Receiver, transmitter, and transmission / reception system

Abstract

To provide a receiver, a transmitter, and a transmission / reception system with which it is possible to suppress the effect of a multipath and recognize the arrival direction of a radio wave more accurately.SOLUTION: A survey system 1 comprises a survey device 100, and a retroreflector 200 which is provided with a transmission unit 210A. The survey device 100 includes a horizontal drive unit 102 capable of rotating a body unit 100b around a vertical axis, a reception unit 120 for receiving a specific radio wave, an arithmetic unit 101b for calculating the estimated arrival direction of each radio wave and setting the orientation direction of the body unit from each estimated arrival direction when the reception unit has received radio waves transmitted from a plurality of different positions, and a survey control unit 101a for controlling the horizontal drive unit so that the body unit is oriented to the orientation direction set by the arithmetic unit. The transmission unit 210A includes a beacon 211A for transmitting a specific radio wave, a support unit 212A for movably supporting the beacon, and a transmission control unit 213A for moving the beacon and causing a radio wave to be transmitted from a plurality of positions.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a receiving device, a transmitting device, and a transmitting / receiving system. [Background technology]

[0002] In recent years, direction detection technology that can recognize the direction from which Bluetooth (registered trademark) radio waves are transmitted has become widespread. For example, in the following Patent Document 1, the Bluetooth (registered trademark) direction detection technology is applied to a surveying instrument, making it possible to point the surveying instrument toward a surveying target. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-173672 A Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, a phenomenon occurs in which radio waves are received from directions different from the original direction due to the influence of reflections, etc. (so-called multipath), and there are cases in which the direction from which the radio waves arrive cannot be detected accurately.

[0005] Therefore, an object of the present disclosure is to provide a receiving device, a transmitting device, and a transmitting / receiving system that can suppress the effects of multipath and more accurately recognize the direction from which radio waves arrive. [Means for solving the problem]

[0006] In order to achieve the above-mentioned objective, the receiving device of the present disclosure comprises a rotational drive unit capable of rotating a main body unit, a receiving unit that receives specific radio waves, a calculation unit that calculates the arrival direction of each radio wave when the receiving unit receives the radio waves transmitted from a plurality of different positions and sets the direction of orientation of the main body unit from each arrival direction, and a drive control unit that controls the rotational drive unit to orient the main body unit in the direction of orientation set by the calculation unit.

[0007] The transmitting device of the present disclosure includes a transmitting terminal that transmits a specific radio wave, a support unit that movably supports the transmitting terminal, and a transmission control unit that moves the transmitting terminal and transmits the radio wave from a plurality of positions.

[0008] The transmitting device of the present disclosure also includes a transmitting terminal that transmits a specific radio wave, a support section in which the multiple transmitting terminals are arranged at multiple different positions, and a transmission control section that causes each of the multiple transmitting terminals to transmit the radio wave.

[0009] A transmission / reception system according to the present disclosure includes the above-described receiving device and any one of the above-described transmitting devices. Effect of the Invention

[0010] According to the present disclosure, the influence of multipath can be suppressed, and the arrival direction of radio waves can be recognized more accurately. [Brief description of the drawings]

[0011] [Figure 1] 1 is an overall configuration diagram showing a surveying system according to an embodiment of the present invention; [Diagram 2] FIG. 1 is a block diagram showing a surveying system according to an embodiment of the present invention. [Diagram 3] 3 is a flowchart showing a surveying method according to the present embodiment. [Figure 4] 13A to 13D are explanatory diagrams showing modified examples of the transmission section. [Diagram 5] 13A to 13D are explanatory diagrams showing modified examples of the moving direction of a beacon. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Next, an embodiment of a surveying system (transmission and reception system) to which a receiving device and a transmitting device according to the present invention are applied will be described with reference to Figs. 1 to 5 as appropriate.

[0013] (Survey system configuration) 1 is a system that measures the position of a retroreflective instrument 200 installed by a worker at, for example, a construction site using a surveying device 100. The surveying system 1 is one embodiment of a transmitting and receiving system according to the present invention.

