Satellite positioning equipment and satellite positioning methods, construction drawing creation support system

Abstract

The quality of satellite positioning operations should be easily judged as good or bad. [Solution] A satellite positioning device 1 for acquiring location information by performing satellite positioning at a civil engineering construction site comprises a receiver 22 for receiving signals from an artificial satellite 7, a communication unit 23 for acquiring correction information and geoid height from a fixed station 8 via a communication line 6, a control unit 3 for controlling the receiver 22 and the communication unit 23, and a monopod 4 grounded at the civil engineering construction site to support the receiver 22, the communication unit 23, and the control unit 3. The control unit 3 includes a positioning program 32 for performing satellite positioning. After performing satellite positioning, the positioning program 32 determines the quality of the satellite positioning work based on the positioning solution calculated based on the signals received by the receiver 22, the stability of the position of the receiver 22 during satellite positioning, whether or not the geoid height has been acquired, and the value of PDOP (step S4).

Description

Technical Field

[0001] The present invention relates to a satellite positioning device, a satellite positioning method, and a construction drawing creation support system.

Background Art

[0002] Conventionally, in civil engineering work aimed at laying buried objects such as gas conduits, satellite positioning using GPS (Global Positioning System) or the like has been performed to obtain position information for specifying the position of the buried object. Regarding systems, devices, and methods for performing satellite positioning, for example, the technology disclosed in Patent Document 1 is known.

[0003] Since satellite positioning devices for performing satellite positioning were expensive, they tended to be used by professionals who specialized in surveying. However, in recent years, due to the advancement of price reduction of satellite positioning devices, those other than professionals (for example, those who perform civil engineering work) have come to use satellite positioning devices.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] To outline the process of civil engineering work, first, the ground at the location where the buried object is to be laid is excavated to form an excavation hole. Then, the buried object is laid in the excavation hole, and the excavation hole is backfilled. During such a process, satellite positioning is generally performed after laying the buried object and before backfilling the excavation hole.

[0006] Once an excavated hole is backfilled, it becomes difficult to obtain location information again through satellite positioning. Therefore, accurate satellite positioning before backfilling is required to avoid the need for further positioning. However, with non-specialized companies increasingly performing satellite positioning, there is a problem in that it is difficult for non-specialized companies to judge the quality of the satellite positioning work.

[0007] The present invention aims to solve the above-mentioned problems and to provide a satellite positioning device, a satellite positioning method, and a construction drawing creation support system that enable easy determination of the quality of satellite positioning work. [Means for solving the problem]

[0008] To solve the above problems, the satellite positioning device of the present invention has the following configuration.

[0009] (1) A satellite positioning device for acquiring location information by performing satellite positioning at a civil engineering construction site, comprising: a receiver for receiving signals from an artificial satellite; a control unit for controlling the receiver; and a support unit grounded at the site and supporting the receiver and the control unit; wherein the control unit comprises a positioning program for performing the satellite positioning; and the positioning program, after performing the satellite positioning, determines the quality of the satellite positioning work based on the work environment in which the satellite positioning work was performed.

[0010] (2) In the satellite positioning device described in (1), it is preferable that the device includes a communication unit for acquiring correction information for known points via a communication line, that the working environment is at least a positioning solution calculated based on the signal received by the receiver and the correction information, and that the positioning program determines the working quality based on whether the positioning solution is a Fixed solution, a Float solution, a DGPS solution, a standalone positioning solution, or a state of "positioning impossible," which means that the positioning solution cannot be calculated.

[0011] (3) In the satellite positioning device described in (2), it is preferable that the positioning program issues improvement information to the user, which is information to encourage the user to improve the quality of work, when the positioning solution is any of the Float solution, the DGPS solution, the standalone positioning solution, or no positioning.

