Reference station device, positioning support method, program, and positioning system

Abstract

To perform positioning of a moving object with high accuracy in an environment where communication means such as LTE lines is not prepared.SOLUTION: A reference station device includes a receiver that performs high-precision positioning based on at least one of a CLAS signal and a MADOCA-PPP signal transmitted from a quasi-zenith satellite, and a positioning signal transmitted from a positioning satellite, and outputs high-precision position measurement data representing results of the high-precision positioning, and correction data included in the positioning signal, a control unit that complements the correction data by generating a reference station position message representing the position of a reference station based on position information included in the high-precision position measurement data, and a communication module that locally distributes the complemented correction data.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a reference station device, a positioning support method, a program, and a positioning system. [Background technology]

[0002] GNSS (Global Navigation Satellite System) is known as a system for measuring self-position. Among the positioning (position measurement) methods using GNSS, RTK (Real-Time Kinematic) positioning is a method in which a reference station whose position is specified and a mobile station performing positioning receive signals from the same multiple positioning satellites, perform positioning, and the mobile station constantly receives correction data from the reference station to correct its own positioning results. Since this method enables highly accurate positioning, it is being used in various fields.

[0003] However, in RTK positioning, it is desirable that the distance between the reference station and the mobile station is within approximately 10 km, so if you want to use RTK positioning in an area where there is no reference station, you need to install a new reference station. However, installing a reference station requires time and effort, so RTK positioning cannot be used immediately. In addition, since the mobile station requires a communication means (e.g., an LTE (Long Term Evolution) line) to constantly receive correction data from the reference station, positioning may not be possible or high positioning accuracy may not be achieved in an environment where communication means such as an LTE line are not in place.

[0004] As a method for achieving high positioning accuracy without using a reference station, for example, Non-Patent Document 1 describes CLAS positioning that uses the Centimeter-Level Augmentation System (CLAS) signal transmitted from the Quasi-Zenith Satellite "Michibiki" of the Quasi-Zenith Satellite System. [Prior art documents] [Patent documents]

[0005] [Non-Patent Document 1] internet<URL:https: / / qzss.go.jp / overview / services / sv06_clas.html> Summary of the Invention [Problem to be solved by the invention]

[0006] CLAS positioning allows positioning with an error of just a few centimeters.However, with CLAS positioning, the number of satellites available is currently limited to 17, making stable and continuous positioning difficult, especially in urban areas with many obstructions such as high-rise buildings, and the accuracy is inferior to RTK positioning.The L6 signal, which contains correction data, is different from the signal transmitted from normal GNSS positioning satellites that are not quasi-zenith satellites, so a dedicated receiver is required.

[0007] The present invention has been made in consideration of the above circumstances, and aims to enable highly accurate positioning of moving bodies in environments where communication means such as LTE lines are not established. [Means for solving the problem]

[0008] The present application includes a number of means for solving at least part of the above problems, examples of which are as follows.

[0009] In order to solve the above problem, a reference station device according to one embodiment of the present invention comprises a receiver that performs high-precision positioning based on at least one of a CLAS (Centimeter-Level Augmentation System) signal and a MADOCA (Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis)-PPP (Precise Point Positioning) signal transmitted from a quasi-zenith satellite, and a positioning signal transmitted from a positioning satellite, and outputs high-precision position measurement data representing the result of the high-precision positioning, and correction data included in the positioning signal, a control unit that complements the correction data by generating a reference station position message representing the position of the reference station based on position information included in the high-precision position measurement data, and a communication module that locally distributes the complemented correction data.

[0010] When the control unit confirms that the reference station is stopped based on speed information included in the high-precision position measurement data, the control unit can generate the reference station position message.

[0011] The control unit can generate the reference station position message when it confirms that a specified state of the high-precision positioning has continued for a specified period or more based on positioning status information included in the high-precision position measurement data.

[0012] The control unit can calculate an average value of the position information during the specified period in which the high-precision positioning is in the specified state, and generate the reference station position message using the average value.

