Positioning system, mobile body, program, and positioning system

Abstract

To provide a positioning method, etc. with which it is possible to reduce sequential computations and expedite the positioning speed.SOLUTION: Provided is a positioning method in a positioning system comprising a transmission reference station fixed on the ground, and a first mobile body having a receiver which receives a positioning signal from the transmission reference station or a second mobile body different from the first mobile body. The measured position of the first mobile body is stored as a stop position for correction, and a phase difference between the transmission reference station and the mobile body and the distance between the transmission reference station and the stop position of the mobile body are stored as parameters for correction in association with the stop position for correction. The stored parameters for correction are acquired in the first mobile body or the second mobile body, and the clock of the transmission reference station and the clock of the first mobile body or the second mobile body are synchronized at the stop position for correction on the basis of the parameters for correction.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a positioning method, a moving body, a program, and a positioning system.

Background Art

[0002] In a satellite positioning system, when performing positioning, carrier phase positioning is used to perform high-precision position positioning. In carrier phase positioning, a receiving positioning station receives a positioning signal from a transmitting reference station, and obtains the distance between the transmitting reference station and the receiving positioning station from the phase of the received positioning signal.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When performing indoor positioning, a plurality of transmitting reference stations are communicably connected to each other by a cable or the like, and each transmitting reference station is fixed to the ground or the like. Therefore, each transmitting reference station periodically transmits signals to each other, can grasp the delay amount, and can eliminate the time difference between the plurality of transmitting reference stations. However, there are cases where the time difference between the transmitting reference station and the receiving positioning station cannot be eliminated.

[0005] In that case, it is necessary to move the moving body, which is the receiving positioning station, and sequentially calculate the phase information obtained at a plurality of locations to eliminate the time difference between the transmitting reference station and the receiving positioning station, which takes time for position positioning.

[0006] The present disclosure has been made to solve such problems, and an object thereof is to provide a positioning method and the like that can reduce sequential calculations and enable high-speed positioning by synchronizing in advance between a transmitting reference station and a receiving positioning station (moving body).

Means for Solving the Problem

[0007] The positioning method according to one aspect of the present disclosure is a positioning method by a positioning system including a transmission reference station fixed on the ground and a first moving body having a receiver for receiving a positioning signal from the transmission reference station or a second moving body capable of communicating with the first moving body, stopping the first moving body, receiving a positioning signal from the transmission reference station by the receiver of the first moving body, measuring the stop position of the first moving body, and acquiring the phase of the carrier wave of the positioning signal from the transmission reference station at the stop position, calculating the phase difference between the transmission reference station and the first moving body, calculating the distance between the position of the transmission reference station and the stop position of the first moving body measured from the position of the transmission reference station and the measured stop position of the first moving body, storing the measured position of the first moving body as a correction stop position, and storing the phase difference between the transmission reference station and the first moving body and the distance between the position of the transmission reference station and the stop position of the first moving body as correction parameters in association with the correction stop position, acquiring the stored correction parameters in the first moving body or the second moving body, synchronizing the clock of the transmission reference station and the clock of the first moving body or the second moving body based on the correction parameters at the correction stop position, moving the first moving body or the second moving body in a state where the clock of the transmission reference station and the clock of the first moving body or the second moving body are synchronized, receiving the positioning signal from the transmission reference station by the receiver of the first moving body or the second moving body, and measuring the position of the first moving body or the second moving body.

[0008] The moving body according to one aspect of the present disclosure is a receiver for receiving a positioning signal from a transmission reference station fixed on the ground, a storage unit for storing at least one instruction, A mobile body comprising at least one processor that executes the command, The at least one command is, Stop the mobile body, receive a positioning signal from the transmission reference station by the receiver of the mobile body, measure the stop position of the mobile body, and obtain the phase of the carrier wave of the positioning signal from the transmission reference station at the stop position, Calculate the phase difference between the transmission reference station and the mobile body, Calculate the distance between the position of the transmission reference station and the measured stop position of the mobile body from the position of the transmission reference station and the stop position of the mobile body, Store the measured position of the mobile body as a stop position for correction, and store the phase difference between the transmission reference station and the mobile body and the distance between the position of the transmission reference station and the stop position of the mobile body as correction parameters in association with the stop position for correction, Obtain the stored correction parameters, At the stop position for correction, synchronize the clock of the transmission reference station and the clock of the mobile body based on the correction parameters, With the clock of the transmission reference station and the clock of the receiver of the mobile body synchronized, move the mobile body, receive a positioning signal from the transmission reference station by the receiver, and measure the position of the mobile body.

