JP6320254B2

JP6320254B2 - Positioning method and positioning system

Info

Publication number: JP6320254B2
Application number: JP2014185779A
Authority: JP
Inventors: 良太井岡; 和田　晃; 和田　　晃
Original assignee: Hitachi Zosen Corp
Current assignee: Hitachi Zosen Corp
Priority date: 2014-09-12
Filing date: 2014-09-12
Publication date: 2018-05-09
Anticipated expiration: 2034-09-12
Also published as: JP2016057239A

Description

本発明は、測位方法及び測位システムに関する。 The present invention relates to a positioning method and a positioning system.

従来の測位システム（装置）の例として、測位解の導出過程で推定されるバイアスの整数解（フィックス解）の妥当性を評価する際、バイアスの実数解（フロート解）との誤差が最も小さい第１候補と次に誤差が小さい第２候補とを選定して実数解と各候補との距離（ノルム）を算出し、その比を所定閾値以上か否かを判断するレシオテストを行うものがある（例えば特許文献１）。この測位装置においては、整数解の妥当性が得られない場合には、閾値を変化させたり、閾値を複数用いたりすることによって、整数解の妥当性を評価している。 As an example of a conventional positioning system (apparatus), when evaluating the validity of an integer solution (fixed solution) of bias estimated in the process of deriving a positioning solution, the error from the bias real number solution (float solution) is the smallest. What selects the first candidate and the second candidate with the next smallest error, calculates the distance (norm) between the real solution and each candidate, and performs a ratio test to determine whether the ratio is equal to or greater than a predetermined threshold There is (for example, Patent Document 1). In this positioning device, when the validity of the integer solution cannot be obtained, the validity of the integer solution is evaluated by changing the threshold value or using a plurality of threshold values.

特開２００９−０２５０４９号公報JP 2009-025049 A

しかし、このような従来の測位装置におけるレシオテストはバイアスの整数解の妥当性の評価であって、測位解の妥当性の評価ではない。例えば、観測データに大きな誤差が含まれているものを用いると、この観測データを用いて求めたバイアスの複数の整数解の候補に十分な差がないために解の妥当性が判断できず、誤った解の候補を選択する場合がある。この場合、誤った整数解を用いて測位解を得ると、ミスフィックスした測位解が得られるため、直前の時刻で得られた測位解と大きく異なり、測位結果のグラフが跳躍する惧れがある。 However, the ratio test in such a conventional positioning device is an evaluation of the validity of the integer solution of the bias, not the evaluation of the validity of the positioning solution. For example, if the observation data contains a large error, the validity of the solution cannot be judged because there is not enough difference between the multiple integer solution candidates for bias obtained using this observation data, An incorrect solution candidate may be selected. In this case, if a positioning solution is obtained using an incorrect integer solution, a mis-fixed positioning solution is obtained. Therefore, there is a possibility that the positioning result graph jumps greatly from the positioning solution obtained at the previous time. .

本発明は上記問題点を解決して、より信頼性の高い測位結果が得られる測位方法及び測位装置を提供することを目的とする。 An object of the present invention is to provide a positioning method and a positioning apparatus that can solve the above problems and obtain a more reliable positioning result.

本発明に係る測位方法は、受信機が設けられた観測局にて、少なくとも一つの基準局より提供される補正情報を用いて前記観測局の位置を測位する際に、前記補正情報として、測位用衛星の精密暦及び前記少なくとも一つの基準局にて得られる観測データを用いて、前記精密暦に含まれている衛星時計誤差に衛星時計・電波送信機などの機器自体に起因して生じる機器遅延を修正してなる修正精密暦を用いる測位方法であって、
前記補正情報、前記観測局にて得られる観測データ、変更可能な演算パラメータ及びフロート解を用いて前記観測局の位置を測位した第１測位解と、前記第１測位解及びフィックス解を用いて前記観測局の位置を測位した第２測位解との差を、所定の閾値と比較することによって第２測位解を評価するとともに、
前記第１測位解と前記第２測位解との差が所定の閾値以下である場合には前記第２測位解を観測局の位置として出力し、
前記第２測位解と前記第１測位解との差が所定の閾値よりも大きい場合には、前記演算パラメータの種類および値の少なくとも一方を変更して求めた第１測位解及び第２測位解を用いて第２測位解を再度評価することを特徴とする。 In the positioning method according to the present invention, when positioning the position of the observation station using the correction information provided by at least one reference station at the observation station provided with the receiver, the correction information is used for positioning. Using the precise calendar of the satellite and the observation data obtained by the at least one reference station, the satellite clock error included in the precise calendar is caused by the equipment delay caused by the equipment such as the satellite clock and the radio wave transmitter. A positioning method using a corrected precise calendar,
Using the correction information, the observation data obtained at the observation station, a changeable calculation parameter and a float solution to determine the position of the observation station, and the first positioning solution and the fixed solution Evaluating the second positioning solution by comparing the difference from the second positioning solution obtained by positioning the position of the observation station with a predetermined threshold;
When the difference between the first positioning solution and the second positioning solution is not more than a predetermined threshold, the second positioning solution is output as the position of the observation station,
When the difference between the second positioning solution and the first positioning solution is larger than a predetermined threshold value, the first positioning solution and the second positioning solution obtained by changing at least one of the type and value of the calculation parameter The second positioning solution is evaluated again using.

また、第２測位解を再度評価する際に、第１測位解と第２測位解との差が所定の閾値以下となるまで、演算パラメータの種類および値の少なくとも一方を変更して第２測位解の評価が続けられることが好ましい。 Further, when the second positioning solution is evaluated again, at least one of the types and values of the operation parameters is changed until the difference between the first positioning solution and the second positioning solution becomes a predetermined threshold value or less. It is preferred that the solution evaluation continues.