[0014] As shown in Fig. 1, the surveying system 1 includes a surveying instrument 100 and a retroreflective instrument 200. The surveying instrument 100 is, for example, a total station (TS) having a motor drive (MD), and includes a tripod 100a, a cylindrical main body 100b supported by the tripod 100a, and a receiving unit 120 provided on the upper part of the main body 100b. The surveying instrument 100 is an embodiment of a receiving device according to the present invention. The retroreflective instrument 200 is an embodiment of a transmitting device according to the present invention.

[0015] 2, the main body 100b of the surveying instrument 100 includes a main body control unit 101, a horizontal drive unit 102, a vertical drive unit 103, a horizontal direction detection unit 104, a vertical direction detection unit 105, a distance measurement unit 106, an operation unit 107, a display unit 108, a telescope unit 109, a memory unit 110, and a tracking unit 111. The main body control unit 101 is, for example, a CPU, and includes a survey control unit 101a and a calculation unit 101b.

[0016] The surveying control unit 101a of the main body control unit 101 is configured to be able to control the horizontal driving unit 102, the vertical driving unit 103, the horizontal direction detection unit 104, the vertical direction detection unit 105, the distance measurement unit 106, the operation unit 107, the display unit 108, the telescope unit 109, the memory unit 110, the tracking unit 111, and the calculation unit 101b.

[0017] The horizontal drive unit 102 (rotation drive unit) is for rotating the main body 100b of the surveying instrument 100 around a vertical axis, that is, in the horizontal direction.

[0018] The vertical drive unit 103 is for rotating the telescope unit 109 of the surveying instrument 100 around a horizontal axis, that is, in the vertical direction.

[0019] Horizontal direction detection unit 104 is a horizontal encoder capable of detecting a horizontal angle, which is the rotation angle of telescope unit 109 in the horizontal direction (that is, the rotation angle from reference direction DB around the vertical axis).

[0020] Vertical direction detection unit 105 is a vertical encoder capable of detecting a vertical angle, which is the rotation angle of telescope unit 109 in the vertical direction (that is, a rotation angle from a reference direction around a horizontal axis).

[0021] The distance measuring unit 106 includes a light transmitting unit for transmitting the distance measuring light L toward the prism 202 of the retroreflecting device 200, a light receiving unit for receiving the reflected light from the prism 202, and a calculation unit for calculating the distance between the distance measuring unit 106 and the prism 202 by the light transmitting and receiving. The distance measuring light L is, for example, visible light, near infrared light, or ultraviolet light emitted in a linear direction. As a calculation method (distance measuring method), for example, a pulse method or a phase difference method, which are well-known technologies, can be adopted.

[0022] The calculation unit 101b of the main body control unit 101 is configured to be able to measure the position of the retroreflective instrument 200 based on the oblique distance measured by the distance measuring unit 106, the horizontal angle detected by the horizontal direction detection unit 104, and the vertical angle detected by the vertical direction detection unit 105. The measurement result can be output as, for example, two-dimensional coordinates (x, y) or three-dimensional coordinates (x, y, z).

[0023] When the calculation unit 101b outputs the measurement results in three-dimensional coordinates, it may, for example, output the position of the prism 202 of the retroreflective device 200 as is, or it may output the three-dimensional coordinate of the measurement point contact point (i.e., the three-dimensional coordinate of measurement point O shown in Figure 1) based on the offset of the prism 202 stored in the memory unit 110 (i.e., the distance between the measurement point contact point at the tip of the pole 201 and the prism 202).

[0024] The operation unit 107 is an operation means that enables an operator to input control instructions to the survey control unit 101a, and includes any device such as a touch panel, a switch, a button, or a dial.

[0025] The display unit 108 is for displaying various information, and is configured, for example, by a liquid crystal panel. In this specification, the various information refers to any information that has been acquired or can be acquired by the surveying system 1, including surveying results such as the oblique distance measured by the distance measuring unit 106, the horizontal angle detected by the horizontal direction detection unit 104, the vertical angle detected by the vertical direction detection unit 105, and the position coordinates of the retroreflective instrument 200 calculated by the calculation unit 101b. The display unit 108 may be configured integrally with the operation unit 107.

[0026] The telescope unit 109 is configured so that an operator can visually check the position of the prism 202 through the telescope unit 109. The collimation direction of the telescope unit 109 is the same as the emission direction of the distance measuring light L by the distance measuring unit .

