Satellite positioning device, satellite positioning method, and program

Abstract

To speed up the initial convergence of precise single positioning by accurately estimating ionospheric delay.SOLUTION: A satellite positioning device includes: a pre-processing unit that calculates a first ionospheric delay amount in a precise single positioning process by using a received differential code bias, past observation information, and error correction information; and a positioning portion that calculates a third ionospheric delay amount in a geometrically free linear combination process by using real-time observation information, calculates a fourth ionospheric delay amount by using the third ionospheric delay, a received differential code bias, and the first differential code bias, and calculates a fifth ionosphere delay amount in a second precise independent positioning process by using the fourth ionospheric delay amount, the real-time observation information, the received differential code bias, the first differential code bias, and real-time second error correction information.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a satellite positioning device, a satellite positioning method, and a program for performing satellite positioning. [Background technology]

[0002] To perform satellite positioning with high accuracy, it is necessary to consider error factors such as (1) orbital error of the positioning satellite (artificial satellite), (2) clock error of the positioning satellite, (3) ionospheric delay, (4) tropospheric delay, (5) signal shielding, and (6) multipath. In particular, it is known that in Precise Point Positioning (PPP), it takes time for the initial convergence associated with the estimation of (3) and (4) and the estimation of ambiguity by using carrier phase observation to reduce the error of (6).

[0003] As a related technique, Patent Document 1 discloses a high-precision positioning terminal with improved immediacy. The positioning terminal of Patent Document 1 receives multiple navigation signals from multiple artificial satellites that broadcast navigation signals for GNSS (Global Navigation Satellite System), and acquires a precise calendar and correction information from an information source that outputs the precise calendar and correction information. Next, when improving the accuracy of positioning based on multiple navigation signals, the positioning terminal of Patent Document 1 acquires a value of its own terminal position estimated from known parameters not based on navigation signals from a storage area in a process of converging each value of an error factor by continuous observation, and uses each estimated value as an initial value of the continuous observation and / or one additional value, and then calculates the own terminal position while canceling at least an error component related to ambiguity. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5794646 Summary of the Invention [Problem to be solved by the invention]

[0005] The positioning terminal of Patent Document 1 cancels the above-mentioned (3) ionospheric delay. However, when the ionospheric delay is canceled, noise increases, which causes other convergence to deteriorate. In addition, the positioning terminal of Patent Document 1 does not accurately estimate the ionospheric delay and does not hasten the initial convergence in precise point positioning.

[0006] One example of an objective of the present disclosure is to accelerate initial convergence in precise point positioning by accurately estimating ionospheric delays. [Means for solving the problem]

[0007] In order to achieve the above object, a satellite positioning device according to one aspect of the present disclosure includes: calculating a first ionospheric delay amount for each positioning satellite by a first precise point positioning process using a reception differential code bias of the receiving unit, previously acquired observation information, and first error correction information for correcting errors in a satellite orbit and a satellite clock previously acquired; a preliminary unit that generates a first differential code bias of the receiving unit for each of the positioning satellites by using the first ionospheric delay amount for each of the positioning satellites and a second ionospheric delay amount for each of the positioning satellites calculated using a geometry-free linear combination process; Calculating a third ionospheric delay amount for each of the positioning satellites by the geometry-free linear combination process using the observation information acquired in real time; calculating a fourth ionospheric delay amount for each of the positioning satellites using the third ionospheric delay amount, the reception differential code bias, and the first differential code bias; a first positioning unit that calculates a fifth ionospheric delay amount for each of the positioning satellites by a second precise point positioning process using the fourth ionospheric delay amount, the observation information acquired in real time, the reception differential code bias, the first differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; The present invention is characterized by having the following.

[0008] In order to achieve the above object, a satellite positioning device according to one aspect of the present disclosure includes: Using the observation information acquired in real time, the third ionospheric delay for each positioning satellite is calculated by geometry-free linear combination processing. Calculating a sixth ionospheric delay amount using the third ionospheric delay amount and a second differential code bias representing a difference between an ionospheric delay amount included in the pseudorange information of the observation information acquired in real time and an ionospheric delay amount included in the carrier phase distance; calculating a seventh ionospheric delay amount for each of the positioning satellites by a third precise point positioning process using the sixth ionospheric delay amount, the observation information acquired in real time, the second differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; a second positioning unit that calculates a new second differential code bias of the receiving unit for each of the positioning satellites using the seventh ionospheric delay amount and the third ionospheric delay amount; It is characterized by having:

[0009] In order to achieve the above object, a satellite positioning method according to one aspect of the present disclosure includes: The computer calculating a first ionospheric delay amount for each positioning satellite by a first precise point positioning process using a reception differential code bias of the receiving unit, previously acquired observation information, and first error correction information for correcting errors in a satellite orbit and a satellite clock previously acquired; a pre-processing step of generating a first differential code bias of the receiver for each of the positioning satellites by using the first ionospheric delay amount for each of the positioning satellites and a second ionospheric delay amount for each of the positioning satellites calculated by using a geometry-free linear combination process; Calculating a third ionospheric delay amount for each of the positioning satellites by the geometry-free linear combination process using the observation information acquired in real time; calculating a fourth ionospheric delay amount for each of the positioning satellites using the third ionospheric delay amount, the reception differential code bias, and the first differential code bias; a first positioning process for calculating a fifth ionospheric delay amount for each of the positioning satellites by a second precise point positioning process using the fourth ionospheric delay amount, the observation information acquired in real time, the reception differential code bias, the first differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; The present invention is characterized by carrying out the following steps.

[0010] In order to achieve the above object, a satellite positioning method according to one aspect of the present disclosure includes: The computer Using the observation information acquired in real time, the third ionospheric delay for each positioning satellite is calculated by geometry-free linear combination processing. Calculating a sixth ionospheric delay amount using the third ionospheric delay amount and a second differential code bias representing a difference between an ionospheric delay amount included in the pseudorange information of the observation information acquired in real time and an ionospheric delay amount included in the carrier phase distance; calculating a seventh ionospheric delay amount for each of the positioning satellites by a third precise point positioning process using the sixth ionospheric delay amount, the observation information acquired in real time, the second differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; calculating a new second differential code bias of a receiving unit for each of the positioning satellites using the seventh ionospheric delay amount and the third ionospheric delay amount; It is characterized by:

[0011] In order to achieve the above object, a program according to one aspect of the present disclosure includes: On the computer, calculating a first ionospheric delay amount for each positioning satellite by a first precise point positioning process using a reception differential code bias of the receiving unit, previously acquired observation information, and first error correction information for correcting errors in a satellite orbit and a satellite clock previously acquired; a pre-processing step of generating a first differential code bias of the receiver for each of the positioning satellites by using the first ionospheric delay amount for each of the positioning satellites and a second ionospheric delay amount for each of the positioning satellites calculated by using a geometry-free linear combination process; Calculating a third ionospheric delay amount for each of the positioning satellites by the geometry-free linear combination process using the observation information acquired in real time; calculating a fourth ionospheric delay amount for each of the positioning satellites using the third ionospheric delay amount, the reception differential code bias, and the first differential code bias; a first positioning process for calculating a fifth ionospheric delay amount for each of the positioning satellites by a second precise point positioning process using the fourth ionospheric delay amount, the observation information acquired in real time, the reception differential code bias, the first differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; The present invention is characterized in that the above-mentioned is executed.

