Communication device, azimuth measurement system, and mobile object

Abstract

To provide a communication device, an azimuth measurement system, and a mobile object that can improve azimuth measurement accuracy.SOLUTION: An azimuth measurement system includes: a first positioning unit including a first GNSS antenna and a first GNSS module; a second positioning unit including a second antenna and a second GNSS module; and a communication device. The first positioning unit calculates first position information from GNSS signals using the first GNSS module and transmits the first position information to the communication device via digital communication. The second positioning unit calculates second position information indicating a position of the second antenna from the GNSS signals using the second GNSS module, and transmits the second position information to the communication device via digital communication. The communication device calculates azimuth information based on the first position information and the second position information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a communication device, a direction measurement system, and a mobile object. [Background technology]

[0002] The use of positioning devices (orientation measurement devices) that measure the position and orientation of mobile objects using GNSS (Global Navigation Satellite System) signals is becoming more widespread. Positioning devices (orientation measurement devices) provide information on the position and orientation of mobile objects such as automobiles, aircraft, and ships, and are used for navigation, autonomous driving, and the like. Patent Document 1 discloses a work machine equipped with two GNSS antennas and a GNSS receiver. The GNSS receiver calculates the position coordinates in a geographic coordinate system of at least one of the two GNSS antennas and the orientation in a geographic coordinate system (global coordinate system) of a vector pointing from one GNSS antenna to the other GNSS antenna, based on multiple satellite signals (GNSS signals) received by the two GNSS antennas and GNSS correction data received by the radio. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-103603 Summary of the Invention [Problem to be solved by the invention]

[0004] The work machine disclosed in Patent Document 1 uses GNSS signals to measure the positions of two GNSS antennas mounted on the moving body and calculates the direction based on the two positions. To measure the direction with high accuracy, the two GNSS antennas must be installed at a distance from each other. However, if the GNSS antenna that receives the GNSS signals is spaced apart from the GNSS module that acquires and processes the GNSS signals from the GNSS antenna, noise may be added to the analog signal, potentially degrading the direction measurement accuracy.

[0005] In the work machine of Patent Document 1, one of the two GNSS antennas is installed far away from the GNSS receiver, and analog GNSS signals are transmitted from the GNSS antenna to the GNSS receiver, which may result in a deterioration in the accuracy of direction measurement.

[0006] The present invention has been made to solve the above-mentioned problems. That is, one of the objects of the present invention is to provide a communication device, a direction measurement system, and a mobile object that can improve the accuracy of direction measurement. [Means for solving the problem]

[0007] In order to solve the above problem, the communication device of the present invention is a communication device including an arithmetic and control unit, which acquires the first position information by digital communication from a first positioning unit including a first antenna that receives satellite signals from a positioning satellite and a first position information calculation module that acquires the satellite signals from the first antenna and calculates first position information based on the satellite signals, and acquires the second position information by digital communication as second position-related information from a second positioning unit including a second antenna that receives the satellite signals from the positioning satellite and a second position information calculation module that acquires the satellite signals from the second antenna and calculates second position information based on the satellite signals, or a second positioning unit that includes the second antenna and is installed at a distance from the first positioning unit, or acquires the satellite signals received by the second antenna and calculates orientation information based on the first position information and the second position-related information.

[0008] The orientation measurement system of the present invention is an orientation measurement system comprising: a first positioning unit including a first antenna that receives satellite signals from positioning satellites and a first position information calculation module that acquires the satellite signals from the first antenna; a second positioning unit installed apart from the first positioning unit that includes a second antenna that receives the satellite signals from the positioning satellites and a second position information calculation module that acquires the satellite signals from the second antenna; and a communication device, wherein the first positioning unit calculates first position information based on the satellite signals using the first position information calculation module and transmits the first position information to the communication device via digital communication; the second positioning unit calculates second position information based on the satellite signals using the second position information calculation module and transmits the second position information to the communication device via digital communication; the communication device receives the second position information from the second positioning unit and transmits the second position information to the first positioning unit; the first positioning unit calculates orientation information based on the first position information and the second position information and transmits the orientation information to the communication device via digital communication.

[0009] The orientation measurement system of the present invention is an orientation measurement system comprising a first positioning unit including a first antenna that receives satellite signals from positioning satellites and a first position information calculation module that acquires the satellite signals from the first antenna, a second antenna that receives the satellite signals from the positioning satellites and is installed at a distance from the first positioning unit, and a communication device that includes a second position information calculation module, wherein the first positioning unit calculates first position information based on the satellite signals using the first position information calculation module and transmits the first position information to the communication device via digital communication, the communication device acquires the satellite signals from the second antenna using the second position information calculation module, calculates second position information based on the satellite signals, and transmits the second position information to the first positioning unit, and the first positioning unit calculates orientation information based on the first position information and the second position information.

[0010] The mobile body of the present invention is a mobile body equipped with a first positioning unit including a first antenna that receives satellite signals from positioning satellites and a first position information calculation module that acquires the satellite signals from the first antenna and calculates first position information based on the satellite signals, a second positioning unit including a second antenna that receives the satellite signals from the positioning satellites and a second position information calculation module that acquires the satellite signals from the second antenna and calculates second position information based on the satellite signals, or a second positioning unit that includes the second antenna and is installed away from the first positioning unit, and a communication device, wherein the communication device acquires the first position information from the first positioning unit by digital communication and acquires the second position information from the second positioning unit by digital communication as second position-related information, or acquires the satellite signals received by the second antenna and calculates orientation information based on the first position information and the second position-related information. [Effects of the Invention]

[0011] According to the present invention, it is possible to improve the accuracy of measuring the direction. Note that the effects described here are not necessarily limited to those described herein, and may be any of the effects described in this disclosure. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram showing an example of the system configuration of a direction measurement system according to the first embodiment. [Figure 2] FIG. 2 is a sequence diagram for explaining the operation of the direction measurement system. [Figure 3] FIG. 3 is a diagram for explaining an example of the configuration in which the direction measurement system according to the first embodiment is applied to a vehicle. [Figure 4] FIG. 4 is a diagram showing an example of the system configuration of a direction measurement system according to the second embodiment. [Figure 5] FIG. 5 is a diagram showing an example of the system configuration of a direction measurement system according to the third embodiment. [Figure 6]FIG. 6 is a sequence diagram for explaining the operation of the direction measurement system according to the third embodiment. [Figure 7] FIG. 7 is a diagram showing an example of the system configuration of a direction measurement system according to the fourth embodiment. [Figure 8] FIG. 8 is a sequence diagram for explaining the operation of the direction measurement system according to the fourth embodiment. [Figure 9] FIG. 9 is a sequence diagram for explaining the operation of the modified example of the direction measuring system according to the fourth embodiment. [Figure 10] FIG. 10 is a diagram showing an example of the system configuration of a direction measurement system according to the fifth embodiment. [Figure 11] FIG. 11 is a diagram showing an example of the system configuration of a direction measurement system according to the sixth embodiment. [Figure 12] FIG. 12 is a diagram showing an example of the system configuration of a direction measurement system according to the seventh embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, each embodiment of the present invention will be described with reference to the drawings. In all the drawings of the embodiments, the same or corresponding parts may be denoted by the same reference numerals.