[0012] (4) In the satellite positioning device described in any one of (1) to (3), it is preferable that the working environment is at least the stability of the receiver's position during the satellite positioning, and that the positioning program calculates the stability as the distance between the nth positioning point and the (n-1)th positioning point divided by the sampling time, and determines the working quality based on whether the stability is 0.01 knots or less, greater than 0.01 knots and less than or equal to 0.02 knots, greater than 0.02 knots and less than or equal to 0.03 knots, greater than 0.03 knots and less than or equal to 0.05 knots, or greater than 0.05 knots.

[0013] (5) In the satellite positioning device described in (4), it is preferable that the positioning program issues improvement information to the user, which is information to encourage improvement of the work quality, when the stability is any of the following: a value greater than 0.01 knots and less than or equal to 0.02 knots, a value greater than 0.02 knots and less than or equal to 0.03 knots, a value greater than 0.03 knots and less than or equal to 0.05 knots, or a value greater than 0.05 knots.

[0014] (6) In the satellite positioning device described in any one of (1) to (5), it is preferable that the device is equipped with a communication unit for acquiring geoid height via a communication line, the working environment is at least whether or not the geoid height has been acquired, and if the geoid height has not been acquired, the positioning program issues improvement information to the user, which is information to encourage improvement of the work quality. Geoid height is information provided by the Geospatial Information Authority of Japan, and is information for correcting height data obtained by satellite positioning and calculating elevation.

[0015] (7) In the satellite positioning device described in any one of (1) to (6), it is preferable that the working environment is at least the value of PDOP, and that the positioning program determines the working quality based on whether the value of PDOP is 3 or less, greater than 3 and less than or equal to 6, greater than 6 and less than or equal to 10, or greater than 10.

[0016] (8)(7) In the satellite positioning device described above, it is preferable that the positioning program issues improvement information to the user, which is information to encourage improvement of the work quality, when the value of PDOP is any of the following: a value greater than 3 and less than or equal to 6, a value greater than 6 and less than or equal to 10, or a value greater than 10.

[0017] (9) In the satellite positioning device described in any one of (1) to (8), it is preferable that the positioning program performs a countdown until the satellite positioning is performed.

[0018] In the satellite positioning device described in any one of (10)(1) to (9), it is preferable that the positioning program repeats the satellite positioning until the work quality meets a predetermined standard.

[0019] In the satellite positioning device described in (11)(10), it is preferable that the positioning program terminates the repetition when the repetition has been performed a predetermined number of times.

[0020] (12) In the satellite positioning device described in any one of (1) to (11), it is preferable that the control unit includes a determination program that, when positioning work is performed at a plurality of positioning points in the site, performs satellite positioning and determination of work quality, determines the overall work quality, which is the quality of the positioning work, based on the results of the work quality determination at each of the plurality of positioning points.

[0021] In the satellite positioning device described in (13) and (12), it is preferable that the determination program determines the overall work quality based on the number of the plurality of measurement points, the mutual positional relationship of the plurality of measurement points, and the order in which the satellite positioning of the plurality of measurement points was performed.

[0022] Also, in order to solve the above problems, the satellite positioning method of the present invention has the following configuration.

[0023] In a satellite positioning method for obtaining position information by performing satellite positioning at a site using a satellite positioning device including a receiver for receiving signals from artificial satellites and a support portion that is grounded at a civil engineering work site and supports the receiver, after performing the satellite positioning, a determination of the work quality of the satellite positioning is performed based on the work environment in which the satellite positioning work was performed.

[0024] In the satellite positioning method described in (15) and (14), it is preferable to use a satellite positioning device including a communication unit for obtaining correction information of a known point via a communication line, the work environment is at least a positioning solution calculated based on the signal received by the receiver and the correction information, and the determination of the work quality is performed based on which of the positioning solutions is a Fix solution, a Float solution, a DGPS solution, a single positioning solution, or a non-positioning state meaning that the positioning solution cannot be calculated.

[0025] In the satellite positioning method described in (16) and (15), when the positioning solution is any of the Float solution, the DGPS solution, the single positioning solution, or the non-positioning state, it is preferable to issue improvement information, which is information for prompting a user to improve the work quality.