[0013] When the control unit confirms that the reference station is moving based on the speed information contained in the high-precision position measurement data, it can stop generating the reference station position message and stop the local distribution by the communication module.

[0014] If the control unit confirms that the reference station has stopped again after stopping the local distribution by the communication module, it can re-calculate the average value of the position information for a specified period of time during which the high-precision positioning is in a specified state, and re-generate the reference station position message using the average value, and the communication module can resume local distribution of the complemented correction data.

[0015] A positioning support method according to another aspect of the present invention is a positioning support method using a reference station device, which includes the steps of performing high-precision positioning based on at least one of a CLAS signal and a MADOCA-PPP signal transmitted from a quasi-zenith satellite, and a positioning signal transmitted from a positioning satellite, outputting high-precision position measurement data representing the result of the high-precision positioning and correction data included in the positioning signal, complementing the correction data by generating a reference station position message representing the position of the reference station based on position information included in the high-precision position measurement data, and locally distributing the complemented correction data.

[0016] A program according to yet another aspect of the present invention causes a processor to perform high-precision positioning based on at least one of a CLAS signal and a MADOCA-PPP signal transmitted from a quasi-zenith satellite, and a positioning signal transmitted from a positioning satellite, accept high-precision position measurement data representing the result of the high-precision positioning and correction data included in the positioning signal, complement the correction data by generating a reference station position message representing the position of a reference station based on position information included in the high-precision position measurement data, and locally distribute the complemented correction data to a communication module.

[0017] A positioning system according to yet another aspect of the present invention is a positioning system comprising a reference station device and a mobile station device, wherein the reference station device performs high-precision positioning based on at least one of a CLAS signal and a MADOCA-PPP signal transmitted from a quasi-zenith satellite, and a positioning signal transmitted from a positioning satellite, and comprises a receiver that outputs high-precision position measurement data representing the result of the high-precision positioning and correction data included in the positioning signal, a control unit that complements the correction data by generating a reference station position message representing the position of the reference station based on position information included in the high-precision position measurement data, and a communication module that locally distributes the complemented correction data, and the mobile station device receives the complemented correction data locally distributed from the reference station device, and performs positioning based on the positioning signal transmitted from the positioning satellite and the complemented correction data. Effect of the Invention

[0018] According to the present invention, it is possible to measure the position of a moving object with high accuracy in an environment where communication means such as LTE lines are not established.

[0019] Problems, configurations and effects other than those described above will become apparent from the following description of the embodiments. [Brief description of the drawings]

[0020] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of a positioning system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing an example of the configuration of the portable base station device and the mobile station device. [Diagram 3] FIG. 3 is a flowchart illustrating an example of a positioning support process performed by the portable reference station device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In all the drawings for explaining the embodiment, the same members are generally given the same reference numerals, and the repeated description thereof will be omitted. In the following embodiment, the components (including element steps, etc.) are not necessarily essential, except when specifically stated or considered to be obviously essential in principle. In addition, when "consists of A", "consists of A", "has A", or "includes A", other elements are not excluded, except when specifically stated to include only that element. Similarly, in the following embodiment, when referring to the shape, positional relationship, etc. of components, etc., it includes those that are substantially similar or similar to the shape, etc., except when specifically stated or considered to be obviously not essential in principle.

[0022] <Positioning system 10 according to one embodiment of the present invention> FIG. 1 shows an example of the configuration of a positioning system 10 according to an embodiment of the present invention.

[0023] The positioning system 10 includes a portable reference station device 20 and a mobile station device 30 .

[0024] The portable reference station device 20 is made portable by being loaded onto a means of transportation such as an automobile, and realizes highly accurate positioning based on the CLAS signal transmitted from the quasi-zenith satellite 11 and the positioning signal transmitted from the GNSS positioning satellite 12. The portable reference station device 20 also locally distributes data (RTCM, described later) equivalent to correction data in RTK positioning to mobile station devices 30 present in the vicinity.

