Positioning system, movement control device, movement control method, and program

Abstract

To provide a positioning system and the like capable of highly accurate carrier-phase positioning using a positioning signal from a reference station fixed on the ground.SOLUTION: A positioning system comprises a reference station and a moving body. The moving body includes positioning signal receiving means for receiving a positioning signal from the reference station, and control means for controlling movement of the moving body on the basis of the received positioning signal. The control means includes: phase acquisition means for acquiring a first carrier phase of the positioning signal from the reference station at a first time; and positioning means for moving the moving body from the first time, receiving the positioning signal from the reference station at a second time after the elapse of a time interval, acquiring a second carrier phase of the positioning signal, and performing carrier-phase positioning of the moving body using the first carrier phase and the second carrier phase.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a positioning system, a mobility control device, a mobility control method, and a program. [Background technology]

[0002] Generally, drones fly autonomously outdoors using satellite positioning systems. However, it is difficult to position drones autonomously in places where it is difficult to receive satellite signals, such as indoors.

[0003] Incidentally, when performing wireless positioning, carrier phase positioning is used to perform highly accurate positioning. To perform carrier phase positioning, it is necessary to measure the phase at the receiving station. However, a phase error occurs due to a time difference between the clock at the transmitting station and the clock at the receiving station. It is known that the error can be offset in GPS by using multiple observations taken in a very short period of time, taking advantage of the fact that GPS satellites are constantly moving. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2004-286494 A Summary of the Invention [Problem to be solved by the invention]

[0005] When this method is applied to indoor positioning, for example, the reference transmission station located indoors is fixed, so it is not possible to cancel the phase error caused by the movement of the reference transmission station. Therefore, this error cancellation method cannot be applied directly to indoor positioning.

[0006] The present disclosure has been made to solve such problems, and aims to provide a positioning system etc. that enables highly accurate carrier phase positioning using positioning signals from reference stations positioned on the ground. [Means for solving the problem]

[0007] A positioning system according to one embodiment of the present disclosure includes: The present invention comprises a reference station fixed on the ground and a mobile object, the moving object includes a positioning signal receiver for receiving a positioning signal from the reference station; a control unit that controls movement of the moving object based on the received positioning signal, The control unit is a phase acquisition means for acquiring a first carrier phase of a positioning signal from the reference station at a first time; and a positioning means for moving the moving body from the first time, receiving a positioning signal from the reference station at a second time after a time interval has elapsed, acquiring a second carrier phase of the positioning signal, and performing carrier phase positioning of the moving body using the first carrier phase and the second carrier phase.

[0008] A mobile control device according to one aspect of the present disclosure includes: A mobile control device that controls the movement of a mobile object based on a positioning signal received from a reference station fixed on the ground, a phase acquisition means for acquiring a first carrier phase of a positioning signal from the reference station at a first time; and a positioning means for moving the moving body from the first time, receiving a positioning signal from the reference station at a second time after a time interval has elapsed, acquiring a second carrier phase of the positioning signal, and performing carrier phase positioning of the moving body using the first carrier phase and the second carrier phase.

[0009] A mobility control method according to one aspect of the present disclosure includes: A method for controlling the movement of a moving object based on a positioning signal received from a reference station fixed on the ground, comprising the steps of: At a first time, a first carrier phase of a positioning signal from the reference station is obtained; The moving body is moved from the first time, and at a second time after a time interval has elapsed, a positioning signal is received from the reference station, a second carrier phase of the positioning signal is obtained, and carrier phase positioning of the moving body is performed using the first carrier phase and the second carrier phase.

