. Regarding the transmission of the correction information, the wide area communication unit 31 is configured to be able to transmit by a broadcast method that does not specify the locator 20 that receives the correction information.

The center device 300 is a computer mainly composed of a control circuit having a processor 301, a RAM 302, a memory device 303, and an input / output interface 304. The processor 301 is hardware for arithmetic processing combined with the RAM 302. The processor 301 realizes at least a part of the positioning method by executing various processes for realizing the functions of each functional unit described later by accessing the RAM 302. The memory device 303 has a configuration including a non-volatile storage medium, and stores various programs executed by the processor 301.

The center device 300 implements the observation data acquisition unit 310, the correction information generation unit 320, and the correction information transmission unit 330 as functional units by executing the program stored in the memory device 303 by the processor 301. The center device 300 is an example of a control device.

The observation data acquisition unit 310 acquires the observation data of the positioning satellite 5 transmitted from the fixed reference point 4 via the wide area communication unit 31. The observation data acquisition unit 310 receives the observation data from the preset fixed reference point 4. The observation data acquisition unit 310 provides the acquired observation data to the correction information generation unit 320.

The correction information generation unit 320 generates correction information necessary for relative positioning in the locator 20 based on the acquired observation data. The correction information generation unit 320 generates correction information using observation data from at least three or more fixed reference points 4. Here, the correction information is virtual observation data that can be received from each positioning satellite 5 at the position of the center device 300. For example, the correction information includes at least the virtual carrier phase and code pseudo-distance for three frequencies from each positioning satellite 5. The correction information generation unit 320 periodically generates correction information and provides it to the correction information transmission unit 330 each time.

The correction information transmission unit 330 periodically transmits the provided correction information from the wide area communication unit 31 to the locator 20. The correction information transmission unit 330 unilaterally transmits the correction information to the locator 20 by unidirectional communication without receiving uplink communication from the mobile station. The correction information transmission unit 330 transmits correction information at a predetermined cycle. The correction information transmission unit 330 transmits correction information by a broadcast method that does not specify a specific locator 20 as a communication partner.

The locator 20 generates highly accurate position information and the like of the vehicle 2 by compound positioning that combines a plurality of acquired information. As shown in FIG. 3, the locator 20 includes a GNSS (Global Navigation Satellite System) receiver 21, an inertial sensor 22, a high-precision map database (hereinafter, “high-precision map DB”) 23, and a locator ECU 200. .. The locator 20 may include other sensor configurations such as an electronic compass. The locator 20 is communicably connected to the DCM 29 via an in-vehicle network.

The DCM29 is a communication module mounted on the vehicle 2. The DCM29 receives radio waves from a base station 3 around the vehicle 2 by wireless communication in accordance with communication standards such as LTE (Long Term Evolution) and 5G. By installing the DCM29, the vehicle 2 becomes a connected car that can be connected to the Internet. The DCM29 can acquire the latest high-precision map data from a probe server provided on the cloud. The DCM29 cooperates with the locator ECU 200 to update the high-precision map data stored in the high-precision map DB 23 to the latest information.

The GNSS receiver 21 receives the positioning signals transmitted from the plurality of positioning satellites 5 and outputs the observation data including the carrier phase and the code pseudo distance. Similar to the fixed reference point 4, the GNSS receiver 21 is configured to be able to receive positioning signals having three or more frequencies from one positioning satellite 5.

The inertial sensor 22 has a configuration capable of detecting a change in the behavior of the vehicle 2. The inertial sensor 22 includes, for example, a gyro sensor and an acceleration sensor. The high-precision map DB 23 is mainly composed of a non-volatile memory, and stores map data (hereinafter, “high-precision map data”) having higher accuracy than ordinary map data used for navigation. The high-precision map data holds detailed information at least for information in the height (z) direction. The high-precision map data includes information that can be used for advanced driving support and automatic driving, such as three-dimensional shape information of roads, information on the number of lanes, and information indicating the direction of travel allowed for each lane.

The locator ECU 200 is a computer mainly composed of a control circuit having a processor 201, a RAM 202, a memory device 203, and an input / output interface 204. The processor 201 is hardware for arithmetic processing combined with the RAM 202. The processor 201 realizes at least a part of the positioning method by executing various processes for realizing the functions of each functional unit described later by accessing the RAM 202. The memory device 203 has a configuration including a non-volatile storage medium, and stores various programs executed by the processor 201.