本発明に係る測位システムは、受信機が設けられた観測局にて、少なくとも一つの基準局より提供される補正情報を用いて前記観測局の位置を測位する際に、前記補正情報として、測位用衛星の精密暦及び前記少なくとも一つの基準局にて得られる観測データを用いて、前記精密暦に含まれている衛星時計誤差に衛星時計・電波送信機などの機器自体に起因して生じる機器遅延を修正した修正精密暦を用いる測位システムであって、
観測局には、前記補正情報及び前記観測局にて得られる観測データが入力されるとともに、変更可能な演算パラメータ及びフロート解を用いて前記観測局の位置を測位した第１測位解を出力する第１測位解演算部と、前記第１測位解及びフィックス解を用いて前記観測局の位置を測位した第２測位解を出力する第２測位解演算部と、両測位解演算部から入力された第１測位解と第２測位解との差を所定の閾値とを比較することにより第２測位解の妥当性を評価する測位解評価部とが備えられ、
測位解評価部にて、前記第１測位解と前記第２測位解との差が所定の閾値以下である場合には前記第２測位解を観測局の位置として出力し、
前記第２測位解と前記第１測位解との差が所定の閾値よりも大きい場合には、測位解評価部にて、前記第１測位解演算部の演算パラメータの種類および値の少なくとも一方を変更して求めた第１測位解及び第２測位解を用いて第２測位解の妥当性を再度評価することを特徴とする。 In the positioning system according to the present invention, when positioning the position of the observation station using the correction information provided by at least one reference station at the observation station provided with the receiver, the correction information is used for positioning. Using the precise calendar of the satellite and the observation data obtained by the at least one reference station, the satellite clock error included in the precise calendar is caused by the equipment delay caused by the equipment such as the satellite clock and the radio wave transmitter. A positioning system using a modified precision calendar,
The observation station receives the correction information and the observation data obtained by the observation station, and outputs a first positioning solution obtained by positioning the position of the observation station using a changeable calculation parameter and a float solution. Input from a first positioning solution calculation unit, a second positioning solution calculation unit that outputs a second positioning solution obtained by positioning the position of the observation station using the first positioning solution and the fixed solution, and both positioning solution calculation units A positioning solution evaluation unit that evaluates the validity of the second positioning solution by comparing the difference between the first positioning solution and the second positioning solution with a predetermined threshold;
In the positioning solution evaluation unit, when the difference between the first positioning solution and the second positioning solution is equal to or less than a predetermined threshold, the second positioning solution is output as the position of the observation station,
When the difference between the second positioning solution and the first positioning solution is larger than a predetermined threshold, the positioning solution evaluation unit determines at least one of the type and value of the operation parameter of the first positioning solution calculation unit. The validity of the second positioning solution is evaluated again using the first positioning solution and the second positioning solution obtained by changing.

また、用いられる演算パラメータの種類および値の少なくとも一方が互いに異なる第１測位解演算部が複数設けられるとともに、再度評価する度に異なる前記第１測位解演算部を用いることが好ましい。 In addition, it is preferable that a plurality of first positioning solution calculation units having different types and values of calculation parameters to be used are provided, and different first positioning solution calculation units are used each time evaluation is performed again.

本発明の測位装置及び測位方法によれば、フロート解（バイアスの実数解）を用いて得られた第１測位解と、フィックス解（バイアスの整数解）を用いて得られた第２測位解とを比較して測位解の妥当性を評価することで、測位解の信頼性をより高めミスフィックスを防ぐことができる。 According to the positioning device and the positioning method of the present invention, the first positioning solution obtained by using the float solution (bias real number solution) and the second positioning solution obtained by using the fixed solution (bias integer solution). , And the validity of the positioning solution is evaluated, thereby improving the reliability of the positioning solution and preventing misfixes.

本発明の実施例に係る測位システムの概略構成を示す図である。It is a figure which shows schematic structure of the positioning system which concerns on the Example of this invention. 同測位システムの観測局及び演算センターの概略構成を示す図である。It is a figure which shows schematic structure of the observation station and calculation center of the positioning system. 同測位システムの観測局の第１測位解演算部の概略構成を示す図である。It is a figure which shows schematic structure of the 1st positioning solution calculating part of the observation station of the positioning system. 同測位システムの観測局の第２測位解演算部の概略構成を示す図である。It is a figure which shows schematic structure of the 2nd positioning solution calculating part of the observation station of the positioning system.

［実施例］
以下、本発明の実施例に係る測位方法及び測位システムについて説明する。
本実施例に係る測位方法及び測位システムは、ＧＮＳＳ（ＧｌｏｂａｌＮａｖｉｇａｔｉｏｎＳａｔｅｌｌｉｔｅＳｙｓｔｅｍ：全地球航法衛星システム）における測位用衛星からの電波に含まれた所定の観測データを用いて、任意の位置を、フロート解（バイアスの実数解）を用いて得られた第１測位解を用いて、より信頼性の高い第２測位解を得るものである。なお、ＧＮＳＳには、例えばＧＰＳ（アメリカ）やＧＬＯＮＡＳＳ（ロシア）などが含まれる。第１測位解を求める方法として例えば精密単独測位方式（ＰｒｅｃｉｓｅＰｏｉｎｔＰｏｓｉｔｉｏｎｉｎｇ方式以下、ＰＰＰ方式と略称することがある。）が挙げられ、第２測位解を求める方法として例えば修正精密単独測位方式（ＰｒｅｃｉｓｅＰｏｉｎｔＰｏｓｉｔｉｏｎｉｎｇｗｉｔｈＡｍｂｉｇｕｉｔｙＲｅｓｏｌｕｔｉｏｎ方式以下、ＰＰＰ−ＡＲ方式と略称することがある。）が挙げられる。ＰＰＰ方式とは、概して２周波の搬送波位相を基本観測値として使用する方法であり、精密暦と観測局における搬送波位相の観測データとを使用して観測局単独で精密測位を行う方法である。しかし、単独で測位するため、本来整数で求まるべきバイアス（アンビギュイティとも呼ばれる。）が実数解すなわちフロート解としてしか確定できないまま、第１測位解を得る。これに対して、ＰＰＰ−ＡＲ方式は、ＰＰＰ方式の測位精度を向上させるために、バイアスを整数解すなわちフィックス解として確定して第２測位解を得るものである。本発明の測位システム及び測位方法は、ＰＰＰ−ＡＲ方式により得られた第１測位解の妥当性をより高めるため、得られた第１測位解と第２測位解との差が所定の閾値以下となるまで、演算パラメータを異ならせて第１測位解と第２測位解とを求めなおし、再解析を続けるものである。 [Example]
Hereinafter, a positioning method and a positioning system according to an embodiment of the present invention will be described.
The positioning method and positioning system according to the present embodiment floats an arbitrary position using predetermined observation data included in radio waves from a positioning satellite in a GNSS (Global Navigation Satellite System). A second positioning solution with higher reliability is obtained by using the first positioning solution obtained using the solution (real number solution of bias). Note that GNSS includes, for example, GPS (USA) and GLONASS (Russia). As a method for obtaining the first positioning solution, for example, there is a precision single positioning method (Precision Point Positioning method, hereinafter, sometimes abbreviated as PPP method). Point Positioning with Ambiguity Resolution Method Hereinafter, it may be abbreviated as PPP-AR method). The PPP method is generally a method that uses a carrier phase of two frequencies as a basic observation value, and is a method that performs precise positioning by the observation station alone using the precise calendar and the observation data of the carrier phase at the observation station. However, since the positioning is performed independently, the first positioning solution is obtained while the bias (also called ambiguity) that should be obtained by an integer can be determined only as a real solution, that is, a float solution. On the other hand, in the PPP-AR method, in order to improve the positioning accuracy of the PPP method, the bias is determined as an integer solution, that is, a fixed solution, and a second positioning solution is obtained. In the positioning system and positioning method of the present invention, in order to further increase the validity of the first positioning solution obtained by the PPP-AR method, the difference between the obtained first positioning solution and the second positioning solution is less than a predetermined threshold value. Until the calculation results, the first positioning solution and the second positioning solution are obtained again with different calculation parameters, and the reanalysis is continued.