[0012] Furthermore, in order to achieve the above object, a program according to one aspect of the present disclosure includes: On the computer, Using the observation information acquired in real time, the third ionospheric delay amount for each positioning satellite is calculated by geometry-free linear combination processing, Calculating a sixth ionospheric delay amount using the third ionospheric delay amount and a second differential code bias representing a difference between an ionospheric delay amount included in pseudorange information of the observation information acquired in real time and an ionospheric delay amount included in a carrier phase distance; calculating a seventh ionospheric delay amount for each of the positioning satellites by a third precise point positioning process using the sixth ionospheric delay amount, the observation information acquired in real time, the second differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; calculating a new second differential code bias of the receiving unit for each of the positioning satellites by using the seventh ionospheric delay amount and the third ionospheric delay amount; It is characterized by: Effect of the Invention

[0013] As described above, according to the present disclosure, the initial convergence in precise point positioning can be accelerated by accurately estimating the ionospheric delay. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a diagram for explaining an example of a satellite positioning device according to the first embodiment. [Diagram 2] FIG. 2 is a diagram for explaining an example of the pre-processing in the first embodiment. [Diagram 3] FIG. 3 is a diagram for explaining an example of the positioning process in the first embodiment. [Figure 4] FIG. 4 is a diagram for explaining an example of the operation of the satellite positioning device (pre-processing) in the first embodiment. [Diagram 5] FIG. 5 is a diagram for explaining an example of the operation of the satellite positioning device (positioning process) in the first embodiment. [Figure 6] FIG. 6 is a diagram for explaining an example of a satellite positioning device according to the second embodiment. [Figure 7] FIG. 7 is a diagram for explaining an example of the positioning process in the second embodiment. [Figure 8] FIG. 8 is a diagram for explaining an example of the operation of the satellite positioning device (positioning process) in the second embodiment. [Figure 9]FIG. 9 is a diagram illustrating an example of a computer that realizes the satellite positioning device according to the first and second embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] First, an overview will be given to facilitate understanding of the embodiments described below. The observation equation (pseudo range P Li , carrier phase distance Φ Li ) can be expressed as number 1 and number 2.

[0016] (Number 1) P Li =ρ+C(δt u -δt s )+I Li +T+ε pLi

[0017] (Number 2) Φ Li =ρ+C(δt u -δt s )-I Li +T+W Li +(N Li ×λ Li )+ε ΦLi

[0018] In Equation 1 and Equation 2, Li is a symbol that identifies the positioning satellite and the positioning signal, or the frequency used by the positioning satellite. ρ is a symbol that represents the geometric distance [m] (meters) between the antenna phase center position of the positioning satellite and the antenna phase center position of the receiver. The geometric distance ρ can be expressed as in Equation 3.

[0019] (Number 3) ρ=((x s -x u ) 2 +(y s -y u ) 2 +(z s +z u ) 2) 1 / 2 +R

[0020] C represents the speed of light (299792458.0 [m / s] (meters per second)). u represents the error (clock difference) [s] (seconds) between the receiver's time and the satellite navigation system's time. s represents the error (clock difference) [s] between the clock of the positioning satellite and the time of the satellite positioning system. Li represents the ionospheric delay [m]. T represents the tropospheric delay [m].

[0021] W Li represents the phase windup effect. N Li represents the ambiguity. Li represents the wavelength of the radio wave according to the frequency. pLi represents the pseudorange observation noise including multipath. ΦLi represents the carrier phase range observation noise including multipath.

[0022] In the number 3, x s , y s , z s represents the antenna phase center position (coordinates) of the positioning satellite. u , y u , z u represents the antenna phase center position (coordinates). R represents the Sagnac effect.

[0023] Next, the pseudorange P Li The ionospheric delay amount I contained in (Equation 1) Li contains the receiver differential code bias (RDCB), which is a component specific to the combination of the antenna and receiver. Therefore, the ionospheric delay I Li Since it is replaced as in Equation 4, the pseudo distance P Li (Equation 1) can be expressed as Equation 5.

[0024] (Number 4) I Li ′=ILi +RDCB

[0025] (Number 5) P Li ′=ρ+C(δt u -δt s )+I Li ′+T+ε pLi

[0026] This receive differential code bias (RDCB) is a component that affects the initial convergence, so by calculating the receive differential code bias (RDCB) in advance, the ionospheric delay I Li It is possible to speed up the initial convergence for . It is also possible to shorten the estimation time for state quantities, including the PPP positioning solution.

[0027] Next, the pseudorange P Li (Equation 1) and carrier phase distance Φ Li The ionospheric delay amount I contained in (Equation 2) Li In the strict sense, the ionospheric delay I Li ' and the ionospheric delay of equation 2 I Li There is also a difference between.

[0028] The inventors have also discovered that this difference has stable characteristics for each positioning satellite. Therefore, the difference is called the first differential code bias (PRDCB S : Precise Receiver Differential Code Bias), and the ionospheric delay I Li By substituting as in equation 6, the pseudo distance P Li (Number 1) can be expressed as Number 7.

[0029] (Number 6) I Li ″=I Li +RDCB+PRDCB S

[0030] (Number 7) P Li″=ρ+C(δt u -δt s )+I Li ″+T+ε pLi

[0031] And the ionospheric delay I Li Since is replaced by Equation 7, the receive differential code bias (RDCB) and the first differential code bias (PRDCB S ) and the ionospheric delay I Li It is possible to speed up the initial convergence for . It is also possible to shorten the estimation time for state quantities, including the PPP positioning solution.

[0032] Hereinafter, an embodiment will be described with reference to the drawings. In the drawings described below, elements having the same or corresponding functions are denoted by the same reference numerals, and repeated description thereof may be omitted.

[0033] (Embodiment 1) The configuration of the satellite positioning device in the first embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram for explaining an example of the satellite positioning device in the first embodiment.

[0034] [System Configuration] 1 includes positioning satellites 30 (30a, 30b, 30c, 30d, and 30e) and a satellite positioning device 10. The number of positioning satellites 30 is not limited to five.

[0035] The satellite positioning system may be, for example, a Global Navigation Satellite System (GNSS), etc. Specifically, the satellite positioning system calculates the current position of the satellite positioning device 10 based on positioning signals transmitted from each of the positioning satellites 30.

[0036] The satellite positioning device 10 receives positioning signals from the positioning satellites 30, and generates observation information based on the received positioning signals. After that, the satellite positioning device 10 calculates the current position based on the generated observation information.

[0037] The satellite positioning device 10 provides information indicating the calculated current position to various applications. Examples of the applications include a navigation system and an automatic driving system.

[0038] The satellite positioning device 10 is a device equipped with a receiver and has, for example, a CPU (Central Processing Unit), or a programmable device such as an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or a circuit equipped with any one or more of these.

[0039] The storage device 20 is a database, a server computer, a circuit having a memory, etc. The storage device 20 stores, for example, at least observation information, which will be described later. In the example of FIG. 1, the storage device 20 is provided outside the satellite positioning device 10, but may be provided inside the satellite positioning device 10.

[0040] The positioning satellite 30 revolves around a predetermined satellite orbit at a predetermined orbital period. The positioning satellite 30 transmits a positioning signal in which data indicating the transmission date and time is phase-modulated.

[0041] [Device configuration] The satellite positioning device 10 will be described in detail. In satellite positioning, the satellite positioning device 10 calculates a current position using observation information (pseudo distance information, carrier phase information) and positioning satellite position information. In the example of Fig. 1, the satellite positioning device 10 has a receiving unit 11, a pre-processing unit 12 (pre-processing means), and a positioning processing unit 13 (first positioning means).