[0027] The storage unit 110 is realized by a storage medium such as an HDD, SSD, or flash memory, and is configured to be able to store various information such as the dimensions (height, width, depth, etc.) of the surveying device 100, various programs, surveying results, etc. For example, the storage unit 110 stores various information such as the oblique distance measured by the distance measuring unit 106, the horizontal angle detected by the horizontal direction detection unit 104, the vertical angle detected by the vertical direction detection unit 105, the surveying results such as the position coordinates of the retroreflective instrument 200 calculated by the calculation unit 101b, the offset, etc.

[0028] The tracking unit 111 is a part that irradiates the tracking light T and receives the tracking light reflected by the prism 202. The survey control unit 101a realizes the tracking function of the retroreflective instrument 200 by controlling the horizontal driving unit 102 and the vertical driving unit 103 so as to continue to receive the reflected tracking light T. As shown in FIG. 1, the tracking light T is irradiated with a certain width, and the range of this tracking light T is the range in which the prism 202 can be tracked.

[0029] Although not shown, the surveying instrument 100 can share various information with an information terminal (not shown), and the information terminal can also control the surveying instrument 100. Examples of information terminals include smartphones, feature phones, tablets, handheld computer devices (PDAs: Personal Digital Assistants are one example), wearable terminals (glasses-type devices and watch-type devices are one example), and personal computers.

[0030] The receiving unit 120 of the surveying instrument 100 is a so-called array antenna, and includes a plurality of antenna elements 121 capable of receiving radio waves S (S1, S2) transmitted from the transmitting unit 210A of the retroreflective instrument 200. Specifically, as shown in Fig. 1, the receiving unit 120 has a plurality of antenna elements 121 arranged in the horizontal and vertical directions (three in the horizontal direction and three in the vertical direction in Fig. 1) on a substrate 122. The receiving unit 120 transmits each of the radio waves received by the plurality of antenna elements 121 to the main body control unit 101 as a signal.

[0031] The retroreflection device 200 includes a pole 201, a prism 202 (survey target), and a transmitter 210A. During surveying, the end of the pole 201 is placed at a measurement point O. The prism 202 is a retroreflection unit that reflects light in the same direction as the incident light. The prism 202 is provided at the upper end of the pole 201, and reflects the distance measurement light L emitted from the distance measurement unit 106 of the main body 100b to the distance measurement unit 106.

[0032] The transmitting unit 210A has a beacon 211A (transmitting terminal) that transmits radio waves S (S1, S2) of Bluetooth (registered trademark), a support unit 212A that movably supports the beacon 211A, and a transmission control unit 213A that moves the beacon 211A and transmits the radio waves S (S1, S2) from a plurality of positions. The transmitting unit 210A also has a transmission operation unit (not shown), and can transmit a collimation instruction to collimate the prism 202 to the surveying instrument 100 in response to an operation by an operator.

[0033] 1, the transmitter 210A has a beacon 211A provided on a plate-like support 212A extending in one horizontal direction. A drive mechanism (not shown) is mounted inside the support 212A, and the beacon 211A can be slid in the longitudinal direction.

[0034] The transmission control unit 213A is a computer mounted in the support unit 212A, and controls the drive mechanism and the beacon 211A. For example, the transmission control unit 213A can control the moving speed and moving position of the beacon 211A by the drive mechanism, the transmission timing of the radio wave S (S1, S2) from the beacon 211A, and the like.

[0035] In addition, the distance that the beacon 211A can move on the support 212A, that is, the length of the support 212A in the longitudinal direction, is preferably 0.5 to 2 wavelengths of Bluetooth (registered trademark) radio waves (for example, 1 wavelength of 2.4 GHz is 12.5 cm) in order to ensure spatial diversity. The transmission control unit 213A transmits radio waves from the beacon 211A when the beacon 211A is located at a distance of at least 0.5 wavelengths. For example, the transmission control unit 213A of this embodiment controls the beacon 211A and the support 212A to transmit radio waves S1 from a first transmission position at one end of the longitudinal direction of the support 212A and radio waves S2 from a second transmission position at the other end of the longitudinal direction of the support 212A.

[0036] On the other hand, the surveying device 100 on the receiving side has a calculation unit 101b having a so-called Bluetooth (registered trademark) direction detection function. Specifically, the calculation unit 101b calculates the direction of the transmission unit 210A relative to the receiving unit 120 (the arrival direction of the signal) based on the phase difference between the signals received by each of the multiple antenna elements 121 of the receiving unit 120. This arrival direction may be a direction in any two-dimensional plane (for example, a horizontal plane) or a direction in three-dimensional space.