[0010] A program according to one aspect of the present disclosure includes: A program for controlling the movement of a moving object based on a positioning signal received from a reference station fixed on the ground, At a first time, a first carrier phase of a positioning signal from the reference station is obtained; The computer is caused to move the moving body from the first time, and at a second time after a time interval has elapsed, receive a positioning signal from the reference station, obtain a second carrier phase of the positioning signal, and perform carrier phase positioning of the moving body using the first carrier phase and the second carrier phase. Effect of the Invention

[0011] According to the present disclosure, it is possible to provide a positioning system etc. that enables highly accurate carrier phase positioning using a positioning signal from a reference station fixed on the ground. [Brief description of the drawings]

[0012] [Figure 1] 1 is a diagram illustrating an example of the configuration of a positioning system 1 according to the present disclosure. [Diagram 2] FIG. 1 is a diagram illustrating an example of the configuration of a moving body according to the present disclosure. [Diagram 3] 1 is a flowchart illustrating a positioning method according to the present disclosure. [Figure 4] 1 is a diagram illustrating an example of the configuration of a positioning system 1 according to the present disclosure. [Diagram 5] 11A and 11B are diagrams illustrating another example configuration of a moving body according to the present disclosure. [Figure 6] 1 is a flowchart illustrating a positioning method according to the present disclosure. [Figure 7] 1 is a diagram illustrating an error of an acceleration sensor according to the present disclosure. [Figure 8] FIG. 13 is a diagram illustrating yet another example configuration of a moving body according to the present disclosure. [Figure 9] FIG. 2 is a diagram illustrating an example of a hardware configuration of a mobile control device according to the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] An example of the configuration of the positioning system 1 will be described below with reference to FIG. The positioning system accurately determines the position of a moving object in a place where it is difficult to receive satellite radio waves from a satellite positioning system, and controls the movement of the moving object. As shown in Fig. 1, the positioning system 1 includes a transmission reference station 20 fixed on the ground and a moving object 10.

[0014] The reference transmitting station 20 is fixed on the ground, but transmits a positioning signal via a carrier wave of a predetermined frequency f (wavelength λ=1 / f) in the same manner as a positioning satellite of the Global Navigation Satellite System (GNSS).

[0015] The mobile body 10 may be an unmanned aerial vehicle such as a drone, but is not limited to this, and various mobile bodies that can be understood by a person skilled in the art can be used.

[0016] FIG. 2 is a diagram illustrating a configuration example of a moving object 10 according to the present disclosure. The moving body 10 includes a positioning signal receiver 110, a driving mechanism 150, and a control unit 100. The positioning signal receiver 110 corresponds to the frequency f of the transmission reference station 20, and receives a positioning signal from the transmission reference station 20. The driving mechanism 150 includes a driving source using power supplied from a battery, and a driving unit (e.g., a rotor in the case of an aircraft) that operates with power obtained from the driving source. The control unit 100 drives the driving mechanism 150 of the moving body to control the movement of the moving body so that the moving body heads toward the destination based on the positioning signal received by the positioning signal receiver 110. The control unit 100 may be a computer including at least one processor and at least one memory.

[0017] 2, the control unit 100 includes a phase acquisition unit 101 and a positioning unit 104. As shown in FIG 1, the phase acquisition unit 101 receives a positioning signal from the transmission reference station 20 at a first time t1 of the clock of the moving object 10 to acquire a carrier phase θ1.

[0018] The positioning unit 104 moves the moving object 10 from the first time t1, and at a second time t2 (in the clock of the moving object 10) after a time interval has elapsed, receives a positioning signal from the transmission reference station 20 and acquires the carrier phase θ2 of the positioning signal. The positioning unit 104 performs carrier phase positioning of the moving object 10 by correcting the time difference between the clock of the transmission reference station and the clock of the moving object (receiving station) using the first carrier phase θ1 and the second carrier phase θ2.

[0019] Since the transmitting reference station 20 transmits a carrier wave at a predetermined frequency f, the first carrier wave CA1 and the second carrier wave CA2 have the same wavelength (λ=1 / f). The frequency and wavelength of the carrier wave of the transmitting reference station can be obtained from the specifications of the transmitting reference station or the mobile unit.