[0009] A program according to an aspect of the present disclosure is, A program used for a mobile body having a receiver that receives a positioning signal from a transmission reference station fixed on the ground, Stop the mobile body, receive a positioning signal from the transmission reference station by the receiver of the mobile body, measure the stop position of the mobile body, and obtain the phase of the carrier wave of the positioning signal from the transmission reference station at the stop position, Calculate the phase difference between the transmission reference station and the mobile body, Calculate the distance between the position of the transmission reference station and the measured stop position of the mobile body from the position of the transmission reference station and the stop position of the mobile body, Store the measured position of the moving object as a stop position for correction, and store, as correction parameters, the phase difference between the transmission reference station and the moving object and the distance between the position of the transmission reference station and the stop position of the moving object, in association with the stop position for correction. Acquire the stored correction parameters. At the stop position for correction, synchronize the clock of the transmission reference station and the clock of the moving object based on the correction parameters. With the clocks of the transmission reference station and the receiver of the moving object synchronized, move the moving object, receive the positioning signal from the transmission reference station by the receiver, and cause a computer to execute a process of measuring the position of the moving object.

[0010] A positioning system according to one aspect of the present disclosure is a positioning system including a transmission reference station fixed on the ground, a first moving object having a receiver that receives a positioning signal from the transmission reference station, and a second moving object capable of communicating with the first moving object. The first moving object includes a receiver that receives a positioning signal from a transmission reference station fixed on the ground, a storage unit that stores at least one instruction, and at least one processor that executes the instruction. The at least one instruction stops the moving object, receives a positioning signal from the transmission reference station by the receiver of the moving object, measures the stop position of the moving object, and acquires the phase of the carrier wave of the positioning signal from the transmission reference station at the stop position. calculates the phase difference between the transmission reference station and the moving object. calculates the distance between the position of the transmission reference station and the stop position of the moving object from the position of the transmission reference station and the measured stop position of the moving object. Store the measured position of the moving object as a stop position for correction, and store, as correction parameters, the phase difference between the transmission reference station and the moving object and the distance between the position of the transmission reference station and the stop position of the moving object, in association with the correction stop position. The second moving object includes a receiver that receives a positioning signal from a transmission reference station fixed to the ground, a storage unit that stores at least one instruction, and at least one processor that executes the instruction. The at least one instruction acquires the stored correction parameters from the first moving object via a network, at the correction stop position, synchronizes the clock of the transmission reference station and the clock of the moving object based on the correction parameters, moves the moving object with the clocks of the transmission reference station and the receiver of the moving object synchronized, receives the positioning signal from the transmission reference station by the receiver, and measures the position of the moving object.

Advantages of the Invention

[0011] According to the present disclosure, by synchronizing in advance between a transmission reference station and a receiving and positioning station (moving object), it is possible to provide a positioning method, a moving object, a program, a positioning system, etc. that can reduce sequential calculations and enable high-speed positioning.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Embodiments for Carrying Out the Invention

[0013] Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiments. Also, for clarity of explanation, the following description and drawings are simplified as appropriate.

[0014] FIG. 1 is a diagram for explaining a positioning system and a positioning method according to the present disclosure. The positioning system 1 includes a moving body 10 and a transmission reference station 20. The moving body 10 can be an unmanned aircraft such as a drone as shown in FIG. 1, but is not limited thereto, and various moving bodies that can be understood by those skilled in the art can be used. The transmission reference station 20 is fixed on the ground, but transmits a positioning signal via a carrier wave CA having a predetermined frequency f (wavelength λ = 1 / f), similar to the positioning satellites of the GNSS (Global Navigation Satellite System).

[0015] As shown in FIG. 1, the positioning method according to the present disclosure includes an initial setting performed in a state where the moving body 10 has stopped and a moving positioning process performed in a state where the moving body 10 has moved, although details will be described later.

[0016] FIG. 2 is a block diagram showing the configuration of the moving body. The moving body 10 includes at least a positioning signal receiver 110, a clock 120, and a drive mechanism 150. The positioning signal receiver 110 corresponds to the same frequency f as the transmission reference station 20 and receives a positioning signal from the transmission reference station 20. The drive mechanism 150 includes a drive source using electric power supplied from a battery and a drive unit (for example, a rotor in the case of an aircraft) that operates by the power obtained from the drive source. The drive unit has various implementation forms (for example, wheels).

