Positioning system and positioning method

Abstract

To provide a technique that can estimate a misFix solution using only observation data by GNSS.SOLUTION: A positioning system is a system including: a first positioning unit that calculates first position information based on received satellite information and correction information; a satellite information memory unit that stores the received satellite information; a correction information memory unit that stores the received correction information; and a second positioning unit that calculates second position information based on the satellite information stored in the satellite information memory unit and the correction information stored in the correction information memory unit. The positioning system further includes a stored information analysis unit and a positioning error information calculation unit. The stored information analysis unit determines whether or not calculation by the second positioning unit is necessary by calculating first positioning error information of the first position information based on the satellite information stored in the satellite information memory unit, the correction information stored in the correction information memory unit, and the first position information calculated by the first positioning unit. The positioning error information calculation unit calculates second positioning error information of the first position information based on calculation results of the first positioning unit and the second positioning unit.SELECTED DRAWING: Figure 1A

Description

Technical Field

[0001] The present invention relates to a positioning system and a positioning method.

Background Art

[0002] The development of autonomous working machines that replace human work, such as the automation of manned vehicles such as automobiles and construction machines and the unmanned operation of factory inspection work by automatic inspection robots, is underway. Since autonomous working machines contribute to productivity improvement in the form of work efficiency improvement by optimized machine operations and labor saving by realizing automatic driving, great expectations are placed on their development trends.

[0003] As one of the core technologies for realizing such autonomous working machines, there is a Global Navigation Satellite System (GNSS). And as one of the positioning methods using GNSS, there is Real Time Kinematic-GNSS (RTK-GNSS) that realizes centimeter-level accuracy. RTK-GNSS is a high-precision satellite positioning technology that realizes position calculation with centimeter-level accuracy called a Fix solution by estimating the carrier phase bias that occurs when a GNSS receiver observes satellite signals transmitted from positioning satellites using correction information. On the other hand, there is a problem called a miss Fix solution in this RTK-GNSS. The miss Fix solution means a state in which an error occurs in the estimation result when estimating the carrier phase bias of satellite signals using correction information, and the position calculated as the Fix solution has a large error. The miss Fix solution is a problem related to the working accuracy of autonomous working machines.

[0004] As a countermeasure against the wrong Fix solution, a method of evaluating the positioning accuracy of GNSS and estimating the wrong Fix solution when the positioning accuracy falls below a certain level is known. As an example, Patent Document 1 describes, as a method using observation values from a plurality of sensors, "an autonomous navigation means for estimating a vehicle position using sensors, a composite positioning means for obtaining a composite positioning solution based on the vehicle position estimated by the autonomous navigation means and the single positioning solution, and when either a Float solution or a Fix solution is obtained, based on the positioning error of either solution and the difference between either solution and the composite positioning solution, a composite positioning error prediction means for predicting the positioning error of the composite positioning solution".

[0005] On the other hand, when estimating the wrong Fix solution using only GNSS observation data, for example, an optimization calculation with a high computational cost that cannot be performed by a GNSS receiver is required, and the calculation with a high computational cost may be partially performed by an external server. As an example, Patent Document 2 describes, "a positioning system including a device that receives signals from GNSS satellites and a server device connected to the device via a communication network, the device having a first transmission means for transmitting information represented by the signal to the server device and a first positioning means for performing positioning of the device using the information represented by the signal, and the server device having a second positioning means for performing positioning of the device using the information represented by the signal received from the device".

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0007] According to the technology described in Patent Document 1, it is possible to estimate a miss Fix solution by calculating a high-precision positioning solution using observation values from a plurality of sensors. On the other hand, in the case of this technology, since it is essential to mount a plurality of sensors, there is a problem that the system configuration becomes complicated.

[0008] Also, according to the technology described in Patent Document 2, it is possible to estimate a miss Fix solution by performing high-precision positioning calculation on a server and receiving the result as a positioning result. On the other hand, in the case of this technology, since it is essential to install and operate a server that performs high-precision positioning calculation, there is a problem that the cost required for constructing and operating a positioning system increases.

[0009] The present invention has been made in view of the above problems, and an object thereof is to provide a technology capable of estimating a miss Fix solution using only GNSS observation data.

Means for Solving the Problems

[0010] The positioning system according to the present invention includes a first positioning unit that calculates first position information based on received satellite information and correction information, a satellite information storage unit that stores the received satellite information, a correction information storage unit that stores the received correction information, and a second positioning unit that calculates second position information based on the satellite information stored in the satellite information storage unit and the correction information stored in the correction information storage unit. The system further includes a stored information analysis unit and a positioning error information calculation unit. The stored information analysis unit calculates the first positioning error information of the first position information based on the satellite information stored in the satellite information storage unit, the correction information stored in the correction information storage unit, and the first position information calculated by the first positioning unit, thereby determining the necessity of the calculation by the second positioning unit. The positioning error information calculation unit calculates the second positioning error information of the first position information based on the calculation results of the first positioning unit and the second positioning unit.

[0011] In addition, the problems disclosed in the present application and the solutions thereto are clarified by the column of the mode for carrying out the invention and the drawings.

Effects of the Invention

[0012] According to the present invention, by optimizing the timing for estimating the miss Fix solution, it is possible to estimate the miss Fix solution from only GNSS observation data while reducing the overall calculation cost.

Brief Description of the Drawings

[0013]

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Mode for Carrying Out the Invention

[0014] Hereinafter, various embodiments will be described in detail with reference to the drawings.

[0015] In the following description, the same or similar components may be denoted by common reference numerals, and duplicate descriptions may be omitted.

[0016] Also, when there are a plurality of elements having the same or similar functions, in order to distinguish the plurality of elements, the same reference numeral may be provided with different subscripts for description. On the other hand, when it is not necessary to distinguish the plurality of elements, the subscripts may be omitted for description.

Example

[0017] The positioning system 1 according to this embodiment is a system used for positioning a moving body such as an automobile, a railway vehicle, an agricultural machine, or a construction machine. The positioning system 1 performs positioning using a global navigation satellite system (GNSS) and outputs the positioning result as moving body information 299. In this embodiment, the positioning system 1 is executed by a GNSS receiver 100 provided on the moving body, and calculates the position information of the moving body as the moving body information 299.

[0018] FIG. 1A is a block diagram showing an example of the software configuration of the positioning system 1 according to Embodiment 1, and FIG. 1B is a block diagram showing an example of the hardware configuration of the positioning system 1 according to Embodiment 1. As shown in FIG. 1A, the positioning system 1 includes a GNSS antenna 2, a satellite signal acquisition unit 104, a satellite information analysis unit 105, a first positioning unit 3, a correction information storage unit 4, a satellite information storage unit 5, a stored information analysis unit 7, a second positioning unit 8, a positioning error information calculation unit 9, and a data output unit 10. The satellite signal acquisition unit 104, the satellite information analysis unit 105, the first positioning unit 3, the stored information analysis unit 7, the second positioning unit 8, the positioning error information calculation unit 9, and the data output unit 10 shown in FIG. 1A operate in the GNSS receiver 100 of FIG. 1B.

[0019] As shown in FIG. 1B, the GNSS receiver 100 includes a CPU (Central Processing Unit) 101, a memory 102, a storage device 103, a satellite signal acquisition unit 104, a communication unit 106, and an external terminal interface 107.

[0020] The CPU 101 is a central processing unit, and implements necessary functions by executing a program held in the memory 102 (or the storage device 103).

[0021] The memory 102 is a main storage device used when the CPU 101 executes processing, and is composed of a volatile memory element such as a RAM (Random Access Memory).