[0020] FIG. 3 is a flowchart illustrating a positioning method according to the present disclosure. The phase acquisition unit 101 acquires a first carrier phase of a positioning signal from a reference station at a first time (for example, t1) (step S11).

[0021] The positioning unit 104 moves the moving object from the first time (e.g., t1) and receives a positioning signal from the reference station at a second time (e.g., t2) after a time interval has elapsed (step S12). The positioning unit 104 acquires a second carrier phase of the positioning signal and performs carrier phase positioning of the moving object using the first carrier phase and the second carrier phase (step S13).

[0022] If the moving object 10 moves continuously (YES in step S14), the positioning signal is received from the reference station 20 at a third time (e.g., t3) that is a time interval after the time (t2) (step S12). The positioning unit 102 acquires a third carrier phase of the positioning signal, and performs carrier phase positioning of the moving object using the second carrier phase and the third carrier phase (step S13).

[0023] As described above, in a positioning system, the movement of a mobile object is utilized to offset the time error between the transmitting reference station and the mobile object (receiving positioning station), thereby making it possible to perform carrier phase positioning.

[0024] Furthermore, when a mobile object moves a predetermined distance (for example, one wavelength or more of a carrier wave), the continuity of information of a plurality of observation values ​​is lost, and therefore, it may not be possible to perform highly accurate carrier wave phase positioning. Therefore, the predetermined interval, which is the timing for performing positioning, can be determined as follows.

[0025] For example, in some embodiments, the specified time interval between the first time and the second time may be set to a time when the amount of movement of the moving body 10, calculated from the maximum moving speed of the moving body, is less than one wavelength of the carrier wave from the transmitting reference station 20.

[0026] In addition, in a positioning system having multiple transmitting reference stations (e.g., two, three, four or more) with different frequencies, the time interval between the first time and the second time can be determined to a time when the amount of movement of the moving body, calculated from the maximum moving speed of the moving body, is less than one wavelength of the smallest carrier wave among the carrier waves from the multiple reference stations.

[0027] In another embodiment, the phase acquisition unit 101 may acquire the first carrier phase from the reference station from the first time and continuously acquire the carrier phase. The positioning unit 104 may receive a positioning signal from the reference station before the change in the carrier phase acquired continuously from the first time exceeds one period. The positioning unit 104 may acquire the second carrier phase of the positioning signal and perform carrier phase positioning of the moving object using the first carrier phase and the second carrier phase. That is, the change in phase is confirmed, and if the change in phase is smaller than one period, positioning is not performed. Positioning may be performed at a timing when the change in phase is likely to reach one wavelength. In short, the condition for performing carrier phase positioning may be that the first carrier phase and the second carrier phase do not go through one period.

[0028] In some embodiments, a mobile control device is provided that controls the movement of a mobile object based on a positioning signal received from a reference station. The mobile control device may be realized by a computer that may be mounted on a mobile object 10. The mobile control device includes a phase acquisition means that acquires a first carrier phase of a positioning signal from a reference station at a first time, and a positioning means that moves the mobile object from the first time, receives a positioning signal from the reference station at a second time a time interval after the first time, acquires a second carrier phase of the positioning signal, and performs carrier phase positioning of the mobile object using the first carrier phase and the second carrier phase.

[0029] Other embodiments FIG. 4 is a diagram illustrating an example of the configuration of a positioning system 1 according to the present disclosure. In another embodiment, the positioning system 1 includes a plurality of transmission reference stations 20a, 20b fixed indoors where it is difficult to receive satellite radio waves from the satellite positioning system, and a mobile body 10a. The mobile body 10a may be a drone, but is not limited thereto, and may be applied to various mobile bodies.

[0030] The reference transmitting station 20a is fixed indoors, but transmits a positioning signal via a carrier wave (CA1, CA2) of a predetermined first frequency f1.