本実施例の測位システムとしての測位装置の概略的な構成としては、図１に示すように、自身の位置（座標）を、第１測位解及び第２測位解としてそれぞれ求め、且つこれらを用いて測位解を評価する観測局１と、複数の基準局２よりなる基準局網３における観測データ（ＧＮＳＳデータ）及び外部機関４からの精密暦を入力して修正精密暦を求めて、この修正精密暦を補正情報として観測局１に送る演算センター５とから構成されている。勿論、基準局２には測位用衛星からの電波を受信するＧＮＳＳ受信機が配置されており、その観測データが演算センター５に送られている。 As a schematic configuration of a positioning device as a positioning system of the present embodiment, as shown in FIG. 1, its own position (coordinates) is obtained as a first positioning solution and a second positioning solution, and these are used. The corrected precise calendar is obtained by inputting the observation data (GNSS data) in the reference station network 3 consisting of a plurality of reference stations 2 and the precise calendar from the external organization 4 by inputting the observed precise calendar from the observation station 1 that evaluates the positioning solution. Is sent to the observation station 1 as correction information. Of course, the reference station 2 is provided with a GNSS receiver for receiving radio waves from the positioning satellite, and the observation data is sent to the calculation center 5.

ここで、図１では、観測データの信頼性向上の観点から複数の基準局２で構成される基準局網３を用いる場合を示した。しかし、基準局２を少なくとも一つ用いれば足りる場合、基準局２は一つで基準局網３が構成されない場合も、本発明の範囲に含まれる。また、図１では、観測局１（クライアント）を演算センター５（サーバー）とは別個に図示したが、演算センター５を観測局１内に設けてもよい。なお、上記基準局２は電子基準局または電子基準点と称するもので、公設のものに加えて私設のものであってもよい。 Here, FIG. 1 shows a case where a reference station network 3 composed of a plurality of reference stations 2 is used from the viewpoint of improving the reliability of observation data. However, when it is sufficient to use at least one reference station 2, the case where only one reference station 2 is used and the reference station network 3 is not included is also included in the scope of the present invention. In FIG. 1, the observation station 1 (client) is illustrated separately from the computation center 5 (server), but the computation center 5 may be provided in the observation station 1. The reference station 2 is referred to as an electronic reference station or an electronic reference point, and may be a private one in addition to a public one.

上記演算センター５は、図２に示すように、基準局２にて観測された観測データを受信する演算センター５側の観測データ取得部５１と、外部機関４からの精密暦を取得する精密暦取得部５２と、観測データに基づき精密暦を修正して成る修正精密暦を演算する修正精密暦演算部５３とで構成されている。 As shown in FIG. 2, the arithmetic center 5 has an observation data acquisition unit 51 on the arithmetic center 5 side that receives observation data observed at the reference station 2 and a fine calendar acquisition that acquires a fine calendar from the external engine 4. The unit 52 and a modified precise calendar computing unit 53 that computes a modified precise calendar obtained by modifying the precise calendar based on the observation data.

演算センター５側の観測データ取得部５１は、基準局２の受信機で得られた搬送波位相や擬似距離などの観測データを取得し、修正精密暦演算部５３へ出力する。
精密暦取得部５２は、ＩＧＳ（ＩｎｔｅｒｎａｔｉｏｎａｌＧＮＳＳＳｅｒｖｉｃｅ）やＮＡＳＡ（ＮａｔｉｏｎａｌＡｅｒｏｎａｕｔｉｃｓａｎｄＳｐａｃｅＡｄｍｉｎｉｓｔｒａｔｉｏｎ）などの外部機関４が提供する高精度な精密暦に含まれている衛星軌道及び衛星時計誤差を取得し、修正精密暦演算部５３へそれぞれ出力する。 The observation data acquisition unit 51 on the calculation center 5 side acquires observation data such as the carrier phase and pseudorange obtained by the receiver of the reference station 2 and outputs the observation data to the corrected precise calendar calculation unit 53.
The precision calendar acquisition unit 52 acquires satellite orbits and satellite clock errors included in a high precision precision calendar provided by the external organization 4 such as IGS (International GNSS Service) or NASA (National Aeronautics and Space Administration), Each is output to the corrected precise calendar calculation unit 53.