[0017] The control unit 100 reads a program and executes a predetermined function. For example, the control unit 100 executes an initial setting described later that is performed in a state where the moving body 10 has stopped. Further, the control unit 100 controls the movement of the moving body by driving the drive mechanism 150 of the moving body so as to head toward the destination based on the positioning signal received by the positioning signal receiver 110. Also, the control unit 100 can execute a moving positioning process described later that is performed in a state where the moving body 10 has moved. The control unit 100 can be a computer including at least one processor and at least one memory.

[0018] As shown in FIG. 2, the control unit 100 includes a stop positioning unit 101, a phase acquisition unit 102, a phase difference calculation unit 103, a distance calculation unit 104, a parameter storage unit 105, a synchronization unit 107, and a moving positioning unit 108. The control unit 100 can function as the stop positioning unit 101, the phase acquisition unit 102, the phase difference calculation unit 103, the distance calculation unit 104, and the parameter storage unit 105 in order to perform an initial setting in a state where the moving body 10 has stopped. Also, the control unit 100 can function as the synchronization unit 107 and the moving positioning unit 108 in order to perform a moving positioning process in a state where the moving body 10 has moved.

[0019] The stop positioning unit 101 stops the moving body 10, receives a positioning signal from the transmission reference station 20 by the receiver 110 of the moving body 10, and measures the stop position of the moving body. The stop positioning unit 101 can store the measured stop position of the moving body in the storage unit within the moving body. This stop position may also be called a correction stop position. In some embodiments, the correction stop position is the point where mobile positioning processing will start in the future, and various marks may be set. For example, the marks can be in various forms (e.g., identification codes) recognizable by the camera mounted on the moving body 10. FIG. 3 shows the mark 5 of the correction stop position. The mark 5 can be recognized by the camera mounted on the moving body 10, and there, the moving body 10 can be stopped and synchronized with the clock of the transmission reference station.

[0020] The phase acquisition unit 102 acquires the phase of the carrier wave of the positioning signal from the transmission reference station 20 at the stop position. The phase acquisition unit 102 can store the acquired phase of the carrier wave of the positioning signal at the stop position of the moving body in the storage unit within the moving body.

[0021] The phase difference calculation unit 103 calculates the phase difference between the transmission reference station 20 and the moving body 10. The phase difference calculation unit 103 stores the calculated phase difference in the storage unit within the moving body, associating it with the above correction stop position of the moving body as a correction parameter.

[0022] The distance calculation unit 104 calculates the distance between the position of the transmission reference station and the measured stop position of the moving body 10, from the position of the transmission reference station 20 to the stop position of the moving body 10. The position information of one or more transmission reference stations fixed on the ground can be measured in advance and stored in the internal storage unit of the moving body or an external storage unit communicably connected to the moving body. The phase difference calculation unit 103 stores the calculated distance in the storage unit within the moving body, associating it with the above correction stop position of the moving body as a correction parameter.

[0023] As described above, initial settings are performed, and the parameter storage unit 105 stores the obtained various parameters in the internal storage unit of the moving body or an external storage device that the moving body can communicate with via a network, in association with the stop position of the moving body. In some embodiments, various correction parameters may be acquired at one or more stop positions and stored in association with the correction stop positions.

[0024] Next, the positioning method according to the present disclosure performs a moving positioning process. The moving body 10 (or another moving body) acquires the correction stop position and the correction parameters from the internal storage unit of the moving body or an external storage device that the moving body (or another moving body) can communicate with via a network. Next, the synchronization unit 107 synchronizes the clock of the transmission reference station 20 and the clock of the moving body 10 (or another moving body) based on the correction parameters at the correction stop position (if necessary, moving the moving body 10 (or another moving body) to the correction stop position). Specifically, at the correction stop position, the synchronization unit 107 adjusts the phase acquired by the receiver 110 of the moving body 10 (or another moving body) to the original phase rotation amount based on the calculated distance between the position of the transmission reference station 20 and the stop position of the moving body 10 (or another moving body) and the phase difference between the transmission reference station and the moving body 10 (or another moving body). Thereby, the clock of the transmission reference station 20 and the clock of the moving body 10 (or another moving body) can be synchronized. The synchronization unit 107 can synchronize the clock of the transmission reference station 20 and the clock of the moving body 10 (or another moving body) using a PLL (Phase Locked Loop) circuit.

[0025] The moving positioning unit 108 performs a moving positioning process in a state where the clock of the transmission reference station 20 and the clock of the moving body 10 (or another moving body) are synchronized. That is, in the synchronized state, the moving positioning unit 108 moves the moving body 10 (or another moving body) from the stored correction stop position (or its vicinity), receives the positioning signal from the transmission reference station 20 by the receiver 110 of the moving body 10 (or another moving body), and measures the position of the moving body 10 (or another moving body).