[0014] Each embodiment is an example for explaining the present invention, and appropriate omissions and simplifications have been made for clarity of explanation. The present invention can be implemented in various other forms. Unless otherwise specified, each component may be singular or plural. The position, size, shape, range, etc. of each component shown in the drawings may not represent the actual position, size, shape, range, etc., in order to facilitate understanding of the invention. Therefore, the present invention is not necessarily limited to the position, size, shape, range, etc. disclosed in the drawings.

[0015] The various types of information may be expressed in various data structures. When describing the identification information, expressions such as "identification information" are used, but other expressions are also possible.

[0016] In each embodiment, processing performed by executing a program may be described. Here, a computer executes the program using a processor (e.g., a CPU or a GPU) and performs processing defined by the program using storage resources (e.g., a memory) and interface devices (e.g., a communication port). Therefore, the entity performing the processing by executing the program may be the processor. Similarly, the entity performing the processing by executing the program may be a controller, device, system, computer, or node having a processor. The entity performing the processing by executing the program may be any computing unit, and may include a dedicated circuit that performs specific processing. Here, the dedicated circuit may be, for example, an FPGA (Field Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), or a CPLD (Complex Programmable Logic Device).

[0017] A program may be installed on a computer from a program source. The program source may be, for example, a program distribution server or a computer-readable storage medium. When the program source is a program distribution server, the program distribution server may include a processor and storage resources for storing the program to be distributed, and the processor of the program distribution server may distribute the program to be distributed to other computers. In addition, in an embodiment, two or more programs may be realized as one program, or one program may be realized as two or more programs.

[0018] <<First Embodiment>> A direction measurement system according to a first embodiment of the present invention will now be described, with reference to Figure 1, which is a diagram showing an example of the system configuration of the direction measurement system according to the first embodiment.

[0019] The direction measurement system receives GNSS signals (satellite signals) from multiple positioning satellites ST1 (GNSS satellites). The direction measurement system receives GNSS correction information from a GNSS correction information server 100 (hereinafter referred to as the "correction information server 100"). The GNSS correction information may also be referred to as "position information correction data." The correction information server 100 may also be referred to as the "external device."

[0020] Positioning satellites ST1 are composed of artificial satellites positioned in satellite orbits above the Earth, and form the Global Navigation Satellite System (GNSS) by transmitting radio waves (GNSS signals) toward the ground. GNSS receives some of the GNSS signals from multiple positioning satellites ST1, and by using the received multiple GNSS signals, it is possible to obtain the GNSS antenna's own position on Earth (latitude, longitude, altitude). GNSS signals contain the position information, orbit information, identification information, time information, etc. of the positioning satellite ST1.

[0021] The correction information server 100 is a server owned by a location information service provider, and provides a GNSS position correction information service using the VRS (Virtual Reference Station) method. The correction information server 100 provides GNSS correction information, which is correction data for eliminating measurement errors, to the first positioning unit 200 and the second positioning unit 300 using the VRS method.

[0022] The VRS method is described below. In other words, in the VRS method, approximate location information is transmitted from a mobile station (observation point) to a location information service provider (distributor) via a communication device, and the distributor determines correction information (ionosphere and troposphere delays, satellite orbital errors, etc.) from the observation quantities of reference stations (three or more electronic reference points) around the mobile station, and calculates phase data ("correction data, etc.") that should be observed at the approximate location (called a "virtual point" in the VRS method). The mobile station receives the correction data, etc. from the distributor via a communication device and performs RTK (Real Time Kinematic)-GNSS surveying to determine its position.

[0023] The correction information server 100 transmits GNSS correction information to the communication device 400 via a wireless antenna 101 by wireless communication.

[0024] The direction measurement system includes a first positioning unit 200, a second positioning unit 300, and a communication device 400. The first positioning unit 200, the second positioning unit 300, and the communication device 400 are connected by wire or wirelessly so as to be able to transmit and receive information to and from each other (communicate). The first positioning unit 200 and the second positioning unit 300 are installed separately. The second positioning unit 300 may be referred to as a "second positioning section."

[0025] The communication device 400 receives GNSS correction information from the correction information server 100 via a wireless antenna 101 by wireless communication.

[0026] The first positioning unit 200 has a first GNSS antenna 210 and a first GNSS module 220. The first positioning unit 200 may include a housing (not shown) that houses the first GNSS antenna 210 and the first GNSS module 220. The first GNSS antenna 210 receives radio waves (GNSS signals (RF (Radio Frequency) signals)) from a plurality of positioning satellites ST1 located above the Earth. The first GNSS antenna 210 may be referred to as the "first antenna."

[0027] The first GNSS module 220 is a device that acquires GNSS signals and GNSS correction information, and calculates a position (latitude, longitude, altitude) and / or position-based information (such as direction). The first GNSS module 220 is composed of electronic components, circuits, etc. for realizing the functions of the first GNSS module 220.

[0028] The first GNSS module 220 receives analog GNSS signals from the first GNSS antenna 210 and converts them into digital signals by processing (amplifying, frequency converting, and A / D converting) the GNSS signals. The first GNSS module 220 receives GNSS correction information from the communication device 400 via digital communication. The first GNSS module 220 calculates first position information indicating the position (latitude, longitude, altitude) of the first GNSS antenna 210 based on the digitized GNSS signals and GNSS correction information. The first GNSS module 220 transmits the first position information to the communication device 400 via digital communication (serial communication). The first GNSS module 220 may also be referred to as a "first position information calculation module."

[0029] The second positioning unit 300 has a second GNSS antenna 310 and a second GNSS module 320. The second positioning unit 300 may have a housing (not shown) that houses the second GNSS antenna 310 and the second GNSS module 320. The second GNSS antenna 310 receives radio waves (GNSS signals (RF (Radio Frequency) signals)) from a plurality of positioning satellites ST1 located above the Earth. The second GNSS antenna 310 may be referred to as a "second antenna."

[0030] The second GNSS module 320 is a device that acquires GNSS signals and GNSS correction information, and calculates position (latitude, longitude, altitude) and / or position-based information (direction, etc.). The second GNSS module 320 is composed of electronic components, circuits, etc. for realizing the functions of the second GNSS module 320.

[0031] The second GNSS module 320 receives analog GNSS signals from the second GNSS antenna 310 and converts them into digital signals by processing (amplifying, frequency converting, and A / D converting) the GNSS signals. The second GNSS module 320 receives GNSS correction information from the communication device 400 via digital communication. The second GNSS module 320 calculates second position information indicating the position (latitude, longitude, and altitude) of the second GNSS antenna 310 based on the digitized GNSS signals and GNSS correction information. The second GNSS module 320 transmits the second position information to the communication device 400 via digital communication (serial communication). The second GNSS module 320 may be referred to as a "second position information calculation module." The second position information may be referred to as "second position-related information."

[0032] The communication device 400 includes a wireless module 410, a GNSS module control unit 420, a GNSS direction calculation unit 430, and a GNSS information output unit 440.