[0037] Furthermore, the calculation unit 101b has a function of calculating the arrival direction of each radio wave S (S1, S2) when the receiving unit 120 receives radio waves S (S1, S2) from the transmitting unit 210A transmitted from multiple different positions. In other words, the calculation unit 101b can calculate the arrival direction based on spatial diversity. Then, the calculation unit 101b sets the orientation direction DA of the main body unit 100b from the calculated arrival direction, and the survey control unit 101a controls the horizontal driving unit 102 so that the main body unit 100b is directed to the orientation direction DA set by the calculation unit 101b.

[0038] For example, the calculation unit 101b calculates the arrival direction of each of the radio waves S1 transmitted from the first transmission position and the radio waves S2 transmitted from the second transmission position by the receiving unit 120, and then selects one of the arrival directions according to the radio wave intensity. Specifically, the calculation unit 101b selects the arrival direction of the first radio wave S1 or the second radio wave S2, whichever has the stronger radio wave intensity, as the final arrival direction, and orients the main unit 100b based on the arrival direction.

[0039] The pointing direction DA of the main body 100b is specifically a relative horizontal direction based on the distance measurement light emission direction of the distance measurement unit 106, that is, the collimation direction of the telescope unit 109. The calculation unit 101b calculates a relative horizontal angle θ from the reference direction DB to the pointing direction DA, and rotates the main body 100b by the relative horizontal angle θ using the horizontal drive unit 102. By directing the main body 100b in the pointing direction DA in this manner, the main body 100b can be directed toward the retroreflecting device 200. Then, when the prism 202 enters the range of the tracking light T, the prism 202 can be collimated by a tracking function using the tracking unit 111.

[0040] (Survey method procedure) Next, a surveying method using the surveying system 1 of this embodiment will be described with reference to the flowchart of Fig. 3. Note that this flowchart shows surveying control in the case where an operator has installed the retroreflective instrument 200 at the measurement point O and the prism 202 is outside the range of the tracking light T.

[0041] First, in step S20 on the retroreflective instrument 200 side, the transmission control unit 213A instructs the surveying instrument 100 to aim based on the operation of the operator.

[0042] In step S10 on the surveying instrument 100 side, the surveying control unit 101a starts collimation control of the prism 202. Specifically, the surveying control unit 101a starts irradiating the tracking light T from the tracking unit 111.

[0043] Next, in step S21 on the retroreflective instrument 200 side, the transmission control section 213A causes the beacon 211A to transmit radio waves (first radio waves S1) at a first position on the support section 212A.

[0044] In step S11 on the surveying instrument 100 side, the receiver 120 receives the first radio wave S1. Specifically, each antenna element 121 of the receiver 120 receives the first radio wave S1 and measures the radio wave intensity and phase.

[0045] Next, in step S12 on the surveying instrument 100 side, the calculation unit 101b calculates the arrival direction of the first radio wave S1 (first arrival direction) from the phase difference measured by each antenna element 121.

[0046] On the other hand, in step S22 on the retroreflective instrument 200 side, the transmission control unit 213A moves the beacon 211A. Specifically, the transmission control unit 213A controls the drive mechanism in the support unit 212A to slide the beacon 211A and move it to the second position. Note that in step S22, instead of sliding the beacon 211A by controlling the drive mechanism, the beacon 211A may be manually slid by an operator.

[0047] In step S23 on the retroreflective instrument 200 side, the transmission control section 213A transmits radio waves (second radio waves S2) from the beacon 211A at a second position on the support section 212A.

[0048] In step S13 on the surveying instrument 100 side, the receiving unit 120 receives the second radio wave S2. Specifically, each antenna element 121 of the receiving unit 120 receives the second radio wave S2 and measures the radio wave intensity and phase.

[0049] Next, in step S14 on the surveying instrument 100 side, the calculation unit 101b calculates the arrival direction of the second radio wave S2 (second arrival direction) from the phase difference measured by each antenna element 121.

[0050] In step S15 on the surveying instrument 100 side, the calculation unit 101b selects the arrival direction calculated based on the radio wave having the stronger radio wave intensity out of the first radio wave S1 and the second radio wave S2 as the final arrival direction.