[0022] The storage device 103 is an auxiliary storage device for storing input data provided to the CPU 101 and output data output from the CPU 101, and is composed of a non-volatile memory element such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The correction information storage unit 4 and the satellite information storage unit 5 are stored in the storage device 103. Also, the satellite information analysis unit 105, the first positioning unit 3, the stored information analysis unit 7, the second positioning unit 8, the positioning error information calculation unit 9, and the data output unit 10 shown in FIG. 1A are held in the memory 102 (or the storage device 103) as programs executed by the CPU 101 in the GNSS receiver 100 of FIG. 1B.

[0023] The satellite signal acquisition unit 104 calculates satellite information 201 by acquiring the satellite signal 109 received by the GNSS antenna 2 from the positioning satellite 11. Here, the satellite signal 109 received by the satellite signal acquisition unit 104 from the GNSS antenna 2 is an analog signal, and the satellite information 201 calculated by the satellite signal acquisition unit 104 is a digital signal. The satellite signal acquisition unit 104 stores the satellite information 201, which is obtained by A / D converting the satellite signal 109 received from the GNSS antenna 2 into a digital signal, in the satellite information storage unit 5 of the storage device 103, and transmits the satellite information 201 to the satellite information analysis unit 105.

[0024] The external terminal interface 107 is an interface for the GNSS receiver 100 to connect to an external terminal. The external terminal corresponds to, for example, a vehicle control module or an inertial sensor calibration module that requires the position coordinates of the mobile body when this embodiment is used as a positioning system for a mobile body. The external terminal interface 107 is composed of, for example, a serial port, a LAN port, and a controller for operating them, and the GNSS receiver 100 can transmit and receive arbitrary information to and from the external terminal via the external terminal interface 107.

[0025] The communication unit 106 is a module that enables the GNSS receiver 100 to connect to a network configured by wireless communication. The communication unit 106 enables the GNSS receiver 100 to transmit and receive information to and from an arbitrary terminal / server by connecting to an arbitrary terminal / server from a network configured by wireless communication.

[0026] The CPU 101 executes each process described later and calculates the mobile body information 299. The data output unit 10 described later transmits the mobile body information 299 calculated by the CPU 101 to the external terminal.

[0027] The processes of the satellite information analysis unit 105, the first positioning unit 3, the memory information analysis unit 7, the second positioning unit 8, the positioning error information calculation unit 9, and the data output unit 10 that constitute the positioning system 1 are executed on the CPU 101, but in the following description, they are described as processes executed by each component.

[0028] In this embodiment, the positioning system 1 can be realized by being executed on one or more GNSS receivers 100 having a hardware configuration as illustrated in FIG. 1B, thereby realizing each of the processes described below.

[0029] [GNSS Antenna] The GNSS antenna 2 receives satellite signals 109 from a plurality of positioning satellites 11 located in the earth's upper atmosphere in time series and transmits the received satellite signals 109 as analog signals to the satellite signal acquisition unit 104.

[0030] The positioning satellites 11 are composed of a plurality of positioning satellites 11 located in satellite orbits in the earth's upper atmosphere, and construct GNSS by transmitting satellite signals 109 toward the ground. In GNSS, among the satellite signals 109 from a plurality of positioning satellites 11, some are received, and by using the plurality of received satellite signals 109, it becomes possible to acquire the self-position on the earth of the GNSS antenna 2. The positioning satellites 11 are attempting to make GNSS redundant by transmitting satellite signals 109 in a plurality of frequency bands. In Example 1, the positioning system 1 is described as using satellite signals 109 in a single frequency band, but it can be similarly applied to a positioning system 1 that uses satellite signals 109 in a plurality of frequency bands.

[0031] The GNSS antenna 2 is installed at a location where the positioning system 1 wants to acquire a position. For example, when the positioning system 1 is used for a moving body, the GNSS antenna 2 is installed on the vehicle body of the target moving body. The positioning system 1 calculates the position on the earth where the GNSS antenna 2 exists at the time when the GNSS antenna 2 receives the satellite signal 109.

[0032] [Satellite Information Analysis Unit] Based on the satellite information 201 as a digital signal acquired from the satellite signal acquisition unit 104, the satellite information analysis unit 105 calculates the satellite signal reception time 218, the pseudo range 205, the carrier phase 206, and the satellite orbit data 207 as positioning information 209 regarding each positioning satellite 11.

[0033] The satellite signal reception time 218 is the time when the satellite signal 109 is received from the positioning satellite 11 by the GNSS antenna 2. The satellite information analysis unit 105 calculates the positioning information 209 for each operation cycle of the satellite information analysis unit 105. In this embodiment, the satellite information analysis unit 105 calculates the positioning information 209 at a cycle of 1 second, but the calculation cycle is not limited.

[0034] The pseudo range 205 is the distance from the positioning satellite 11 to the GNSS antenna 2, and is calculated by measuring the time until the satellite signal 109 transmitted from the positioning satellite 11 is received by the GNSS antenna 2. The pseudo range 205 includes receiver clock error, satellite clock error, ionospheric delay, tropospheric delay, and other noises.

[0035] The carrier phase 206 is obtained by continuously measuring the carrier phase angle of the satellite signal 109 transmitted from the positioning satellite 11 at the same time. The carrier phase 206 includes an integer value bias, receiver clock error, satellite clock error, ionospheric delay, tropospheric delay, and other noises. The carrier phase 206 may be described as a distance component by multiplying by the wavelength of the satellite signal 109 transmitted from the positioning satellite 11. In that case, the processing of the positioning system 1 is executed by multiplying the carrier phase 206 by the reciprocal of the wavelength of the satellite signal 109.

[0036] Satellite orbit data 207 is data for predicting the position of positioning satellite 11 at any given time. Positioning satellite 11 modulates satellite orbit data 207 onto satellite signal 109 and transmits it to the Earth. Satellite information analysis unit 105 extracts satellite orbit data 207 by demodulating satellite information 201 and performing a decoding process. In the first positioning unit 3 and the second positioning unit 8 described later, the position of each positioning satellite 11 is predicted from satellite orbit data 207. In this embodiment, the coordinate system of the position of positioning satellite 11, that is, the coordinate system for calculating moving body information 299, is the XYZ orthogonal coordinate system defined by Earth Centered Earth Fixed (ECEF), and all position information described hereinafter is also described as the XYZ orthogonal coordinate system defined by ECEF.

[0037] Note that this embodiment can be similarly applied to a positioning system 1 using a geographical coordinate system expressed in latitude, longitude, and altitude or other coordinate systems. In that case, appropriate coordinate conversion is performed for the processing of positioning system 1.

[0038] Satellite information analysis unit 105 transmits the calculated satellite signal reception time 218, pseudorange 205, carrier phase 206, satellite orbit data 207, and satellite identification number 208, which is information for identifying the positioning satellite 11 that transmitted satellite signal 109, as positioning information 209 to the first positioning unit 3.

[0039] [First Positioning Unit] Based on the positioning information 209 received from satellite information analysis unit 105 and correction information 202, first positioning unit 3 calculates positioning time 222, position data 213, and positioning status 210 as first position information 227. First positioning unit 3 calculates one or more of approximate position 203 and precise position 204 as the position coordinates on the Earth of GNSS antenna 2. First positioning unit 3 calculates one of the calculated approximate position 203 and precise position 204 as position data 213 of first position information 227 and outputs it to memory information analysis unit 7, positioning error information calculation unit 9, and data output unit 10.

[0040] The approximate position 203 is the approximate position of the GNSS antenna 2 calculated by the first positioning unit 3 using single-point positioning. The precise position 204 is the precise position of the GNSS antenna 2 calculated by the first positioning unit 3 using interference positioning. The precise position 204 is a high-precision positioning result closer to the actual position of the GNSS antenna 2 than the approximate position 203.