本実施例においては、演算センター５では、基準局網３における各基準局２からの観測データを用いて補正情報を求める際に、衛星時計や電波送信機といったハードウェア（機器）に依存した未知情報についても推定される。この未知情報を考慮して衛星時計誤差に修正が加えられ、衛星軌道及びこの修正された衛星時計誤差が含まれる修正精密暦が観測局１の位置を計算する際に利用される。 In the present embodiment, the calculation center 5 uses the observation data from each reference station 2 in the reference station network 3 to obtain correction information for unknown information that depends on hardware (equipment) such as a satellite clock or a radio wave transmitter. Is also estimated. The satellite clock error is corrected in consideration of this unknown information, and the satellite orbit and the corrected precise calendar including the corrected satellite clock error are used when calculating the position of the observation station 1.

具体的には、修正精密暦演算部５３では、精密暦を用いて且つＭｅｌｂｏｕｒｎｅ−Ｗｕｅｂｂｅｎａ線形結合（以下、ＭＷ線形結合と称する。）と、電離層フリー線形結合（以下、ＬＣ線形結合と称する。）とを用いてワイドレーンアンビギュイティを決定させた後、決定したワイドレーンアンビギュイティを用いて衛星時計誤差の未知成分を決定し、衛星時計誤差を修正して修正衛星時計誤差を得る。衛星軌道及びこの修正衛星時計誤差とから成る修正精密暦を補正情報として、観測局１の補正情報取得部１３（後述する）へ出力する。 Specifically, the modified precision calendar calculation unit 53 uses the precision calendar and uses the Melbourn-Wuebena linear combination (hereinafter referred to as MW linear combination) and the ionosphere-free linear combination (hereinafter referred to as LC linear combination). Are used to determine the unknown component of the satellite clock error using the determined wide lane ambiguity, and the satellite clock error is corrected to obtain a corrected satellite clock error. A corrected precise calendar composed of the satellite orbit and the corrected satellite clock error is output as correction information to a correction information acquisition unit 13 (described later) of the observation station 1.

観測局１は、図２に示すように、測位用衛星からの電波を受信する受信機１１と、この受信機１１にて受信した観測データを取得する観測局１側の観測データ取得部１２と、演算センター５からの補正情報（修正精密暦）を取得する補正情報取得部１３と、この補正情報に基づいて、観測局１の位置（座標）を求める（測位する）第１測位解演算部１４と、観測局１の位置（座標）を求める（測位する）第２測位解演算部１５と、第１測位解と第２測位解とを比較して測位解の妥当性を評価する測位解評価部１６と、測位解評価部１６での評価から再解析の要否を判断する再解析要否判断部１７とを備える。 As shown in FIG. 2, the observation station 1 includes a receiver 11 that receives radio waves from a positioning satellite, and an observation data acquisition unit 12 on the observation station 1 side that acquires observation data received by the receiver 11. A correction information acquisition unit 13 that acquires correction information (corrected precise calendar) from the calculation center 5 and a first positioning solution calculation unit that calculates (positions) the position (coordinates) of the observation station 1 based on the correction information. 14, a second positioning solution calculation unit 15 that determines (positions) the position (coordinates) of the observation station 1, and a positioning solution that evaluates the validity of the positioning solution by comparing the first positioning solution and the second positioning solution An evaluation unit 16 and a reanalysis necessity determination unit 17 that determines the necessity of reanalysis from the evaluation in the positioning solution evaluation unit 16 are provided.

観測局１側の観測データ取得部１２は、観測局１の受信機で得られた搬送波位相や擬似距離などの観測データを取得し、第１測位解演算部１４及び第２測位解演算部１５へ出力する。 The observation data acquisition unit 12 on the observation station 1 side acquires observation data such as carrier phase and pseudorange obtained by the receiver of the observation station 1, and the first positioning solution calculation unit 14 and the second positioning solution calculation unit 15. Output to.

補正情報取得部１３は、演算センター５の修正精密暦演算部５３にて求めた修正精密暦（衛星軌道、修正衛星時計誤差）を取得し、第１測位解演算部１４及び第２測位解演算部１５へ補正情報としてそれぞれ出力する。 The correction information acquisition unit 13 acquires the modified precise calendar (satellite orbit, modified satellite clock error) obtained by the modified precise calendar computing unit 53 of the computation center 5, and the first positioning solution computing unit 14 and the second positioning solution computation. It outputs to the part 15 as correction information, respectively.

まず、第１測位解演算部１４では、入力された観測データ及び修正精密暦を用いて、観測局１の座標及び搬送波位相バイアスを未知パラメータとして推定する。本実施例においては、再解析に備えて、第１測位解演算部１４を複数（Ｍ個）設け、同一の観測データ及び修正精密暦を用いるとともに、演算パラメータの種類および値の少なくとも一方をそれぞれに異ならせて複数（Ｍ個）の第１測位解Ｒ_１（ｍ）（ｍ＝１，２，・・・Ｍ）を予備的に求めておく。Ｍの値には、実験などで予め得られた適当な値を用いればよいが、例えば２〜４程度が適当である。第１測位解演算部１４は、図３に示すように、推定条件選択部１４ａと、第１測位解決定部１４ｂとで構成される。なお、搬送波位相バイアスの代わりに推定方法が異なるナローレーンアンビギュイティを推定してもよい。 First, the first positioning solution calculation unit 14 estimates the coordinates of the observation station 1 and the carrier phase bias as unknown parameters using the input observation data and the corrected precise calendar. In this embodiment, in preparation for reanalysis, a plurality of (M) first positioning solution calculation units 14 are provided, the same observation data and modified precise calendar are used, and at least one of the types and values of calculation parameters is set. , A plurality (M) of first positioning solutions R ₁ (m) (m = 1, 2,... M) are preliminarily obtained. As the value of M, an appropriate value obtained in advance by experiments or the like may be used, but for example, about 2 to 4 is appropriate. As shown in FIG. 3, the first positioning solution calculation unit 14 includes an estimation condition selection unit 14a and a first positioning solution determination unit 14b. Note that narrow lane ambiguities with different estimation methods may be estimated instead of the carrier phase bias.