[0042] The receiver 11 receives positioning signals transmitted from the positioning satellites 30, and generates observation information (pseudo distance information, carrier phase information) based on the received positioning signals. The receiver 11 is connected to an antenna 11a that receives the positioning signals.

[0043] The pre-processing unit 12 first calculates the reception differential code bias (RDCB) of the receiving unit 11, which represents a component unique to the combination of the antenna 11a and the receiving unit 11, using the first observation information (OBS1) acquired in the past and the global ionospheric electron content information (TECMAP) acquired in the past, which are stored in the memory device 20.

[0044] Next, the pre-processing unit 12 calculates a first ionospheric delay (X S ) is calculated.

[0045] The first error correction information (precise calendar 1) is, for example, an IGS (International GNSS Service) precise calendar, MADOCA-PPP (Multi-GNSS Advanced Orbit and Clock Augmentation - Precise Point Positioning) correction information, etc. The IGS precise calendar is acquired from the IGS via a network. The MADOCA-PPP correction information is distributed from a quasi-zenith satellite.

[0046] In the first precise point positioning process, for example, for each positioning satellite 30, the observation point position, the first ionospheric delay amount (X S ), tropospheric delay, carrier phase bias, etc. are estimated.

[0047] In addition, the pre-processing unit 12 uses the first observation information (OBS1) acquired in the past to perform geometry-free linear combination processing to calculate a second ionospheric delay amount (GFLC1 S ) is calculated.

[0048] The geometry-free linear combination (GFLC) process is carried out by calculating a second ionospheric delay (GFLC1 S ) is calculated.

[0049] Next, the pre-processing unit 12 calculates the first ionospheric delay amount (X S ) and the second ionospheric delay (GFLC1 S ) is used to calculate a first differential code bias (PRDCB) of the receiver 11 for each positioning satellite 30, which represents the difference between the ionospheric delay amount included in the pseudorange information and the ionospheric delay amount included in the carrier phase distance. S ) is calculated.

[0050] The positioning processor 13 first calculates a third ionospheric delay (GFLC2) for each positioning satellite 30 by geometry-free linear combination processing using the second observation information (OBS2) acquired in real time. S ) is calculated.

[0051] Next, the positioning processor 13 calculates the third ionospheric delay (GFLC2 S ), a receive differential code bias (RDCB), and a first differential code bias (PRDCB S ) and the fourth ionospheric delay (GFLC2 S -RDCB-PRDCB S ) is calculated.

[0052] Next, the positioning processor 13 calculates the fourth ionospheric delay (GFLC2 S -RDCB-PRDCB S ), the second observation information (OBS2) obtained in real time, the received differential code bias (RDCB), and the first differential code bias (PRDCB S ) and second error correction information (precise calendar 2) for correcting errors in the satellite orbit and satellite clock obtained in real time, a fifth ionospheric delay amount (PX S ) is calculated.

[0053] In the second precise point positioning process, for example, for each positioning satellite 30, the observation point position, the fifth ionospheric delay amount (PX S ), tropospheric delay, carrier phase bias, etc. are estimated.

[0054] A method for accurately estimating the amount of ionospheric delay in the first embodiment will now be described in detail. As the pre-processing, the following processes (1), (2), (3), and (4) are executed. (1) The reception differential code bias (RDCB) of the receiver 11b is calculated. (2) The first ionospheric delay amount (X S (3) Calculate the second ionospheric delay (GFLC1 S (4) Calculate the first differential code bias (PRDCB) of the receiver 11b for each positioning satellite 30. S ) is calculated.

[0055] As the positioning process, the following processes (5), (6), and (7) are executed. (5) The third ionospheric delay (GFLC2 S (6) Calculate the fourth ionospheric delay (GFLC2 S -RDCB-PRDCB S (7) The fifth ionospheric delay (PX S ) is estimated.

[0056] ● Explain pre-processing. The pre-processing will be described with reference to Fig. 2. Fig. 2 is a diagram for explaining an example of the pre-processing. The pre-processing unit 12 has an RDCB calculation unit 21, a first ionospheric delay amount calculation unit 22, a second ionospheric delay amount calculation unit 23, and a PRDCB calculation unit 24.

[0057] (1) Regarding the calculation of RDCB. First, the RDCB calculation unit 21 acquires the first observation information (OBS1) and the global ionospheric electron content data (TECMAP) from the storage device 20. Next, the RDCB calculation unit 21 executes RDCB processing using the first observation information (OBS1) and the global ionospheric electron content data (TECMAP) to calculate the reception differential code bias (RDCB) of the receiver 11b. For details of the RDCB processing, please refer to the prior art [1].

[0058] Previous literature [1] Ma Guanyi, Maruyama Takashi, “Space Weather Forecast Special Feature 2 -Development of Observation and Forecast Systems and Information Services- 4 Ionosphere and Thermosphere 4-1 TEC Retrieval from GEONET Data and Satellite and Receiver Bias Determination”, [online], December 2002, National Institute of Information and Communications Technology Research Report / Vol. 48 (2002) No. 4, [Retrieved June 19, 2023], Internet<URL:https: / / www.nict.go.jp / publication / shuppan / kihou-journal / kihou-vol48no4 / 0401.pdf>

[0059] (2) First ionospheric delay (X S ) calculation. The first ionospheric delay calculation unit 22 first calculates a pseudo distance P1 for each positioning satellite 30 from the first observation information (OBS1). Li and carrier phase distance Φ1 Li Next, the first ionospheric delay calculation unit 22 obtains the pseudorange P1 Li (Equation 1) is expressed as pseudo distance P1 Li '(Number 5).

[0060] Next, the first ionospheric delay calculation unit 22 calculates the pseudorange P1 Li '(Equation 5), carrier phase distance Φ1 Li (Equation 2), the first precise point positioning process is executed using the first error correction information (precise calendar 1), and the observation point position, the first ionospheric delay amount (X S), tropospheric delay, carrier phase bias, etc. The first error correction information (precise calendar 1) is used to calculate the position of the positioning satellite 30 and the clock error at any time.

[0061] (3) Second ionospheric delay (GFLC1 S ) calculation. The second ionospheric delay calculation unit 23 first calculates, from the first observation information (OBS1), the frequency f1 for each positioning satellite 30. Li For each positioning signal with a given pseudo distance P1 Li Get (number 1).

[0062] Next, the second ionospheric delay calculation unit 23 calculates the pseudorange P1 Li and frequency f1 Li and perform geometry-free linear combination processing to obtain the second ionospheric delay (GFLC1 S ) is calculated.

[0063] For example, in the case of frequencies in the L1 and L2 bands, the geometry-free linear combination process for one positioning satellite can be expressed as in Equation 8. The geometry-free linear combination process is executed for each of the positioning satellites 30.

[0064] (Number 8) GFLC1=(P1 L1 -P1 L2 ) / (1-f1 L1 2 / f1 L2 2 )

[0065] (4) Calculation of PRDCB. The PRDCB calculation unit 24 calculates the first ionospheric delay (X S ) and the second ionospheric delay calculated in (3) (GFLC1 S ) to execute the PRDCB process, and the first differential code bias (PRDCB S ) is calculated.

[0066] The PRDCB process for one positioning satellite can be expressed as in Equation 9. The PRDCB process is executed for each of the positioning satellites 30.