[0041] The first positioning unit 3 calculates the approximate position 203 by performing single-point positioning based on the positioning information 209 received from the satellite information analysis unit 105. The first positioning unit 3 calculates the precise position 204 by performing interference positioning based on the positioning information 209 and the correction information 202 received from the satellite information analysis unit 105.

[0042] The correction information 202 is information for calculating a precise position 204 with higher precision than the approximate position 203 by correcting the positioning information 209 received by the first positioning unit 3 from the satellite information analysis unit 105. A method of calculating a precise position 204 with higher precision than the approximate position 203 by correcting the positioning information 209 received from the satellite information analysis unit 105 is called interference positioning.

[0043] The correction information 202 in this embodiment is information created in the Observation Space Representation (OSR) format that at least includes the pseudo-range 205, carrier phase 206, and the position of the base station on the earth, which are calculated based on the satellite signals 109 observed by the base stations installed on the earth, and is received by the communication unit 106 from the base station via a communication means such as the Internet.

[0044] Note that the format of the correction information 202 in this embodiment is not limited to OSR. For example, it may be in the State Space Representation (SSR) format in which at least correction amounts for satellite position error, satellite clock error, signal bias, ionosphere, and troposphere error, which can be used over a wide range on the earth, are described. In that case, the first positioning unit 3 performs appropriate arithmetic processing by converting the SSR format correction information into the OSR format.

[0045] In single-point positioning, the first positioning unit 3 calculates the approximate position 203 based on the positioning information 209 received from the satellite information analysis unit 105. In single-point positioning, the approximate position 203 is calculated using the principle of triangulation from the pseudo-distances 205 between at least four or more positioning satellites 11 and the GNSS antenna 2 and the satellite positions estimated from the satellite orbit data 207. The above pseudo-distance 205 includes errors caused by the orbits of the respective positioning satellites 11, the accuracy of the GNSS antenna 2 and / or the clock used in the positioning satellite 11, the delay of the carrier wave generated when passing through the ionosphere and the troposphere, etc.

[0046] In interference positioning, the first positioning unit 3 calculates the precise position 204 based on both the positioning information 209 and the correction information 202. In interference positioning, the precise position 204 is calculated from the pseudo-distances 205 between at least five or more positioning satellites 11 and the GNSS antenna 2 included in the positioning information 209 received by the GNSS antenna 2, the carrier wave phase 206, and the satellite positions estimated from the satellite orbit data 207, and the pseudo-distances 205 and the carrier wave phase 206 between at least five or more positioning satellites 11 and the base station included in the correction information 202.

[0047] Also, in interference positioning, the carrier wave phase difference, which is the difference between the carrier wave phase 206 between the positioning satellite 11 and the GNSS antenna 2 and the carrier wave phase 206 between the positioning satellite 11 and the base station, is calculated. In interference positioning, when calculating the carrier wave phase difference, when the GNSS antenna 2 receives the satellite information 201, the fractional part of the wave number indicating which part of the continuous wave the carrier wave phase 206 of the satellite information 201 is can be known, but the integer part of the wave number excluding the fractional part of the wave number is unknown. In interference positioning, when this integer part of the wave number is determined, the baseline length between the base station and the GNSS antenna 2 can be accurately obtained. In interference positioning, since the position of the base station on the earth is described in the correction information 202, the position of the GNSS antenna 2 can be predicted from the baseline length between the position of the base station and the GNSS antenna 2.

[0048] The first positioning unit 3 calculates the precise position 204 by correcting the approximate position 203, which is the single positioning result, using the position of the GNSS antenna 2 predicted from the baseline length between the position of the base station and the GNSS antenna 2. At this time, the first positioning unit 3 may calculate the precise position 204 by assuming that the wave number integer part included in the carrier phase difference at the past time is continuous with the wave number integer part at the current time and using a Kalman filter or the like.

[0049] In the interference positioning in this embodiment, the precise position 204 calculated in a state where the wave number integer part of the carrier phase difference is determined is set as the Fix solution 211, and the precise position 204 calculated in a state where the wave number integer part of the carrier phase difference cannot be determined is set as the Float solution 212. Further, the first positioning unit 3 determines whether the precise position 204 calculated using the interference positioning is the Fix solution 211 or the Float solution 212. However, there is a case where the first positioning unit 3 estimates the wave number integer part of the carrier phase difference as an incorrect value and calculates the precise position 204 with a large error as the Fix solution 211. The precise position 204 with a large error, which is estimated by the first positioning unit 3 to be an incorrect value of the wave number integer part of the carrier phase difference, is defined as the mis-Fix solution 220. The first positioning unit 3 can determine whether the precise position 204 is the Fix solution 211 or the Float solution 212, but cannot determine whether the precise position 204 is the Fix solution 211 or the mis-Fix solution 220.

[0050] FIG. 2 is a diagram showing a data table indicating details of the first position information 227 calculated by the first positioning unit 3. When the precise position 204 can be calculated, the first positioning unit 3 outputs the precise position 204 as the position data 213 of the first position information 227, and outputs the approximate position 203 as the position data 213 of the first position information 227 only when the precise position 204 cannot be calculated. When calculating the precise position 204 as the position data 213, the first positioning unit 3 calculates a positioning status 210 which is a status such as whether the precise position 204 is a Fix solution 211 or a Float solution 212. Further, the first positioning unit 3 calculates a positioning time 222 for determining at what time the position data 213 of the first position information 227 is the position of the GNSS antenna 2. The first positioning unit 3 outputs the calculated first position information 227 to the storage information analysis unit 7, the positioning error information calculation unit 9, and the data output unit 10.

[0051] [Correction information storage unit] Based on the correction information 202 that the GNSS receiver 100 received from the base station via the communication unit 106 in the past, the correction information storage unit 4 records at least the satellite identification number 208, the correction information generation time 214, the pseudorange 205, the carrier phase 206, and the base station ID 215 as the correction information storage information 216. The correction information storage unit 4 stores the correction information storage information 216 based on the correction information 202 that the GNSS receiver 100 received from the base station via the communication unit 106.

[0052] FIG. 3 is a diagram showing a data table indicating details of the correction information storage information 216 recorded by the correction information storage unit 4. The correction information storage unit 4 stores the correction information storage information 216 in chronological order of the correction information generation time 214, and stores the correction information storage information 216 in at least the order of the satellite identification number 208 at the same time. When the correction information storage information 216 of the same time and the same positioning satellite 11 as the correction information 202 received from the base station has already been recorded, the correction information storage unit 4 updates the pseudorange 205, the carrier phase 206, and the base station ID 215 of the recorded correction information storage information 216. The base station ID 215 is ID information for determining from which base station the received correction information 202 is distributed in the GNSS receiver 100.

[0053] Figure 3 shows an example in which correction information storage information 216 from 07:00:00 to 07:30:00 of the correction information generation time 214 is stored.

[0054] The correction information storage unit 4 is configured to always be able to refer to the correction information storage information 216 from the storage information analysis unit 7 and the second positioning unit 8. When the correction information storage unit 4 cannot secure a sufficient storage area as the storage device 103, for example, it may record only the correction information storage information 216 for a predetermined period, and when the recording time exceeds the predetermined period, execute a process of deleting the oldest record.

[0055] [Satellite information storage unit] The satellite information storage unit 5 stores satellite information storage information 217 based on the satellite information 201 received from the satellite signal acquisition unit 104 in the past. In this embodiment, the satellite information storage unit 5 calculates the pseudo range 205 and the carrier phase 206 in the same manner as the satellite information analysis unit 105 from the satellite information 201 and stores them as the satellite information storage information 217, but the satellite information 201 as a digital signal received from the satellite signal acquisition unit 104 may be recorded as the satellite information storage information 217. In that case, appropriate data conversion is performed in the processing of the positioning system 1. The satellite information storage unit 5 records at least the satellite identification number 208, the satellite signal reception time 218, and the pseudo range 205 as the satellite information storage information 217.