[0026] (17) In the satellite positioning method according to any one of (14) to (16), the working environment is at least the stability of the position of the receiver during the satellite positioning. The stability is calculated as the value obtained by dividing the distance between the nth measurement point and the (n - 1)th measurement point by the sampling time. Based on whether the stability is a value of 0.01 knot or less, a value exceeding 0.01 knot and being 0.02 knot or less, a value exceeding 0.02 knot and being 0.03 knot or less, a value exceeding 0.03 knot and being 0.05 knot or less, or a value exceeding 0.05 knot, the determination of the working quality is preferably performed.

[0027] (18) In the satellite positioning method according to (17), when the stability is any one of a value exceeding 0.01 knot and being 0.02 knot or less, a value exceeding 0.02 knot and being 0.03 knot or less, a value exceeding 0.03 knot and being 0.05 knot or less, or a value exceeding 0.05 knot, it is preferable to issue improvement information, which is information for prompting the user to improve the working quality.

[0028] (19) In the satellite positioning method according to any one of (14) to (18), a satellite positioning device having a communication unit for obtaining the geoid height via a communication line is used. The working environment is at least whether the geoid height has been obtained. When the geoid height has not been obtained, it is preferable to issue improvement information, which is information for prompting the user to improve the working quality.

[0029] (20) In the satellite positioning method according to any one of (14) to (19), the working environment is at least the value of PDOP. Based on whether the value of PDOP is a value of 3 or less, a value exceeding 3 and being 6 or less, a value exceeding 6 and being 10 or less, or a value exceeding 10, the determination of the working quality is preferably performed.

[0030] In the satellite positioning method described in (21)(20), when the value of PDOP is any of the following: a value greater than 3 and less than or equal to 6, a value greater than 6 and less than or equal to 10, or a value greater than 10, it is preferable to issue improvement information to the user, which is information to encourage improvement of the work quality.

[0031] In the satellite positioning method described in any one of (22)(14) to (21), it is preferable to perform a countdown until the satellite positioning is performed.

[0032] In the satellite positioning method described in any one of (23), (14) to (22), it is preferable to repeat the satellite positioning until the work quality meets a predetermined standard.

[0033] In the satellite positioning method described in (24)(23), it is preferable to terminate the repetition when the repetition has been performed a predetermined number of times.

[0034] In the satellite positioning method described in (25)(14) to (24), when positioning work is performed at multiple positioning points at the site, including satellite positioning and determination of work quality, it is preferable to determine the overall work quality, which is the quality of the positioning work, based on the results of the work quality determination at each of the multiple positioning points.

[0035] In the satellite positioning method described in (26)(25), it is preferable to determine the overall work quality based on the number of the plurality of positioning points, the relative positions of the plurality of positioning points, and the order in which the satellite positioning of the plurality of positioning points was performed.

[0036] Furthermore, in order to solve the above problems, the construction drawing creation support system of the present invention has the following configuration.

[0037] (27) A construction drawing creation support system for creating drawings that show the state of installation of buried objects buried underground by civil engineering works, characterized in that it is equipped with a satellite positioning device for acquiring location information, and the satellite positioning device is the satellite positioning device described in (1). [Effects of the Invention]

[0038] The above-described satellite positioning device, satellite positioning method, or construction drawing creation support system is characterized by the fact that, after performing satellite positioning, the quality of the satellite positioning work is determined based on the work environment in which the satellite positioning work was performed (for example, the positioning solution calculated based on the signal received by the receiver, the stability of the receiver's position during satellite positioning, whether or not the geoid height has been acquired, and the PDOP value), making it possible to easily determine whether the quality of the satellite positioning work is good or bad. [Brief explanation of the drawing]