[0033] The wireless module 410 is a wireless communication device for performing wireless communication. The wireless module 410 is composed of electronic components, various circuits, and the like for realizing the functions of the wireless module 410. The wireless module 410 acquires GNSS correction information by receiving GNSS correction information from the correction information server 100 via the wireless antenna 101 by wireless communication. The wireless module 410 transmits the GNSS correction information to the GNSS module control unit 420.

[0034] The GNSS module control unit 420 controls the first GNSS module 220 , the second GNSS module 320 , the wireless module 410 , the GNSS direction calculation unit 430 , and the GNSS information output unit 440 .

[0035] The GNSS direction calculation unit 430 calculates a direction (for example, a direction from the position indicated by the second position information to the position indicated by the first position information) based on the first position information and the second position information.

[0036] The GNSS information output unit 440 receives the calculated direction from the GNSS direction calculation unit 430, receives the first position information and the second position information, and outputs the direction, the first position information, and the second position information to the user ECU 500. The GNSS information output unit 440 may be configured to output at least one of the direction, the first position information, and the second position information.

[0037] The GNSS module control unit 420, the GNSS azimuth calculation unit 430, and the GNSS information output unit 440 can be configured by a computer including a processor such as a CPU and a storage device (storage medium) such as a memory. The CPU realizes the functions of the GNSS module control unit 420, the GNSS azimuth calculation unit 430, and the GNSS information output unit 440 by reading and executing programs stored in the memory. The GNSS module control unit 420, the GNSS azimuth calculation unit 430, and the GNSS information output unit 440 can also be configured in part or in whole by hardware. For example, the GNSS module control unit 420, the GNSS azimuth calculation unit 430, and the GNSS information output unit 440 may be configured to realize at least some of the functions of the GNSS module control unit 420, the GNSS azimuth calculation unit 430, and the GNSS information output unit 440 using a field programmable gate array (FPGA) or the like. The "GNSS module control unit 420 and the GNSS azimuth calculation unit 430" may also be referred to as the "arithmetic and control unit."

[0038] 2 is a sequence diagram for explaining the operation of the direction measurement system. The direction measurement system performs the operations of steps 2001 to 2009 described below.

[0039] Step 2001 : The communication device 400 receives the GNSS correction information from the correction information server 100 .

[0040] Step 2002: The communication device 400 transmits the GNSS correction information by digital communication (serial communication) to the second positioning unit 300. The second positioning unit 300 receives the GNSS correction information.

[0041] Step 2003: The second positioning unit 300 calculates, using the second GNSS module 320, second position information indicating the position of the second GNSS antenna 310 based on the GNSS correction information and the GNSS signal acquired from the positioning satellite ST1 via the second GNSS antenna 310.

[0042] Step 2004: The second positioning unit 300 transmits the second position information to the communication device 400. The communication device 400 receives the second position information.

[0043] Step 2005: The communication device 400 transmits the GNSS correction information by digital communication (serial communication) to the first positioning unit 200. The first positioning unit 200 receives the GNSS correction information.

[0044] Step 2006: The first positioning unit 200 calculates, using the first GNSS module 220, first position information indicating the position of the first GNSS antenna 210 based on the GNSS correction information and the GNSS signal acquired from the positioning satellite ST1 via the first GNSS antenna 210.

[0045] Step 2007: The first positioning unit 200 transmits the first location information to the communication device 400. The communication device 400 receives the first location information.

[0046] Step 2008: The communication device 400 calculates direction information indicating the direction based on the first position information and the second position information using the GNSS direction calculation unit 430. Note that the direction may be calculated as an azimuth angle with north as 0°, for example.

[0047] Step 2009: The communication device 400 causes the GNSS information output unit 440 to transmit the first position information, the second position information, and the direction information to the user ECU 500.

[0048] In this way, the direction measurement system calculates the direction. In direction measurement, it is known that in order to measure the direction with high accuracy, it is preferable to increase the separation distance between the first GNSS antenna 210 and the second GNSS antenna 310 to a certain extent (for example, 1 m or more).

[0049] In the azimuth measurement system according to the first embodiment, the first positioning unit 200 and the second positioning unit 300 are configured as separate units and are provided at separate locations, which improves the accuracy of measuring the azimuth.

[0050] In a direction measurement system, increasing the distance between the GNSS antenna and the GNSS module tends to add noise to the analog signal, degrading direction performance. In contrast, the direction measurement system according to the first embodiment uses a positioning unit that integrates a GNSS antenna and a GNSS module, shortening the distance between the antenna and the module and improving direction measurement accuracy. A positioning unit that integrates a GNSS antenna and a GNSS module is sometimes referred to as a "smart antenna."

[0051] The direction measurement system according to the first embodiment transmits position information from the positioning unit to the communication device 400 by digital communication, which makes it more resistant to noise and improves the direction measurement accuracy.

[0052] 3 is a diagram illustrating an example of a configuration in which the direction measurement system according to the first embodiment is applied to a vehicle 3000. The vehicle 3000 is, for example, an agricultural vehicle (agricultural machine). The vehicle 3000 may also be a construction machine, a transportation vehicle, a logistics vehicle, or the like. The vehicle 3000 is equipped with a direction measurement system including the communication device 400 shown in FIG. 1 and an ECU 500 corresponding to the user ECU 500.

[0053] The ECU 500 and the communication device 400 are configured to be able to communicate with each other via a local network such as Ethernet. Although not shown, the vehicle 3000 is equipped with various devices for realizing the functions of the vehicle 3000, such as an engine and / or a motor for driving the vehicle 3000, a steering mechanism for steering the vehicle 3000, and a braking device for braking the vehicle 3000.

[0054] The first positioning unit 200 is disposed at a predetermined position (for example, at the top of the front end of the body of the vehicle 3000). The second positioning unit 300 is disposed at a predetermined position (for example, at the top of the rear end of the body of the vehicle 3000).

[0055] The communication device 400 has a function of measuring the position and direction of the vehicle 3000 in addition to a wireless communication function. The communication device 400 may be called a "wireless router with a position measurement function." The communication device 400 is installed inside the vehicle 3000, for example.

[0056] The ECU 500 is a control unit (Electronic Control Unit) for controlling the vehicle 3000, and is built into the vehicle 3000. The ECU 500 may be configured with a plurality of ECUs. The ECU 500 acquires information such as the direction calculated by the direction measurement system from the communication device 400, and controls the vehicle 3000 using the acquired information.

[0057] <Effects> As described above, the direction measurement system according to the first embodiment of the present invention can improve the direction measurement accuracy.

[0058] <<Second embodiment>> A direction measurement system according to a second embodiment of the present invention will now be described. Fig. 4 is a diagram showing an example of the system configuration of the direction measurement system according to the second embodiment. As shown in Fig. 4, the direction measurement system according to the second embodiment differs from the configuration of the direction measurement system according to the first embodiment shown in Fig. 1 only in that a wireless module 230 is added to the first positioning unit 200, a wireless module 330 is added to the second positioning unit 300, and a wireless module 450 is added to the communication device 400. The following description will focus on these differences.

[0059] In the direction measurement system according to the second embodiment, the communication device 400 transmits GNSS correction information to the first positioning unit 200 via wireless digital communication using the wireless module 450. The wireless module 450 may be referred to as the "first wireless module," and the wireless module 410 may be referred to as the "second wireless module." The first positioning unit 200 receives GNSS correction information from the communication device 400 via wireless digital communication using the wireless module 230.