[0056] Figure 4 is a diagram showing a data table indicating details of the satellite information storage information 217 recorded by the satellite information storage unit 5.

[0057] The satellite information storage unit 5 stores the satellite information storage information 217 in the time series order of the satellite signal reception time 218, and at the same time, stores the satellite information storage information 217 at least in the order of the satellite identification number 208. When the satellite information storage information 217 of the same time and the same positioning satellite 11 as the satellite information 201 received from the satellite signal acquisition unit 104 has already been recorded, the satellite information storage unit 5 updates the pseudo range 205, the carrier phase 206, and the satellite orbit data 207 of the recorded satellite information storage information 217.

[0058] Figure 4 shows an example in which the satellite information storage information 217 from 07:00:00 to 07:30:00 of the satellite signal reception time 218 is stored.

[0059] The satellite information storage unit 5 is configured to always be able to refer to the satellite information storage information 217 from the storage information analysis unit 7 and the second positioning unit 8. When the satellite information storage unit 5 cannot secure a sufficient storage area as the storage device 103, for example, it may record only the satellite information storage information 217 for a predetermined period, and when the recording time exceeds the predetermined period, execute a process of deleting the oldest record.

[0060] In addition, the satellite information storage unit 5 stores the satellite orbit data 207 received from the satellite signal acquisition unit 104. Therefore, the storage information analysis unit 7 and the second positioning unit 8 are configured to always be able to refer to the satellite orbit data 207 stored in the satellite information storage unit 5.

[0061] [Storage Information Analysis Unit] Based on the correction information storage unit 4, the satellite information storage unit 5, and the first positioning unit 3, when there is a high possibility that the first position information 227 calculated by the first positioning unit 3 is a miss Fix solution 220, the storage information analysis unit 7 instructs the second positioning unit 8 to perform an operation.

[0062] The memory information analysis unit 7 determines whether the first position information 227 received from the first positioning unit 3 is a miss Fix solution 220 based on the correction information storage information 216 stored in the correction information storage unit 4, the satellite information storage information 217 stored in the satellite information storage unit 5, and the first position information 227 received from the first positioning unit 3. The memory information analysis unit 7 includes a miss Fix solution prediction model 223 that predicts whether the first position information 227 is a miss Fix solution 220 based on the correction information storage information 216, the satellite information storage information 217, and the first position information 227. For example, the memory information analysis unit 7 includes a miss Fix solution prediction model 223 that estimates a miss Fix solution probability 228, which is the probability that the first position information 227 is a miss Fix solution 220, with the correction information storage information 216, the satellite information storage information 217, and the first position information 227 as inputs. The memory information analysis unit 7 can improve the calculation efficiency by calculating the miss Fix solution probability 228 using the pre-included miss Fix solution prediction model 223. For example, the memory information analysis unit 7 determines a threshold in advance for the miss Fix solution probability 228 output by the miss Fix solution prediction model 223, and determines that the first position information 227 is a miss Fix solution 220 when the miss Fix solution probability 228 is equal to or greater than the threshold. When the memory information analysis unit 7 determines that the first position information 227 is a miss Fix solution 220, it instructs the second positioning unit 8 to perform calculations. For example, the memory information analysis unit 7 may input the threshold of the miss Fix solution probability 228 for determining that the first position information 227 is a miss Fix solution 220 from outside the GNSS receiver 100. In that case, the GNSS receiver 100 has an appropriate external terminal interface 107, and threshold information 298 is input from the user of the GNSS receiver 100 via the external terminal interface 107.

[0063] In this embodiment, the method for creating the mis-Fix solution prediction model 223 included in the memory information analysis unit 7 is not limited. For example, the mis-Fix solution prediction model 223 may be created by learning from the correction information memory information 216, satellite information memory information 217, and first position information 227 collected in the past, and may be included in the memory information analysis unit 7. Alternatively, a mis-Fix solution prediction model 223 that calculates the mis-Fix solution probability 228 based on rules from the correction information memory information 216, satellite information memory information 217, and first position information 227 collected in the past may be created and included in the memory information analysis unit 7.

[0064] [Second positioning unit] The second positioning unit 8 calculates the second position information 221 based on the correction information storage unit 4, the satellite information storage unit 5, and the memory information analysis unit 7. The second positioning unit 8 calculates the positioning time 222 and the high-precision position data 229 as the second position information 221 based on the correction information memory information 216 stored in the correction information storage unit 4, the satellite information memory information 217 stored in the satellite information storage unit 5, and the first position information 227 received from the first positioning unit 3. The second positioning unit 8 calculates, as the second position information 221, the high-precision position data 229 at one or more positioning times 222 including at least the latest positioning time 222, that is, the position on the earth of the GNSS antenna 2 at the positioning time 222 described in the first position information 227 calculated by the first positioning unit 3. The second positioning unit 8 calculates the high-precision position data 229 at at least one or more positioning times 222 and outputs it to the positioning error information calculation unit 9.

[0065] When the second positioning unit 8 receives a calculation instruction from the memory information analysis unit 7, it calculates high-precision position data 229 as the second position information 221. The high-precision position data 229 is calculated by the second positioning unit 8 using the past correction information 202 and satellite information 201 stored in the correction information storage information 216 and the satellite information storage information 217. It is the high-precision position at one or more positioning times 222 that includes the position of the GNSS antenna 2 on the earth at the positioning time 222 described in the first position information 227 calculated by at least the first positioning unit 3. The high-precision position data 229 is a high-precision positioning result closer to the actual position of the GNSS antenna 2 than the precise position 204 calculated by the first positioning unit 3 through interference positioning.

[0066] The second positioning unit 8 requires a higher-load calculation by using the past correction information 202 and satellite information 201 stored in the correction information storage information 216 and the satellite information storage information 217 than the first positioning unit 3. Therefore, depending on the performance of the CPU 101 and the memory 102 of the GNSS receiver 100, the second positioning unit 8 may not be able to execute the calculation process at the same cycle as the first positioning unit 3. Thus, in this embodiment, only when the second positioning unit 8 receives a calculation instruction from the memory information analysis unit 7, the second positioning unit 8 performs the calculation of the second position information 221, and by reducing the usage frequency of the CPU 101 and the memory 102, it becomes possible to relax the performance required for the CPU 101 and the memory 102, enabling a more flexible hardware design of the GNSS receiver 100.

[0067] In this embodiment, the second positioning unit 8 may construct a factor graph from the correction information storage information 216 and the satellite information storage information 217, obtain the high-precision position data 229 through graph optimization calculation, and calculate the second position information 221. In that case, the second positioning unit 8 calculates, as the second position information 221, the position of the GNSS antenna 2 at a plurality of positioning times 222 described in the satellite information storage information 217 in the format of FIG. 5 as the high-precision position data 229. The method by which the second positioning unit 8 calculates the second position information 221 is not limited to graph optimization calculation, and it may be other high-precision optimization calculation-based position calculation methods.

[0068] [Positioning Error Information Calculation Unit] Based on the first positioning unit 3 and the second positioning unit 8, the positioning error information calculation unit 9 calculates positioning error information 224. The positioning error information calculation unit 9 calculates positioning error information 224 including a positioning time 222, a positioning error 225, and a miss Fix solution status 226 based on the first position information 227 received from the first positioning unit 3 and the second position information 221 received from the second positioning unit 8.