[0025] For the local distribution, wireless communication standards such as LoRa (Long Range) modulation and BLE (Bluetooth Low Energy) are used. When LoRa modulation is used, the range of the local distribution is about several tens of kilometers in an environment with good visibility, and about several kilometers even in urban areas. When BLE is used, the range of the local distribution is about several hundreds of meters.

[0026] The mobile station device 30 is mounted, for example, on a moving body (e.g., a tractor, a dump truck, a drone, etc.) that realizes autonomous driving based on its own highly accurate positioning results, and realizes highly accurate positioning equivalent to RTK positioning based on the positioning signal transmitted from the GNSS positioning satellite 12 and the correction data distributed locally from the portable reference station device 20.

[0027] Although FIG. 1 illustrates one portable reference station device 20 and one mobile station device 30, multiple mobile station devices 30 can be placed within the range in which one portable reference station device 20 can locally distribute correction data.

[0028] FIG. 2 shows an example of the configuration of the portable reference station device 20 and the mobile station device 30. As shown in FIG.

[0029] The portable reference station device 20 includes an antenna 21 , a receiver 22 , an MCU (Micro Controller Unit) 23 , a communication module 24 , and a display device 25 .

[0030] The antenna 21 converts radio waves transmitted from the quasi-zenith satellite 11 into CLAS signals, and converts radio waves transmitted from the GNSS positioning satellite 12 into positioning signals, which it outputs to the receiver 22. The receiver 22 is a general GNSS receiver compatible with CLAS positioning, and locates the current location of the portable reference station device 20 with high accuracy based on the positioning signals and CLAS signals (including L6 signals), and outputs the positioning results to the MCU 23 as GGA and RMC in accordance with the NMEA (National Marine Electronics Association) format. The GGA and RMC in the NMEA format correspond to the high-accuracy position measurement data of the present invention.

[0031] GGA in NMEA format is a sentence that summarizes time, position, and GNSS-related information, and includes data type, reception time, latitude, latitude north / south, longitude, longitude east / west, positioning status, number of satellites used, HDOP, antenna altitude above sea level, antenna altitude above sea level unit, geoid height, geoid height unit, Age, reference station ID, and checksum. GGA positioning status indicates 0: positioning not possible, 1: independent positioning, 2: DGPS, 4: CLAS fixed, or 5: CLAS float.

[0032] The RMC in the NMEA format is a sentence that summarizes positioning information to a minimum, and includes data type, reception time, data validity, latitude, north / south latitude, longitude, east / west longitude, speed, true heading, date, magnetic declination, magnetic declination direction, mode, navigation status, and checksum. The speed and true heading of the RMC indicate the moving speed and true heading of the portable reference station device 20. The mode of the RMC is the same information as the positioning status of the GGA, and indicates one of N: positioning not possible, A: independent positioning, D: DGPS, F: CLAS float, and R: CLAS fixed.

[0033] Furthermore, the receiver 22 outputs RTCM (Radio Technical Commission For Maritime Services) as correction data included in the positioning signal to the MCU 23. The RTCM as correction data includes a plurality of messages of different types. For example, a message with message number 1005 (hereinafter referred to as a 1005 message) indicates position information of a reference station. The 1005 message corresponds to a reference station position message of the present invention. The receiver 22 outputs messages other than the RTCM 1005 message to the MCU 23, but does not output the 1005 message to the MCU 23.

[0034] The MCU 23 executes the following processes by controlling the entire portable reference station device 20 as a result of the processor executing a predetermined program. That is, the MCU 23 determines whether the portable reference station device 20 is stopped based on the RMC input from the receiver 22. If it is determined that the portable reference station device 20 is stopped, the MCU 23 generates a 1005 message of the RTCM using the result of the CLAS positioning of the portable reference station device 20 to complement the RTCM from the receiver 22 and outputs it to the communication module 24.

[0035] Furthermore, when the MCU 23 determines that the portable reference station device 20 is not stopped but is moving, it stops the output of RTCM to the communication module 24 to stop local distribution. Furthermore, the MCU 23 determines the positioning status of the receiver 22 based on the GGA input from the receiver 22, and controls the display of the display device 25 according to the positioning status. The MCU 23 corresponds to the control unit of the present invention. Note that instead of the MCU, a unit including a processor such as an MPU (Micro Processor Unit) or a CPU (Central Processing Unit) may be adopted as the control unit.