[0060] The first positioning unit 200 transmits the first position information to the communication device 400 by wireless digital communication via the wireless module 230. The communication device 400 receives the first position information from the first positioning unit 200 by wireless digital communication via the wireless module 450.

[0061] The communication device 400 transmits GNSS correction information to the second positioning unit 300 by wireless digital communication using the wireless module 450. The second positioning unit 300 receives GNSS correction information from the communication device 400 by wireless digital communication using the wireless module 330.

[0062] The second positioning unit 300 transmits the second position information to the communication device 400 by wireless digital communication via the wireless module 330. The communication device 400 receives the second position information from the second positioning unit 300 by wireless digital communication via the wireless module 450.

[0063] The GNSS module control unit 420 receives the first position information and the second position information from the wireless module 450 and transmits them to the GNSS direction calculation unit 430. The GNSS direction calculation unit 430 calculates the direction based on the first position information and the second position information.

[0064] The direction measurement system according to the second embodiment may be used in a form mounted on a vehicle 3000, similar to the first embodiment.

[0065] <Effects> As described above, the direction measurement system according to the second embodiment of the present invention can improve the direction measurement accuracy, similar to the first embodiment.

[0066] <<Third Embodiment>> A direction measurement system according to a third embodiment of the present invention will now be described. Fig. 5 is a diagram showing an example of the system configuration of the direction measurement system according to the third embodiment. As shown in Fig. 5, the direction measurement system according to the third embodiment differs from the configuration of the direction measurement system according to the first embodiment shown in Fig. 1 only in that the second positioning unit 300 is replaced with a second GNSS antenna 310 and a second GNSS module 320 is added to the communication device 400. The following description will focus on this difference.

[0067] In the direction measurement system according to the third embodiment, the second GNSS antenna 310 receives analog GNSS signals from a plurality of positioning satellites ST1 located above the Earth. The second GNSS antenna 310 and the first positioning unit 200 are installed at a distance from each other. The second GNSS antenna 310 may be referred to as the "second positioning section."

[0068] The second GNSS module 320 of the communication device 400 receives the analog GNSS signal from the second GNSS antenna 310 and converts the GNSS signal into a digital signal by processing (amplifying, frequency converting, and A / D converting) the GNSS signal. Note that this GNSS signal may be referred to as "second position-related information."

[0069] The second GNSS module 320 receives GNSS correction information from the GNSS module control unit 420. The second GNSS module 320 calculates second position information indicating the position (latitude, longitude, altitude) of the second GNSS antenna 310 based on the digitized GNSS signal and the GNSS correction information. The second GNSS module 320 transmits the second position information to the GNSS module control unit 420.

[0070] 6 is a sequence diagram for explaining the operation of the direction measurement system according to the third embodiment. The direction measurement system performs the operations of steps 6001 to 6007 described below.

[0071] Step 6001: The communication device 400 receives the GNSS correction information from the correction information server 100.

[0072] Step 6002: The communication device 400 calculates, using the second GNSS module 320, second position information indicating the position of the second GNSS antenna 310 based on the GNSS correction information and the GNSS signal acquired from the positioning satellite ST1 via the second GNSS antenna 310.

[0073] Step 6003: The communication device 400 transmits the second position information and the GNSS correction information by digital communication (serial communication) to the first positioning unit 200. The first positioning unit 200 receives the second position information and the GNSS correction information.

[0074] Step 6004: The first positioning unit 200 calculates, using the first GNSS module 220, first position information indicating the position of the first GNSS antenna 210 based on the GNSS correction information and the GNSS signal acquired from the positioning satellite ST1 via the first GNSS antenna 210.

[0075] Step 6005: The first positioning unit 200 transmits the first position information by digital communication (serial communication) to the communication device 400. The communication device 400 receives the first position information.

[0076] Step 6006: The communication device 400 calculates, by the GNSS direction calculation unit 430, direction information indicating a direction based on the first position information and the second position information.

[0077] Step 6007: The communication device 400 causes the GNSS information output unit 440 to transmit the first position information, the second position information, and the direction information to the user ECU 500.

[0078] In the direction measurement system according to the third embodiment, the first positioning unit 200 and the second GNSS antenna 310 are configured as separate bodies and are provided at separate locations, thereby improving the direction measurement accuracy.

[0079] In a direction measurement system, increasing the distance between the GNSS antenna and the GNSS module tends to add noise to the analog signal, degrading direction performance. In contrast, the direction measurement system according to the second embodiment uses a first positioning unit 200 that integrates a first GNSS antenna 210 and a first GNSS module 220, and shortens the distance between the first GNSS antenna 210 and the first GNSS module 220, thereby improving direction measurement accuracy. The direction measurement system according to the second embodiment transmits position information from the first positioning unit 200 to the communication device 400 via digital communication, making it more resistant to noise and improving direction measurement accuracy.

[0080] As in the first embodiment, the direction measurement system according to the third embodiment may be used in a form mounted on a vehicle 3000. In this case, a second GNSS antenna 310 is installed at the position of the second positioning unit 300 in FIG.

[0081] <Effects> As described above, the direction measurement system according to the third embodiment of the present invention can improve the direction measurement accuracy, similar to the first embodiment.

[0082] <<Fourth Embodiment>> A direction measurement system according to a fourth embodiment of the present invention will now be described. Fig. 7 is a diagram showing an example of the system configuration of the direction measurement system according to the fourth embodiment. As shown in Fig. 7, the direction measurement system according to the fourth embodiment differs from the configuration of the direction measurement system according to the first embodiment shown in Fig. 1 only in that the second positioning unit 300 is replaced with a second GNSS antenna 310, a second GNSS module 320 is added to the communication device 400, the GNSS direction calculation unit 430 is removed from the communication device 400, and the first GNSS module 220 includes a direction calculation unit 221. The following description will focus on these differences.

[0083] In the direction measurement system according to the fourth embodiment, the second GNSS antenna 310 receives analog GNSS signals from a plurality of positioning satellites ST1 located above the Earth. The second GNSS antenna 310 and the first positioning unit 200 are installed at a distance from each other.

[0084] The second GNSS module 320 of the communication device 400 receives analog GNSS signals from the second GNSS antenna 310 and converts them into digital signals by processing (amplifying, frequency converting, and A / D converting) the GNSS signals. The second GNSS module 320 receives GNSS correction information from the GNSS module control unit 420. The second GNSS module 320 calculates second position information indicating the position (latitude, longitude, and altitude) of the second GNSS antenna 310 based on the digitized GNSS signals and the GNSS correction information. The second GNSS module 320 transmits the second position information to the GNSS module control unit 420.

[0085] The first GNSS module 220 acquires GNSS correction information and second position information from the GNSS module control unit 420 via digital communication (serial communication). The first GNSS module 220 calculates first position information indicating the position of the first GNSS antenna 210 based on the GNSS signal and the GNSS correction information. The first GNSS module 220 calculates direction information indicating the direction based on the first position information and the second position information using the direction calculation unit 221. The first GNSS module 220 transmits the first position information and direction information to the GNSS module control unit 420 via digital communication (serial communication).