[0069] FIG. 6 is a diagram showing a data table indicating details of the positioning error information 224 calculated by the positioning error information calculation unit 9. The positioning error information calculation unit 9 compares the position data 213 of the first position information 227 and the high-precision position data 229 of the second position information 221 at the same positioning time 222, and calculates the difference as the positioning error 225. The positioning error information calculation unit 9 calculates the miss Fix solution status 226 based on the positioning error 225 calculated by the positioning error information calculation unit 9 and the positioning status 210 of the first position information 227. The positioning error information calculation unit 9 calculates the miss Fix solution status 226 only when the positioning status 210 of the first position information 227 is the Fix solution 211. The miss Fix solution status 226 is a status for determining whether the Fix solution 211 calculated by the first position information 227 calculated by the positioning error information calculation unit 9 is a miss Fix solution 220.

[0070] For example, when the magnitude of the calculated positioning error 225 is equal to or greater than a threshold value, the positioning error information calculation unit 9 determines that a miss Fix solution 220 has occurred. When the positioning error information calculation unit 9 determines that a miss Fix solution 220 has occurred, the miss Fix solution status 226 is set to the miss Fix solution 220. When the positioning error information calculation unit 9 determines that a miss Fix solution 220 has not occurred, the miss Fix solution status 226 is set to the Fix solution 211. The positioning error information calculation unit 9 outputs the calculated positioning error 225 and the miss Fix solution status 226 as positioning error information 224 to the data output unit 10. The positioning error information calculation unit 9 calculates positioning error information 224 including the positioning time 222 at which the positioning error 225 was calculated and the miss Fix solution status 226 at the positioning time 222, and outputs it to the data output unit 10.

[0071] [Data output unit] Based on the first positioning unit 3, the second positioning unit 8, and the positioning error information calculation unit 9, the data output unit 10 calculates the moving object information 299 and transmits it to an external terminal. The data output unit 10 calculates the moving object information 299 based on the first position information 227 received from the first positioning unit 3 and the positioning error information 224 received from the positioning error information calculation unit 9. When the data output unit 10 receives the positioning error information 224 from the positioning error information calculation unit 9, it calculates the moving object information 299 based on the first position information 227 and the positioning error information 224. When the data output unit 10 does not receive the positioning error information 224 from the positioning error information calculation unit 9, it calculates the moving object information 299 based on the first position information 227.

[0072] FIG. 7 shows an example of the moving object information 299 calculated by the data output unit 10 when it receives the positioning error information 224 from the positioning error information calculation unit 9. When the data output unit 10 does not receive the positioning error information 224 from the positioning error information calculation unit 9, it calculates the moving object information 299 in the form shown in FIG. 2, that is, the positioning time 222, the position data 213, and the positioning status 210 described in the first position information 227. When the data output unit 10 receives the positioning error information 224 from the positioning error information calculation unit 9, in addition to the positioning time 222 and the positioning status 210 described in the first position information 227, it calculates at least the miss Fix solution status 226 described in the positioning error information 224 as the moving object information 299. The data output unit 10 transmits the calculated moving object information 299 to an external terminal.

[0073] [Entire positioning system] Hereinafter, with reference to FIGS. 8 and 9, the processing of the positioning system 1 from receiving the satellite signal 109 from the GNSS antenna 2 to calculating the moving object information 299 is shown. FIG. 8 is a flowchart showing steps S401 to S415 among the processes of the positioning system 1 of the first embodiment. FIG. 9 is a flowchart showing steps S416 to S428 among the processes of the positioning system 1 of the first embodiment. The positioning system 1 operates at each operation cycle of the satellite signal acquisition unit 104 and calculates the moving object information 299.

[0074] In step S401, the GNSS antenna 2 receives satellite signals 109 from a plurality of positioning satellites 11, and transmits the received satellite signals 109 as analog signals to the satellite signal acquisition unit 104.

[0075] In step S402, the satellite signal acquisition unit 104 converts the satellite signal 109 of the analog signal received from the GNSS antenna 2 into satellite information 201 as a digital signal, and transmits it to the satellite information analysis unit 105 and the satellite information storage unit 5.

[0076] In step S403, the satellite information storage unit 5 stores the satellite information 201 received from the satellite signal acquisition unit 104 as satellite information storage information 217.

[0077] In step S404, the satellite information analysis unit 105 calculates the satellite signal reception time 218, the pseudo range 205, the carrier phase 206, the satellite orbit data 207, and the satellite identification number 208 from the satellite information 201 received from the satellite signal acquisition unit 104 as positioning information 209, and transmits it to the first positioning unit 3.

[0078] In step S405, the communication unit 106 receives correction information 202 from the base station, and transmits it to the correction information storage unit 4 and the first positioning unit 3.

[0079] In step S406, the correction information storage unit 4 stores the correction information 202 received from the base station as correction information storage information 216.

[0080] In step S407, the first positioning unit 3 determines whether four or more positioning satellites 11 are described in the positioning information 209 from the satellite identification number 208 described in the positioning information 209 received from the satellite information analysis unit 105. If it is described (step S407: YES), the process proceeds to step S408. If it is not described (step S407: NO), the process ends.

[0081] In step S408, the first positioning unit 3 performs single positioning based on the positioning information 209 received from the satellite information analysis unit 105, and calculates a rough position 203 as the position of the GNSS antenna 2 on the earth.

[0082] In step S409, the first positioning unit 3 determines whether five or more positioning satellites 11 are commonly described in the positioning information 209 and the correction information 202 based on the satellite identification number 208 described in the positioning information 209 received from the satellite information analysis unit 105 and the satellite identification number 208 described in the correction information 202 received from the base station. If it is described (step S409: YES), proceed to step S410. If it is not described (step S409: NO), proceed to step S412.

[0083] In step S410, the first positioning unit 3 performs interference positioning based on the positioning information 209 received from the satellite information analysis unit 105 and the correction information 202 received from the base station, and calculates a precise position 204 as the position of the GNSS antenna 2 on the earth.

[0084] In step S411, when the first positioning unit 3 performs interference positioning based on the positioning information 209 and the correction information 202, it is determined whether the first positioning unit 3 can determine the integer part of the wave number of the carrier phase difference and calculate a Fix solution 211. If the Fix solution 211 can be calculated (step S411: YES), proceed to step S414. If the Fix solution 211 cannot be calculated (step S411: NO), proceed to step S413.

[0085] In step S412, the first positioning unit 3 calculates first position information 227 with the rough position 203 as position data 213.

[0086] In step S413, the first positioning unit 3 calculates first position information 227 with the precise position 204 as position data 213. Also, the positioning status 210 is set to the Float solution 212.

[0087] In step S414, the first positioning unit 3 calculates first position information 227 in which the precise position 204 is the position data 213. Also, the positioning status 210 is set to the Fix solution 211.

[0088] In step S415, the first positioning unit 3 outputs the first position information 227 including the position data 213, the positioning time 222, and the positioning status 210 calculated by the first positioning unit 3 to the memory information analysis unit 7, the positioning error information calculation unit 9, and the data output unit 10.

[0089] In step S416, the memory information analysis unit 7 determines whether the positioning status 210 is the Fix solution 211 based on the first position information 227 received from the first positioning unit 3. If it is the Fix solution 211 (step S416: YES), the process proceeds to step S417. If it is not the Fix solution 211 (step S416: NO), the process proceeds to step S426.

[0090] In step S417, the memory information analysis unit 7 calculates a false Fix solution probability 228 using the false Fix solution prediction model 223 based on the first position information 227 received from the first positioning unit 3, the satellite information storage information 217 stored in the satellite information storage unit 5, and the correction information storage information 216 stored in the correction information storage unit 4.

[0091] In step S418, the memory information analysis unit 7 determines whether the false Fix solution probability 228 calculated using the false Fix solution prediction model 223 is greater than or equal to a threshold value. If it is greater than or equal to the threshold value (step S418: YES), the process proceeds to step S419. If it is less than the threshold value (step S418: NO), the process ends.