具体的には、第１測位解決定部１４ｂでは、下記（１）式に示すＬＣ線形結合を用いて、観測局１の座標及び搬送波位相バイアスＮを推定する。パラメータの推定手法としては、例えば最小二乗法又はカルマンフィルタなどが用いられる。本実施例においてはカルマンフィルタが用いられる。 Specifically, the first positioning solution determination unit 14b estimates the coordinates of the observation station 1 and the carrier phase bias N using the LC linear combination represented by the following equation (1). As a parameter estimation method, for example, a least square method or a Kalman filter is used. In this embodiment, a Kalman filter is used.

推定条件選択部１４ａは、演算パラメータすなわち推定条件の種類および値の少なくとも一方の変更を行う。具体的には、演算パラメータとしては、使用衛星の仰角、下記（２）式に示す対流圏遅延量Ｔの推定モデルの種類（例えば、Ｓａａｓｔａｍｏｉｎｅｎ，ＵＮＢ３ｍ，Ｈｏｐｆｉｅｌｄ）、対流圏遅延量Ｔの推定時に衛星の仰角方向にマッピングするためのマッピング関数Ｍ_ｄｒｙ（ｅｌ），Ｍ_ｗｅｔ（ｅｌ）などを演算パラメータとして用いることもできる。

The estimation condition selection unit 14a changes at least one of the operation parameter, that is, the type and value of the estimation condition. Specifically, the calculation parameters include the elevation angle of the satellite used, the type of estimation model of the tropospheric delay amount T shown in the following formula (2) (for example, Saastamoenen, UNB3m, Hopfield), and the tropospheric delay amount T Mapping functions M _dry (el), M _wet (el) and the like for mapping in the elevation angle direction can also be used as calculation parameters.

第１測位解決定部１４ｂでは、搬送波位相バイアスＮについては、整数値成分に加えて、衛星初期位相が小数値成分として加算された状態で推定されるため、実数解であるフロート解Ｎ^（ｈ）（記号Ｎ^（ｈ）はハット記号付Ｎの代用である。）として推定される。ゆえに、このフロート解Ｎ^（ｈ）を用いて観測局１の座標すなわち第１測位解Ｒ_１（ｍ）が得られる。求められたフロート解Ｎ^（ｈ）は図２に示すように第２測位解演算部１５に、第１測位解Ｒ_１（ｍ）は第２測位解演算部１５及び測位解評価部１６にそれぞれ出力される。ここで、第１測位解としてはＲ_１（１）が出力される（すなわち、ｍ＝１）。

In the first positioning solution determination unit 14b, the carrier phase bias N is estimated in a state in which the satellite initial phase is added as a fractional value component in addition to the integer value component, so that the float solution N ^{(h )} (symbol ^{N (h)} is estimated as a substitute for N with circumflex.). Therefore, the coordinates of the observation station 1, that is, the first positioning solution R ₁ (m) is obtained using the float solution N ^(h) . As shown in FIG. 2, the obtained float solution N ^(h) is sent to the second positioning solution calculation unit 15, and the first positioning solution R ₁ (m) is sent to the second positioning solution calculation unit 15 and the positioning solution evaluation unit 16. Is output. Here, R ₁ (1) is output as the first positioning solution (that is, m = 1).

次に、第２測位解演算部１５では、第１測位解演算部１４で得られた第１測位解すなわち観測局１の座標Ｒ_１（１）を用い、第２測位解Ｒ_２を決定する。具体的には、第２測位解演算部１５は、図４に示すように、アンビギュイティ決定部１５ａと、レシオテスト部１５ｂと、第２測位解決定部１５ｃとで構成される。 Next, the second positioning solution calculator 15 determines the second positioning solution R ₂ using the first positioning solution obtained by the first positioning solution calculator 14, that is, the coordinates R ₁ (1) of the observation station 1. . Specifically, as shown in FIG. 4, the second positioning solution calculation unit 15 includes an ambiguity determination unit 15a, a ratio test unit 15b, and a second positioning solution determination unit 15c.

アンビギュイティ決定部１５ａでは、ＭＷ線形結合とＬＣ線形結合とを用いてナローレーンアンビギュイティにおける整数値成分を確定させて、観測局１の座標を整数解であるフィックス解として求める。ワイドレーンは、ナローレーンに比べて整数値成分の確定が容易であるため、先にワイドレーンアンビギュイティを決定し、これを用いてナローレーンアンビギュイティの候補を決定する。具体的には、下記（３）式に示すように、ＭＷ線形結合を用いて、ワイドレーンアンビギュイティの整数値成分ｎ_ＷＬｋ ^{ｉｊ（ｔ）}（記号ｎ_ＷＬｋ ^{ｉｊ（ｔ）}はチルダ記号付ｎ_ＷＬｋ ^ｉｊの代用である。）を決定した後、ワイドレーンアンビギュイティの小数値成分Δ_ＷＬ ^ｉｊを求める。そして、下記（４）式に示すＬＣ線形結合を用いてナローレーンアンビギュイティの小数値成分Δ_ＮＬ ^ｉｊを決定し、搬送波位相バイアスＮ^（ｈ）とこのナローレーンアンビギュイティの小数値成分Δ_ＮＬ ^ｉｊとを用いてナローレーンアンビギュイティの整数値成分を決定する。なお、ナローレーンアンビギュイティの小数値成分Δ_ＮＬ ^ｉｊは、下記（５）式にて示されるように、ワイドレーンアンビギュイティの小数値成分Δ_ＷＬ ^ｉｊを用いて求められる。 The ambiguity determination unit 15a determines the integer value component in the narrow lane ambiguity using the MW linear combination and the LC linear combination, and obtains the coordinates of the observation station 1 as a fixed solution that is an integer solution. Since it is easier to determine the integer value component of the wide lane than the narrow lane, the wide lane ambiguity is determined first, and the narrow lane ambiguity candidate is determined using this. Specifically, as shown in the following equation (3), using MW linear combination, the integer value component n _WLk ^{ij (t) of} wide lane ambiguity (the symbol n _WLk ^{ij (t)} is n with a tilde symbol ⁾ _After substituting _WLk ^ij ), the _decimal value component Δ _WL ^ij of the wide lane ambiguity is obtained. Then, the narrow-lane ambiguity decimal value component Δ _NL ^ij is determined using the LC linear combination shown in the following equation (4), and the carrier phase bias N ^(h) and the narrow-lane ambiguity decimal value component Δ are determined. _NL ^ij is used to determine the integer component of the narrow lane ambiguity. The narrow lane ambiguity decimal value component Δ _NL ^ij is obtained using the wide lane ambiguity decimal value component Δ _WL ^ij as shown in the following equation (5).