[0086] 8 is a sequence diagram for explaining the operation of the direction measurement system according to the fourth embodiment. The direction measurement system performs the operations of steps 8001 to 8006 described below.

[0087] Step 8001: The communication device 400 receives the GNSS correction information from the correction information server 100.

[0088] Step 8002: The communication device 400 calculates second position information indicating the position of the second GNSS antenna 310 based on the GNSS correction information and the GNSS signal acquired from the positioning satellite ST1 via the second GNSS antenna 310.

[0089] Step 8003: The communication device 400 transmits the second position information and the GNSS correction information by digital communication (serial communication) to the first positioning unit 200. The first positioning unit 200 receives the second position information and the GNSS correction information.

[0090] Step 8004: The first positioning unit 200 calculates, using the first GNSS module 220, first position information indicating the position of the first GNSS antenna 210 based on the GNSS correction information and the GNSS signal acquired from the positioning satellite ST1 via the first GNSS antenna 210. The first positioning unit 200 calculates, using the first GNSS module 220, orientation information indicating the orientation based on the first position information and the second position information.

[0091] Step 8005: The first positioning unit 200 transmits the first position information and orientation information by digital communication (serial communication) to the communication device 400. The communication device 400 receives the first position information and orientation information.

[0092] Step 8006: The communication device 400 causes the GNSS information output unit 440 to transmit the first position information, the second position information, and the direction information to the user ECU 500.

[0093] 9, the direction measurement system may perform steps 9005 and 9006 instead of steps 8005 and 8006. In this case, the first positioning unit 200 and the user ECU 500 are connected to each other so as to be able to communicate with each other via a local network such as Ethernet.

[0094] Step 9005: The first positioning unit 200 transmits the first position information and the direction information to the user ECU 500 by digital communication (a local network such as Ethernet).

[0095] Step 9006: The communication device 400 causes the GNSS information output unit 440 to transmit the second position information to the user ECU 500.

[0096] As in the first embodiment, the direction measurement system according to the fourth embodiment may be used in a form mounted on a vehicle 3000. In this case, a second GNSS antenna 310 is installed at the position of the second positioning unit 300 in FIG.

[0097] <Effects> As described above, the direction measurement system according to the fourth embodiment of the present invention can improve the direction measurement accuracy, similar to the first embodiment.

[0098] <<Fifth Embodiment>> A direction measurement system according to a fifth embodiment of the present invention will now be described. Fig. 10 is a diagram showing an example of the system configuration of the direction measurement system according to the fifth embodiment. As shown in Fig. 10, the direction measurement system according to the fifth embodiment differs from the configuration of the direction measurement system according to the fourth embodiment shown in Fig. 7 only in that the second GNSS antenna 310 is replaced with a second positioning unit 300 and the second GNSS module 320 is removed from the communication device 400. The following description will focus on this difference.

[0099] In the direction measurement system according to the fifth embodiment, the second GNSS module 320 acquires GNSS signals from the second GNSS antenna 310. The second GNSS module 320 receives GNSS correction information from the communication device 400 via digital communication (serial communication). The second GNSS module 320 calculates second position information indicating the position of the second GNSS antenna 310 based on the GNSS signals and the GNSS correction information. The second GNSS module 320 transmits the second position information to the communication device 400 via digital communication (serial communication).

[0100] The first GNSS module 220 acquires GNSS signals from the first GNSS antenna 210. The first GNSS module 220 receives GNSS correction information and second position information from the communication device 400 via digital communication. The first GNSS module 220 calculates first position information indicating the position of the first GNSS antenna 210 based on the GNSS signals and the GNSS correction information. The first GNSS module 220 calculates orientation information indicating the orientation based on the first position information and second position information using the orientation calculation unit 221. The first GNSS module 220 transmits the first position information, the second position information, and the orientation information to the communication device 400 via digital communication (serial communication). The communication device 400 receives the first position information, the second position information, and the orientation information using the GNSS module control unit 420, and transmits them to the GNSS information output unit 440. The communication device 400 transmits the first position information, the second position information, and the direction information to the user ECU 500 via the GNSS information output unit 440.

[0101] The direction measurement system according to the fifth embodiment may be used in a form mounted on a vehicle 3000, similar to the first embodiment.

[0102] <Effects> As described above, the direction measurement system according to the fifth embodiment of the present invention can improve the direction measurement accuracy, similar to the fourth embodiment.

[0103] <<Sixth Embodiment>> A direction measurement system according to a sixth embodiment of the present invention will now be described. Fig. 11 is a diagram showing an example of the system configuration of the direction measurement system according to the sixth embodiment. As shown in Fig. 11, the direction measurement system according to the sixth embodiment differs from the configuration of the direction measurement system according to the first embodiment shown in Fig. 1 only in that a third positioning unit 600 is added and the GNSS direction calculation section 430 is replaced with a GNSS direction roll pitch calculation section 460. The following description will focus on these differences.

[0104] The third positioning unit 600 includes a third GNSS antenna 610 and a third GNSS module 620. The third positioning unit 600 may include a housing (not shown) that houses the third GNSS antenna 610 and the third GNSS module 620. The third positioning unit 600 is installed at a distance from the first positioning unit 200 and is installed at a distance from the second positioning unit 300.

[0105] The third GNSS antenna 610 receives radio waves (GNSS signals (RF (Radio Frequency) signals)) from a plurality of positioning satellites ST1 located above the Earth. The third GNSS antenna 610 may be referred to as the "third antenna."

[0106] The third GNSS module 620 is a device that acquires GNSS signals and GNSS correction information, and calculates position (latitude, longitude, altitude) and / or position-based information (azimuth, etc.). The third GNSS module 620 is composed of electronic components, circuits, etc. for realizing the functions of the third GNSS module 620.

[0107] The third GNSS module 620 receives analog GNSS signals from the third GNSS antenna 610 and converts them into digital signals by processing (amplifying, frequency converting, and A / D converting) the GNSS signals. The third GNSS module 620 receives GNSS correction information from the communication device 400 via digital communication. The third GNSS module 620 calculates third position information indicating the position (latitude, longitude, and altitude) of the third GNSS antenna 610 based on the digitized GNSS signals and GNSS correction information. The third GNSS module 620 transmits the third position information to the communication device 400 via digital communication (serial communication). The third GNSS module 620 may be referred to as a "third position information calculation module."

[0108] The GNSS azimuth roll pitch calculation unit 460 acquires the first position information, the second position information, and the third position information from the GNSS module control unit 420.

[0109] The GNSS azimuth roll pitch calculation unit 460 calculates azimuth information indicating the azimuth based on the first position information and the second position information. The GNSS azimuth roll pitch calculation unit 460 calculates roll information indicating the roll (tilt in the width direction of the moving body (e.g., the vehicle 3000)) and pitch information indicating the pitch (tilt in the front-to-rear direction perpendicular to the width direction of the moving body (e.g., the vehicle 3000)) based on the first position information to the third position information. The GNSS azimuth roll pitch calculation unit 460 may calculate either the roll information or the pitch information based on the first position information to the third position information.