[0092] In step S419, the memory information analysis unit 7 instructs the second positioning unit 8 to perform an operation.

[0093] In step S420, the second positioning unit 8 calculates second position information 221 based on the satellite information storage information 217 stored in the satellite information storage unit 5 and the correction information storage information 216 stored in the correction information storage unit 4, and transmits it to the positioning error information calculation unit 9 and the data output unit 10.

[0094] In step S421, the positioning error information calculation unit 9 calculates the positioning error 225 from the difference between the position data 213 described in the first position information 227 received from the first positioning unit 3 and the high-precision position data 229 in which the positioning time 222 described in the second position information 221 received from the second positioning unit 8 is the same as that of the first position information 227.

[0095] In step S422, the positioning error information calculation unit 9 calculates the magnitude of the positioning error 225 and determines whether it is equal to or greater than a threshold value. If it is equal to or greater than the threshold value (step S422: YES), the process proceeds to step S423. If it is less than the threshold value (step S422: NO), the process proceeds to step S424.

[0096] In step S423, the positioning error information calculation unit 9 calculates the miss Fix solution status 226 as the miss Fix solution 220.

[0097] In step S424, the positioning error information calculation unit 9 calculates the miss Fix solution status 226 as the Fix solution 211.

[0098] In step S425, the positioning error information calculation unit 9 outputs the positioning error information 224 including the positioning time 222 and the miss Fix solution status 226 to the data output unit 10.

[0099] In step S426, the data output unit 10 determines whether it has received the positioning error information 224 from the positioning error information calculation unit 9. If it has received it (step S426: YES), the process proceeds to step S427. If it has not received it (step S426: NO), the process proceeds to step S428.

[0100] In step S427, the data output unit 10 transmits, as the moving body information 299, the positioning time 222 and the positioning status 210 described in the first position information 227 received from the first positioning unit 3, as well as the high-precision position data 229 and the miss Fix solution status 226 described in the positioning error information 224 received from the positioning error information calculation unit 9, to the external terminal, and ends the process.

[0101] In step S428, the data output unit 10 transmits the first position information 227 received from the first positioning unit 3 to an external terminal as the moving body information 299, and ends the process.

[0102] In the positioning system 1 of the first embodiment, based on the first position information 227 calculated by the first positioning unit 3, the satellite information storage information 217 stored in the satellite information storage unit 5, and the correction information storage information 216 stored in the correction information storage unit 4, using the miss Fix solution prediction model 223 of the storage information analysis unit 7, the miss Fix probability 228 that the Fix solution 211 of the first position information 227 calculated by the first positioning unit 3 is a miss Fix solution 220 is calculated.

[0103] The positioning system 1 calculates the second position information 221 including the high-precision position data 229 using the second positioning unit 8 from the satellite information storage information 217 stored in the satellite information storage unit 5 and the correction information storage information 216 stored in the correction information storage unit 4 only when the miss Fix probability 228 of the first position information 227 is high.

[0104] The positioning system 1 determines whether the Fix solution 211 of the first position information 227 is a miss Fix solution 220 from the difference between the high-precision position data 229 described in the second position information 221 and the position data 213 described in the first position information 227, with the high-precision position data 229 described in the second position information 221 being a value close to the position of the actual GNSS antenna 2.

[0105] With such a configuration, the positioning system 1 can reduce the calculation load in the GNSS receiver 100 by operating the second positioning unit 8 only when the occurrence probability of the miss Fix solution 220 is high, and by comparing the first position information 227 and the second position information 221, it can detect that the first position information 227 has calculated a miss Fix solution 220 using only GNSS observations and can notify an external terminal.

[0106] Note that the positioning system 1 of this embodiment can be configured in whole or in part on an external server, including a satellite information analysis unit 105, a first positioning unit 3, a stored information analysis unit 7, a second positioning unit 8, and a positioning error information calculation unit 9. In that case, an appropriate communication environment is established between the GNSS receiver 100 and the external server.

Embodiment

[0107] FIG. 10 is a block diagram showing an example of the software configuration of the positioning system 1 according to Embodiment 2. The positioning system 1 of Embodiment 2 is the same as that of Embodiment 1 in terms of hardware configuration, but newly includes a position information storage unit 6 and a learning information calculation unit 12 in the software configuration of the positioning system 1, and the processing of the first positioning unit 3, the positioning error information calculation unit 9, and the stored information analysis unit 7 is different from that of Embodiment 1. Only the differences from Embodiment 1 will be described below.

[0108] [First Positioning Unit] The first positioning unit 3 transmits the first position information 227 calculated based on the positioning information 209 received from the satellite information analysis unit 105 and the correction information 202 to the data output unit 10 and the position information storage unit 6.

[0109] [Position Information Storage Unit] The position information storage unit 6 stores position information storage information 219 based on the first position information 227 received from the first positioning unit 3 in the past. As the position information storage information 219, at least the position data 213, the positioning status 210, and the positioning time 222 described in the first position information 227 are recorded in the position information storage unit 6.

[0110] FIG. 11 is a diagram showing a data table showing details of the position information storage information 219 recorded by the position information storage unit 6.

[0111] The position information storage unit 6 stores the position data 213 and the positioning status 210 in the chronological order of the positioning time 222. When the position data 213 and the positioning status 210 at the same positioning time 222 as the first position information 227 received from the first positioning unit 3 are already stored, the position information storage unit 6 updates the position data 213 and the positioning status 210 of the recorded position information storage information 219.

[0112] FIG. 11 shows an example in which the position information storage information 219 from 07:00:00 to 07:30:00 of the positioning time 222 is stored.

[0113] The position information storage unit 6 is configured to always be able to refer to the position information storage information 219 from the learning information calculation unit 12 and the positioning error information calculation unit 9. When the position information storage unit 6 cannot secure a sufficient storage area as the storage device 103, for example, it may record only the position information storage information 219 for a predetermined period, and when the recording time exceeds the predetermined period, execute a process of deleting the oldest record. The position information storage unit 6 is stored in the storage device 103.

[0114] [Correction Information Storage Unit] The correction information storage unit 4 is configured to always be able to refer to the correction information storage information 216 from the learning information calculation unit 12.

[0115] [Satellite Information Storage Unit] The satellite information storage unit 5 is configured to always be able to refer to the satellite information storage information 217 from the learning information calculation unit 12.

[0116] [Positioning Error Information Calculation Unit] The positioning error information calculation unit 9 calculates the positioning error information 224 based on the position information storage unit 6 and the second positioning unit 8. The positioning error information calculation unit 9 calculates the positioning error information 224 including the positioning time 222, the positioning error 225, the miss Fix solution status 226, and the high-precision position data 229 based on the position information storage information 219 described in the position information storage unit 6 and the second position information 221 received from the second positioning unit 8.

[0117] FIG. 12 is a diagram showing a data table that shows details of positioning error information 224 calculated by the positioning error information calculation unit 9 in the second embodiment. The positioning error information calculation unit 9 compares the position data 213 of the position information storage information 219 with the high-precision position data 229 of the second position information 221, and calculates the difference as the positioning error 225. The positioning error information calculation unit 9 calculates a miss Fix solution status 226 based on the positioning error 225 calculated by the positioning error information calculation unit 9 and the positioning status 210 of the position information storage information 219. The positioning error information calculation unit 9 calculates the miss Fix solution status 226 at the positioning time 222 of the Fix solution 211 when the positioning status 210 of the position information storage information 219 is the Fix solution 211.