[0067] (Number 9) PRDCB=((GFLC11-X1)+(GFLC12-X2)+...+(GFLC1 n -X n )) / n =(Σ(GFLC1 j -X j )) / n

[0068] The j used in Equation 9 represents the number n of observations observed in a preset period (for example, a period from one day to several days). n is the number of epochs. Σ is the (GFLC1 j -X j The quality of the PRDCB can be improved by testing the standard deviation, removing outliers, and weighting according to the satellite elevation angle.

[0069] The positioning process will now be explained. The positioning process will be described with reference to Fig. 3. Fig. 3 is a diagram for explaining an example of the positioning process. The positioning processing unit 13 has a third ionospheric delay amount calculation unit 31, a fourth ionospheric delay amount calculation unit 32, and a fifth ionospheric delay amount calculation unit 33.

[0070] (5) Third ionospheric delay (GFLC2 S ) calculation. The third ionospheric delay calculation unit 31 calculates a third ionospheric delay (GFLC2) for each positioning satellite 30 by geometry-free linear combination processing using the second observation information (OBS2) observed in real time for each positioning satellite 30. S ) is calculated.

[0071] Specifically, first, the third ionospheric delay calculation unit 31 calculates the pseudo distance P2 from the second observation information (OBS2) for each positioning satellite 30. Liand the frequency f2 of the radio wave transmitted from the positioning satellite 30 Li and obtain the pseudo distance P2 Li can be expressed as the following equation (10):

[0072] (Number 10) P2 Li =ρ+C(δt u -δt s )+I Li +T+ε pLi

[0073] Next, the third ionospheric delay calculation unit 31 calculates the pseudorange P2 Li and frequency f2 Li Using the above, a geometry-free linear combination process is performed to obtain the third ionospheric delay (GFLC2 S ) is calculated.

[0074] For example, the geometry-free linear combination process for one positioning satellite can be expressed as in Equation 11. Note that the geometry-free linear combination process is executed for each of the positioning satellites 30.

[0075] (Number 11) GFLC2=(P2 L1 -P2 L2 ) / (1-f2 L1 2 / f2 L2 2 )

[0076] (6) Regarding the calculation of the fourth ionospheric delay (GFLC2S-RDCB-PRDCBS). The fourth ionospheric delay calculation unit 32 calculates the third ionospheric delay (GFLC2 S ), a receive differential code bias (RDCB), and a first differential code bias (PRDCB S ) for each positioning satellite 30, the fourth ionospheric delay (GFLC2 S -RDCB-PRDCB S ) is calculated. The fourth ionospheric delay (GFLC2 S -RDCB-PRDCBS ) can be expressed as in Equation 12.

[0077] (Number 12) I Li =GFLC2 S -RDCB-PRDCB S

[0078] (7) Fifth ionospheric delay (PX S ) calculation. The fifth ionospheric delay calculation unit 33 calculates the fourth ionospheric delay (GFLC2 S -RDCB-PRDCB S ), a receive differential code bias (RDCB), and a first differential code bias (PRDCB S ), the second observation information (OBS2) obtained in real time, and the second error correction information (precise calendar 2) obtained in real time are used to calculate the fifth ionospheric delay (PX S ) is calculated.

[0079] Specifically, first, the fifth ionospheric delay calculation unit 33 calculates the pseudo distance P2 Li and the carrier phase distance Φ2 Li and obtain the carrier phase distance Φ2 Li can be expressed as in Equation 13.

[0080] (Number 13) Φ2 Li =ρ+C(δt u -δt s )-I Li +T+W Li +(N Li ×λ Li )+ε ΦLi

[0081] Here, the pseudorange P2 Li The amount of ionospheric delay contained in I Li can be expressed as in Equation 14. That is, the pseudo distance P2 Li can be expressed by substitution as in Equation 15.

[0082] (Number 14) I Li ″=I Li +RDCB+PRDCB S

[0083] (Number 15) P2 Li ′=ρ+C(δt u -δt s )+I Li ″+T+ε pLi

[0084] Next, the fifth ionospheric delay calculation unit 33 calculates the pseudorange P2 Li ′ and the carrier phase distance Φ1 Li The second error correction information (Precise Ephemeris 2) and the fourth ionospheric delay (GFLC2 S -RDCB-PRDCB S ) to perform a second precise point positioning process, and for each positioning satellite 30, the observation point position, the fifth ionospheric delay amount (PX S ), tropospheric delay, carrier phase bias, etc. The second error correction information (precise calendar 2) is used to calculate the position of the positioning satellite 30 and the clock error at any time.

[0085] [Device operation] Next, the operation of the satellite positioning device in the first embodiment will be described with reference to Fig. 4 and Fig. 5. Fig. 4 is a diagram for explaining an example of the operation of the satellite positioning device (pre-processing) in the first embodiment. Fig. 5 is a diagram for explaining an example of the operation of the satellite positioning device (positioning processing) in the first embodiment.

[0086] In the following description, appropriate reference will be made to the drawings. In addition, in the first embodiment, the satellite positioning method is implemented by operating the satellite positioning device. Therefore, the description of the satellite positioning method in the first embodiment will be replaced with the following description of the operation of the satellite positioning device.

[0087] The pre-processing operation will be explained. As shown in Figure 4, first, the RDCB calculation unit 21 of the pre-processing unit 12 calculates the reception differential code bias (RDCB) of the receiving unit 11, which represents a component unique to the combination of the antenna 11a and the receiving unit 11, using the previously acquired first observation information (OBS1) and the previously acquired global ionospheric electron content information (TECMAP) stored in the memory device 20 (step A1).

[0088] Next, the first ionospheric delay calculation unit 22 of the pre-processing unit 12 calculates a first ionospheric delay (X S ) is calculated (Step A2).

[0089] Next, the second ionospheric delay calculation unit 23 of the pre-processing unit 12 uses the first observation information (OBS1) acquired in the past to calculate the second ionospheric delay (GFLC1 S ) is calculated (Step A3).

[0090] Next, the PRDCB calculation unit 24 of the pre-processing unit 12 calculates the first ionospheric delay amount (X S ) and the second ionospheric delay (GFLC1 S ) is used to calculate a first differential code bias (PRDCB) of the receiver 11 for each positioning satellite 30, which represents the difference between the ionospheric delay amount included in the pseudorange information and the ionospheric delay amount included in the carrier phase distance. S ) is calculated (Step A4).

[0091] The processes of steps A1 to A4 are repeatedly executed, and the order of steps A2 and A3 may be changed to steps A3 and A2.

[0092] The operation of the positioning process will now be described. As shown in FIG. 5, first, the third ionospheric delay calculation unit 31 of the positioning processing unit 13 calculates the third ionospheric delay (GFLC2) for each positioning satellite 30 by geometry-free linear combination processing using the second observation information (OBS2) acquired in real time. S ) is calculated (Step B1).

[0093] Next, the fourth ionospheric delay calculation unit 32 of the positioning processing unit 13 calculates the third ionospheric delay (GFLC2 S ), a receive differential code bias (RDCB), and a first differential code bias (PRDCB S ) and the fourth ionospheric delay (GFLC2 S -RDCB-PRDCB S ) is calculated (Step B2).

[0094] Next, the fifth ionospheric delay calculation unit 33 of the positioning processing unit 13 calculates the fourth ionospheric delay (GFLC2 S -RDCB-PRDCB S ), the second observation information (OBS2) obtained in real time, the received differential code bias (RDCB), and the first differential code bias (PRDCB S ) and second error correction information (precise calendar 2) for correcting errors in the satellite orbit and satellite clock obtained in real time, a fifth ionospheric delay amount (PX S ) is calculated (Step B3).