[0039] [Figure 1] This figure shows the external appearance of the satellite positioning device according to this embodiment. [Figure 2] This is a block diagram showing the configuration of a satellite positioning device according to this embodiment. [Figure 3] This is a flowchart showing the operation of the positioning program. [Figure 4A] This is a subflowchart of the process for determining work quality in Figure 3. [Figure 4B] This is a subflowchart of the process for determining work quality in Figure 3. [Figure 5A] This is a subflowchart of the process for determining whether improvement information is necessary, as shown in Figure 3. [Figure 5B] This is a subflowchart of the process for determining whether improvement information is necessary, as shown in Figure 3. [Figure 6] This is a table showing a list of evaluation criteria. [Figure 7] This is a list of improvement information. [Figure 8] This figure shows an example of screen display on a touch panel. [Figure 9]This flowchart shows the operation of the positioning program in relation to the modified example. [Figure 10] This table summarizes the experimental results used to determine stability. [Figure 11] This is an aerial view of gas pipelines laid through civil engineering works. [Figure 12] This is a configuration block for the construction drawing creation support system. [Modes for carrying out the invention]

[0040] (Regarding satellite positioning equipment) Embodiments of the satellite positioning device of the present invention will be described in detail with reference to the drawings. Figure 1 is a diagram showing the external appearance of the satellite positioning device 1 according to this embodiment. Figure 2 is a block diagram showing the configuration of the satellite positioning device 1 according to this embodiment.

[0041] The satellite positioning device 1 is used, for example, in civil engineering works aimed at laying buried structures such as gas pipelines, to acquire positional information to identify the location of buried structures. As shown in Figure 1, the satellite positioning device 1 mainly consists of a monopod 4 (an example of a support part), a positioning unit 2 supported by the monopod 4, a control unit 3, and a bubble tube 5.

[0042] The positioning unit 2 is equipped with a resin case 21, which houses a receiver 22 and a communication unit 23 (see Figure 2). The receiver 22 is used to receive signals from the artificial satellite 7 when performing satellite positioning.

[0043] The communication unit 23 can communicate with a fixed station 8 (an example of a known point) via a communication line 6 such as the Internet. This allows the satellite positioning device 1 to acquire correction information from the fixed station 8 when performing satellite positioning. This enables the satellite positioning device 1 to perform RTK (Real Time Kinematic) positioning.

[0044] Furthermore, the communication unit 23 can communicate with a server 9 under the management of the Geospatial Information Authority of Japan via a communication line 6 such as the Internet. The server 9 stores geoid height information, and the satellite positioning device 1 can obtain the geoid height for the point where satellite positioning is performed. Geoid height is information provided by the Geospatial Information Authority of Japan and is used to correct height data obtained by satellite positioning and calculate elevation. By performing this correction, "elevation" is output as the positioning result.

[0045] The control unit 3 is a portable terminal such as a tablet PC and is electrically connected to the receiver 22 and the communication unit 23, as shown in Figure 2. The control unit 3 also stores the positioning program 32. In accordance with the operation of the positioning program 32, the control unit 3 controls the receiver 22 and the communication unit 23 to perform satellite positioning and can also determine the quality of the satellite positioning results. Furthermore, the control unit 3 is equipped with a touch panel 31 and can display information on the screen in accordance with the operation of the positioning program 32.

[0046] The monopod 4 is shaped like a rod, with the positioning unit 2 fixed to one end of its longitudinal side. The other end is a ground contact section 41 that is placed on the ground at the construction site. The control unit 3 is also fixed to the monopod 4 below the positioning unit 2 by a holder 33.

[0047] The user can perform satellite positioning by holding the monopod 4 and operating the control unit 3 with the ground contact portion 41 in contact with the ground. This allows the user to obtain positional information of the point where the monopod 4 is placed. When performing satellite positioning, it is desirable to set the monopod 4 as vertically as possible to the ground. If the monopod 4 is tilted when placed on the ground, it will be impossible to obtain accurate positional information of the point where it is placed. In this regard, a bubble level 5 is fixed to the monopod 4, and the user can determine whether the monopod 4 is placed vertically to the ground by visually checking the bubble level 5. Note that other spirit levels, such as a digital spirit level, may be used instead of the bubble level 5.