The locator ECU 200 implements a plurality of functional units by executing a program stored in the memory device 203 by the processor 201. Specifically, the locator ECU 200 implements the correction information acquisition unit 210, the approximate position calculation unit 220, the traveling direction prediction unit 230, the radio wave information acquisition unit 240, the correction information selection unit 250, and the self-position calculation unit 260 as functional units. To do.

The correction information acquisition unit 210 acquires the correction information of the base station 3 received by the DCM29. The approximate position calculation unit 220 calculates the approximate position of the vehicle 2. The approximate position is position information with relatively low accuracy calculated by independent positioning based on the observation data received by the GNSS receiver 21. The approximate position calculation unit 220 may calculate the approximate position by guess navigation using the detection data of the inertial sensor 22, map matching using the map DB, or the like. The approximate position calculation unit 220 provides the approximate position to the traveling direction prediction unit 230 and the like.

The traveling direction prediction unit 230 calculates the direction in which the vehicle 2 is predicted to travel (hereinafter, the predicted traveling direction). The traveling direction prediction unit 230 calculates the predicted traveling direction by combining, for example, the approximate position, the detection information of the inertial sensor 22, and the information of the map DB. The traveling direction prediction unit 230 may use information from other vehicle-mounted sensors that detect the behavior of the vehicle 2, such as a steering angle sensor that detects the steering angle, for calculating the predicted traveling direction. Further, when the destination is set in the car navigation device or the like, the position information of the destination or the guidance route information to the destination may be used for calculating the predicted traveling direction. The traveling direction prediction unit 230 provides the calculated predicted traveling direction to the correction information selection unit 250.

The radio wave information acquisition unit 240 acquires information on the strength of the radio wave transmitted by the base station 3. Specifically, the radio wave information acquisition unit 240 acquires a radio wave intensity map in which the distribution of the radio wave intensity is mapped on the map. The radio wave intensity map is created in advance based on, for example, actual measurement or simulation of the radio wave intensity, and is acquired from an external server or the like via the DCM29. Alternatively, the radio field intensity map may be stored in advance in a storage medium mounted on the vehicle 2 such as a memory device. The radio field strength map is an example of radio field strength information.

When the correction information selection unit 250 has acquired correction information from a plurality of base stations 3 by the correction information acquisition unit 210, the correction information selection unit 250 is used for positioning the self-position from among the plurality of correction information. Select. Such a situation can occur, for example, when the vehicle 2 is traveling in the boundary area.

Specifically, the correction information selection unit 250 is used for positioning based on either the radio field strength of the base station 3 or the change in the distance from the mobile station vehicle 2 to the base station 3 (hereinafter referred to as the inter-station distance). Select a candidate for correction information. Then, the correction information selection unit 250 determines whether or not the correction information can be actually selected as the positioning correction information based on the quality of the candidate correction information.

More specifically, the correction information selection unit 250 first selects the correction information of the base station 3 having the highest radio wave strength as a candidate for the correction information for positioning, if the magnitude of the radio wave intensity of each base station 3 can be determined. To do. The correction information selection unit 250 determines the magnitude of the radio wave intensity by comparing the magnitude of the radio wave intensity in the predicted traveling direction between the base stations based on the predicted traveling direction and the radio wave intensity map. As described above, the correction information selection unit 250 uses the correction information of the base station 3 that can stably receive radio waves even at the moving destination of the vehicle 2 as a candidate.

Further, the correction information selection unit 250 selects the correction information of the base station 3 in which the inter-station distance gradually decreases when the radio field intensity map cannot be acquired. The correction information selection unit 250 determines whether or not the inter-station distance is gradually reduced based on the predicted traveling direction and the position information of the base station. When there are a plurality of base stations whose inter-station distance gradually decreases, the correction information selection unit 250 selects the correction information of the base station 3 that maximizes the reduction rate of the inter-station distance per unit moving distance.