[0026] In some embodiments, the mobile body may be moved to a correction stop position, where various correction parameters associated with the correction stop position are acquired from an external storage device capable of wireless communication with the mobile body, and the clock of the transmission reference station 20 and the clock of the mobile body 10 may be synchronized. Thereafter, while moving the mobile body 10 from the correction stop position to the destination, the positioning signal from the transmission reference station 20 is received by the receiver 110 in a state where the clocks are synchronized, and the position of the mobile body 10 is measured.

[0027] In some embodiments, the mobile body 10 has an operation unit (for example, a button) that executes an initial setting process. By the user operating the operation unit of the mobile body 10, the mobile body 10 can be moved to the stored correction stop position, the various correction parameters described above can be acquired from the storage unit of the mobile body, and the synchronization process can be executed. Thereby, the clock of the transmission reference station 20 and the clock of the mobile body 10 can be synchronized. Then, the mobile body 10 moves the mobile body from the correction stop position in a state where the clock of the transmission reference station 20 and the clock of the mobile body 10 are synchronized, and the positioning signal from the transmission reference station 20 is received by the receiver 110, and the position of the mobile body 10 is measured.

[0028] As described above, in the present disclosure, at the receiving positioning station (mobile body), the time difference from the transmission reference station is grasped by measuring the phase difference at a known position, and the receiving positioning station synchronizes with the transmission reference station so as to cancel the time difference. Thereby, by omitting the sequential calculation required for positioning due to the time difference between the transmission reference station and the receiving positioning station, the convergence time for positioning can be shortened.

[0029] FIG. 4 is a flowchart showing the initial setting at the stop position in the positioning method according to the present disclosure. The positioning method according to the present disclosure can be used in a positioning system 1 including a transmission reference station 20 fixed on the ground and a mobile body 10 (or another mobile body capable of communicating with the mobile body 10) having a receiver 110 that receives a positioning signal from the transmission reference station 20. The positioning method stops the mobile body 10 and causes the receiver 110 of the mobile body 10 to receive a positioning signal from the transmission reference station 20 (S101). The stop position of the mobile body 10 is measured, and the phase of the carrier wave of the positioning signal from the transmission reference station at the stop position is acquired (S102). The phase difference between the transmission reference station and the mobile body is calculated (S103). From the position of the transmission reference station 20 and the measured stop position of the mobile body 10, the distance between the position of the transmission reference station 20 and the stop position of the mobile body 10 is calculated (S104). The measured stop position of the first mobile body 10 is stored as a correction stop position, and the phase difference between the transmission reference station 20 and the mobile body 10 and the distance between the position of the transmission reference station 20 and the stop position of the mobile body 10 are stored as correction parameters in association with the correction stop position (S105). Thereby, the initial setting is completed.

[0030] FIG. 5 is a flowchart showing the positioning process during movement in the positioning method according to the present disclosure. The mobile body 10 (or another mobile body) acquires a correction stop position and correction parameters (S201). The mobile body 10 (or another mobile body) synchronizes the clock of the transmission reference station 20 with the clock of the receiver of the mobile body 10 (or another mobile body) at the correction stop position (after moving to the correction stop position if necessary) (S202). In some embodiments, the mobile body 10 (or another mobile body) can identify the landmark 5 arranged at the correction stop position with the camera 140 and accurately stop at the correction stop position. With the clocks synchronized, the mobile body 10 (or another mobile body) is moved, and the positioning signal from the transmission reference station 20 is received by the receiver of the mobile body 10 (or another mobile body) to measure the position of the mobile body 10 (or another mobile body) (S203). If the mobile body (or another mobile body) continues to move (that is, has not reached the destination) (YES in S204), at a predetermined period, the positioning signal from the transmission reference station 20 is received by the receiver, and while measuring the position of the mobile body 10 (or another mobile body) (S202), the drive mechanism 150 of the mobile body 10 is controlled to move towards the destination. On the other hand, if the mobile body 10 stops moving (that is, has reached the destination) (NO in S203), the process ends.

[0031] FIG. 6 is a diagram for explaining another positioning system and another positioning method according to the present disclosure. In FIG. 6, three transmission reference stations 20a, 20b, and 20c are installed. Each of the transmission reference stations 20a, 20b, and 20c is communicably connected to each other via a network.

[0032] The clock of one of the plurality of transmission reference stations, the transmission reference station 10a, is synchronized with the clock of the stopped mobile body 10 by the method described above. Thereafter, the transmission reference station 10a can communicate with the remaining transmission reference stations 10b and 10c periodically to synchronize the clocks of each transmission reference station.