[0031] The reference transmitting station 20b is fixed on the ground, but transmits a positioning signal via a carrier wave (CA3, CA4) of a predetermined second frequency f2 different from the first frequency f1. The predetermined second frequency f2 is different from the first frequency f1 to avoid collisions. In this case, the first frequency f1 is higher than the second frequency f2. In other words, the wavelength of the carrier wave (CA1, CA2) of the predetermined first frequency f1 is shorter than the wavelength of the carrier wave (CA3, CA4) of the second frequency f2.

[0032] FIG. 5 is a diagram illustrating a configuration example of a moving object 10a according to the present disclosure. The mobile object 10a includes a positioning signal receiver 110, an acceleration sensor 120, a driving mechanism 150, and a control unit 100a. The positioning signal receiver 110 supports both the first frequency f1 of the transmission reference station 20a and the second frequency f2 of the transmission reference station 20b, and receives positioning signals from the transmission reference stations 20a and 20b. The driving mechanism 150 includes a driving source using power supplied from a battery, and a rotor that operates with the power obtained from the driving source. The control unit 100a drives the driving mechanism 150 of the mobile object based on the received positioning signal to control the movement of the mobile object so that the mobile object moves toward the destination.

[0033] The control unit 100a includes a phase acquisition unit 101a, an acceleration acquisition unit 102a, a determination unit 103a, and a positioning unit 104a. The phase acquisition unit 101a receives a positioning signal from the transmission reference station 20 at a first time t1 and acquires a carrier phase θ1.

[0034] The acceleration acquisition unit 102a receives a detection signal from the acceleration sensor 120 and continuously acquires the acceleration of the moving object 10 from the first time t1.

[0035] The determination unit 103a determines the second time t2, which is the positioning timing after the first time t1, so that the moving distance d of the moving body calculated from the acquired acceleration of the moving body and the elapsed time from the first time t1 does not exceed one wavelength λ of the carrier wave from the reference station. Note that in this example, since the wavelength λ1 of the carrier wave (CA1, CA2) of the first frequency f1 is shorter than the wavelength λ2 of the carrier wave (CA3, CA4) of the second frequency f2, the carrier wave λ1 from the reference station 20a is used to determine the positioning timing.

[0036] The positioning unit 104a receives a positioning signal from the reference station 20a (and reference station 20b) at the determined second time t2, acquires the second carrier phase θ2 of the positioning signal, and performs carrier phase positioning of the moving body using the first carrier phase and the second carrier phase.

[0037] FIG. 6 is a flowchart illustrating a positioning method according to the present disclosure. The phase acquisition unit 101a receives the positioning signals from the transmission reference stations 20a and 20b at the first time t1 and acquires the carrier phase θ1 (step S21). The acceleration acquisition unit 102a receives the detection signal from the acceleration sensor 120 from the first time t1 and continuously acquires the acceleration of the moving object 10 (step S22).

[0038] The determination unit 103a determines a second time t2, which is the positioning timing after the first time t1, so that the moving distance d of the moving body calculated from the acquired acceleration of the moving body and the elapsed time from the first time t1 does not exceed one wavelength λ1 of the carrier wave from the reference station 20a (step S23).

[0039] The positioning unit 104a receives a positioning signal from the reference station 20a (and the reference station 20b) at the determined second time t2 (step S24). The positioning unit 104a acquires the second carrier phase θ2 of the positioning signal, and performs carrier phase positioning of the moving object using the first carrier phase and the second carrier phase (step S25).

[0040] Next, if the moving object 10a continues to move (YES in step S26), the above-mentioned processes in steps S22 to S24 are repeated.

[0041] As described above, the positioning system according to the present embodiment can determine the positioning timing and perform carrier phase positioning so that the continuity of information of a plurality of observation values ​​is not lost according to the moving distance of the moving object. Even when a plurality of transmission reference stations with different frequencies are used, the positioning timing can be determined so that the moving distance of the moving object does not exceed the minimum wavelength of the carrier waves of each transmission reference station.