[0036] The communication module 24 locally distributes the RTCM input from the MCU 23 in accordance with a wireless communication standard such as LoRa modulation or BLE. Specifically, the communication module 24 locally distributes the 1005 message, for example, every 5 seconds, in accordance with the control from the MCU 23, and locally distributes messages other than the 1005 message of the RTCM, without changing them, for example, every 1 second.

[0037] The communication module 24 is connected to the user terminal 40 via wireless communication such as Bluetooth or via a wired connection such as a USB (Universal Serial Bus) cable. Separate communication modules 24 may be provided for local distribution and for terminal connection.

[0038] The user terminal 40 is composed of a general computer such as a smartphone or a PC (personal computer), and executes a predetermined program to accept settings and changes of parameters (frequency of CLAS positioning by the receiver 22, speed threshold for determining whether the portable reference station device 20 has stopped or moved, distribution cycle of the RTCM 1005 message, distribution cycle of messages other than the RTCM 1005 message, etc.) from the user when the MCU 23 of the portable reference station device 20 performs various controls and judgments, and transmits the parameters to the portable reference station device 20. Note that the parameters are assumed to be held by the MCU 23 in its memory area.

[0039] The display device 25 consists of, for example, a red LED (Light Emitting Diode) indicating the power status, a green LED indicating the positioning status, and an orange LED indicating the local distribution status, and displays the status of the portable reference station device 20 by lighting up each LED or blinking at a predetermined interval under control of the MCU 23.

[0040] The mobile station device 30 includes an antenna 31, a receiver 32, an MCU 33, and a communication module .

[0041] The antenna 31 converts radio waves transmitted from the GNSS positioning satellites 12 into positioning signals and outputs the signals to the receiver 32. The receiver 32 is a general GNSS receiver compatible with RTK positioning, and locates the current location of the mobile station device 30 based on the positioning signals input from the antenna 31, and further corrects the positioning results based on the RTCM input from the MCU 33, and outputs the obtained highly accurate position information. The antenna 31 and the receiver 32 do not need to be compatible with CLAS positioning, and therefore an antenna and receiver that are less expensive than the antenna 21 and receiver 22 compatible with CLAS positioning that constitute the portable reference station device 20 can be used.

[0042] The MCU 33 executes the following processes by controlling the entire mobile station device 30 as a result of the processor executing a predetermined program. That is, the MCU 33 causes the communication module 34 to receive the RTCM locally distributed from the portable reference station device 20, and outputs the RTCM input from the communication module 34 to the receiver 32.

[0043] The communication module 34 receives the RTCM locally distributed from the portable reference station device 20 according to a wireless communication standard such as LoRa modulation or BLE, and outputs it to the MCU 33. Note that the communication module 34 does not need a communication function with an LTE line because it is only necessary for it to be able to receive the RTCM locally distributed from the portable reference station device 20.

[0044] <Positioning support process by the portable reference station device 20> Next, FIG. 3 is a flowchart illustrating an example of a positioning support process by the portable reference station device 20. In FIG.

[0045] The positioning support process is started, for example, when the portable reference station device 20 is powered on, and is executed continuously until the power is turned off.

[0046] First, the receiver 22 of the portable reference station device 20, under the control of the MCU 23, starts CLAS positioning based on the GNSS positioning signal received via the antenna 21 and the CLAS signal (including the L6 signal) of the Quasi-Zenith Satellite System, starts outputting the positioning results to the MCU 23 as GGA and RMC in the NMEA format, and starts outputting RTCM (other than the 1005 message) included in the positioning signal to the MCU 23. The MCU 23 also controls the display device 25 to light up a red LED indicating the power status (step S1).