The correction information selection unit 250 selects correction information that satisfies the above-mentioned conditions and has high quality as positioning correction information. The correction information selection unit 250 evaluates the quality based on the magnitude of noise included in the correction information. The correction information selection unit 250 quantifies the quality of the correction information by calculating the noise magnitude from, for example, the magnitude of the radio wave intensity from the base station 3, the signal-to-noise ratio, the bit error rate, the communication delay time, and the like. To do. The correction information selection unit 250 selects correction information whose quality of the correction information falls within a preset allowable level. Correction information that exceeds the permissible level is not selected as positioning correction information even if the above conditions are satisfied. The correction information selection unit 250 changes the size of the permissible level according to the size of the radio wave intensity of the center device 300 corresponding to the correction information selected as the candidate and the size of the reduction rate of the inter-station distance. May be good. The correction information selection unit 250 provides the positioning correction information selected by the combination of the above conditions to the self-position calculation unit 260.

The self-position calculation unit 260 calculates the self-position of the vehicle 2 by using the positioning signal (hereinafter, vehicle-side positioning signal) received by the GNSS receiver 21 and the correction information for positioning. Specifically, the self-position calculation unit 260 performs relative positioning by the real-time kinematic (RTK) method based on the carrier phase and code pseudo-distance of three frequencies included in each of the vehicle-side positioning signal and the positioning correction information. carry out. As a result, the self-position calculation unit 260 calculates the self-position based on the vehicle positioning signal while performing correction using the positioning correction information. In the first embodiment, the implementation of relative positioning using the correction information for positioning corresponds to the correction using the correction information. Since the self-position calculation unit 260 performs positioning based on the positioning signals of three frequencies, a decrease in accuracy due to a long baseline length is suppressed. Therefore, the self-position calculation unit 260 can calculate a more reliable and highly accurate positioning result than in the case of a positioning signal having two frequencies or less. The self-position calculation unit 260 provides highly accurate self-position information of the vehicle 2 based on the positioning result to another vehicle-mounted device through the communication bus of the vehicle-mounted network. The self-position calculation unit 260 is an example of the mobile station position calculation unit.

Next, the operation of each configuration in the positioning of the self-position of the vehicle 2 will be described with reference to the sequence diagram shown in FIG. First, in step S10, the fixed reference point 4 transmits the observation data of three frequencies received from each positioning satellite 5 to the base station 3. In step S20, the base station 3 acquires the observation data. In step S30, the base station 3 generates correction information from the received observation data and its own position information. In step S40, the base station 3 transmits the generated correction information to the vehicle 2. The processes of steps S20 to S40 are similarly executed at each base station 3 for each assigned area.

Next, in step S50, the locator 20 of the vehicle 2 receives the correction information. In step S60, the locator 20 selects the acquired correction information to be used as the correction information for positioning. The details of the process in step S60 will be described later. In step S70, the self-position of the locator 20 is calculated using the positioning correction information selected in step S60. The calculated self-position is output to other in-vehicle devices connected to the in-vehicle network.

Next, the details of the process executed by the locator 20 in step S60 of FIG. 4 will be described with reference to the flowchart of FIG.

First, in step S61, the predicted traveling direction is calculated. Next, in step S62, it is determined whether or not there is a radio field intensity map corresponding to the area in the predicted traveling direction. If it is determined that there is a radio field strength map, the process proceeds to step S63. In step S63, the correction information of the base station 3 having the highest radio field intensity in the predicted traveling direction is selected as a candidate for the correction information for positioning based on the radio wave intensity map, and then the process proceeds to step S65.

On the other hand, if it is determined in step S62 that there is no radio field intensity map, the process proceeds to step S64. In step S64, the correction information of the base station 3 whose inter-station distance, which is the distance between the base station 3 and the approximate position of the vehicle 2, gradually decreases, is selected as a candidate for the correction information for positioning, and the process proceeds to step S65. ..

In step S65, it is determined whether or not the quality of the correction information selected as the candidate for the positioning correction information falls within the preset allowable level. If it is determined that the quality exceeds the permissible level, the process proceeds to step S66. In step S66, the correction information of the base station 3 having the next highest radio wave intensity after the correction information selected as the candidate is set as a new candidate. When a candidate for new positioning correction information is selected, the process returns to step S65.

On the other hand, if it is determined in step S65 that the error in the correction information is within the permissible level, the process proceeds to step S67. In step S67, the correction information selected as the candidate is confirmed as the positioning correction information, and the series of flows is completed.