[0051] In step S16 on the surveying instrument 100 side, the calculation unit 101b sets the arrival direction selected in step S15 as the pointing direction DA, and the surveying control unit 101a rotates the main body unit 100b using the horizontal drive unit 102. Specifically, the calculation unit 101b calculates the relative horizontal angle θ from the reference direction DB to the pointing direction DA, and the surveying control unit 101a rotates the main body unit 100b by the relative horizontal angle θ.

[0052] In step S17 on the surveying device 100 side, the surveying control unit 101a judges whether or not the tracking light T is reflected by the prism 202 after the rotational drive of the main body unit 100b is stopped. If step S17 is Yes, that is, if the tracking light T is reflected by the prism 202, it means that the prism 202 has entered the tracking light T, and the surveying control unit 101a advances the process to step S18. Specifically, in step S18, the surveying control unit 101a collimates the prism 202 using the reflected light of the tracking light T. On the other hand, if step S17 is No, that is, if the prism 202 does not enter the tracking light T even after the rotational drive by the relative horizontal angle θ is completed, the process may return to the above steps S11 and S21.

[0053] After step S18, in step S19 on the surveying instrument 100 side, the survey control unit 101a executes surveying of the prism 202. That is, the survey control unit 101a measures the oblique distance with the distance measurement unit 106, detects the horizontal angle with the horizontal direction detection unit 104, and detects the vertical angle with the vertical direction detection unit 105, and outputs the surveying results. When the output of the surveying results is completed, the main body control unit 101 and the transmission control unit 213A end this routine.

[0054] (Effects of this embodiment) According to the surveying system 1 and the surveying method according to the above embodiment, when the receiver 120 of the surveying device 100 receives radio waves transmitted from a plurality of different positions, the calculation unit 101b calculates the direction of arrival of each radio wave, sets the direction of orientation DA from each direction of arrival, and rotates the main body 100b toward the direction of orientation DA. By using a position detection technique using radio waves in this way to identify the position of the retroreflective instrument 200 provided with the transmitter 210A, the main body 100b can be directed to the retroreflective instrument 200 even in a range where the tracking function of the tracking unit 111 does not reach, and by calculating the direction of arrival from the radio waves S (S1, S2) transmitted from a plurality of positions, the effect of multipath can be suppressed by utilizing spatial diversity, and the direction of arrival of the radio waves S (S1, S2) can be recognized more accurately.

[0055] In particular, the receiving unit 120 is an array antenna having multiple antenna elements 121, and the calculation unit 101b calculates the arrival direction from the phase difference of the radio waves received by each antenna element 121, so that the arrival direction of the radio waves S (S1, S2) can be easily recognized.

[0056] In addition, the transmitting unit 210A provided in the retroreflective instrument 200 has the beacon 211A movably provided on the support 212A, and the transmission control unit 213A moves the beacon 211A to transmit the radio waves from a plurality of positions, thereby easily achieving spatial diversity. This also makes it possible to suppress the influence of multipath and to more accurately recognize the direction of arrival of the radio waves S (S1, S2).

[0057] The surveying instrument 100 and the retroreflective instrument 200 are complementarily related to each other to realize spatial diversity, and the surveying system 1 having the surveying instrument 100 and the retroreflective instrument 200 can also suppress the effects of multipath and more accurately recognize the direction of arrival of the radio waves S (S1, S2).

[0058] (Other embodiments) Although the description of one embodiment of the present disclosure has been completed above, the aspects of the present disclosure are not limited to this embodiment.

[0059] In the above embodiment, the calculation unit 101b selects the arrival direction based on the radio wave with the stronger radio wave intensity (S1 or S2) as the final arrival direction and sets the directivity direction DA. This has the advantage that it is possible to eliminate the arrival direction based on the radio wave with weaker radio wave intensity (S1 or S2), that is, the radio wave with a high possibility of low accuracy (S1 or S2). However, the method of calculating the final arrival direction is not limited to this.