[0033] The mobile body 10 is moved from the correction stop position to receive positioning signals from the three transmission reference stations 20a, 20b, and 20c for positioning.

[0034] In this example, three transmission reference stations are shown, but it is not limited to this. There may also be three or more transmission reference stations.

[0035] Next, with reference to FIGS. 7 to 9, the reason for pre-synchronizing the clock of the transmission reference station and the clock of the moving body at a known location (i.e., the correction stop position described above) will be explained.

[0036] JPEG2025103352000002.jpg56166

[0037] JPEG2025103352000003.jpg35166

[0038] JPEG2025103352000004.jpg65166

[0039] JPEG2025103352000005.jpg26166

[0040] Regarding the above formula (1), (x (t) , y (t) , z (t) ) and (x (t+1) , y (t+1) , z (t+1) ) and N ABT are variables.

[0041] In the case of formulas (1) and (3), the number of variables is 10. Here, in the derivation of formula (2) and the formulas between (t + 1) and (t + 2), the number of variables is 10.

[0042] Combining formulas (1), (2), (3) and the derivation of formula (2), there are 4 formulas and 11 variables. Therefore, as the number of target transmission reference stations increases, the number of formulas exceeds the number of variables, so the variables can be obtained. However, since the number of formulas increases, the computational complexity increases explosively.

[0043] JPEG2025103352000006.jpg60166

[0044] JPEG2025103352000007.jpg50166

[0045] JPEG2025103352000008.jpg74166

[0046] By performing the above calculations in advance at the known point P, the amount of calculation can be reduced. That is, at a known position, the distance between the transmitting reference station and the receiving positioning station and the phase difference between the transmitting reference station and the receiving positioning station are stored as correction parameters. Thereafter, at a known position, by synchronizing the transmitting reference station and the receiving positioning station using the correction parameters, the subsequent mobile positioning process can be accelerated.

[0047] FIG. 10 is a block diagram showing a configuration example of the control unit 100 of the mobile body 10. Referring to FIG. 10, the control unit 100 and the like include a network interface 1201, a processor 1202, and a memory 1203. The network interface 1201 is used to communicate with other network node devices constituting the communication system. The network interface 1201 may be used to perform wireless communication. For example, the network interface 1201 may be used to perform wireless LAN communication defined in the IEEE 802.11 series or mobile communication defined in 3GPP (registered trademark) (3rd Generation Partnership Project). Alternatively, the network interface 1201 may include, for example, a network interface card (NIC) compliant with the IEEE 802.3 series.

[0048] The processor 1202 reads and executes software (computer program) from the memory 1203, thereby performing the processing of the control unit 100 and the like described using the flowchart or sequence in the above-described embodiment. The processor 1202 may be, for example, a microprocessor, an MPU (Micro Processing Unit), a CPU (Central Processing Unit), or a GPU (Graphics Processing Unit). The processor 1202 may include a plurality of processors.

[0049] The memory 1203 is composed of a combination of a volatile memory and a non-volatile memory. The memory 1203 may include storage arranged separately from the processor 1202. In this case, the processor 1202 may access the memory 1203 via an I / O interface (not shown).

[0050] In the example of FIG. 10, the memory 1203 is used to store a group of software modules. The processor 1202 can perform the processing of the control unit 100 and the like described in the above-described embodiment by reading and executing these groups of software modules from the memory 1203.

[0051] As described with reference to FIG. 10, each of the processors included in the control unit 100 and the like executes one or more programs including a group of instructions for causing a computer to perform the algorithms described with reference to the drawings.

[0052] In the above example, when the program is loaded into a computer, it includes a set of instructions (or software code) for causing the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, the computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disc or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. The program may be transmitted on a transient computer-readable medium or a communication medium. By way of example and not limitation, the transient computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0053] As described above, the present disclosure has been described with reference to the embodiments, but the present disclosure is not limited to the above-described embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. And each embodiment can be combined with other embodiments as appropriate.