Next, the configuration and operation / effect of the positioning system 1 of the first embodiment will be described.

The positioning system 1 includes an observation data acquisition unit 310 that acquires positioning signals of three frequencies from the fixed reference point 4. The positioning system 1 includes a correction information generation unit 320 that generates correction information in each of the plurality of base stations 3 based on the positioning signal, and a correction information transmission unit 330 that transmits the correction information to the locator 20. The positioning system 1 includes a self-position calculation unit 260 that performs correction using the received correction information and positions its own position based on the received positioning signal.

According to this, correction information is generated based on positioning signals having three or more frequencies. By using the correction information generated at three or more frequencies for positioning, it is possible to suppress a decrease in accuracy due to a longer baseline length as compared with the case where the correction information generated at two or less frequencies is used. Therefore, the range in which positioning accuracy can be ensured can be expanded around the base station 3. As described above, the positioning system 1 can suppress the addition of antenna stations while ensuring the positioning accuracy. Further, by suppressing the addition of antenna stations, it is possible to suppress the need for the base station 3 to generate correction information for a plurality of antenna stations, so that the positioning system 1 can reduce the calculation load on the base station 3. It becomes.

Further, the correction information selection unit 250 selects the correction information in the base station 3 in which the inter-station distance is estimated to gradually decrease. Therefore, the correction information in the base station 3 in which the baseline length with the locator 20 becomes shorter can be used for positioning. Therefore, the positioning system 1 can further suppress the decrease in accuracy.

In addition, the correction information selection unit 250 selects the correction information in the base station 3 having the highest radio field strength in the traveling direction when the radio wave strength map is available. According to this, since the correction information having the maximum radio field strength is used for positioning, the signal-to-noise ratio of the correction information can be increased. Therefore, the positioning system 1 can further improve the accuracy.

The correction information selection unit 250 selects the correction information in the base station 3 in which the inter-station distance is estimated to gradually decrease when there is no radio field intensity map. According to this, the correction information selection unit 250 executes the selection of the correction information based on the inter-station distance only when the information regarding the radio wave intensity in the traveling direction cannot be acquired. Therefore, the correction information selection unit 250 can change the conditions for selecting the correction information in a situation where the information on the radio wave strength cannot be obtained while giving priority to the selection of the correction information based on the radio wave strength in the traveling direction. ..

When the quality of the selected correction information is lower than the permissible level, the correction information selection unit 250 newly selects the correction information of the base station 3 having the next highest radio field strength. According to this, the correction information selection unit 250 avoids using the correction information of low quality for positioning, and positions the correction information having relatively high reliability and high radio field strength among other correction information. It can be selected as correction information.

(Second Embodiment)
In the second embodiment, a modified example of the positioning method in the first embodiment will be described. The components having the same reference numerals as those in the drawings of the first embodiment in FIGS. 6 to 8 are the same components and have the same effects. The positioning system 1 of the second embodiment is different from the first embodiment in that it includes an integrated base station 3A and a relay base station 3B as base stations.

The centralized base station 3A and the relay base station 3B include a wide area communication unit 31 and center devices 300A and 300B, similarly to the base station 3 of the first embodiment. The number of centralized base stations 3A installed is smaller than that of relay base stations 3B. For example, only one centralized base station 3A is provided in one base station assigned area in the service target area.

As shown in FIG. 7, the center device 300A of the centralized base station 3A includes the same functional blocks as the center device 300 of the first embodiment. The correction information generation unit 320 of the center device 300A is based on the observation data acquired from the fixed reference point 4 and the position information of each center device 300 stored in advance in a storage medium such as the memory device 303, in each region. Generates correction information for each base station 3A and 3B. The correction information generation unit 320 aggregates the correction information generated for each of the base stations 3A and 3B as a batch of information. The correction information generation unit 320 converts each generated correction information into a batch data in one message format and provides it to the correction information transmission unit 330. Therefore, the correction information transmission unit 330 does not transmit each correction information individually, but transmits each correction information as a collective data.