[0110] The GNSS azimuth roll pitch calculation unit 460 transmits the first to third position information, azimuth information, roll information, and pitch information to the GNSS information output unit 440. When the GNSS azimuth roll pitch calculation unit 460 calculates either the roll information or the pitch information, the GNSS azimuth roll pitch calculation unit 460 may transmit either the calculated roll information or the pitch information to the GNSS information output unit 440.

[0111] The GNSS information output unit 440 outputs the first to third position information, orientation information, roll information, and pitch information to the user ECU 500. The GNSS information output unit 440 may be configured to output at least any of the first to third position information, orientation information, roll information, and pitch information.

[0112] As in the first embodiment, the direction measurement system according to the sixth embodiment may be used in a form mounted on the vehicle 3000. In this case, the first positioning unit 200, the second positioning unit 300, and the third positioning unit 600 are installed at predetermined positions for measuring the direction, roll, and pitch of the vehicle 3000.

[0113] <Effects> As described above, the direction measurement system according to the sixth embodiment of the present invention can improve the direction measurement accuracy, similar to that of the first embodiment. Furthermore, the direction measurement system according to the sixth embodiment can improve the roll and pitch measurement accuracy.

[0114] <<Seventh Embodiment>> A direction measurement system according to a seventh embodiment of the present invention will now be described. Fig. 12 is a diagram showing an example of the system configuration of the direction measurement system according to the seventh embodiment. As shown in Fig. 12, the direction measurement system according to the seventh embodiment differs from the configuration of the direction measurement system according to the sixth embodiment shown in Fig. 11 only in that the third positioning unit 600 is replaced with a third GNSS antenna 610 and a third GNSS module 620 is added to the communication device 400.

[0115] The following description will focus on this difference.

[0116] In the direction measurement system according to the third embodiment, the third GNSS antenna 610 receives analog GNSS signals from a plurality of positioning satellites ST1 located above the Earth. The third GNSS antenna 610 is installed at a distance from the first positioning unit 200 and at a distance from the second positioning unit 300.

[0117] The third GNSS module 620 of the communication device 400 receives analog GNSS signals from the third GNSS antenna 610 and converts them into digital signals by processing (amplifying, frequency converting, and A / D converting) the GNSS signals. The third GNSS module 620 receives GNSS correction information from the GNSS module control unit 420. The third GNSS module 620 calculates third position information indicating the position (latitude, longitude, and altitude) of the third GNSS antenna 610 based on the digitized GNSS signals and the GNSS correction information. The third GNSS module 620 transmits the third position information to the GNSS module control unit 420.

[0118] The GNSS azimuth roll pitch calculation unit 460 acquires the first position information, the second position information, and the third position information from the GNSS module control unit 420.

[0119] The GNSS azimuth roll pitch calculation unit 460 calculates azimuth information indicating the azimuth based on the first position information and the second position information. The GNSS azimuth roll pitch calculation unit 460 calculates roll information indicating the roll (tilt in the width direction of the mobile object) and pitch information indicating the pitch (tilt in the front-to-rear direction perpendicular to the width direction of the mobile object) based on the first position information to the third position information. The GNSS azimuth roll pitch calculation unit 460 may calculate either the roll information or the pitch information based on the first position information to the third position information.

[0120] The GNSS azimuth roll pitch calculation unit 460 transmits the first to third position information, orientation information, roll information, and pitch information to the GNSS information output unit 440. When the GNSS azimuth roll pitch calculation unit 460 calculates either the roll information or the pitch information, the GNSS azimuth roll pitch calculation unit 460 may transmit the calculated either the roll information or the pitch information to the GNSS information output unit 440. The GNSS information output unit 440 outputs the first to third position information, orientation information, roll information, and pitch information to the user ECU 500. The GNSS information output unit 440 may be configured to output at least any of the first to third position information, orientation information, roll information, and pitch information.

[0121] As with the first embodiment, the direction measurement system according to the seventh embodiment may be used in a form mounted on the vehicle 3000. In this case, the first positioning unit 200, the second positioning unit 300, and the third GNSS antenna 610 are installed at predetermined positions for measuring the direction, roll, and pitch of the vehicle 3000.

[0122] <Effects> As described above, the direction measurement system according to the seventh embodiment of the present invention can improve the direction measurement accuracy, similar to that of the first embodiment. Furthermore, the direction measurement system according to the seventh embodiment can improve the roll and pitch measurement accuracy.

[0123] <<Modifications>> The present invention is not limited to the above-described embodiments, and various modifications can be adopted within the scope of the present invention. Furthermore, the above-described embodiments can be combined with each other without departing from the scope of the present invention.

[0124] The features of the fifth embodiment may be applied to the sixth embodiment. The features of the fifth embodiment may be applied to the seventh embodiment.

[0125] In each of the above embodiments, the mobile object may be a moving object other than a vehicle, such as a drone, a walking robot, etc. In each of the above embodiments, the position information indicating the position of each GNSS antenna may be calculated without using GNSS correction information.

[0126] The present invention can also have the following configuration.

[0127] [1] a first positioning unit including a first antenna for receiving satellite signals and a first position information calculation module for acquiring the satellite signals from the first antenna; a second positioning unit installed apart from the first positioning unit, the second positioning unit including a second antenna for receiving satellite signals and a second position information calculation module for acquiring the satellite signals from the second antenna; a communication device; A direction measurement system comprising: the first positioning unit calculates first position information based on the satellite signals using the first position information calculation module, and transmits the first position information to the communication device through digital communication; the second positioning unit calculates second position information based on the satellite signals using the second position information calculation module, and transmits the second position information to the communication device through digital communication; the communication device receives the first position information from the first positioning unit, receives the second position information from the second positioning unit, and calculates orientation information based on the first position information and the second position information; Orientation measurement system.

[0128] [2] In the direction measurement system according to [1], a third positioning unit installed apart from the first positioning unit and the second positioning unit, the third positioning unit including a third antenna for receiving satellite signals and a third position information calculation module for receiving the satellite signals from the third antenna; the third positioning unit calculates third position information based on the satellite signals using the third position information calculation module, and transmits the third position information to the communication device through digital communication; the communication device receives the third position information from the third positioning unit, and calculates the orientation information and at least one of roll information and pitch information based on the first position information to the third position information. Orientation measurement system.

[0129] [3] In the direction measurement system according to [1], a third antenna for receiving satellite signals, the third antenna being installed at a distance from the first positioning unit and the second antenna; the communication device includes a third location information calculation module; The communication device The third location information calculation module acquires the satellite signal from the third antenna and calculates third location information based on the satellite signal; calculating orientation information and at least one of roll information and pitch information based on the first position information to the third position information; Orientation measurement system.

[0130] [4] In the direction measurement system according to [1], The communication device a wireless module that acquires position information correction data from an external device via wireless communication; The communication device The wireless module acquires the position information correction data and transmits it to the first positioning unit and the second positioning unit by digital communication; The first positioning unit The first location information calculation module calculates the first location information based on the satellite signals and the location information correction data; The second positioning unit The second location information calculation module calculates the second location information based on the satellite signals and the location information correction data; Orientation measurement system.