[0042] In some embodiments, in a positioning system having multiple reference stations with different frequencies, the determination means of the control means can determine a second time, which is the positioning timing after the first time, so that the calculated movement distance of the moving body does not exceed the smallest wavelength among the wavelengths of the carrier waves of the multiple reference stations.

[0043] With reference to FIG. 7, a method of grasping an error in acceleration measurement of a moving object and performing positioning before the accumulated error reaches or exceeds ±half a wavelength will be described. At time 0, the mobile body 10 receives a positioning signal from the reference transmission station 20 and performs positioning. Thereafter, the mobile body 10 moves, and at time t, receives a positioning signal from the reference transmission station 20 again and performs positioning. At this time t, due to an error in the acceleration sensor, the actual measurement location (P1', P1'') may be shifted more than expected. If the range of accumulated measurement error is within one wavelength (plus or minus 0.5 wavelengths), the error can be absorbed and the position can be determined.

[0044] FIG. 8 is a diagram for explaining a configuration example of a moving object 10b for implementing the positioning method of FIG. In FIG. 8, the same components as those in the embodiment of FIG. 5 are denoted by the same reference numerals as in FIG. 5, and descriptions thereof will be omitted as appropriate. The control unit 100b according to this embodiment includes a phase acquisition unit 101b, an acceleration error acquisition unit 102b, a determination unit 103b, and a positioning unit 104b. The phase acquisition unit 101b acquires the first carrier phase of the positioning signal from the reference station at the first time t1. The acceleration error acquisition unit 102b acquires the acceleration error of the acceleration sensor of the moving object. Since the standard error range is described in the specifications of the acceleration sensor, the maximum error can be used.

[0045] The determination unit 103b determines the second time, which is the positioning timing after the first time, so that the range of the total acceleration error of the acquired mobile object over the elapsed time from the first time t1 does not exceed plus or minus half the wavelength of the carrier wave. The error of the acceleration sensor is considered to have a certain degree of variance if the average is set to 0. The total value of the error value of the acceleration sensor is also the total value ± the total value of the variance. Even if it is calculated from the acceleration that the mobile object has traveled a certain distance, the actual value is assumed to be the sum of the calculated value ± the variance value. Therefore, the total of the variance value needs to be within plus or minus half the wavelength of the wavelength. The positioning unit 104b receives the positioning signal from the reference station at the determined second time, obtains the second carrier phase of the positioning signal, and performs carrier phase positioning of the mobile object using the first carrier phase and the second carrier phase.

[0046] In a positioning system having a plurality of reference stations with different frequencies, the determination means of the control means can determine a second time, which is the positioning timing after the first time, so that the total range of acceleration errors of a moving body does not exceed the smallest wavelength among the wavelengths of the carrier waves of the plurality of reference stations.

[0047] This makes it possible to determine a positioning timing suitable for performing highly accurate carrier phase positioning even when a moving object is moving back and forth.

[0048] FIG. 9 is a block diagram showing a configuration example of the mobile control devices 100, 100a, and 100b (hereinafter, referred to as the mobile control devices 100, etc.). Referring to FIG. 8, the mobile control devices 100, etc. include a network interface 1201, a processor 1202, and a memory 1203. The network interface 1201 is used to communicate with other network node devices (for example, the transmission reference stations 20a, 20b) constituting a communication system. The network interface 1201 may be used to perform wireless communication. For example, the network interface 1201 may be used to perform wireless LAN communication defined in the IEEE 802.11 series, or mobile communication defined in 3GPP (registered trademark) (3rd Generation Partnership Project). Alternatively, the network interface 1201 may include, for example, a network interface card (NIC) conforming to the IEEE 802.3 series.

[0049] The processor 1202 reads out and executes software (computer programs) from the memory 1203 to perform the processing of the mobile control device 100 and the like described using flowcharts or sequences in the above-mentioned embodiments. The processor 1202 may be, for example, a microprocessor, an MPU (Micro Processing Unit), a CPU (Central Processing Unit), or a GPU (Graphics Processing Unit). The processor 1202 may include multiple processors.