[0118] The positioning error information calculation unit 9 outputs the positioning time 222 when the positioning error 225 is calculated, the high-precision position data 229, the positioning error 225, and the miss Fix solution status 226 to the learning information calculation unit 12 as the positioning error information 224. The positioning error information calculation unit 9 calculates positioning error information 224 including the positioning time 222, the high-precision position data 229, the positioning error 225, and the miss Fix solution status 226 associated with the latest positioning time 222 described in the position information storage information 219, and outputs it to the data output unit 10.

[0119] [Learning information calculation unit] The learning information calculation unit 12 calculates learning information 230 that becomes teacher data of the miss Fix solution prediction model 223 included in the memory information analysis unit 7 based on the correction information storage unit 4, the satellite information storage unit 5, the position information storage unit 6, and the positioning error information calculation unit 9. The learning information calculation unit 12 calculates learning information 230 that becomes teacher data of the miss Fix solution prediction model 223 included in the memory information analysis unit 7 based on the correction information storage information 216 stored in the correction information storage unit 4, the satellite information storage information 217 stored in the satellite information storage unit 5, the position information storage information 219 stored in the position information storage unit 6, and the positioning error information 224 received from the positioning error information calculation unit 9. The learning information calculation unit 12 operates only when the positioning error information calculation unit 9 calculates the positioning error information 224.

[0120] The learning information calculation unit 12 uses, for example, the miss Fix solution status 226 described in the positioning error information 224 as the output data of the miss Fix solution prediction model 223. The learning information calculation unit 12 uses, for example, the satellite identification number 208, correction information generation time 214, pseudo range 205, and carrier phase 206 of the correction information storage information 216, the satellite identification number 208, satellite signal reception time 218, pseudo range 205, and carrier phase 206 of the satellite information storage information 217, the positioning time 222, position data 213, and positioning status 210 of the position information storage information 219 as the input data of the miss Fix solution prediction model 223. The learning information calculation unit 12 calculates learning information 230 based on the input data and the output data. The learning information calculation unit 12 transmits the calculated learning information 230 to the storage information analysis unit 7. The learning information calculation unit 12 is held in the memory 102 (or the storage device 103) as a program executed by the CPU 101 in the GNSS receiver 100.

[0121] [Storage Information Analysis Unit] The storage information analysis unit 7 updates the miss Fix solution prediction model 223 included in the storage information analysis unit 7 based on the learning information calculation unit 12. The storage information analysis unit 7 updates the miss Fix solution prediction model 223 based on the learning information 230 received from the learning information calculation unit 12. The storage information analysis unit 7 updates the miss Fix solution prediction model 223 by training the miss Fix solution prediction model 223 using the output data and input data described in the learning information 230 as teacher data.

[0122] Hereinafter, with reference to FIGS. 13A and 13B, the processing associated with the procedure in which the learning information calculation unit 12 calculates the learning information 230 and the storage information analysis unit 7 updates the miss Fix solution prediction model 223 included therein is shown in a flowchart.

[0123] FIG. 13A is a flowchart showing an example of the processing of the first positioning unit 3 and the position information storage unit 6 in the second embodiment. FIG. 13B is a flowchart showing an example of the processing of the learning information calculation unit 12 and the stored information analysis unit 7 in the second embodiment. The processing of FIG. 13A is executed in place of step S415 in the flowchart of FIG. 8. The processing of FIG. 13B is executed subsequent to step S427 in the flowchart of FIG. 9.

[0124] In step S429, the first position information 227 calculated by the first positioning unit 3 is transmitted to the position information storage unit 6 and the data output unit 10.

[0125] In step S430, the position information storage unit 6 stores the first position information 227 received from the first positioning unit 3 as position information storage information 219.

[0126] In step S431, the learning information calculation unit 12 calculates learning information 230 based on the correction information storage unit 4, the satellite information storage unit 5, the position information storage unit 6, and the positioning error information calculation unit 9, and transmits it to the stored information analysis unit 7.

[0127] In step S432, the stored information analysis unit 7 updates the mis-Fix solution prediction model 223 by learning the mis-Fix solution prediction model 223 based on the learning information 230 acquired from the learning information calculation unit 12.

[0128] According to the second embodiment, during the positioning by the positioning system 1, the stored information analysis unit 7 can learn the mis-Fix solution prediction model 223 included therein based on the determination result of the mis-Fix solution 220 by the positioning error information calculation unit 9. Therefore, the positioning system 1 can accurately predict the mis-Fix solution probability 228 of the mis-Fix solution prediction model 223, and can recursively realize the determination accuracy of the mis-Fix solution 220 by the positioning error information calculation unit 9.

[0129] The embodiments of the present invention described above are summarized as follows.

[0130] (1) The positioning system 1 includes a first positioning unit 3 that calculates first position information 227 based on received satellite information 201 and correction information 202, a satellite information storage unit 5 that stores the received satellite information 201, a correction information storage unit 4 that stores the received correction information 202, and a second positioning unit 8 that calculates second position information 221 based on the satellite information 201 stored in the satellite information storage unit 5 and the correction information 202 stored in the correction information storage unit 4. The system further includes a stored information analysis unit 7 and a positioning error information calculation unit 9. The stored information analysis unit 7 calculates first positioning error information of the first position information 227 based on the satellite information 201 stored in the satellite information storage unit 5, the correction information 202 stored in the correction information storage unit 4, and the first position information 227 calculated by the first positioning unit 3, and determines whether the operation by the second positioning unit 8 is necessary. The positioning error information calculation unit 9 calculates second positioning error information of the first position information 227 based on the calculation results of the first positioning unit 3 and the second positioning unit 8. By doing so, the positioning system 1 can estimate the miss Fix solution 220 using only the observation data by GNSS.

[0131] (2) The positioning system 1 further includes a data output unit 10 that outputs the first position information 227, the second position information 221, and the second positioning error information to an external terminal based on the calculation results of the first positioning unit 3 and the second positioning unit 8 and the processing result of the positioning error information calculation unit 9.

[0132] (3) The stored information analysis unit 7 has a prediction model that outputs a first positioning error based on at least the satellite information 201 stored in the satellite information storage unit 5, the correction information 202 stored in the correction information storage unit 4, and the first position information 227 obtained from the first positioning unit 3.

[0133] (4) The stored information analysis unit 7 calculates the first positioning error output by the prediction model as the probability that the first position information 227 is the miss Fix solution 220.

[0134] (5) The stored information analysis unit 7 determines whether the operation by the second positioning unit 8 is necessary based on a predetermined threshold value.

[0135] It further includes an external terminal interface 107 capable of inputting threshold value information 298 for setting a predetermined threshold value.

[0136] (7) It further includes a position information storage unit 6 that stores at least the first position information 227 calculated by the first positioning unit 3.

[0137] (8) The second positioning unit 8 calculates second position information 221 at at least one or more times.

[0138] (9) The positioning error information calculation unit 9 calculates second positioning error information at at least one or more times described in the position information storage unit 6 based on the first position information 227 stored in the position information storage unit 6 and the calculation result of the second positioning unit 8.

[0139] (10) It further includes a learning information calculation unit 12 that calculates learning information 230 used for updating the prediction model included in the stored information analysis unit 7 based on the satellite information 201 stored in the satellite information storage unit 5, the correction information 202 stored in the correction information storage unit 4, the first position information 227 stored in the position information storage unit 6, and the processing result of the positioning error information calculation unit 9.

[0140] (11) The stored information analysis unit 7 updates the prediction model included in the stored information analysis unit 7 based on the learning information 230 calculated by the learning information calculation unit 12.

[0141] (12) The second positioning unit 8 calculates the second position information 221 by an optimization operation using past data stored in the satellite information storage unit 5 and the correction information storage unit 4.

[0142] As mentioned above, several embodiments have been described, but these are examples for the explanation of the present invention and are not intended to limit the scope of the present invention only to these embodiments. The present invention can be implemented in various other forms.