[0047] Next, the MCU 23 checks whether or not GGA and RMC in the NMEA format have been input from the receiver 22 (step S2). If the input of GGA and RMC has not been confirmed (NO in step S2), the MCU 23 continues the process of step S2. On the other hand, if the input of GGA and RMC has been confirmed (YES in step S2), the MCU 23 then controls the display device 25 to blink a green LED indicating the positioning status at 2 Hz (step S3).

[0048] Next, the MCU 23 refers to the GGA and determines whether the positioning status is 4 (CLAS fixed) or 5 (CLAS float) (step S4).

[0049] The positioning status 4 (CLAS fixed) indicates that the CLAS positioning result is stable, and 5 (CLAS float) indicates that the CLAS positioning result is unstable. Positioning statuses 0, 1, and 2 other than 4 and 5 indicate that CLAS positioning is not being performed.

[0050] Here, if the MCU 23 determines that the positioning status of GGA is not 4 (CLAS fixed) or 5 (CLAS float) (NO in step S4), the process returns to step S2 and steps S2 onward are repeated. Note that, if the input of GGA and RMC is not confirmed in step S2 from the second time onward (NO in step S2), the MCU 23 controls the display device 25 to turn off the green LED.

[0051] Conversely, if the MCU 23 determines that the GGA positioning status is 4 (CLAS fixed) or 5 (CLAS float) (YES in step S4), then the MCU 23 controls the display device 25 to slow down the blinking rate of the green LED from 2 Hz to 1 Hz (step S5).

[0052] Next, the MCU 23 determines whether the GGA positioning status is 4 (CLAS fixed) (step S6). If the MCU 23 determines that the GGA positioning status is 5 (CLAS float) (NO in step S6), the process returns to step S2 and steps S2 and after are repeated.

[0053] Conversely, if the MCU 23 determines that the GGA positioning status is 4 (CLAS fixed) (YES in step S6), then the MCU 23 controls the display device 25 to light up the green LED (step S7).

[0054] Next, the MCU23 measures whether the state in which the GGA positioning status is 4 (CLAS fixed) continues for X seconds or more (step S8). If this state does not continue for X seconds or more (NO in step S8), the process returns to step S2 and steps S2 and after are repeated. Note that while the MCU23 is measuring X seconds, it refers to the GGA and acquires and holds the positioning result (latitude, longitude, and altitude).

[0055] On the other hand, if the state continues for X seconds or more (YES in step S8), the MCU 23 then refers to the RMC and compares the speed with a threshold value (e.g., 5 cm / sec) to determine whether the portable reference station device 20 has stopped (step S9). If the MCU 23 determines that the speed of the RMC is equal to or greater than the threshold value and that the portable reference station device 20 has not stopped (NO in step S9), the process returns to step S2 and steps S2 and after are repeated.

[0056] Conversely, if it is determined that the RMC speed is below the threshold and the portable reference station device 20 is stopped (NO in step S9), then the MCU 23 averages the positioning results (latitude, longitude, and altitude) during the period when the positioning status was 4 (CLAS fixed) for X seconds to calculate the average position for X seconds (step S10).

[0057] Next, the MCU 23 generates an RTCM 1005 message using the average position calculated in step S10, and outputs it to the communication module 24 together with the RTCM (other than the 1005 message) input from the receiver 22 to start local distribution (step S11). Note that thereafter, the communication module 24 distributes the RTCM 1005 message periodically (e.g., every 5 seconds) and distributes the RTCM (other than the 1005 message) periodically at a shorter cycle (e.g., every second).

[0058] Next, the MCU 23 controls the display device 25 to light up an orange LED that indicates the state of the local distribution of RTCM (step S12).

[0059] Next, the MCU 23 refers to the RMC and compares its speed with a threshold value (e.g., 5 cm / sec) to determine whether the portable reference station device 20 is moving (step S13). If the MCU 23 determines that the speed of the RMC is less than the threshold value and that the portable reference station device 20 is not moving (NO in step S13), it continues to repeat step S13.