[0050] The memory 1203 is configured by a combination of a volatile memory and a non-volatile memory. The memory 1203 may include a storage located away from the processor 1202. In this case, the processor 1202 may access the memory 1203 via an I / O interface (not shown). The processor 1202 may be connected to the acceleration sensor 120 via an I / O interface (not shown).

[0051] 8, the memory 1203 is used to store software modules. The processor 1202 reads out and executes these software modules from the memory 1203, thereby performing the processing of the mobile control device 100 and the like described in the above-mentioned embodiment.

[0052] As explained using Figures 3, 6, 8, etc., each of the processors possessed by the mobile control device 100, etc. executes one or more programs including a set of instructions for causing a computer to perform the algorithms explained using the drawings.

[0053] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-mentioned embodiments. Various modifications that can be understood by a person skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be appropriately combined with other embodiments.

[0054] Each drawing is merely an example for describing one or more embodiments. Each drawing may relate not only to one particular embodiment, but to one or more other embodiments. As can be understood by those skilled in the art, various features or steps described with reference to any one drawing may be combined with features or steps shown in one or more other drawings to create an embodiment not explicitly shown or described, for example. Not all features or steps shown in any one drawing are necessary to describe an exemplary embodiment, and some features or steps may be omitted. The order of steps described in any drawing may be changed as appropriate.

[0055] In the above examples, the program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, the computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray® disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, the transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0056] A part or all of the above-described embodiments can be described as, but is not limited to, the following supplementary notes. (Appendix 1) A positioning system including a reference station fixed on the ground and a mobile object, the moving object includes a positioning signal receiver for receiving a positioning signal from the reference station; a control unit that controls movement of the moving object based on the received positioning signal, The control unit is a phase acquisition means for acquiring a first carrier phase of a positioning signal from the reference station at a first time; a positioning means for moving the moving body from the first time, receiving a positioning signal from the reference station at a second time after a time interval has elapsed, acquiring a second carrier phase of the positioning signal, and performing carrier phase positioning of the moving body using the first carrier phase and the second carrier phase. (Appendix 2) The time interval between the first time and the second time is A positioning system as described in Appendix 1, wherein the time is determined to be the time when the amount of movement of the moving body, calculated from the maximum moving speed of the moving body, is less than one wavelength of the carrier wave from the reference station. (Appendix 3) A plurality of said reference stations having different frequencies are provided, The time interval between the first time and the second time is A positioning system as described in Appendix 1, wherein the time is determined to be the time when the amount of movement of the moving body calculated from the maximum moving speed of the moving body is less than one wavelength of the smallest carrier wave among the carrier waves from the multiple reference stations. (Appendix 4) The phase acquisition means acquires a first carrier phase from the reference station from a first time and continuously acquires a carrier phase; The positioning system described in Appendix 1, wherein the positioning means receives a positioning signal from the reference station and acquires a second carrier phase of the positioning signal before an amount of change in the carrier phase continuously acquired from the first time exceeds one period, and performs carrier phase positioning of the moving body using the first carrier phase and the second carrier phase. (Appendix 5) The moving object further includes an acceleration sensor, The control unit is a phase acquisition means for acquiring a first carrier phase of a positioning signal from the reference station at a first time; an acceleration acquiring means for continuously acquiring an acceleration of the moving object from the first time; a determination means for determining a second time, which is a positioning timing after the first time, so that a moving distance of the moving object calculated from the acquired acceleration of the moving object and an elapsed time from the first time does not exceed one wavelength of a carrier wave from the reference station; and a positioning means for receiving a positioning signal from the reference station at the determined second time, acquiring a second carrier phase of the positioning signal, and performing carrier phase positioning of the moving body using the first carrier phase and the second carrier phase. (Appendix 6) The moving object further includes an acceleration sensor, The control means a phase acquisition means for acquiring a first carrier phase of a positioning signal from the reference station at a first time; an acceleration error acquiring means for acquiring an error in acceleration of the acceleration sensor of the moving body; a determination means for determining a second time, which is a positioning timing after the first time, so that a total range of the acquired acceleration error of the moving object over an elapsed time from the first time does not exceed plus or minus a half wavelength of a carrier wave from the reference station; and a positioning means for receiving the positioning signal from the reference station at the determined second time, acquiring a second carrier phase of the positioning signal, and performing carrier phase positioning of the moving body using the first carrier phase and the second carrier phase. (Appendix 7) A plurality of said reference stations having different frequencies are provided, The determination means of the control means 7. The positioning system according to claim 5, further comprising: determining a second time, which is the positioning timing after the first time, so that the calculated movement distance of the moving body does not exceed the smallest wavelength among the wavelengths of the carrier waves of the plurality of reference stations. (Appendix 8) A mobile control device that controls the movement of a mobile object based on a positioning signal received from a reference station fixed on the ground, a phase acquisition means for acquiring a first carrier phase of a positioning signal from the reference station at a first time; a positioning means for moving the moving body from the first time, receiving a positioning signal from the reference station at a second time after a time interval has elapsed, acquiring a second carrier phase of the positioning signal, and performing carrier phase positioning of the moving body using the first carrier phase and the second carrier phase. (Appendix 9) A method for controlling the movement of a moving object based on a positioning signal received from a reference station fixed on the ground, comprising the steps of: At a first time, a first carrier phase of a positioning signal from the reference station is obtained; A mobility control method comprising: moving the moving body from the first time; receiving a positioning signal from the reference station at a second time after a time interval has elapsed; acquiring a second carrier phase of the positioning signal; and performing carrier phase positioning of the moving body using the first carrier phase and the second carrier phase. (Appendix 10) A program for controlling the movement of a moving object based on a positioning signal received from a reference station fixed on the ground, At a first time, a first carrier phase of a positioning signal from the reference station is obtained; A program that causes a computer to execute the following steps: move the moving body from the first time, receive a positioning signal from the reference station at a second time after a time interval has elapsed, acquire a second carrier phase of the positioning signal, and perform carrier phase positioning of the moving body using the first carrier phase and the second carrier phase.