[0131] [5] a first positioning unit including a first antenna for receiving satellite signals and a first position information calculation module for acquiring the satellite signals from the first antenna; a second antenna for receiving the satellite signal from the positioning satellite, the second antenna being installed apart from the first positioning unit; a communication device including a second location information calculation module; A direction measurement system comprising: The first positioning unit Calculating first location information based on satellite signals by the first location information calculation module, and transmitting the first location information to the communication device through digital communication; The communication device The second location information calculation module acquires the satellite signals from the second antenna and calculates second location information based on the satellite signals; receiving the first position information from the first positioning unit, and calculating orientation information based on the first position information and the second position information; Orientation measurement system.

[0132] [6] [5] In the direction measurement system according to The communication device a wireless module that acquires position information correction data from an external device via wireless communication; The communication device The wireless module acquires the position information correction data and transmits it to the first positioning unit by digital communication; The first positioning unit The first location information calculation module calculates the first location information based on the satellite signals and the location information correction data; The communication device The second location information calculation module calculates the second location information based on the satellite signals and the location information correction data; Orientation measurement system.

[0133] [7] a first positioning unit including a first antenna for receiving satellite signals from positioning satellites and a first position information calculation module for acquiring the satellite signals from the first antenna; a second positioning unit installed apart from the first positioning unit, the second positioning unit including a second antenna for receiving the satellite signals from the positioning satellites and a second position information calculation module for acquiring the satellite signals from the second antenna; a communication device; A direction measurement system comprising: the first positioning unit calculates first position information based on the satellite signals using the first position information calculation module, and transmits the first position information to the communication device through digital communication; the second positioning unit calculates second position information based on the satellite signals using the second position information calculation module, and transmits the second position information to the communication device through digital communication; the communication device receives the second location information from the second positioning unit and transmits the second location information to the first positioning unit; the first positioning unit calculates orientation information based on the first position information and the second position information, and transmits the orientation information to the communication device via digital communication; Orientation measurement system.

[0134] [8] [7] The azimuth measurement system according to The communication device a wireless module that acquires position information correction data from an external device via wireless communication; The communication device The wireless module acquires the position information correction data and transmits it to the first positioning unit and the second positioning unit by digital communication; The first positioning unit The first location information calculation module calculates the first location information based on the satellite signals and the location information correction data; The second positioning unit The second location information calculation module calculates the second location information based on the satellite signals and the location information correction data; Orientation measurement system.

[0135] [9] [7] The azimuth measurement system according to a third positioning unit installed apart from the first positioning unit and the second positioning unit, the third positioning unit including a third antenna for receiving the satellite signals from the positioning satellites and a third position information calculation module for acquiring the satellite signals from the third antenna; The third positioning unit calculating third location information based on the satellite signals by the third location information calculation module, and transmitting the third location information to the communication device through digital communication; The communication device receiving the third position information from the third positioning unit, and calculating at least one of roll information and pitch information based on the first position information to the third position information; Orientation measurement system.

[0136]

[10] [7] The azimuth measurement system according to a third antenna for receiving the satellite signal from the positioning satellite, the third antenna being installed apart from the first positioning unit and the second positioning unit; the communication device includes a third location information calculation module; The communication device acquiring the satellite signals from the third antenna, and calculating third location information based on the satellite signals by the third location information calculation module; calculating at least one of roll information and pitch information based on the first position information to the third position information; Orientation measurement system.

[0137]

[11] a first positioning unit including a first antenna for receiving satellite signals from positioning satellites and a first position information calculation module for acquiring the satellite signals from the first antenna; a second antenna for receiving the satellite signal from the positioning satellite, the second antenna being installed apart from the first positioning unit; a communication device including a second location information calculation module; A direction measurement system comprising: The first positioning unit calculating first location information based on the satellite signals using the first location information calculation module, and transmitting the first location information to the communication device through digital communication; The communication device The second location information calculation module acquires the satellite signals from the second antenna, calculates second location information based on the satellite signals, and sends the second location information to the first positioning unit; The first positioning unit calculating orientation information based on the first position information and the second position information; Orientation measurement system.

[0138]

[12]

[11] The azimuth measurement system according to The communication device a wireless module that acquires position information correction data from an external device via wireless communication; The communication device The wireless module acquires the position information correction data and transmits it to the first positioning unit by digital communication; The first positioning unit The first location information calculation module calculates the first location information based on the satellite signals and the location information correction data; The communication device The second location information calculation module calculates the second location information based on the satellite signals and the location information correction data; Orientation measurement system.

[0139]

[13]

[11] The azimuth measurement system according to a third positioning unit installed apart from the first positioning unit and the second antenna, the third positioning unit including a third antenna that receives the satellite signals from the positioning satellites and a third position information calculation module that acquires the satellite signals from the third antenna; The third positioning unit calculating third location information based on the satellite signals by the third location information calculation module, and transmitting the third location information to the communication device through digital communication; The communication device receiving the third position information from the third positioning unit, and calculating at least one of roll information and pitch information based on the first position information to the third position information; Orientation measurement system.

[0140]

[14]

[11] The azimuth measurement system according to a third antenna for receiving the satellite signal from the positioning satellite, the third antenna being installed apart from the first positioning unit and the second antenna; the communication device includes a third location information calculation module; The communication device The third location information calculation module acquires the satellite signal from the third antenna and calculates third location information based on the satellite signal; calculating at least one of roll information and pitch information based on the first position information to the third position information; Orientation measurement system.

[0141]

[15] A mobile object equipped with the direction measurement system according to any one of [1] to

[14] . [Explanation of symbols]

[0142] 100...GNSS correction information server, 200...first positioning unit, 210...first GNSS antenna, 220...first GNSS module, 230...wireless module, 300...second positioning unit, 310...second GNSS antenna, 320...second GNSS module, 330...wireless module, 400...communication device, 410...wireless module, 420...GNSS module control unit, 430...GNSS direction calculation unit, 440...GNSS information output unit, 500...user ECU

Claims

1. A communication device including an arithmetic and control unit, The arithmetic and control unit acquiring the first position information through digital communication from a first positioning unit including a first antenna for receiving satellite signals from positioning satellites and a first position information calculation module for acquiring the satellite signals from the first antenna and calculating first position information based on the satellite signals; a second positioning unit including a second antenna that receives the satellite signals from the positioning satellites and a second position information calculation module that acquires the satellite signals from the second antenna and calculates second position information based on the satellite signals, or a second positioning unit including the second antenna and installed apart from the first positioning unit, the second position information is acquired by digital communication as second position-related information from the second positioning unit, or the satellite signals received by the second antenna are acquired; calculating orientation information based on the first location information and the second location-related information; Communication equipment.

2. 2. The communication device according to claim 1, the second positioning unit is the second positioning unit, The arithmetic and control unit acquiring the second location information as the second location-related information from the second positioning unit through digital communication; calculating the orientation information based on the first position information and the second position information; It was configured as follows: Communication equipment.

3. 2. The communication device according to claim 1, The second location information calculation module is provided, the second positioning unit is the second antenna, The arithmetic and control unit The second location information calculation module acquires the satellite signal as the second location-related information from the second antenna, and calculates the second location information based on the satellite signal; calculating the orientation information based on the first position information and the second position information; It was configured as follows: Communication equipment.