このように、第２測位解演算部１５では、ナローレーンアンビギュイティの整数値成分の候補Ｎ_１ ^（ｃ），Ｎ_２ ^（ｃ）（記号Ｎ_１ ^（ｃ），Ｎ_２ ^（ｃ）はチェック記号付Ｎ_１，Ｎ_２の代用である。）からフィックス解（整数解）が確定され、観測局１の座標すなわち第２測位解Ｒ_２が得られる。

In this way, the second positioning solution calculation unit 15 checks the narrow-lane ambiguity integer component candidates N ₁ ^(c) and N ₂ ^(c) (symbols N ₁ ^(c) and N ₂ ^(c) are checked. A fixed solution (integer solution) is determined from N ₁ and N ₂ with symbols), and the coordinates of the observation station 1, that is, the second positioning solution R ₂ is obtained.

アンビギュイティ決定部１５ａでは、ナローレーンアンビギュイティの整数値成分の候補Ｎ_１ ^（ｃ），Ｎ_２ ^（ｃ）の絞り込みに第１測位解演算部１４にて第１測位解の導出過程で得たフロート解（実数解である搬送波位相バイアス）Ｎ^（ｈ）を用いる。整数値成分及び小数値成分が共に確定したフィックス解（ナローレーンアンビギュイティの整数値成分）の候補Ｎ_１ ^（ｃ），Ｎ_２ ^（ｃ）はレシオテスト部１５ｂへ出力される。 In the ambiguity determination unit 15a, the first positioning solution calculation unit 14 in the process of deriving the first positioning solution to narrow down the narrow-lane ambiguity integer value component candidates N ₁ ^(c) and N ₂ ^(c). The obtained float solution (carrier phase bias which is a real number solution) N ^(h) is used. Candidates N ₁ ^(c) and N ₂ ^(c) of the fixed solution (the integer value component of the narrow lane ambiguity) in which both the integer value component and the decimal value component are determined are output to the ratio test unit 15b.

レシオテスト部１５ｂでは、フィックス解の候補Ｎ_１ ^（ｃ），Ｎ_２ ^（ｃ）の妥当性の評価として、上述したフロート解Ｎ^（ｈ）を用いて、レシオテストを行う。フロート解Ｎ^（ｈ）とフィックス解の第１候補Ｎ_１ ^（ｃ）との距離を求めた第１ノルム、フロート解Ｎ^（ｈ）とフィックス解の第２候補Ｎ_２ ^（ｃ）との距離を求めた第２ノルムをそれぞれ求め、下記（６）式に示すように、第１ノルムを第２ノルムで割った値（比）を求める。その比が、所定の閾値αよりも大きい場合、すなわち第１ノルムが第２ノルムよりも十分に大きい場合、フィックス解の第１候補Ｎ_１ ^（ｃ）をナローレーンアンビギュイティの解、すなわちフィックス解として確定する。したがって、このフィックス解の第１候補Ｎ_１ ^（ｃ）は、フィックス解Ｎ_１ ^（ｃ）として、図４に示すように、第２測位解決定部１５ｃへ出力される。閾値αには、予め得られた実験データに基づき得られた値を用いる。例えば、３〜５が好適な範囲である。 The ratio test unit 15b performs a ratio test using the above-described float solution N ^(h) as an evaluation of the validity of the candidate candidates N ₁ ^(c) and N ₂ ^(c) . The first norm obtained from the distance between the float solution N ^(h) and the first candidate N ₁ ^(c) of the fixed solution, and the distance between the float solution N ^(h) and the second candidate N ₂ ^(c) of the fixed solution Each obtained second norm is obtained, and a value (ratio) obtained by dividing the first norm by the second norm is obtained as shown in the following equation (6). If the ratio is greater than a predetermined threshold value α, that is, if the first norm is sufficiently larger than the second norm, the first candidate N ₁ ^(c) of the fixed solution is designated as the narrow lane ambiguity solution, ie, the fixed Confirm as a solution. Therefore, the first candidate N ₁ ^(c) of the fixed solution is output as the fixed solution N ₁ ^(c) to the second positioning solution determining unit 15c as shown in FIG. As the threshold value α, a value obtained based on experimental data obtained in advance is used. For example, 3 to 5 is a suitable range.

第２測位解決定部１５ｃでは、レシオテスト部１５ｂで決定したフィックス解Ｎ_１ ^（ｃ）を用いて、観測局１の位置（座標）である第２測位解Ｒ_２を求め、図２に示すように、測位解評価部１６へ出力する。

The second positioning solution determining unit 15c uses the fixed solution N ₁ ^(c) determined by the ratio test unit 15b to obtain the second positioning solution R ₂ that is the position (coordinates) of the observation station 1, and is shown in FIG. As described above, the information is output to the positioning solution evaluation unit 16.