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

[0055] Some or all of the above embodiments may be described as follows in the appended claims, but are not limited thereto. (Appended Claim 1) A positioning method by a positioning system including a transmission reference station fixed on the ground and a first mobile body having a receiver that receives a positioning signal from the transmission reference station or a second mobile body capable of communicating with the first mobile body, comprising: Stopping the first mobile body, receiving a positioning signal from the transmission reference station by the receiver of the first mobile body, measuring the stop position of the first mobile body, and acquiring the phase of the carrier wave of the positioning signal from the transmission reference station at the stop position; Calculating a phase difference between the transmission reference station and the first mobile body; Calculating the distance between the position of the transmission reference station and the stop position of the first mobile body from the position of the transmission reference station and the measured stop position of the first mobile body; Storing the measured position of the first mobile body as a correction stop position, and storing the phase difference between the transmission reference station and the first mobile body and the distance between the position of the transmission reference station and the stop position of the first mobile body as correction parameters in association with the correction stop position; In the first mobile body or the second mobile body, acquiring the stored correction parameters; At the correction stop position, synchronizing the clock of the transmission reference station and the clock of the first mobile body or the second mobile body based on the correction parameters; With the clocks of the transmission reference station and the first mobile body or the second mobile body synchronized, moving the first mobile body or the second mobile body, receiving the positioning signal from the transmission reference station by the receiver of the first mobile body or the second mobile body, and measuring the position of the first mobile body or the second mobile body. (Appended Claim 2) A positioning method used in a positioning system further including a plurality of the transmission reference stations fixed on the ground and communicably connected to each other, comprising: After synchronizing the clock of one of the plurality of transmission reference stations with the clock of the first mobile body or the second mobile body, in order to synchronize the clocks of the plurality of transmission reference stations with each other, they communicate with each other. With the clocks of the plurality of transmission reference stations synchronized with the clock of the first mobile body or the second mobile body, the first mobile body or the second mobile body is moved, and the positioning signals from the plurality of transmission reference stations are received by the receiver of the first mobile body or the second mobile body to measure the position of the first mobile body or the second mobile body. The positioning method according to Supplementary Note 1. (Supplementary Note 3) Synchronization between the clock of the transmission reference station and the clock of the first mobile body or the second mobile body uses PLL (Phase-Locked Loop) control. The positioning method according to Supplementary Note 1 or 2. (Supplementary Note 4) The first mobile body has a storage unit that stores the correction stop position and the correction parameters. The positioning method according to Supplementary Note 1. (Supplementary Note 5) A receiver that receives a positioning signal from a transmission reference station fixed on the ground, A storage unit that stores at least one instruction, A mobile body including at least one processor that executes the instruction, The at least one instruction Stops the mobile body, receives a positioning signal from the transmission reference station by the receiver of the mobile body, measures the stop position of the mobile body, and acquires the phase of the carrier wave of the positioning signal from the transmission reference station at the stop position. Calculates the phase difference between the transmission reference station and the mobile body. Calculates the distance between the position of the transmission reference station and the measured stop position of the mobile body from the position of the transmission reference station and the measured stop position of the mobile body. Stores the measured position of the mobile body as a correction stop position, and stores the phase difference between the transmission reference station and the mobile body and the distance between the position of the transmission reference station and the stop position of the mobile body as correction parameters in association with the correction stop position. Obtain the stored correction parameter, At the correction stop position, synchronize the clock of the transmission reference station and the clock of the mobile body based on the correction parameter, With the clock of the transmission reference station and the clock of the receiver of the mobile body synchronized, move the mobile body, receive the positioning signal from the transmission reference station by the receiver, and measure the position of the mobile body, Mobile body. (Appendix 6) The mobile body according to Appendix 5, further comprising a PLL (Phase Locked Loop) circuit for synchronizing the clock of the transmission reference station and the clock of the mobile body. (Appendix 7) The mobile body according to Appendix 5, having a storage unit for storing the measured position of the mobile body as a correction stop position. (Appendix 8) A program used for a mobile body having a receiver for receiving a positioning signal from a transmission reference station fixed on the ground, Stop the mobile body, receive a positioning signal from the transmission reference station by the receiver of the mobile body, measure the stop position of the mobile body, and obtain the phase of the carrier wave of the positioning signal from the transmission reference station at the stop position, Calculate the phase difference between the transmission reference station and the mobile body, Calculate the distance between the position of the transmission reference station and the measured stop position of the mobile body from the position of the transmission reference station and the stop position of the mobile body, Store the measured position of the mobile body as a correction stop position, and store the phase difference between the transmission reference station and the mobile body and the distance between the position of the transmission reference station and the stop position of the mobile body as correction parameters in association with the correction stop position, Obtain the stored correction parameter, At the correction stop position, synchronize the clock of the transmission reference station and the clock of the mobile body based on the correction parameter, A program that causes a computer to execute a process of moving a mobile body while synchronizing the clock of the transmission reference station with the clock of the receiver of the mobile body, receiving a positioning signal from the transmission reference station by the receiver, and measuring the position of the mobile body. (Appendix 9) A positioning system including a transmission reference station fixed on the ground, a first mobile body having a receiver that receives a positioning signal from the transmission reference station, and a second mobile body capable of communicating with the first mobile body, The first mobile body includes a receiver that receives a positioning signal from a transmission reference station fixed on the ground, a storage unit that stores at least one instruction, and at least one processor that executes the instruction. The at least one instruction includes stopping the first mobile body, receiving a positioning signal from the transmission reference station by the receiver of the first mobile body, measuring the stop position of the first mobile body, and acquiring the phase of the carrier wave of the positioning signal from the transmission reference station at the stop position, calculating a phase difference between the transmission reference station and the first mobile body, calculating the distance between the position of the transmission reference station and the stop position of the first mobile body from the position of the transmission reference station and the measured stop position of the first mobile body, storing the measured position of the first mobile body as a correction stop position, and storing the phase difference between the transmission reference station and the first mobile body and the distance between the position of the transmission reference station and the stop position of the first mobile body as correction parameters in association with the correction stop position. The second mobile body includes a receiver that receives a positioning signal from the transmission reference station fixed on the ground, a storage unit that stores at least one instruction, and at least one processor that executes the instruction. The at least one instruction includes acquiring the stored correction parameters from the first mobile body via a network. At the correction stop position, synchronize the clock of the transmission reference station and the clock of the second moving body based on the correction parameter, while the clock of the transmission reference station and the clock of the receiver of the second moving body are synchronized, move the second moving body, receive the positioning signal from the transmission reference station by the receiver of the second moving body, and measure the position of the second moving body, A positioning system. (Appendix 10) Further comprising a plurality of transmission reference stations communicably connected to each other via a network, Each transmission reference station communicates with each other to synchronize the clocks of each transmission reference station. The positioning system according to Appendix 9.