[0057] Some or all of the elements (e.g., configurations and functions) described in Supplementary Notes 2 to 7 that are dependent on Supplementary Note 1 may also be dependent on the movement control device in Supplementary Note 8, the movement control method in Supplementary Note 9, and the program in Supplementary Note 10 in a similar dependent relationship to Supplementary Notes 2 to 7. Some or all of the elements described in any of the Supplements may be applied to various hardware, software, recording means for recording software, systems, and methods. [Explanation of symbols]

[0058] 1 Positioning System 10 Mobile 20 Transmission Reference Station 100, 100a, 100b Control unit 101, 101a, 101b Phase acquisition section 102a Acceleration acquisition section 102b Acceleration error acquisition section 103, 103a, 103b decision section 104, 104a, 104b Positioning unit 110 Positioning signal receiver 120 Acceleration Sensor 150 Drive mechanism

Claims

1. A positioning system including a reference station fixed on the ground and a mobile object, the moving object includes a positioning signal receiver for receiving a positioning signal from the reference station; a control unit that controls movement of the moving object based on the received positioning signal, The control unit is a phase acquisition means for acquiring a first carrier phase of a positioning signal from the reference station at a first time; a positioning means for moving the moving body from the first time, receiving a positioning signal from the reference station at a second time after a time interval has elapsed, acquiring a second carrier phase of the positioning signal, and performing carrier phase positioning of the moving body using the first carrier phase and the second carrier phase.