[0060] For example, the calculation unit 101b may combine radio waves (S1 and S2) transmitted from multiple positions to set the final arrival direction (i.e., directional direction DA). Specifically, the calculation unit 101b may average the calculated arrival angles (angles to the arrival direction with respect to the reference direction DB) of each radio wave (S1 and S2) to determine the final arrival direction. In addition to simple averaging, the calculation unit 101b may weight the radio waves S1 and S2 according to their strength, for example, before averaging. In other words, a combination process is performed that increases the proportion of the arrival direction with higher radio wave strength.

[0061] In this way, by setting the directivity direction DA by synthesizing the calculated directions of arrival, it is possible to recognize the direction of arrival of the radio waves S (S1, S2) without excessively degrading accuracy.

[0062] In addition, in the above embodiment, the transmission unit 210A is capable of transmitting radio waves S (S1, S2) from a plurality of positions by the beacon 211A sliding in the horizontal direction, but the configuration of the transmission unit is not limited to this.

[0063] 4, there are shown explanatory diagrams (a) to (d) illustrating modified examples of the transmission unit, and the modified examples of the transmission unit will be described below with reference to the drawings. Note that in each modified example, the transmission control unit provided in the support part is not shown.

[0064] The transmitting section 210B of the first modified example shown in FIG. 4(a) has a plate-like support section 212B extending along the longitudinal direction of the pole 201 of the retroreflective instrument 200. The beacon 211B is slidable along the support section 212B, i.e., along the longitudinal direction of the pole 201. Therefore, when the retroreflective instrument 200 is installed, the beacon 211B moves in the vertical direction. By being able to transmit radio waves from multiple positions in the vertical direction, it is possible to realize spatial diversity with reduced error in the horizontal angle, which is more suitable for directing the main body 100b of the surveying instrument 100 to the retroreflective instrument 200.

[0065] The transmitter 210C of the second modified example shown in FIG. 4(b) is attached at the top end of the pole 201 as in the above embodiment, but a column 212Cb is further erected on the support 212Ca. The first beacon 211Ca is provided at the bottom of the column 212Cb, and the second beacon 211Cb is provided at the top of the column 212Cb. With this configuration, radio waves can be transmitted from multiple positions in the vertical direction. Therefore, as with the first modified example, it is possible to realize spatial diversity with reduced error in the horizontal angle, which is more suitable for directing the main body 100b of the surveying instrument 100 to the retroreflective instrument 200.

[0066] 4(c), the transmitter 210D of the third modified example is attached to the upper end of the pole 201 as in the above embodiment, and a first beacon 211Da is provided at a first position on one end side of the support 212D, and a second beacon 211Db is provided at a second position on the other end side of the support 212D. Even with this configuration, radio waves can be transmitted from the first position and the second position, and spatial diversity can be easily achieved without requiring a drive mechanism.

[0067] The transmitter 210E of the fourth modified example shown in FIG. 4(d) is attached at the top end of the pole 201 as in the above embodiment, and a long beacon 211E is provided on a support 212E along the support 212E. The beacon 211E has a first transmitting antenna 211Ea at a first position on one end side, and a second transmitting antenna 211Eb at a second position on the other end side. A transmission control unit (not shown) switches between the first transmitting antenna 211Ea and the second transmitting antenna 211Eb to transmit radio waves. With this configuration, radio waves can be transmitted from the first position and the second position, and spatial diversity can be easily achieved without requiring a driving mechanism.

[0068] The transmitter may be configured by combining the above-mentioned embodiments and each of the modified examples. For example, each of the beacons of the above-mentioned embodiments and the first to third modified examples may be provided with a plurality of antennas, as in the beacon 211E of the fourth modified example. Also, a drive mechanism may be provided in the support of the second to fourth modified examples, so that each beacon can slide on the support.

[0069] In addition, the moving direction of the beacon is horizontal in the above embodiment and vertical in the first modified example, but is not limited to this as long as the arrival angle as seen from the receiving unit 120 does not change significantly. For example, Fig. 5 shows explanatory diagrams (a) to (d) showing the moving direction of the beacon. In Fig. 5, the XY plane is the horizontal direction, the Z axis is the vertical direction, the circle indicates the position of the beacon, and the arrow indicates the moving direction.

[0070] As shown in Fig. 5(a), the beacon 211 may be freely moved linearly in multiple directions, instead of reciprocating in one horizontal direction and one vertical direction as in the above embodiment and the first modified example. Also, the beacon 211 may be rotated around the X-axis as shown in Fig. 5(b), rotated around the Y-axis as shown in Fig. 5(c), or rotated around the Z-axis as shown in Fig. 5(d).