[0056] Some or all of the elements (for example, configuration and function) described in Appendices 1 to 4 subordinate to Appendix 1 (positioning method) may also be subordinate to Appendices 5 (moving body), 8 (program), and 9 (positioning system) in the same subordinate relationship as Appendices 2 to 4. Some or all of the elements described in any appendix can be applied to various hardware, software, recording means for recording software, systems, and methods.

Explanation of symbols

[0057] 1 Positioning system 5 Mark 10 Moving body 20 Transmission reference station 100 Control unit 110 Receiver 120 Clock 140 Camera 150 Driving mechanism

Claims

1. A positioning method by a positioning system including a transmission reference station fixed on the ground, and a first mobile body having a receiver that receives a positioning signal from the transmission reference station or a second mobile body capable of communicating with the first mobile body, comprising: stopping the first mobile body, receiving a positioning signal from the transmission reference station by the receiver of the first mobile body, measuring a stop position of the first mobile body, and acquiring a phase of a carrier wave of the positioning signal from the transmission reference station at the stop position; calculating a phase difference between the transmission reference station and the first mobile body; calculating a distance between the position of the transmission reference station and the stop position of the first mobile body from the position of the transmission reference station and the measured stop position of the first mobile body; storing the measured position of the first mobile body as a correction stop position, and storing, in association with the correction stop position, the phase difference between the transmission reference station and the first mobile body and the distance between the position of the transmission reference station and the stop position of the first mobile body as correction parameters; acquiring the stored correction parameters in the first mobile body or the second mobile body; synchronizing a clock of the transmission reference station and a clock of the first mobile body or the second mobile body based on the correction parameters at the correction stop position; moving the first mobile body or the second mobile body in a state where the clock of the transmission reference station and the clock of the first mobile body or the second mobile body are synchronized, receiving a positioning signal from the transmission reference station by the receiver of the first mobile body or the second mobile body, and measuring the position of the first mobile body or the second mobile body.

2. A positioning method used in a positioning system further including a plurality of the transmission reference stations fixed on the ground and communicably connected to each other, comprising: communicating with each other to synchronize the clocks of the plurality of transmission reference stations after synchronizing the clock of one of the plurality of transmission reference stations with the clock of the first mobile body or the second mobile body; moving the first mobile body or the second mobile body in a state where the clocks of the plurality of transmission reference stations and the clock of the first mobile body or the second mobile body are synchronized, receiving positioning signals from the plurality of transmission reference stations by the receiver of the first mobile body or the second mobile body, and measuring the position of the first mobile body or the second mobile body; The positioning method according to Claim 1.

3. The synchronization between the clock of the transmission reference station and the clock of the first mobile body or the second mobile body uses PLL (Phase Locked Loop) control, and the positioning method according to claim 1.