[0095] The processes from steps B1 to B3 are repeated.

[0096] [Effects of the First Embodiment] As described above, according to the first embodiment, the first differential code bias (PRDCB S ) allows for accurate estimation of ionospheric delays, which can speed up the initial convergence of precise point positioning.

[0097] [program] The program in the first embodiment may be a program that causes a computer to execute steps A1 to A4 shown in Fig. 4 and steps B1 to B3 shown in Fig. 5. By installing and executing this program in a computer, the satellite positioning device and satellite positioning method in the first embodiment can be realized. In this case, the processor of the computer functions as a pre-processing unit 12 (RDCB calculation unit 21, first ionospheric delay calculation unit 22, second ionospheric delay calculation unit 23, PRDCB calculation unit 24) and a positioning processing unit 13 (third ionospheric delay calculation unit 31, fourth ionospheric delay calculation unit 32, fifth ionospheric delay calculation unit 33) and performs processing.

[0098] The program in the first embodiment may be executed by a computer system constructed by a plurality of computers. In this case, for example, each computer may function as any one of the pre-processing unit 12 (RDCB calculation unit 21, first ionospheric delay calculation unit 22, second ionospheric delay calculation unit 23, and PRDCB calculation unit 24) and the positioning processing unit 13 (third ionospheric delay calculation unit 31, fourth ionospheric delay calculation unit 32, and fifth ionospheric delay calculation unit 33).

[0099] (Embodiment 2) The configuration of the satellite positioning device in the second embodiment will be described with reference to Fig. 6. Fig. 6 is a diagram for explaining an example of the satellite positioning device in the second embodiment.

[0100] [System Configuration] 6 includes positioning satellites 30 (30a, 30b, 30c, 30d, and 30e) and a satellite positioning device 10a. Note that the number of positioning satellites 30 is not limited to five.

[0101] 6 may be, for example, a Global Navigation Satellite System (GNSS). Specifically, the satellite positioning system calculates the current position of the satellite positioning device 10a based on positioning signals transmitted from the positioning satellites 30.

[0102] The satellite positioning device 10a receives positioning signals from the positioning satellites 30, and generates observation information based on the received positioning signals. After that, the satellite positioning device 10a calculates the current position based on the generated observation information.

[0103] The satellite positioning device 10a provides information indicating the calculated current position to various applications, such as a navigation system and an automatic driving system.

[0104] The satellite positioning device 10a is a device that includes a receiver and has, for example, a CPU, or a programmable device such as an FPGA, or a GPU, or a circuit equipped with any one or more of them.

[0105] The storage device 20a is a database, a server computer, a circuit having a memory, etc. The storage device 20a stores, for example, at least observation information, which will be described later. In the example of Fig. 6, the storage device 20a is provided outside the satellite positioning device 10a, but may be provided inside the satellite positioning device 10a.

[0106] [Device configuration] The satellite positioning device 10a will be described in detail. In satellite positioning, the satellite positioning device 10a calculates a current position using observation information (pseudo distance information, carrier phase information) and positioning satellite position information. In the example of Fig. 6, the satellite positioning device 10a has a receiving unit 11 and a positioning processing unit 13a (second positioning means). Since the receiving unit 11 has already been described in the second embodiment, a description thereof will be omitted.

[0107] The positioning processing unit 13a first calculates a third ionospheric delay (GFLC2) for each positioning satellite 30 by geometry-free linear combination processing using the second observation information (OBS2) acquired in real time. S ) is calculated.

[0108] Next, the positioning processor 13a calculates the third ionospheric delay (GFLC2S ) and a second differential code bias (ePRDCB) that represents the difference between the ionospheric delay included in the pseudorange information of the second observation information (OBS2) and the ionospheric delay included in the carrier phase range. S ) and the sixth ionospheric delay (GFLC2 S -ePRDCB S ) is calculated.

[0109] Next, the positioning processor 13a calculates the sixth ionospheric delay (GFLC2 S -ePRDCB S ), the second observation information (OBS2) obtained in real time, and the second differential code bias (ePRDCB S ) and the second error correction information (precise calendar 2) obtained in real time, the third precise point positioning process calculates the seventh ionospheric delay amount (PX2 S ) is calculated.

[0110] In the third precise point positioning process, for example, for each positioning satellite 30, the observation point position, the satellite orbit error, the satellite clock error, the seventh ionospheric delay amount (PX2 S ), tropospheric delay, carrier phase bias, etc. are estimated.

[0111] Next, the positioning processor 13a calculates the seventh ionospheric delay amount (PX2 S ) and the third ionospheric delay (GFLC2 S ) to obtain the second differential code bias (ePRDCB S ) is calculated. Then, the second differential code bias (ePRDCB S ) is stored in the storage device 20a.

[0112] A method for accurately estimating the amount of ionospheric delay in the second embodiment will now be described in detail. As the positioning process, the following processes (A), (B), (C), and (D) are executed. (A) The third ionospheric delay (GFLC2 S (B) Calculate the sixth ionospheric delay (GFLC2 S -ePRDCBS (C) The seventh ionospheric delay (PX2 S (D) The second differential code bias (ePRDCB) of the receiver 11 for each positioning satellite 30 is estimated. S ) is calculated.

[0113] ● Explains positioning processing without pre-processing. The positioning process without pre-processing will be described with reference to Fig. 7. Fig. 7 is a diagram for explaining an example of the positioning process. The positioning processing unit 13a has a third ionospheric delay amount calculation unit 31, a sixth ionospheric delay amount calculation unit 41, a seventh ionospheric delay amount calculation unit 42, and an ePRDCB calculation unit 43.

[0114] (A) Third ionospheric delay (GFLC2 S ) calculation. The third ionospheric delay calculation unit 31 calculates a third ionospheric delay (GFLC2) for each positioning satellite 30 by geometry-free linear combination processing using the second observation information (OBS2) observed in real time for each positioning satellite 30. S ) is calculated.

[0115] (B) Sixth ionospheric delay (GFLC2 S -PRDCB S ) calculation. The sixth ionospheric delay calculation unit 41 calculates the third ionospheric delay (GFLC2 S ) and the second differential code bias (ePRDCB S ) for each positioning satellite 30, the sixth ionospheric delay (GFLC2 S -ePRDCB S ) is calculated. The sixth ionospheric delay (GFLC2 S -ePRDCB S ) can be expressed as in Equation 16.

[0116] (Number 16) I Li =GFLC2 S -ePRDCB S

[0117] (C) Seventh ionospheric delay (PX2 S ) calculation. The seventh ionospheric delay calculation unit 42 calculates the sixth ionospheric delay (GFLC2 S -ePRDCB S ) and the second differential code bias (ePRDCB S ), the second observation information (OBS2) obtained in real time, and the second error correction information (precise calendar 2) obtained in real time are used to calculate the seventh ionospheric delay (PX2 S ) is calculated.

[0118] Specifically, first, the seventh ionospheric delay calculation unit 42 calculates the pseudo distance P3 from the second observation information (OBS2) for each positioning satellite 30. Li and carrier phase distance Φ3 Li and get.

[0119] Here, the pseudorange P3 Li The amount of ionospheric delay contained in I Li can be expressed by substituting as in Equation 17. That is, the pseudo distance P3 Li can be expressed by substitution as in Equation 18.