[0071] In addition, although not shown, when multiple beacons are arranged as in the second and third modified examples, the relative positional relationship is not limited to the horizontal or vertical direction, and they may be arranged three-dimensionally spaced apart in the horizontal and vertical directions. In particular, by arranging the beacons three-dimensionally with respect to the receiving unit 120, more diversity is ensured and appropriate spatial diversity can be realized.

[0072] In addition, in the above embodiment, the setting of the directional direction DA by the calculation unit 101b is performed by calculating the relative horizontal angle θ, but the directional direction is not limited to only the horizontal angle, and only the vertical angle or both the horizontal angle and the vertical angle may be set.

[0073] In the above embodiment, only a single receiver 120 is provided for the surveying device 100, but multiple receivers 120 may be provided for the surveying device 100. In this case, each of the multiple receivers 120 receives radio waves S (S1, S2) transmitted from multiple positions and calculates the arrival direction of the radio waves S. For example, the calculation unit 101b recognizes the arrival direction calculated by the receiver 120 that received the stronger radio waves S (S1, S2) among the arrival directions calculated for each of the multiple receivers 120 as the final arrival direction (direction DA), or recognizes the arrival direction calculated for each of the multiple receivers 120 after performing a synthesis process such as averaging, as the final arrival direction (direction DA). As a result, spatial diversity is also used on the receiving side of the radio waves S, so that the effect of multipath can be further suppressed and the arrival direction (direction DA) of the radio waves S can be more accurately recognized. [Explanation of symbols]

[0074] 1. Survey system (transmitting and receiving system) 100 Surveying equipment (receiving equipment) 100a Tripod 100b Main body 101 Main body control unit 101a Survey Control Section 101b Arithmetic unit 102 Horizontal drive unit (rotary drive unit) 103 Vertical drive unit 104 Horizontal direction detection unit 105 Vertical direction detection unit 106 Ranging section 107 Operation section 108 Display section 109 Telescope Department 110 Storage section 111 Tracking part 120 Receiving unit 121 Antenna element 200 Retroreflective equipment (transmitting device) 201 Paul 202 Prism 210A~210E Transmitter 211(211A~211E) Beacon (Transmission Terminal) 212(212A~212E) Support Section DA Pointing Direction DB Reference Direction L Distance Measuring Light O Measuring Point S(S1, S2) Radio Wave T Tracking Light θ Relative Horizontal Angle

Claims

1. The main body is a rotary drive unit that can rotate, A receiving unit that receives specific radio waves, When the receiving unit receives radio waves transmitted from multiple different locations, a calculation unit calculates the direction of arrival of each radio wave, evaluates the calculated directions of arrival, and sets the direction of directional control of the main unit from each direction of arrival. A surveying control unit controls the rotation drive unit to direct the main body in the direction set by the calculation unit, A receiving device equipped with the following features.

2. The receiving unit is an array antenna having multiple antenna elements, The receiving device according to claim 1, wherein the calculation unit calculates the direction of arrival from the phase difference of the radio waves received by each of the antenna elements.

3. The receiving device according to claim 1, wherein the calculation unit sets the direction of arrival estimated from the strongest radio wave among the radio waves transmitted from the plurality of locations as the directional direction.

4. The receiving device according to claim 1, wherein the calculation unit synthesizes and processes the radio waves transmitted from the plurality of positions to set the directional direction.

5. The receiving device according to claim 1, wherein the main body further comprises a distance measuring unit for measuring the object to be measured.

6. A transmitting terminal that transmits specific radio waves, A support portion that movably supports the aforementioned transmitting terminal, A transmission control unit that moves the transmitting terminal and transmits the radio waves from multiple locations, A transmitting device equipped with the following features.

7. A transmitting terminal that transmits specific radio waves, A support unit in which multiple transmission terminals are arranged at multiple different locations, A transmission control unit that causes each of the multiple transmission terminals to transmit the radio waves, A transmitting device equipped with the following features.

8. The transmitting device according to claim 6 or 7, further comprising a retroreflective portion connected to the support portion and reflecting light in the same direction as the incident direction.

9. The receiving device according to claim 1, A transmitting device according to claim 6 or 7, A transmission and reception system equipped with the following features.

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