[0060] Conversely, if it is determined that the speed of the RMC is greater than or equal to the threshold and the portable reference station device 20 is moving (YES in step S13), then the MCU 23 stops outputting the RTCM to the communication module 24 and stops local distribution of the RTCM (step S14).

[0061] Next, the MCU 23 controls the display device 25 to change the orange LED from lighting to blinking at 1 Hz (step S12). If the local distribution of RTCM cannot be resumed within 60 seconds after the blinking starts, the MCU 23 turns off the orange LED.

[0062] After this, the process returns to step S2, and step S2 and subsequent steps are repeated. If the CLAS positioning "fixed" continues for X seconds or more again and the portable reference station device 20 is confirmed to have stopped, the average position of the portable reference station device 20 is recalculated, the 1005 message is generated again, and local distribution of RTCM is resumed. This concludes the description of the positioning support process by the portable reference station device 20.

[0063] In addition, in the mobile station device 30 receiving the locally distributed RTCM, highly accurate positioning equivalent to RTK positioning is performed based on the positioning signal transmitted from the GNSS positioning satellite 12 and the RTCM locally distributed from the portable reference station device 20.

[0064] According to the positioning system 10 described above, even in an environment where communication means such as LTE lines are not established, by mounting the portable reference station device 20 on a means of transportation such as an automobile and moving it to a desired location, it is possible to realize highly accurate positioning equivalent to RTK positioning in the mobile station device 30 located within a range where local distribution is possible.

[0065] <Variation 1> In the above-described embodiment, the receiver 22 of the portable reference station device 20 outputs the RTCM contained in the positioning signal received from the positioning satellite 12 to the MCU 23, excluding the 1005 message, but it is also possible to output the 1005 message from the receiver 22 to the MCU 23, and have the MCU 23 modify the 1005 message using the positioning result of the CLAS positioning of the portable reference station device 20.

[0066] <Variation 2> Steps S5 and S6 of the positioning support process (FIG. 3) may be omitted, and the process may proceed to step S9 or later if the GGA positioning status remains at 4 (CLAS fixed) or 5 (CLAS float) for X seconds or more in step S8. According to the second modification, it is possible to prevent a situation in which RTCM is not locally distributed for a long time because the positioning status does not become 4 (CLAS fixed) due to the installation environment of the portable reference station device 20 or the like.

[0067] <Variation 3> In steps S4 and S6 of the positioning support process (FIG. 3), the GGA positioning status is referenced, but the RMC mode, which is equivalent information, may be referenced.

[0068] <Variation 4> An acceleration sensor or the like may be provided in the portable reference station device 20, and the sensing result may be used for the stop determination in step S9 and the movement determination in step S13 of the positioning support process (FIG. 3). However, when the speed of the RMC is used, an acceleration sensor or the like is not required, and therefore the cost of the portable reference station device 20 can be reduced accordingly.

[0069] <Variation 5> In the above-described embodiment, the receiver 22 of the portable reference station device 20 identifies its own position by CLAS positioning, but instead of or in addition to CLAS positioning, the receiver 22 may identify its own position by using a high-precision positioning augmentation service. The high-precision positioning augmentation service identifies its own position by PPP positioning based on a MADOCA (Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis)-PPP (Precise Point Positioning) signal included in the L6 signal transmitted from the quasi-zenith satellite 11. In the case of the fifth modification, there are disadvantages such as slightly lower accuracy and longer time for initial position calculation compared to the CLAS positioning, but there are advantages such as a wide range of availability and no limit on the number of satellites to be corrected.

[0070] The present invention is not limited to the above-described embodiment and modifications, and various modifications are possible. For example, the above-described embodiment and modifications have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those having all of the configurations described. In addition, it is possible to replace a part of a modification with another modification, or to combine the modifications.