The center device 300B of the relay base station 3B includes a correction information acquisition unit 311 and a correction information transmission unit 330. The correction information acquisition unit 311 acquires the batch data transmitted from the aggregation base station 3A. The correction information transmission unit 330 transmits this batch data to the locator 20. As described above, the relay base station 3B relays the batch data transmitted from the aggregate base station 3A to the locator 20.

The correction information acquisition unit 210 of the locator 20 acquires the batch data transmitted from the aggregation base station 3A or the relay base station 3B. Therefore, the correction information acquisition unit 210 acquires correction information regarding base stations 3A and 3B in all areas regardless of the approximate position. The correction information selection unit 250 selects the positioning correction information from the correction information of the plurality of base stations 3. That is, the correction information selection unit 250 obtains the correction information of which base stations 3A and 3B from the batch data based on the radio field strength, the inter-station distance, and the quality of the batch data of the batch data transmitted from each base station 3A and 3B. Select whether to extract. The self-position calculation unit 260 extracts the correction information of the base stations 3A and 3B selected from the batch data, and then executes the self-position calculation process based on the correction information.

Next, the operation of each configuration in the positioning of the self-position of the vehicle 2 will be described with reference to the sequence diagram shown in FIG. With respect to the steps having the same reference numerals as the steps in the sequence diagram of FIG. 4, the description in the first embodiment is incorporated. In the center device 300A of the centralized base station 3A, correction information in each base station 3, 3A is generated in step S31 based on the position information of each base station 3, 3A and the observation data of the fixed reference point 4. To. In step S32, batch data that aggregates each correction information is generated.

In step S60, the locator 20 selects correction information to be used as positioning correction information from the acquired batch data. The details of the process performed in step S60 are the same as the flowchart of FIG. However, the locator 20 of the second embodiment determines in step S65 whether or not the quality of the batch data transmitted to the base stations 3A and 3B is within the permissible range. When calculating the self-position in step S70, the locator 20 extracts and uses the data corresponding to the correction information of the selected base station 3 from the batch data.

The positioning system 1 of the second embodiment collectively generates correction information in a plurality of relay base stations 3B by another integrated base station 3A. According to this, since it is not necessary to generate the correction information in the relay base station 3B, the calculation load in the relay base station 3B can be suppressed. Therefore, it is possible to reduce the number of base stations that have a relatively large computational load in the entire base station.

(Other embodiments)
Disclosures herein are not limited to the illustrated embodiments. The disclosure includes exemplary embodiments and modifications by those skilled in the art based on them. For example, disclosure is not limited to the parts and / or element combinations shown in the embodiments. Disclosure can be carried out in various combinations. The disclosure can have additional parts that can be added to the embodiment. The disclosure includes the parts and / or elements of the embodiment omitted. Disclosures include replacement or combination of parts and / or elements between one embodiment and another. The technical scope disclosed is not limited to the description of the embodiments. Some technical scopes disclosed are indicated by the description of the claims and should be understood to include all modifications within the meaning and scope equivalent to the description of the claims. ..

In the above-described embodiment, the locator 20 calculates its own position by the relative positioning of the RTK method. Instead of this, the locator 20 may calculate its own position by differential positioning. In this case, the center device 300 generates the difference between its own positioning position based on the observation data from the fixed reference point 4 and its own position as a known point measured in advance as correction information.

In the above-described embodiment, the locator 20 mounted on the vehicle 2 has been described as a mobile station, but the mobile station is not limited to this. For example, instead of the locator 20, a mobile terminal (for example, a smartphone) carried by the user may be a mobile station.

The processor of the above-described embodiment is a processing unit including one or a plurality of CPUs (Central Processing Units). Such a processor may be a processing unit including a GPU (Graphics Processing Unit), a DFP (Data Flow Processor), and the like in addition to the CPU. Further, the processor may be a processing unit including an FPGA (Field-Programmable Gate Array) and an IP core specialized in specific processing such as learning and inference of AI. Each arithmetic circuit unit of such a processor may be individually mounted on a printed circuit board, or may be mounted on an ASIC (Application Specific Integrated Circuit), an FPGA, or the like.

Various non-transitory tangible storage media such as flash memory and hard disk can be adopted as the memory device for storing the program. The form of such a storage medium may also be changed as appropriate. For example, the storage medium may be in the form of a memory card or the like, and may be inserted into a slot portion provided in an in-vehicle ECU and electrically connected to a control circuit.