4. The first mobile body has a storage unit that stores the correction stop position and the correction parameters, and the positioning method according to claim 1.

5. A mobile body comprising a receiver that receives a positioning signal from a transmission reference station fixed on the ground, a storage unit that stores at least one instruction, and at least one processor that executes the instruction, wherein the at least one instruction stops the mobile body, receives a positioning signal from the transmission reference station by the receiver of the mobile body, measures the stop position of the mobile body, and acquires the phase of the carrier wave of the positioning signal from the transmission reference station at the stop position, calculates the phase difference between the transmission reference station and the mobile body, calculates the distance between the position of the transmission reference station and the measured stop position of the mobile body from the position of the transmission reference station and the measured stop position of the mobile body, stores the measured position of the mobile body as a correction stop position, and stores the phase difference between the transmission reference station and the mobile body and the distance between the position of the transmission reference station and the stop position of the mobile body as correction parameters in association with the correction stop position, acquires the stored correction parameters, at the correction stop position, synchronizes the clock of the transmission reference station and the clock of the mobile body based on the correction parameters, and includes moving the mobile body in a state where the clock of the transmission reference station and the clock of the receiver of the mobile body are synchronized, receiving a positioning signal from the transmission reference station by the receiver, and measuring the position of the mobile body. Mobile body.

6. The mobile body according to claim 5, further comprising a PLL (Phase Locked Loop) circuit for synchronizing the clock of the transmission reference station and the clock of the mobile body.

7. The mobile body according to claim 5, having a storage unit that stores the measured position of the mobile body as a correction stop position.

8. A program used for a mobile body having a receiver that receives a positioning signal from a transmission reference station fixed on the ground, Stop the mobile object, receive a positioning signal from the transmission reference station by the receiver of the mobile object, measure the stop position of the mobile object, and acquire the phase of the carrier wave of the positioning signal from the transmission reference station at the stop position. Calculate the phase difference between the transmission reference station and the mobile object. Calculate the distance between the position of the transmission reference station and the stop position of the mobile object from the position of the transmission reference station and the measured stop position of the mobile object. Store the measured position of the mobile object as a stop position for correction, and store the phase difference between the transmission reference station and the mobile object and the distance between the position of the transmission reference station and the stop position of the mobile object as correction parameters in association with the stop position for correction. Acquire the stored correction parameters. At the stop position for correction, synchronize the clock of the transmission reference station and the clock of the mobile object based on the correction parameters. In a state where the clock of the transmission reference station and the clock of the receiver of the mobile object are synchronized, move the mobile object, receive the positioning signal from the transmission reference station by the receiver, and cause a computer to execute a process of measuring the position of the mobile object.

9. A positioning system including a transmission reference station fixed on the ground, a first mobile object having a receiver that receives a positioning signal from the transmission reference station, and a second mobile object capable of communicating with the first mobile object. The first mobile object includes a receiver that receives a positioning signal from a transmission reference station fixed on the ground, a storage unit that stores at least one instruction, and at least one processor that executes the instruction. The at least one instruction stops the first mobile object, receives a positioning signal from the transmission reference station by the receiver of the first mobile object, measures the stop position of the first mobile object, and acquires the phase of the carrier wave of the positioning signal from the transmission reference station at the stop position. Calculates the phase difference between the transmission reference station and the first mobile object. Calculates the distance between the position of the transmission reference station and the stop position of the first mobile object from the position of the transmission reference station and the measured stop position of the first mobile object. includes storing the measured position of the first mobile object as a stop position for correction, and storing the phase difference between the transmission reference station and the first mobile object and the distance between the position of the transmission reference station and the stop position of the first mobile object as correction parameters in association with the stop position for correction. The second moving body is configured to: receive a positioning signal from the transmission reference station fixed to the ground by a receiver; store at least one instruction in a storage unit; include at least one processor configured to execute the instruction; wherein the at least one instruction is configured to: obtain the correction parameter stored from the first moving body via a network; synchronize the clock of the transmission reference station and the clock of the second moving body based on the correction parameter at the correction stop position; move the second moving body in a state where the clock of the transmission reference station and the clock of the receiver of the second moving body are synchronized, receive the positioning signal from the transmission reference station by the receiver of the second moving body, and measure the position of the second moving body; a positioning system. **Claim 10** The positioning system according to claim 9, further comprising a plurality of transmission reference stations communicably connected to each other via a network, wherein each transmission reference station communicates with each other to synchronize the clocks of the respective transmission reference stations.

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