[0120] (Number 17) I Li ″′=I Li +ePRDCB S

[0121] (Number 18) P3 Li ″′=ρ+C(δt u -δt s )+I Li ″′+T+ε pLi

[0122] Next, the seventh ionospheric delay calculation unit 42 calculates the pseudorange P3 Li "' and carrier phase distance Φ1 Li The second error correction information (Precise Ephemeris 2) and the sixth ionospheric delay (GFLC2 S -ePRDCBS ) to perform a third precise point positioning process, and for each positioning satellite 30, the observation point position, the satellite orbit error, the satellite clock error, the seventh ionospheric delay amount (PX2 S ), tropospheric delay, carrier phase bias, etc. The second error correction information (precise calendar 2) is used to calculate the position of the positioning satellite 30 and the clock error at any time.

[0123] (D) Calculation of ePRDCB. The ePRDCB calculation unit 43 calculates the seventh ionospheric delay (PX S ) and the third ionospheric delay calculated in (A) (GFLC2 S ) to execute ePRDCB processing, and a second differential code bias (ePRDCB S ) is calculated.

[0124] The ePRDCB process for one positioning satellite can be expressed as in Expression 19. Note that the ePRDCB process is executed for each of the positioning satellites 30.

[0125] (Number 19) ePRDCB=((GFLC21-PX21)+(GFLC22-PX22)+...+(GFLC2 n -PX2 n )) / n =(Σ(GFLC2 j -X j )) / n

[0126] The j used in Equation 19 represents the number n of observations observed in a preset period (for example, a period from one day to several days). n is the number of epochs. Σ is the (GFLC2 j -PX2 j The quality of ePRDCB can be improved by testing the standard deviation, removing outliers, and weighting according to the satellite elevation angle.

[0127] [Device operation] Next, the operation of the satellite positioning device in the second embodiment will be described with reference to Fig. 8. Fig. 8 is a diagram for explaining an example of the operation of the satellite positioning device (positioning process) in the second embodiment.

[0128] In the following description, appropriate reference will be made to the drawings. In addition, in the second embodiment, a satellite positioning method is implemented by operating a satellite positioning device. Therefore, the description of the satellite positioning method in the second embodiment will be replaced with the following description of the operation of the satellite positioning device.

[0129] The third ionospheric delay calculation unit 31 of the positioning processing unit 13a first calculates the third ionospheric delay (GFLC2) for each positioning satellite 30 by geometry-free linear combination processing using the second observation information (OBS2) acquired in real time. S ) is calculated (Step C1).

[0130] Next, the sixth ionospheric delay calculation unit 41 of the positioning processing unit 13a calculates the third ionospheric delay (GFLC2 S ) and a second differential code bias (ePRDCB) which represents the difference between the ionospheric delay included in the pseudorange information and the ionospheric delay included in the carrier phase range. S ) and the sixth ionospheric delay (GFLC2 S -ePRDCB S ) is calculated (Step C2).

[0131] Next, the seventh ionospheric delay calculation unit 42 of the positioning processing unit 13a calculates the sixth ionospheric delay (GFLC2 S -ePRDCB S ), the second observation information (OBS2) obtained in real time, and the second differential code bias (ePRDCB S ) and the second error correction information (precise calendar 2) obtained in real time, the third precise point positioning process calculates the seventh ionospheric delay amount (PX2 S ) is calculated (Step C3).

[0132] Next, the ePRDCB calculation unit 43 of the positioning processing unit 13a calculates the seventh ionospheric delay amount (PX2 S) and the third ionospheric delay (GFLC2 S ) to obtain the second differential code bias (ePRDCB S ) is calculated (step C4). Then, the second differential code bias (ePRDCB S ) is stored in the storage device 20a (step C5).

[0133] The processes from steps C1 to C5 are repeated.

[0134] [Effects of the second embodiment] As described above, according to the second embodiment, the second differential code bias (ePRDCB S ) allows for accurate estimation of ionospheric delays, which can speed up the initial convergence of precise point positioning.

[0135] [program] The program in the second embodiment may be a program that causes a computer to execute steps C1 to C5 shown in Fig. 8. By installing and executing this program in a computer, the satellite positioning device and satellite positioning method in the second embodiment can be realized. In this case, the processor of the computer functions as the positioning processing unit 13a (the third ionospheric delay amount calculation unit 31, the sixth ionospheric delay amount calculation unit 41, the seventh ionospheric delay amount calculation unit 42, and the ePRDCB calculation unit 43) and performs processing.

[0136] The program in the second embodiment may be executed by a computer system constructed by a plurality of computers. In this case, for example, each computer may function as any one of the positioning processing unit 13a (the third ionospheric delay amount calculation unit 31, the sixth ionospheric delay amount calculation unit 41, the seventh ionospheric delay amount calculation unit 42, and the ePRDCB calculation unit 43).

[0137] [Physical configuration] Here, a computer that realizes the satellite positioning device by executing the program in the first and second embodiments will be described with reference to Fig. 9. Fig. 9 is a diagram for explaining an example of a computer that realizes the satellite positioning device in the first and second embodiments.

[0138] 9, the computer 110 includes a CPU 111, a main memory 112, a storage device 113, an input interface 114, a display controller 115, a data reader / writer 116, and a communication interface 117. These components are connected to each other via a bus 121 so as to be able to communicate data with each other. Note that the computer 110 may include a GPU or an FPGA in addition to the CPU 111 or instead of the CPU 111.

[0139] The CPU 111 loads a program in the embodiment, which is composed of a group of codes and is stored in the storage device 113, into the main memory 112, and executes each code in a predetermined order to perform various calculations. The main memory 112 is typically a volatile storage device such as a DRAM (Dynamic Random Access Memory).

[0140] Moreover, the programs in the first and second embodiments are provided in a state stored in a computer-readable recording medium 120. The programs in the first and second embodiments may be distributed on the Internet connected via the communication interface 117.

[0141] Specific examples of the storage device 113 include a hard disk drive and a semiconductor storage device such as a flash memory. The input interface 114 mediates data transmission between the CPU 111 and input devices 118 such as a keyboard and a mouse. The display controller 115 is connected to a display device 119 and controls the display on the display device 119.

[0142] Data reader / writer 116 mediates data transmission between CPU 111 and recording medium 120, reads programs from recording medium 120, and writes processing results in computer 110 to recording medium 120. Communication interface 117 mediates data transmission between CPU 111 and other computers.

[0143] Specific examples of recording medium 120 include general-purpose semiconductor storage devices such as CF (Compact Flash (registered trademark)) and SD (Secure Digital), magnetic recording media such as a flexible disk, or optical recording media such as a CD-ROM (Compact Disk Read Only Memory).

[0144] The satellite positioning devices 10 and 10a in the first and second embodiments can be realized not by a computer with a program installed, but by hardware corresponding to each unit, for example, an electronic circuit. Furthermore, the satellite positioning devices 10 and 10a may be partially realized by a program and the remaining units by hardware. In the first and second embodiments, the computer is not limited to the computer shown in FIG.

[0145] [Note] The following supplementary notes are further disclosed regarding the above-described embodiments. A part or all of the above-described embodiments can be expressed by (Supplementary Note 1) to (Supplementary Note 12) described below, but are not limited to the following descriptions.