The control device, ECU and method thereof described in the present disclosure may be realized by a dedicated computer constituting a processor programmed to perform one or more functions embodied by a computer program. Alternatively, the apparatus and method thereof described in the present disclosure may be realized by a dedicated hardware logic circuit. Alternatively, the apparatus and method thereof described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

1 Positioning system, 2 Vehicle (mobile body), 20 locator (mobile station), 200 locator ECU (computer), 201 processor, 210 correction information acquisition unit, 260 self-position calculation unit (mobile station position calculation unit), 3 base station , 300 Center device (computer, control device), 301 processor, 310 Observation data acquisition unit (acquisition unit), 320 Correction information generation unit, 330 Correction information transmission unit 4 Fixed reference point, 5 Positioning satellite.

Claims (10)

It is a positioning method implemented by a computer (200, 300) to determine the position of a mobile station (20) that moves together with a mobile body (2).
For processing executed by at least one processor (201,301)
The positioning signals having at least three frequencies are acquired from the fixed reference point (4) that receives the positioning signal transmitted by the positioning satellite (5) (S20).
Based on the positioning signals of at least three of the frequencies, correction information in each of the plurality of base stations (3) is generated (S30; S31).
The correction information is transmitted to the mobile station (S40),
Correction is performed using the correction information received by the mobile station, and the position of the mobile station is positioned based on the positioning signal received by the mobile station (S70).
Positioning method including the step. The positioning method according to claim 1, further comprising a step of selecting the correction information to be used for positioning the position of the mobile station from the plurality of correction information received by the mobile station (S67). Further including the step of predicting the traveling direction of the mobile station (S61),
The positioning method according to claim 2, wherein in the step of selecting the correction information, the correction information in the base station where the distance to the mobile station is estimated to gradually decrease is selected. Further including the step of predicting the traveling direction of the mobile station (S61),
The positioning method according to claim 2, wherein in the step of selecting the correction information, the correction information in the base station having the highest radio field intensity in the traveling direction is selected. Further including a step of determining whether or not the mobile station can acquire radio field strength information regarding the radio field strength of the positioning signal received from each base station in the traveling direction (S62).
The fourth aspect of claim 4 is to select the correction information of the base station, which is estimated to gradually decrease the distance to the mobile station when it is determined that the radio field intensity information cannot be acquired in the step of selecting the correction information. Positioning method. In the step of selecting the correction information, if the quality of the selected correction information is lower than the permissible level, claim 4 or claim 5 newly selects the correction information of the base station having the next highest radio wave intensity. The positioning method described in. The positioning method according to any one of claims 1 to 6, wherein in the step of generating the correction information, the correction information in the plurality of base stations is collectively generated by the other base station. .. A positioning system that includes a mobile station (20) that moves together with a mobile body (2) and a control device (300) of a base station (3) that communicates with the mobile station, and positions the mobile station.
An acquisition unit (310) that acquires the positioning signals of at least three frequencies from a fixed reference point (4) that receives a positioning signal transmitted by the positioning satellite (5).
A correction information generation unit (320) that generates correction information in each of the plurality of base stations based on the positioning signals of at least three frequencies.
A correction information transmission unit (330) that transmits the correction information to the mobile station,
A mobile station position calculation unit (260) that performs correction using the correction information received by the mobile station and positions the position of the mobile station based on the positioning signal received by the mobile station.
Positioning system equipped with. A control device for a base station (3) that communicates with a mobile station (20) that moves together with a mobile body (2).
An acquisition unit (310) that acquires the positioning signals of at least three frequencies from a fixed reference point (4) that receives a positioning signal transmitted by the positioning satellite (5).
A correction information generation unit (320) that generates correction information in each of the plurality of base stations based on the positioning signals of at least three frequencies.
A correction information transmission unit (330) that transmits the correction information to the mobile station,
A control device comprising. A mobile station (20) that communicates with the control device (300) of the base station (3) and moves with the mobile body (2).
A correction information acquisition unit (210) that acquires correction information in each of the plurality of base stations generated based on positioning signals of at least three frequencies.
A mobile station position calculation unit (260) that performs correction using the received correction information and positions itself based on the received positioning signal, and
Mobile station with.

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