[0071] In addition, each of the above configurations, functions, processing units, processing means, etc. may be realized in hardware, for example, by designing a part or all of them as an integrated circuit. In addition, each of the above configurations, functions, etc. may be realized in software by a processor interpreting and executing a program that realizes each function. Information such as a program, table, file, etc. that realizes each function can be placed in a memory, a recording device such as a hard disk or SSD, or a recording medium such as an IC card, an SD card, or a DVD. In addition, the control lines and information lines are shown as those considered necessary for explanation, and not all control lines and information lines are necessarily shown in the product. In reality, it may be considered that almost all configurations are connected to each other. [Explanation of symbols]

[0072] 10 positioning system, 11 quasi-zenith satellite, 12 positioning satellite, 20 portable reference station device, 21 antenna, 22 receiver, 24 communication module, 25 display device, 30 mobile station device, 31 antenna, 32 receiver, 34 communication module, 40 user terminal

Claims

1. a receiver that performs high-precision positioning based on at least one of a CLAS (Centimeter-Level Augmentation System) signal and a MADOCA (Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis)-PPP (Precise Point Positioning) signal transmitted from a quasi-zenith satellite, and a positioning signal transmitted from a positioning satellite, and outputs high-precision position measurement data representing the result of the high-precision positioning, and correction data included in the positioning signal; a control unit that generates a reference station position message representing a position of a reference station based on position information included in the high-precision position measurement data to complement the correction data; A communication module that locally distributes the supplemented correction data; A reference station device comprising:

2. 2. The reference station device according to claim 1, The control unit generates the reference station position message when it is confirmed that the reference station is stopped based on speed information included in the high-precision position measurement data. Reference station equipment.

3. 3. The reference station device according to claim 2, The control unit generates the reference station position message when it is confirmed that a predetermined state of the high-precision positioning has continued for a predetermined period or more based on positioning status information included in the high-precision position measurement data. Reference station equipment.

4. 4. The reference station device according to claim 3, The control unit calculates an average value of the position information during the predetermined period in which the high-precision positioning is in the predetermined state, and generates the reference station position message using the average value. Reference station equipment.

5. 2. The reference station device according to claim 1, When the control unit confirms that the reference station is moving based on speed information included in the high-precision position measurement data, the control unit stops generating the reference station position message and stops the local distribution by the communication module. Reference station equipment.

6. 6. The reference station device according to claim 5, When the control unit confirms that the reference station is stopped again after stopping the local distribution by the communication module, the control unit recalculates an average value of the position information during a predetermined period in which the high-precision positioning is in a predetermined state, and generates the reference station position message again using the average value; The communication module resumes local distribution of the supplemented correction data. Reference station equipment.

7. A positioning support method using a reference station device, comprising: performing high-precision positioning based on at least one of a CLAS signal and a MADOCA-PPP signal transmitted from a quasi-zenith satellite and a positioning signal transmitted from a positioning satellite, and outputting high-precision position measurement data representing the result of the high-precision positioning and correction data included in the positioning signal; Complementing the correction data by generating a reference station position message representing a position of a reference station based on position information included in the high-precision position measurement data; The supplemented correction data is locally distributed. A positioning assistance method comprising the steps of:

8. The processor: performing high-precision positioning based on at least one of a CLAS signal and a MADOCA-PPP signal transmitted from a quasi-zenith satellite and a positioning signal transmitted from a positioning satellite, and receiving high-precision position measurement data representing a result of the high-precision positioning and correction data included in the positioning signal; Complementing the correction data by generating a reference station position message representing a position of a reference station based on position information included in the high-precision position measurement data; The supplemented correction data is locally delivered to a communication module. The program that executes the step.

9. A positioning system including a reference station device and a mobile station device, The reference station device is a receiver that performs high-precision positioning based on at least one of a CLAS signal and a MADOCA-PPP signal transmitted from a quasi-zenith satellite and a positioning signal transmitted from a positioning satellite, and outputs high-precision position measurement data representing a result of the high-precision positioning and correction data included in the positioning signal; a control unit that generates a reference station position message representing a position of a reference station based on position information included in the high-precision position measurement data to complement the correction data; A communication module for locally distributing the supplemented correction data, The mobile station device receiving the locally distributed, supplemented correction data from the reference station device; Executing positioning based on the positioning signal transmitted from the positioning satellite and the supplemented correction data Positioning system.

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