4. 3. The communication device according to claim 2, The arithmetic and control unit a third positioning unit including a third antenna that receives the satellite signals from the positioning satellites and a third position information calculation module that acquires the satellite signals from the third antenna and calculates third position information based on the satellite signals, the third positioning unit being installed at a distance from the first positioning unit and the second positioning unit, and acquiring the third position information through digital communication from the third positioning unit; calculating the orientation information and at least one of roll information and pitch information based on the first position information to the third position information; It was configured as follows: Communication equipment.

5. 3. The communication device according to claim 2, a third location information calculation module; The arithmetic and control unit the third position information calculation module acquires the satellite signals from a third antenna that receives the satellite signals from the positioning satellites and is installed apart from the first positioning unit and the second positioning unit, and calculates third position information based on the satellite signals; calculating the orientation information and at least one of roll information and pitch information based on the first position information to the third position information; It was configured as follows: Communication equipment.

6. 3. The communication device according to claim 2, a first wireless module for wireless digital communication with the first positioning unit and the second positioning unit; The arithmetic and control unit the first wireless module acquires the first location information from the first positioning unit and the second location information from the second positioning unit through the wireless digital communication; It was configured as follows: Communication equipment.

7. 3. The communication device according to claim 2, a second wireless module for wirelessly communicating with an external device; The arithmetic and control unit The second wireless module acquires position information correction data from the external device via the wireless communication, and transmits the position information correction data to the first positioning unit and the second positioning unit via digital communication, and causes the first positioning unit to calculate the first position information based on the satellite signal and the position information correction data using the first position information calculation module; causing the second positioning unit to calculate the second position information by the second position information calculation module based on the satellite signals and the position information correction data; It was configured as follows: Communication equipment.

8. 4. The communication device according to claim 3, a second wireless module for wirelessly communicating with an external device; The arithmetic and control unit the second wireless module acquires position information correction data from the external device via the wireless communication, transmits the position information correction data to the first positioning unit via digital communication, and causes the first positioning unit to calculate the first position information based on the satellite signals and the position information correction data using the first position information calculation module; It was configured as follows: Communication equipment.

9. a first positioning unit including a first antenna for receiving satellite signals from positioning satellites and a first position information calculation module for acquiring the satellite signals from the first antenna; a second positioning unit installed apart from the first positioning unit, the second positioning unit including a second antenna for receiving the satellite signals from the positioning satellites and a second position information calculation module for acquiring the satellite signals from the second antenna; a communication device; A direction measurement system comprising: the first positioning unit calculates first position information based on the satellite signals using the first position information calculation module, and transmits the first position information to the communication device through digital communication; the second positioning unit calculates second position information based on the satellite signals using the second position information calculation module, and transmits the second position information to the communication device through digital communication; the communication device receives the second location information from the second positioning unit and transmits the second location information to the first positioning unit; the first positioning unit calculates orientation information based on the first position information and the second position information, and transmits the orientation information to the communication device via digital communication; Orientation measurement system.

10. 10. The azimuth measurement system according to claim 9, The communication device a wireless module that acquires position information correction data from an external device via wireless communication; The communication device The wireless module acquires the position information correction data and transmits it to the first positioning unit and the second positioning unit by digital communication; The first positioning unit The first position information calculation module calculates the first position information based on the satellite signals and the position information correction data; The second positioning unit The second position information calculation module calculates the second position information based on the satellite signals and the position information correction data; Orientation measurement system.

11. 10. The azimuth measurement system according to claim 9, a third positioning unit installed apart from the first positioning unit and the second positioning unit, the third positioning unit including a third antenna for receiving the satellite signals from the positioning satellites and a third position information calculation module for acquiring the satellite signals from the third antenna; The third positioning unit calculating third location information based on the satellite signals using the third location information calculation module, and transmitting the third location information to the communication device through digital communication; The communication device receiving the third position information from the third positioning unit, and calculating at least one of roll information and pitch information based on the first position information to the third position information; Orientation measurement system.

12. 10. The azimuth measurement system according to claim 9, a third antenna for receiving the satellite signals from the positioning satellites, the third antenna being installed apart from the first positioning unit and the second positioning unit; The communication device a third location information calculation module; The communication device acquiring the satellite signal from the third antenna, calculating third position information based on the satellite signal by the third position information calculation module, and calculating at least one of roll information and pitch information based on the first position information to the third position information; Orientation measurement system.

13. a first positioning unit including a first antenna for receiving satellite signals from positioning satellites and a first position information calculation module for acquiring the satellite signals from the first antenna; a second antenna for receiving the satellite signal from the positioning satellite, the second antenna being installed apart from the first positioning unit; a communication device including a second location information calculation module; A direction measurement system comprising: The first positioning unit calculating first location information based on the satellite signals using the first location information calculation module, and transmitting the first location information to the communication device through digital communication; The communication device The second position information calculation module acquires the satellite signals from the second antenna, calculates second position information based on the satellite signals, and sends the second position information to the first positioning unit; The first positioning unit calculating orientation information based on the first position information and the second position information; Orientation measurement system.

14. 14. The azimuth measurement system according to claim 13, The communication device a wireless module that acquires position information correction data from an external device via wireless communication; The communication device The wireless module acquires the position information correction data and transmits it to the first positioning unit by digital communication; The first positioning unit The first position information calculation module calculates the first position information based on the satellite signals and the position information correction data; The communication device The second position information calculation module calculates the second position information based on the satellite signals and the position information correction data; Orientation measurement system.

15. 14. The azimuth measurement system according to claim 13, a third positioning unit installed apart from the first positioning unit and the second antenna, the third positioning unit including a third antenna for receiving the satellite signals from the positioning satellites and a third position information calculation module for acquiring the satellite signals from the third antenna; The third positioning unit calculating third location information based on the satellite signals using the third location information calculation module, and transmitting the third location information to the communication device through digital communication; The communication device receiving the third position information from the third positioning unit, and calculating at least one of roll information and pitch information based on the first position information to the third position information; Orientation measurement system.

16. 14. The azimuth measurement system according to claim 13, a third antenna for receiving the satellite signal from the positioning satellite, the third antenna being installed apart from the first positioning unit and the second antenna; the communication device includes a third location information calculation module; The communication device The third location information calculation module acquires the satellite signal from the third antenna and calculates third location information based on the satellite signal; calculating at least one of roll information and pitch information based on the first position information to the third position information; Orientation measurement system.

17. a first positioning unit including a first antenna for receiving satellite signals from positioning satellites and a first position information calculation module for acquiring the satellite signals from the first antenna and calculating first position information based on the satellite signals; a second positioning unit including a second antenna that receives the satellite signal from the positioning satellite and a second position information calculation module that acquires the satellite signal from the second antenna and calculates second position information based on the satellite signal, or a second positioning unit that includes the second antenna and is installed apart from the first positioning unit; a communication device; A mobile body equipped with The communication device acquiring the first position information from the first positioning unit through digital communication; acquiring the second location information from the second positioning unit through digital communication, or acquiring the satellite signal received by the second antenna, as second location-related information; calculating orientation information based on the first location information and the second location-related information; Mobile object.

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