[0048] (Regarding screen display on touch panels) Next, Figure 8 will be used to explain the screen display on the touch panel 31. Figure 8 is a diagram showing an example of the screen display on the touch panel 31. For example, the top of the touch panel 31 displays "Positioning Date and Time," "Correction Reference Station," and "Number of Satellites" side by side.

[0049] "Positioning date and time" refers to the date and time when satellite positioning was performed. Specifically, the year, month, and day are displayed in the "yyyy / mm / dd" section of the diagram, and the hours, minutes, and seconds are displayed in the "HH:MM:SS" section.

[0050] The term "correction reference station" refers to the eight fixed stations used for satellite positioning, and the number next to it is the unique number of the eight fixed stations used for satellite positioning.

[0051] Furthermore, below "Positioning Date and Time," "Correction Base Station," and "Number of Satellites," a first window 311 named "Positioning Level Details" is displayed. Within this first window 311, four items are displayed vertically: "Positioning Level," "Positioning Status," "Stability," "Altitude Correction," and "Satellite Placement Accuracy." In addition, a sub-window 3111 is displayed to show improvement information, which will be described later.

[0052] "Positioning level" refers to the quality of the satellite positioning operation. The operation quality is determined by the positioning program 32 on a five-level scale (A+, A, B, C, F) from highest to lowest (details of the determination process will be described later), and the determination result is displayed to the right of "Positioning level" (in Figure 8, "A+" is displayed as the determination result). In addition, among the five levels of evaluation, A+ is assigned a green image color, A is assigned a yellow image color, and B, C, and F are assigned red image colors, and the color of the "Positioning level" display frame 3112 is displayed in the above image color according to the determination result. This allows the user to intuitively recognize the determination result of the operation quality. Note that the operation quality determination can be performed with a minimum of two levels of evaluation, and the five-level evaluation as described above is merely an example.

[0053] "Positioning Status" refers to the positioning solution calculated by satellite positioning. One of five positioning solutions is calculated: Fixed, Float, DGPS, Standalone Positioning, or Positioning Not Possible (details below). If a Fixed solution is calculated, "Fix" is displayed to the right of "Positioning Status". If a Float solution is calculated, "Float" is displayed to the right of "Positioning Status". If a DGPS solution is calculated, "DGPS" is displayed to the right of "Positioning Status". If a Standalone Positioning solution is calculated, "Standalone Positioning" is displayed to the right of "Positioning Status". If Positioning Not Possible is calculated, "Positioning Not Possible" is displayed to the right of "Positioning Status" (in Figure 8, "Fix" is displayed as an example).

[0054] "Stability" refers to the speed at which the receiver 22 moves while satellite positioning is being performed. The calculated value is displayed to the right of "Stability" in the display image (in Figure 8, "0.009" is displayed as an example). The unit used here is knots. In this embodiment, knots are mainly used as the unit of speed, but 1 knot can be converted to 1.852 km / h.

[0055] "Altitude correction" refers to the correction applied to altitude data obtained through satellite positioning, based on the geoid height. If geoid height is obtained from server 9, this correction is performed, and "Yes" is displayed to the right of "Altitude Correction," indicating that the correction has been made. On the other hand, if geoid height cannot be obtained from server 9, the correction cannot be performed, and "No" is displayed to the right of "Altitude Correction," indicating that the correction has not been made (in Figure 8, "Yes" is displayed as an example).

[0056] "Satellite alignment accuracy" refers to an index (i.e., PDOP (Positional Degradation of Opportunity)) that indicates the alignment of the artificial satellites used for satellite positioning, calculated during satellite positioning. The calculated value is displayed to the right of "Satellite alignment accuracy" in the displayed image (in Figure 8, "0.69" is displayed as an example).

[0057] Below the first window 311 in the displayed image, the second window 312, named "Positioning Results," and the third window 313, which displays the countdown until satellite positioning (details will be described later), are displayed side by side. The second window 312 displays four items that are output as results of satellite positioning: latitude, longitude, altitude, and antenna height.