2. The time interval between the first time and the second time is 2. The positioning system according to claim 1, wherein the time is determined to be a time when the amount of movement of the moving body, calculated from the maximum moving speed of the moving body, becomes less than one wavelength of a carrier wave from the reference station.

3. A plurality of said reference stations having different frequencies are provided, The time interval between the first time and the second time is The positioning system according to claim 1 , wherein the time is determined so that the amount of movement of the moving body calculated from the maximum moving speed of the moving body is less than one wavelength of the smallest carrier wave among the carrier waves from the plurality of reference stations.

4. The phase acquisition means acquires a first carrier phase from the reference station from a first time and continuously acquires a carrier phase; 2. The positioning system according to claim 1, wherein the positioning means receives a positioning signal from the reference station and acquires a second carrier phase of the positioning signal before an amount of change in the carrier phase continuously acquired from the first time exceeds one period, and performs carrier phase positioning of the moving body using the first carrier phase and the second carrier phase.

5. The moving object further includes an acceleration sensor, The control unit is a phase acquisition means for acquiring a first carrier phase of a positioning signal from the reference station at a first time; an acceleration acquiring means for continuously acquiring an acceleration of the moving object from the first time; a determination means for determining a second time, which is a positioning timing after the first time, such that a moving distance of the moving object calculated from the acquired acceleration of the moving object and an elapsed time from the first time does not exceed one wavelength of a carrier wave from the reference station; 2. The positioning system according to claim 1, further comprising: a positioning means for receiving a positioning signal from the reference station at the determined second time, acquiring a second carrier phase of the positioning signal, and performing carrier phase positioning of the moving body using the first carrier phase and the second carrier phase.

6. The moving object further includes an acceleration sensor, The control unit is a phase acquisition means for acquiring a first carrier phase of a positioning signal from the reference station at a first time; an acceleration error acquiring means for acquiring an error in acceleration of the acceleration sensor of the moving body; a determination means for determining a second time, which is a positioning timing after the first time, so that a total range of the acquired acceleration error of the moving object over an elapsed time from the first time does not exceed plus or minus a half wavelength of a carrier wave from the reference station; 2. The positioning system according to claim 1, further comprising: a positioning means for receiving the positioning signal from the reference station at the determined second time, acquiring a second carrier phase of the positioning signal, and performing carrier phase positioning of the moving body using the first carrier phase and the second carrier phase.

7. A plurality of said reference stations having different frequencies are provided, The determination means of the control unit 7. The positioning system according to claim 5, wherein a second time, which is a positioning timing after the first time, is determined so that the calculated movement distance of the moving body does not exceed the smallest wavelength among the wavelengths of the carrier waves of the plurality of reference stations.

8. A mobile control device that controls the movement of a mobile object based on a positioning signal received from a reference station fixed on the ground, a phase acquisition means for acquiring a first carrier phase of a positioning signal from the reference station at a first time; a positioning means for moving the moving body from the first time, receiving a positioning signal from the reference station at a second time after a time interval has elapsed, acquiring a second carrier phase of the positioning signal, and performing carrier phase positioning of the moving body using the first carrier phase and the second carrier phase.

9. A method for controlling the movement of a moving object based on a positioning signal received from a reference station fixed on the ground, comprising the steps of: At a first time, a first carrier phase of a positioning signal from the reference station is obtained; A mobility control method comprising: moving the moving body from the first time; receiving a positioning signal from the reference station at a second time after a time interval has elapsed; acquiring a second carrier phase of the positioning signal; and performing carrier phase positioning of the moving body using the first carrier phase and the second carrier phase.

10. A program for controlling the movement of a moving object based on a positioning signal received from a reference station fixed on the ground, At a first time, a first carrier phase of a positioning signal from the reference station is obtained; A program that causes a computer to execute the following steps: move the moving body from the first time, receive a positioning signal from the reference station at a second time after a time interval has elapsed, acquire a second carrier phase of the positioning signal, and perform carrier phase positioning of the moving body using the first carrier phase and the second carrier phase.

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