[0143] In the above description, "CPU 101" may be one or more processor devices (hereinafter also simply referred to as "processor"). At least one processor device may typically be a microprocessor device such as a CPU (Central Processing Unit) 101, but may also be other types of processor devices such as a GPU (Graphics Processing Unit). At least one processor device may be single-core or multi-core. At least one processor device may be a processor core. At least one processor device may be a circuit that is an aggregate of gate arrays by a hardware description language for performing part or all of the processing (for example, a processor device in a broad sense such as an FPGA (Field-Programmable Gate Array), a CPLD (Complex Programmable Logic Device), or an ASIC (Application Specific Integrated Circuit)).

[0144] Also, in the above description, the function may be described in the expression of "xxx unit", but the function may be realized by one or more computer programs being executed by a processor, or may be realized by one or more hardware circuits (for example, an FPGA or an ASIC), or may be realized by a combination thereof. When the function is realized by a program being executed by a processor, since the defined processing is performed while appropriately using the storage device 103 and / or the interface device, etc., the function may be regarded as at least part of the processor. The processing described with the function as the subject may also be the processing performed by the processor or the positioning system 1 having the processor. The program may be installed from a program source. The program source may be, for example, a program distribution computer or a computer-readable recording medium (for example, a non-temporary recording medium). The description of each function is an example, and a plurality of functions may be combined into one function, or one function may be divided into a plurality of functions.

[0145] In the following description, information from which an output can be obtained for an input may be described by an expression such as "yyy table". However, the information may be a table having any data structure, or a learning model such as a neural network, a genetic algorithm, or a random forest that generates an output for the input. That is, in order to indicate that the information is independent of the data structure, "yyy table" can be changed to "yyy information". In the following description, the configuration of each table is an example, and one table may be divided into two or more tables, or all or part of two or more tables may be one table.

[0146] In the above description, the processing may be described with "program" as the subject. However, the processing described with "program" as the subject may be the processing performed by a processor or the positioning system 1 having the processor. Also, two or more programs may be realized as one program, or one program may be realized as two or more programs.

[0147] In the above description, the "positioning system 1" may be a system configured by one or more physical computers (for example, an on-premises type system), or a system realized on a physical computing resource group (for example, a cloud infrastructure) (for example, a cloud computing system). The positioning system 1 "displaying" the display information may be the computer displaying the display information on a display device included in the computer, or the computer transmitting the display information to a display computer (in the latter case, the display computer displays the display information).

[0148] Note that the present invention is not limited to the above-described embodiments and modifications, and can be implemented using any components without departing from the gist thereof.

[0149] Each of the above-described embodiments and modifications is merely an example, and the present invention is not limited to these contents as long as the features of the invention are not impaired. Also, although various embodiments and modifications have been described above, the present invention is not limited to these contents, and not all of these contents are essential for the solution means of the present invention. Other aspects conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention.

[0150] In each of the above figures, the control lines and information lines show those considered necessary for explanation, and do not necessarily show all the control lines and information lines necessary for implementation. For example, in reality, it may be considered that almost all components are interconnected.

[0151] Also, the arrangement forms of the positioning system 1 and each functional unit of the positioning system 1 described above are merely examples. The arrangement form of each functional unit can be changed to an optimal arrangement form from the viewpoints of the performance, processing efficiency, communication efficiency, etc. of the hardware and software included in the positioning system 1 and the positioning system 1.

[0152] Also, each of the above-described configurations, functions, processing units, processing means, etc. may be realized in hardware by designing part or all of them, for example, with an integrated circuit, or may be realized in software by a processor interpreting and executing a program for realizing each function.

Explanation of Reference Numerals

[0153] 1 Positioning system 2 GNSS antenna 3 First positioning unit 4 Correction information storage unit 5 Satellite information storage unit 7 Stored information analysis unit 8 Second positioning unit 9 Positioning error information calculation unit 10 Data output unit 11 Positioning satellite 201 Satellite information 202 Correction information 209 Positioning information 216 Correction information storage information 217 Satellite information storage information 221 Second position information 223 Miss Fix solution prediction model 224 Positioning error information 227 First position information 299 Moving body information

Claims

1. A first positioning unit that calculates first position information based on received satellite information and correction information; A satellite information storage unit that stores the received satellite information; A correction information storage unit that stores the received correction information; A second positioning unit that calculates second position information based on the satellite information stored in the satellite information storage unit and the correction information stored in the correction information storage unit; A positioning system comprising: Further comprising a stored information analysis unit and a positioning error information calculation unit; The stored information analysis unit calculates first positioning error information of the first position information based on the satellite information stored in the satellite information storage unit, the correction information stored in the correction information storage unit, and the first position information calculated by the first positioning unit, thereby determining the necessity of the operation by the second positioning unit; The positioning error information calculation unit calculates second positioning error information of the first position information based on the calculation results of the first positioning unit and the second positioning unit; A positioning system.

2. The positioning system according to claim 1, Further comprising a data output unit that outputs the first position information, the second position information, and the second positioning error information to an external terminal based on the calculation results of the first positioning unit and the second positioning unit and the processing result of the positioning error information calculation unit.

3. The positioning system according to claim 1, The stored information analysis unit has a prediction model that outputs the first positioning error based on at least the satellite information stored in the satellite information storage unit, the correction information stored in the correction information storage unit, and the first position information obtained from the first positioning unit.

4. The positioning system according to claim 3, The positioning error analysis unit calculates the first positioning error output by the prediction model as the probability that the first position information is a miss Fix solution, in a positioning system. **Claim 5** The positioning system according to claim 4, wherein the memory information analysis unit determines the necessity of the operation by the second positioning unit based on a predetermined threshold value, in a positioning system. **Claim 6** The positioning system according to claim 5, further comprising an external terminal interface capable of inputting threshold information for setting the predetermined threshold value, in a positioning system. **Claim 7** The positioning system according to claim 3, further comprising a position information storage unit that stores at least the first position information calculated by the first positioning unit, in a positioning system. **Claim 8** The positioning system according to claim 7, wherein the second positioning unit calculates the second position information at at least one or more times, in a positioning system. **Claim 9** The positioning system according to claim 8, wherein the positioning error information calculation unit calculates second positioning error information at at least one or more times described in the position information storage unit based on the first position information stored in the position information storage unit and the calculation result of the second positioning unit, in a positioning system. **Claim 10** The positioning system according to claim 9, further comprising a learning information calculation unit that calculates learning information used for updating the prediction model included in the memory information analysis unit based on the satellite information stored in the satellite information storage unit, the correction information stored in the correction information storage unit, the first position information stored in the position information storage unit, and the processing result of the positioning error information calculation unit, in a positioning system. **Claim 11** The positioning system according to claim 10, The positioning system in which the memory information analysis unit updates the prediction model included in the memory information analysis unit based on the learning information calculated by the learning information calculation unit.

12. The positioning system according to claim 8, wherein the second positioning unit calculates second position information by performing an optimization calculation using past data stored in the satellite information storage unit and the correction information storage unit. Positioning system.

13. by a computer including at least a processor and a storage device, wherein the first positioning unit calculates first position information based on received satellite information and correction information, the satellite information storage unit stores the received satellite information, the correction information storage unit stores the received correction information, the second positioning unit calculates second position information based on the satellite information stored in the satellite information storage unit and the correction information stored in the correction information storage unit, the memory information analysis unit calculates first positioning error information of the first position information based on the satellite information stored in the satellite information storage unit, the correction information stored in the correction information storage unit, and the first position information calculated by the first positioning unit, and thereby determines the necessity of the operation by the second positioning unit, the positioning error information calculation unit calculates second positioning error information of the first position information based on the calculation results of the first positioning unit and the second positioning unit Positioning method.

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