[0058] Furthermore, below the second window 312 and the third window 313 in the displayed image, three virtual buttons 314, 315, and 316 are displayed side by side. Virtual button 314 is a virtual button for performing satellite positioning. Virtual button 315 is a virtual button for storing the satellite positioning results in the memory of the control unit 3. Virtual button 316 is a virtual button for canceling the operation the user just performed.

[0059] (Regarding the positioning program) The operation of the positioning program will be explained using Figures 3, 4A, 4B, 5A, and 5B. Figure 3 is a flowchart of the operation of the positioning program. Figures 4A and 4B are subflowcharts of the work quality determination process (step S4) in Figure 3. Figures 5A and 5B are subflowcharts of the need for improvement information determination process (step S5) in Figure 3.

[0060] The positioning program 32 may, for example, start operating automatically when the power to the control unit 3 is turned on, or it may start operating when the user launches an application after the power to the control unit 3 has been turned on.

[0061] When the positioning program 32 starts operating, it first waits until the virtual "Positioning" button 314 (see Figure 8) on the display image of the touch panel 31 is pressed (Step S1: NO). The user presses the virtual button 314 when they determine that the monopod 4 is placed perpendicular to the ground while visually observing the bubble level 5.

[0062] When the virtual button 314 is pressed (Step S1: YES), a countdown timer is issued for the time until satellite positioning is performed (Step S2). Specifically, a 3-second countdown is displayed in the third window 313 (see Figure 8) on the touch panel 31 screen. Along with this countdown, a message is displayed in the third window 313, for example, "Hold the device firmly with both hands to prevent it from shaking." When the virtual button 314 is pressed, the operator is holding the monopod 4 with one hand, so the above message is displayed to encourage the operator to hold the monopod 4 with both hands and to warn the user to prevent the monopod 4 from shaking during satellite positioning. Furthermore, while the countdown is being performed, communication is made with the server 9 to acquire the geoid height.

[0063] After the countdown ends, satellite positioning is performed (step S3). This satellite positioning is performed only once after the countdown ends. The values ​​obtained from satellite positioning are four items: latitude, longitude, altitude, and antenna height, and these items are displayed in the second window 312 of the touch panel 31 (see Figure 8). Note that the number of satellite positioning measurements is not limited to one; multiple measurements may be taken and the average value calculated. Specifically, for example, the rate may be 10Hz and the positioning time 1 second (i.e., 10 positioning measurements in 1 second). The positioning result is then output as the average value of the positions measured during that 1 second. Note that the above rate (10Hz) is merely an example and should be adjusted as appropriate considering the load on the control unit 3 and the amount of movement when adjusting the tilt of the monopod 4. Also, the above positioning time (1 second) is merely an example and should be adjusted as appropriate considering the time the operator can concentrate on fixing the monopod 4 and the time required to adjust the tilt of the monopod 4.

[0064] After performing satellite positioning, the quality of the satellite positioning work is assessed (Step S4). The work quality is assessed using the five-level evaluation described above. Furthermore, the work quality is assessed based on the work environment in which the satellite positioning was performed, and the work environment here refers to four items (assessment items) based on the positioning solution, stability, presence or absence of geoid height, and PDOP. Figure 6 shows a list of the assessment items.

[0065] The positioning solution, one of the evaluation criteria, is the position calculated by satellite positioning. The quality of work is judged based on whether the calculated positioning solution is a Fixed solution, Float solution, DGPS solution, standalone positioning solution, or positioning impossible.

[0066] A Fixed solution is a highly accurate position calculated by RTK positioning. However, if the number of satellites 7 available for positioning is small, if the satellites 7 available for positioning are in a biased direction, if a positioning solution cannot be obtained within a practical calculation time, or if the positioning solution diverges, or if correction information from the fixed station 8 is not available, or if the fixed station 8 is more than 10 km away from the positioning point, RTK positioning cannot be performed, and the calculated positioning solution will be a Float solution, a DGPS solution, a standalone positioning solution, or no positioning possible. A Float solution is a low-accuracy position calculated, for example, when the number of satellites 7 available for positioning is small. A DGPS solution is a position calculated when DGPS positioning is performed, using standalone positioning by both the satellite positioning device 1 and the fixed station 8, and utilizing the position difference of the fixed station 8 as correction information. A standalone positioning solution is a position calculated by performing standalone positioning using only the satellite positioning device 1 when communication with the fixed station 8 is not possible. "Positioning impossible" means that the positioning solution cannot be calculated (the location cannot be determined), for example, when the signal from satellite 7 cannot be received.