測位解評価部１６は、第１測位解演算部１４で求めた第１測位解Ｒ_１（１）及び第２測位解演算部１５で求めた第２測位解Ｒ_２を入力として、第１測位解演算部１４及び第２測位解演算部１５から出力された両測位解の差（ノルム）をとり、その差と所定の閾値βとの大小関係を求める。その大小関係を評価結果として再解析要否判断部１７へ出力する。 The positioning solution evaluation unit 16 receives the first positioning solution R ₁ (1) obtained by the first positioning solution calculation unit 14 and the second positioning solution R ₂ obtained by the second positioning solution calculation unit 15 as inputs. The difference (norm) between the two positioning solutions output from the solution calculation unit 14 and the second positioning solution calculation unit 15 is taken, and the magnitude relationship between the difference and a predetermined threshold β is obtained. The magnitude relationship is output to the reanalysis necessity determination unit 17 as an evaluation result.

再解析要否判断部１７では、測位解評価部１６での評価結果に基づき再解析の要否を判断する。すなわち上記両測位解の差が閾値βより小さい場合には、第２測位解を観測局１の座標である測位解として確定する。第２測位解を所定の場所（例えば図１及び図２では監視センター）へ出力する。また、この距離が閾値β以上となった場合には、第２測位解はミスフィックスであると判断し、第１測位解Ｒ_１（１）の次に用いられる第１測位解Ｒ_１（ｍ）を用いて再解析するよう、図２に示すように、再解析指令を第１測位解演算部１４に出力する。再解析指令には、すなわち再解析に用いられる第１測位解Ｒ_１（ｍ）の情報、例えば、予め求めたＭ個の第１測位解から、再解析に適切な推定条件で求められたものを選択する指示などが含まれている。閾値βには、予め得られた実験データに基づき、求めた値を用いる。例えば、水平方向で３〜１０ｃｍが好適な範囲である。 The reanalysis necessity determination unit 17 determines the necessity of reanalysis based on the evaluation result of the positioning solution evaluation unit 16. That is, when the difference between the two positioning solutions is smaller than the threshold value β, the second positioning solution is determined as the positioning solution that is the coordinates of the observation station 1. The second positioning solution is output to a predetermined place (for example, the monitoring center in FIGS. 1 and 2). When this distance is equal to or greater than the threshold value β, it is determined that the second positioning solution is a misfix, and the first positioning solution R ₁ (m) used next to the first positioning solution R ₁ (1). 2), a reanalysis command is output to the first positioning solution calculation unit 14 as shown in FIG. In the reanalysis command, that is, information on the first positioning solution R ₁ (m) used for the reanalysis, for example, the one obtained from M first positioning solutions obtained in advance under an estimation condition suitable for reanalysis. Instructions to select are included. As the threshold value β, a value obtained based on experimental data obtained in advance is used. For example, 3-10 cm is a suitable range in the horizontal direction.

なお、再解析時には、第２測位解演算部１５においても、再解析した第１測位解を用いて再び第２測位解を求める。再解析した第１測位解及び第２測位解を用いて再度、測位解評価部１６にて測位解の評価を行い、改めて再解析要否判断部１７にて要否判断が行われ、再解析が続けられる。 At the time of reanalysis, the second positioning solution calculation unit 15 also obtains the second positioning solution again using the reanalyzed first positioning solution. The positioning solution evaluation unit 16 again evaluates the positioning solution using the reanalyzed first positioning solution and the second positioning solution, and the reanalysis necessity determination unit 17 performs the necessity determination again, and the reanalysis is performed. Is continued.

以下、本実施例に係る測位方法について簡単に説明する。演算センター５において、観測データ取得部５１にて取得した測位用衛星の精密暦及び基準局網３の基準局２にて得られる観測データを用いて、基準局２の修正精密暦演算部５３にて得られた精密暦に含まれている衛星時計誤差に衛星時計・電波送信機などの機器自体に起因して生じる機器遅延を修正してなる修正精密暦を求め、修正精密暦演算部５３にて補正情報として用いる。 Hereinafter, the positioning method according to the present embodiment will be briefly described. In the arithmetic center 5, it is obtained by the corrected precise calendar computing unit 53 of the reference station 2 using the precise calendar of the positioning satellite acquired by the observation data obtaining unit 51 and the observation data obtained by the reference station 2 of the reference station network 3. A corrected precise calendar is obtained by correcting the satellite clock error included in the precise calendar to correct the device delay caused by the device itself such as the satellite clock / radio wave transmitter. Used as

観測局１において、観測データ取得部１２にて得られる観測データを用いて、これを測位解評価部１６において、第１測位解演算部１４にて変更可能な演算パラメータを異ならせて、且つフロート解を用いて観測局１の位置を測位した複数の第１測位解のうちの一つであるＲ_１（ｍ）と、第２測位解演算部１５にてフィックス解を用いて観測局１の位置を測位した第２測位解Ｒ_２とを用いて、測位解評価部１６にて第１測位解Ｒ_１（ｍ）と第２測位解Ｒ_２との差を所定の閾値βとを比較するとともに、再解析要否判断部１７にて、第１測位解Ｒ_１（ｍ）と第２測位解Ｒ_２との差が所定の閾値β以下である場合には第２測位解Ｒ_２を観測局１の位置として出力し、第２測位解Ｒ_２と第１測位解Ｒ_１（ｍ）との差が所定の閾値よりも大きい場合には、次の第１測位解演算部１４へ再解析指令を出力する。再解析指令を受けた次の第１測位解演算部１４で求めた次の第１測位解Ｒ_１（ｍ）及び、次の第１測位解Ｒ_１（ｍ）を用いて、測位解評価部１６にて第２測位解演算部１５にて求めた第２測位解Ｒ_２を用いて第２測位解Ｒ_２の妥当性を再度評価する。 In the observation station 1, the observation data obtained by the observation data acquisition unit 12 is used, and the calculation parameter that can be changed by the first positioning solution calculation unit 14 is changed in the positioning solution evaluation unit 16 and is floated. R ₁ (m) which is one of a plurality of first positioning solutions obtained by positioning the position of the observation station 1 using the solution, and the second positioning solution calculation unit 15 uses the fixed solution to Using the second positioning solution R ₂ obtained by positioning the position, the positioning solution evaluation unit 16 compares the difference between the first positioning solution R ₁ (m) and the second positioning solution R ₂ with a predetermined threshold value β. At the same time, if the difference between the first positioning solution R ₁ (m) and the second positioning solution R ₂ is equal to or less than a predetermined threshold β, the re-analysis necessity determination unit 17 observes the second positioning solution R ₂ . outputs as the position of the station 1, the difference between the second positioning solution R ₂ a first positioning solution R _{1 (m)} is greater than the predetermined threshold If the outputs reanalysis instruction to first positioning solution calculation unit 14 follows. Reanalysis first positioning solution of the following was determined command in the first positioning solution calculation unit 14 of the next received the R _{1 (m)} and, using a first positioning of the following solution R _{1 (m),} positioning solution evaluation unit 16, the validity of the second positioning solution R ₂ is evaluated again using the second positioning solution R ₂ obtained by the second positioning solution calculation unit 15.