[0146] (Appendix 1) calculating a first ionospheric delay amount for each positioning satellite by a first precise point positioning process using a reception differential code bias of the receiving unit, previously acquired observation information, and first error correction information for correcting errors in a satellite orbit and a satellite clock previously acquired; a preliminary unit that generates a first differential code bias of the receiving unit for each of the positioning satellites by using the first ionospheric delay amount for each of the positioning satellites and a second ionospheric delay amount for each of the positioning satellites calculated using a geometry-free linear combination process; Calculating a third ionospheric delay amount for each of the positioning satellites by the geometry-free linear combination process using the observation information acquired in real time; calculating a fourth ionospheric delay amount for each of the positioning satellites using the third ionospheric delay amount, the reception differential code bias, and the first differential code bias; a first positioning unit that calculates a fifth ionospheric delay amount for each of the positioning satellites by a second precise point positioning process using the fourth ionospheric delay amount, the observation information acquired in real time, the reception differential code bias, the first differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; A satellite positioning device having the above configuration.

[0147] (Appendix 2) The advance part comprises: calculating the reception differential code bias of the receiver, which represents a component specific to a combination of an antenna and the receiver, using the previously acquired observation information and previously acquired global ionospheric electron content information; 2. A satellite positioning device as described in claim 1.

[0148] (Appendix 3) The first positioning unit, acquiring a pseudorange and a frequency of a radio wave transmitted from the positioning satellite from the observation information acquired in real time for each of the positioning satellites; Executing the geometry-free linear combination process using the pseudorange and the frequency to calculate the third ionospheric delay for each of the positioning satellites. 2. A satellite positioning device as described in claim 1.

[0149] (Appendix 4) Using the observation information acquired in real time, the third ionospheric delay for each positioning satellite is calculated by geometry-free linear combination processing. Calculating a sixth ionospheric delay amount using the third ionospheric delay amount and a second differential code bias representing a difference between an ionospheric delay amount included in the pseudorange information of the observation information acquired in real time and an ionospheric delay amount included in the carrier phase distance; calculating a seventh ionospheric delay amount for each of the positioning satellites by a third precise point positioning process using the sixth ionospheric delay amount, the observation information acquired in real time, the second differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; a second positioning unit that calculates a new second differential code bias of the receiving unit for each of the positioning satellites using the seventh ionospheric delay amount and the third ionospheric delay amount; A satellite positioning device.

[0150] (Appendix 5) The computer calculating a first ionospheric delay amount for each positioning satellite by a first precise point positioning process using a reception differential code bias of the receiving unit, previously acquired observation information, and first error correction information for correcting errors in a satellite orbit and a satellite clock previously acquired; a pre-processing step of generating a first differential code bias of the receiver for each of the positioning satellites by using the first ionospheric delay amount for each of the positioning satellites and a second ionospheric delay amount for each of the positioning satellites calculated by using a geometry-free linear combination process; Calculating a third ionospheric delay amount for each of the positioning satellites by the geometry-free linear combination process using the observation information acquired in real time; calculating a fourth ionospheric delay amount for each of the positioning satellites using the third ionospheric delay amount, the reception differential code bias, and the first differential code bias; a first positioning process for calculating a fifth ionospheric delay amount for each of the positioning satellites by a second precise point positioning process using the fourth ionospheric delay amount, the observation information acquired in real time, the reception differential code bias, the first differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; A satellite positioning method that performs the above.

[0151] (Appendix 6) The pretreatment is calculating the reception differential code bias of the receiver, which represents a component specific to a combination of an antenna and the receiver, using the previously acquired observation information and previously acquired global ionospheric electron content information; 6. The satellite positioning method according to claim 5.

[0152] (Appendix 7) The first positioning process includes: acquiring a pseudorange and a frequency of a radio wave transmitted from the positioning satellite from the observation information acquired in real time for each of the positioning satellites; Executing the geometry-free linear combination process using the pseudorange and the frequency to calculate the third ionospheric delay for each of the positioning satellites. 6. The satellite positioning method according to claim 5.

[0153] (Appendix 8) The computer Using the observation information acquired in real time, the third ionospheric delay for each positioning satellite is calculated by geometry-free linear combination processing. Calculating a sixth ionospheric delay amount using the third ionospheric delay amount and a second differential code bias representing a difference between an ionospheric delay amount included in the pseudorange information of the observation information acquired in real time and an ionospheric delay amount included in the carrier phase distance; calculating a seventh ionospheric delay amount for each of the positioning satellites by a third precise point positioning process using the sixth ionospheric delay amount, the observation information acquired in real time, the second differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; calculating a new second differential code bias of a receiving unit for each of the positioning satellites using the seventh ionospheric delay amount and the third ionospheric delay amount; Satellite positioning method.

[0154] (Appendix 9) On the computer, calculating a first ionospheric delay amount for each positioning satellite by a first precise point positioning process using a reception differential code bias of the receiving unit, previously acquired observation information, and first error correction information for correcting errors in a satellite orbit and a satellite clock previously acquired; a pre-processing step of generating a first differential code bias of the receiver for each of the positioning satellites by using the first ionospheric delay amount for each of the positioning satellites and a second ionospheric delay amount for each of the positioning satellites calculated by using a geometry-free linear combination process; Calculating a third ionospheric delay amount for each of the positioning satellites by the geometry-free linear combination process using the observation information acquired in real time; calculating a fourth ionospheric delay amount for each of the positioning satellites using the third ionospheric delay amount, the reception differential code bias, and the first differential code bias; a first positioning process for calculating a fifth ionospheric delay amount for each of the positioning satellites by a second precise point positioning process using the fourth ionospheric delay amount, the observation information acquired in real time, the reception differential code bias, the first differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; A program that executes the following.

[0155] (Appendix 10) The pretreatment is calculating the reception differential code bias of the receiver, which represents a component specific to a combination of an antenna and the receiver, using the previously acquired observation information and previously acquired global ionospheric electron content information; 9. The program described in Appendix 9.

[0156] (Appendix 11) The first positioning process includes: acquiring a pseudorange and a frequency of a radio wave transmitted from the positioning satellite from the observation information acquired in real time for each of the positioning satellites; Executing the geometry-free linear combination process using the pseudorange and the frequency to calculate the third ionospheric delay for each of the positioning satellites. 9. The program described in Appendix 9.

[0157] (Appendix 12) On the computer, Using the observation information acquired in real time, the third ionospheric delay amount for each positioning satellite is calculated by geometry-free linear combination processing, Calculating a sixth ionospheric delay amount using the third ionospheric delay amount and a second differential code bias representing a difference between an ionospheric delay amount included in pseudorange information of the observation information acquired in real time and an ionospheric delay amount included in a carrier phase distance; calculating a seventh ionospheric delay amount for each of the positioning satellites by a third precise point positioning process using the sixth ionospheric delay amount, the observation information acquired in real time, the second differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; calculating a new second differential code bias of the receiving unit for each of the positioning satellites by using the seventh ionospheric delay amount and the third ionospheric delay amount; program.