[0067] If a fixed solution is calculated, the work quality is set to fall under one of five categories: A+, A, B, or C. The final work quality rating (A+, A, B, or C) is determined based on other evaluation criteria. If the solution is not a fixed solution (e.g., a float solution, a DGPS solution, a standalone positioning solution, or no positioning possible), it is set to fall under one of five categories: F.

[0068] The stability criterion refers to the speed at which the receiver 22 moves. Specifically, it is calculated by dividing the distance between the nth positioning point and the (n-1)th positioning point during satellite positioning by the sampling time (0.1 seconds if the rate is 10Hz). During positioning, the receiver 22 may move due to hand shake, etc., so a lower stability value calculated as described above indicates higher quality of satellite positioning work.

[0069] Specifically, the work quality is determined based on whether the stability is 0.02 knots (0.03704 km / h) or less, greater than 0.02 knots but 0.025 knots (0.0463 km / h) or less, greater than 0.025 knots but 0.04 knots (0.07408 km / h) or less, greater than 0.04 knots but 0.05 knots (0.0926 km / h) or less, or greater than 0.05 knots.

[0070] Specifically, a stability value of 0.02 knots or less corresponds to A+, a value greater than 0.02 knots but less than or equal to 0.025 knots corresponds to A, a value greater than 0.025 knots but less than or equal to 0.04 knots corresponds to B, a value greater than 0.04 knots but less than or equal to 0.05 knots corresponds to C, and a value greater than 0.05 knots corresponds to F (see Figure 6).

[0071] The five stability categories described above are determined based on the sum of the speed of movement of the receiver 22 due to satellite positioning errors (hereinafter referred to as "error speed") and the speed of movement of the receiver 22 due to hand shake, etc. (position deviation) (hereinafter referred to as "position deviation speed").

[0072] Error velocity is a value calculated by dividing the distance between the nth positioning point and the (n-1)th positioning point when satellite positioning is performed with the satellite positioning receiver fixed in place (fixed on a tripod) to prevent positional drift, by the sampling time (0.1 seconds if the rate is 10 Hz) (Experiment 1). In other words, even when the receiver is fixed in place to prevent positional drift, errors in satellite positioning cause variations in positioning points, and this value is calculated by treating this variation as movement of the receiver.

[0073] Positional displacement velocity is the velocity of positional displacement of the receiver 22 during satellite positioning due to factors such as hand shake, strong winds, and operation of the control unit 3. This can be determined by integrating the acceleration values ​​from the accelerometer and inertial measurement unit mounted on the receiver 22 (Experiment 2).

[0074] Figure 10 shows a table summarizing the results of Experiment 1 and Experiment 2 described above. The unit is knots.

[0075] According to Experiment 1, 95% of the positioning points had an error velocity within the range of 0 knots to 0.017 knots, and according to Experiment 2, 95% of the positioning points had a positional displacement velocity within the range of 0 knots to 0.008 knots. In other words, 95% of the positioning points were located within the stability range of 0 knots to 0.025 knots, which is the sum of the error velocity (0 knots to 0.017 knots) and the positional displacement velocity (0 knots to 0.008 knots).