したがって、測位解評価部１６にて第２測位解Ｒ_２を再度評価する際、第１測位解Ｒ_１（ｍ）と第２測位解Ｒ_２との差が所定の閾値以下となるまで、演算パラメータの値を変更して予め求めた第１測位解Ｒ_１（ｍ）を用いて第２測位解Ｒ_２の評価が続けられる。 Therefore, when the positioning solution evaluation unit 16 evaluates the second positioning solution R ₂ again, the calculation is performed until the difference between the first positioning solution R ₁ (m) and the second positioning solution R ₂ is equal to or less than a predetermined threshold value. The evaluation of the second positioning solution R ₂ is continued using the first positioning solution R ₁ (m) obtained in advance by changing the parameter value.

このように、本発明に係る測位方法及び測位システムによれば、フロート解（バイアスの実数解）を用いて得られた第１測位解Ｒ_１（ｍ）と、フィックス解（バイアスの整数解）を用いて得られた第２測位解Ｒ_２とを比較して測位解の妥当性を評価することで、測位解の信頼性をより高めミスフィックスを防ぐことができる。 As described above, according to the positioning method and the positioning system according to the present invention, the first positioning solution R ₁ (m) obtained by using the float solution (bias real number solution) and the fixed solution (bias integer solution). compares the second positioning solution R ₂ obtained using to evaluate the validity of the positioning solution, can be prevented more enhanced misses fix the reliability of positioning solution.

１観測局
１１受信機
１２観測データ取得部
１３補正情報取得部
１４第１測位解演算部
１４ａ推定条件選択部
１４ｂ第１測位解演算部
１５第２測位解演算部
１５ａアンビギュイティ決定部
１５ｂレシオテスト部
１５ｃ第２測位解決定部
１６測位解評価部
１７再解析要否判断部
２基準局
３基準局網
４外部機関
５演算センター
５１観測データ取得部
５２精密暦取得部
５３修正精密暦演算部 DESCRIPTION OF SYMBOLS 1 Observation station 11 Receiver 12 Observation data acquisition part 13 Correction information acquisition part 14 1st positioning solution calculation part 14a Estimation condition selection part 14b 1st positioning solution calculation part 15 2nd positioning solution calculation part 15a Ambiguity determination part 15b Ratio Test unit 15c Second positioning solution determination unit 16 Positioning solution evaluation unit 17 Reanalysis necessity determination unit 2 Base station 3 Base station network 4 External engine 5 Calculation center 51 Observation data acquisition unit 52 Precision calendar acquisition unit 53 Modified precision calendar calculation unit

Claims

When the position of the observation station is measured by using the correction information provided by at least one reference station at the observation station provided with the receiver, the accurate calendar of the positioning satellite and the at least one Using the observation data obtained from the two reference stations, a corrected precision calendar is created by correcting the equipment delay caused by the equipment such as the satellite clock and radio wave transmitter itself to the satellite clock error included in the precision calendar. A positioning method to be used,
Using the correction information, the observation data obtained at the observation station, a changeable calculation parameter and a float solution to determine the position of the observation station, and the first positioning solution and the fixed solution Evaluating the second positioning solution by comparing the difference from the second positioning solution obtained by positioning the position of the observation station with a predetermined threshold;
When the difference between the first positioning solution and the second positioning solution is not more than a predetermined threshold, the second positioning solution is output as the position of the observation station,
When the difference between the second positioning solution and the first positioning solution is larger than a predetermined threshold value, the first positioning solution and the second positioning solution obtained by changing at least one of the type and value of the calculation parameter A second positioning method is evaluated again using the positioning method.

When the second positioning solution is evaluated again, at least one of the type and value of the operation parameter is changed until the difference between the first positioning solution and the second positioning solution is equal to or less than a predetermined threshold value. The positioning method according to claim 1, wherein the evaluation is continued.

When the position of the observation station is measured by using the correction information provided by at least one reference station at the observation station provided with the receiver, the accurate calendar of the positioning satellite and the at least one Positioning using the corrected precision calendar that corrects the equipment delay caused by the equipment itself such as the satellite clock and radio wave transmitter to the satellite clock error contained in the precision calendar using the observation data obtained by two reference stations A system,
The observation station receives the correction information and the observation data obtained by the observation station, and outputs a first positioning solution obtained by positioning the position of the observation station using a changeable calculation parameter and a float solution. Input from a first positioning solution calculation unit, a second positioning solution calculation unit that outputs a second positioning solution obtained by positioning the position of the observation station using the first positioning solution and the fixed solution, and both positioning solution calculation units A positioning solution evaluation unit that evaluates the validity of the second positioning solution by comparing the difference between the first positioning solution and the second positioning solution with a predetermined threshold;
In the positioning solution evaluation unit, when the difference between the first positioning solution and the second positioning solution is equal to or less than a predetermined threshold, the second positioning solution is output as the position of the observation station,
When the difference between the second positioning solution and the first positioning solution is larger than a predetermined threshold, the positioning solution evaluation unit determines at least one of the type and value of the operation parameter of the first positioning solution calculation unit. A positioning system characterized by re-evaluating the validity of the second positioning solution using the first positioning solution and the second positioning solution obtained by changing.

A plurality of first positioning solution calculation units having different types and values of calculation parameters to be used are provided, and different first positioning solution calculation units are used each time evaluation is performed again. The described positioning system.