[0158] Although the invention has been described above with reference to the embodiments, the invention is not limited to the above-mentioned embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the invention within the scope of the invention. [Industrial Applicability]

[0159] According to the above description, by accurately estimating the ionospheric delay, it is possible to hasten the initial convergence in precise point positioning, which is also useful in fields where precise point positioning is required. [Explanation of symbols]

[0160] 10, 10a Satellite positioning device 11 Receiving section 11a Antenna 12 Pre-processing section 13, 13a Positioning processing unit 20, 20a Storage device 21 RDCB Calculation Department 22 First ionospheric delay calculation unit 23 Second ionospheric delay calculation unit 24 PRDCB Calculation Section 30, 30a, 30b, 30c, 30d, 30e Positioning satellites 31 Third ionospheric delay calculation unit 32 Fourth ionospheric delay calculation unit 33 Fifth ionospheric delay calculation unit 41 Sixth ionospheric delay calculation unit 42 Seventh ionospheric delay calculation unit 43 ePRDCB Calculation Section 110 Computer 111 CPU 112 Main memory 113 Storage device 114 Input Interface 115 Display Controller 116 Data Reader / Writer 117 Communication Interface 118 Input Devices 119 Display device 120 Recording media 121 Bus

Claims

1. calculating a first ionospheric delay amount for each positioning satellite by a first precise point positioning process using a reception differential code bias of the receiving unit, previously acquired observation information, and first error correction information for correcting errors in a satellite orbit and a satellite clock previously acquired; a pre-processing means for generating a first differential code bias of the receiver for each of the positioning satellites by using the first ionospheric delay amount for each of the positioning satellites and a second ionospheric delay amount for each of the positioning satellites calculated by using a geometry-free linear combination process; Calculating a third ionospheric delay amount for each of the positioning satellites by the geometry-free linear combination process using the observation information acquired in real time; calculating a fourth ionospheric delay amount for each of the positioning satellites using the third ionospheric delay amount, the reception differential code bias, and the first differential code bias; a first positioning means for calculating a fifth ionospheric delay amount for each of the positioning satellites by a second precise point positioning process using the fourth ionospheric delay amount, the observation information acquired in real time, the reception differential code bias, the first differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; A satellite positioning device having the above configuration.

2. The advance means is: calculating the reception differential code bias of the receiver, which represents a component specific to a combination of an antenna and the receiver, using the previously acquired observation information and previously acquired global ionospheric electron content information; The satellite positioning device according to claim 1 .

3. The first positioning means is acquiring a pseudorange and a frequency of a radio wave transmitted from the positioning satellite from the observation information acquired in real time for each of the positioning satellites; Executing the geometry-free linear combination process using the pseudorange and the frequency to calculate the third ionospheric delay for each of the positioning satellites. The satellite positioning device according to claim 1 .

4. Using the observation information acquired in real time, the third ionospheric delay for each positioning satellite is calculated by geometry-free linear combination processing. Calculating a sixth ionospheric delay amount using the third ionospheric delay amount and a second differential code bias representing a difference between an ionospheric delay amount included in the pseudorange information of the observation information acquired in real time and an ionospheric delay amount included in the carrier phase distance; calculating a seventh ionospheric delay amount for each of the positioning satellites by a third precise point positioning process using the sixth ionospheric delay amount, the observation information acquired in real time, the second differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; a second positioning means for calculating a new second differential code bias of a receiving unit for each of the positioning satellites by using the seventh ionospheric delay amount and the third ionospheric delay amount; A satellite positioning device.

5. The computer calculating a first ionospheric delay amount for each positioning satellite by a first precise point positioning process using a reception differential code bias of the receiving unit, previously acquired observation information, and first error correction information for correcting errors in a satellite orbit and a satellite clock previously acquired; a pre-processing step of generating a first differential code bias of the receiver for each of the positioning satellites by using the first ionospheric delay amount for each of the positioning satellites and a second ionospheric delay amount for each of the positioning satellites calculated by using a geometry-free linear combination process; Calculating a third ionospheric delay amount for each of the positioning satellites by the geometry-free linear combination process using the observation information acquired in real time; calculating a fourth ionospheric delay amount for each of the positioning satellites using the third ionospheric delay amount, the reception differential code bias, and the first differential code bias; a first positioning process for calculating a fifth ionospheric delay amount for each of the positioning satellites by a second precise point positioning process using the fourth ionospheric delay amount, the observation information acquired in real time, the reception differential code bias, the first differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; A satellite positioning method that performs the above.

6. The pretreatment is calculating the reception differential code bias of the receiver, which represents a component specific to a combination of an antenna and the receiver, using the previously acquired observation information and previously acquired global ionospheric electron content information; The satellite positioning method according to claim 5.

7. The first positioning process includes: acquiring a pseudorange and a frequency of a radio wave transmitted from the positioning satellite from the observation information acquired in real time for each of the positioning satellites; Executing the geometry-free linear combination process using the pseudorange and the frequency to calculate the third ionospheric delay for each of the positioning satellites. The satellite positioning method according to claim 5.

8. The computer Using the observation information acquired in real time, the third ionospheric delay for each positioning satellite is calculated by geometry-free linear combination processing. Calculating a sixth ionospheric delay amount using the third ionospheric delay amount and a second differential code bias representing a difference between an ionospheric delay amount included in the pseudorange information of the observation information acquired in real time and an ionospheric delay amount included in the carrier phase distance; calculating a seventh ionospheric delay amount for each of the positioning satellites by a third precise point positioning process using the sixth ionospheric delay amount, the observation information acquired in real time, the second differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; calculating a new second differential code bias of a receiving unit for each of the positioning satellites using the seventh ionospheric delay amount and the third ionospheric delay amount; Satellite positioning method.

9. On the computer, calculating a first ionospheric delay amount for each positioning satellite by a first precise point positioning process using a reception differential code bias of the receiving unit, previously acquired observation information, and first error correction information for correcting errors in a satellite orbit and a satellite clock previously acquired; a pre-processing step of generating a first differential code bias of the receiver for each of the positioning satellites by using the first ionospheric delay amount for each of the positioning satellites and a second ionospheric delay amount for each of the positioning satellites calculated by using a geometry-free linear combination process; Calculating a third ionospheric delay amount for each of the positioning satellites by the geometry-free linear combination process using the observation information acquired in real time; calculating a fourth ionospheric delay amount for each of the positioning satellites using the third ionospheric delay amount, the reception differential code bias, and the first differential code bias; a first positioning process for calculating a fifth ionospheric delay amount for each of the positioning satellites by a second precise point positioning process using the fourth ionospheric delay amount, the observation information acquired in real time, the reception differential code bias, the first differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; A program that executes the following.

10. The pretreatment is calculating the reception differential code bias of the receiver, which represents a component specific to a combination of an antenna and the receiver, using the previously acquired observation information and previously acquired global ionospheric electron content information; The program according to claim 9.

11. The first positioning process includes: acquiring a pseudorange and a frequency of a radio wave transmitted from the positioning satellite from the observation information acquired in real time for each of the positioning satellites; Executing the geometry-free linear combination process using the pseudorange and the frequency to calculate the third ionospheric delay for each of the positioning satellites. The program according to claim 9.

12. On the computer, Using the observation information acquired in real time, the third ionospheric delay amount for each positioning satellite is calculated by geometry-free linear combination processing, Calculating a sixth ionospheric delay amount using the third ionospheric delay amount and a second differential code bias representing a difference between an ionospheric delay amount included in pseudorange information of the observation information acquired in real time and an ionospheric delay amount included in a carrier phase distance; calculating a seventh ionospheric delay amount for each of the positioning satellites by a third precise point positioning process using the sixth ionospheric delay amount, the observation information acquired in real time, the second differential code bias, and second error correction information for correcting errors of a satellite orbit and a satellite clock acquired in real time; calculating a new second differential code bias of a receiving unit for each of the positioning satellites by using the seventh ionospheric delay amount and the third ionospheric delay amount; program.

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