[0076] Of the 95% of positioning points mentioned above, in Experiment 1, positioning points with an error velocity between 0 knots and 0.014 knots were considered ideal positioning points with small errors and hand shake (70% of all positioning points). In Experiment 2, positional displacement velocity between 0 knots and 0.006 knots were considered ideal positioning points. Therefore, the sum of the error velocity (0 knots to 0.014 knots) and the positional displacement velocity (0 knots to 0.006 knots) was determined to correspond to the highest work quality rating of A+ when the stability was between 0 knots and 0.02 knots. The range obtained by subtracting the range corresponding to the A+ rating from the stability range of 0 knots to 0.025 knots, i.e., the range of stability between 0.02 knots and 0.025 knots, was defined as corresponding to A in the 5-level evaluation of work quality.

[0077] Furthermore, Experiment 1 showed that 5% of the positioning points were within the range of error velocity exceeding 0.017 knots but less than or equal to 0.03 knots, and Experiment 2 showed that 5% of the positioning points were within the range of positional displacement velocity exceeding 0.008 knots but less than or equal to 0.02 knots. In other words, 5% of the positioning points were within the range of stability exceeding 0.025 knots but less than or equal to 0.05 knots, which is the sum of the error velocity exceeding 0.017 knots but less than or equal to 0.03 knots and the positional displacement velocity exceeding 0.008 knots but less than or equal to 0.02 knots. The range of stability exceeding 0.025 knots but less than or equal to 0.05 knots was defined as corresponding to B, C, and F in the five-level evaluation of work quality.

[0078] The "presence or absence of geoid height" criterion determines whether or not the geoid height has been obtained from server 9 in step S2 of Figure 3. If the geoid height has been obtained, it is possible to correct the height data obtained by satellite positioning using the geoid height and output the elevation as the positioning result. On the other hand, if the geoid height has not been obtained, such as when communication with server 9 is not possible, the above correction cannot be performed.

[0079] When geoid height has been obtained (corresponding to "Yes" in Figure 6), the work quality is set to be either A+, A, or B. When geoid height has not been obtained (corresponding to "No" in Figure 6), the work quality is set to be C (see Figure 6).

[0080] PDOP, one of the evaluation criteria, is an index calculated during satellite positioning that indicates the arrangement of the 7 artificial satellites used for satellite positioning. The quality of satellite positioning work is judged based on whether the PDOP value falls into one of four categories: 3 or less, greater than 3 and less than or equal to 6, greater than 6 and less than or equal to 10, or greater than 10. These four categories were empirically determined from the relationship between the distribution of positioning points and the PDOP value in Experiments 1 and 2 described above.

[0081] Specifically, PDOP is set to correspond to A+ when it is 3 or less, to A when it is greater than 3 but 6 or less, to B when it is greater than 6 but 10 or less, and to C when it is greater than 10 (see Figure 6).

[0082] The work quality assessment based on the above criteria is set to A+ when all criteria meet the criteria (i.e., the positioning solution is a fixed solution, stability is 0.01 knots or less, geoid height is "present", and PDOP is 3 or less). If there is a criterion that lowers the work quality, the work quality assessment corresponding to that criterion will be output (for example, even if the positioning solution is a fixed solution, geoid height is "present", and PDOP is 3 or less, if the stability is greater than 0.01 knots but 0.02 knots or less, the work quality assessment will be A).

[0083] Specifically, the process of determining work quality (step S4) is carried out according to the flowcharts shown in Figures 4A and 4B.

[0084] First, it is checked whether the positioning solution is a fixed solution (step S11). If the positioning solution is not a fixed solution, that is, if the positioning solution is a float solution, a DGPS solution, a standalone positioning solution, or positioning is impossible (step S11: NO), the work quality is judged as F on a 5-point scale (step S21), and the work quality judgment process (step S4) is terminated. In this case, "Positioning Level: F" is displayed in the first window 311 (see Figure 8) in the image displayed on the touch panel 31. DGPS solutions and standalone positioning solutions are judged as F because the accuracy of DGPS positioning (50cm~5m) and standalone positioning (10~20m) is lower than the accuracy required for civil engineering work (2~3cm).

[0085] If the positioning solution is a fixed solution (step S11: YES), the next step is to check whether the stability is 0.05 knots or less (step S12). If the stability is not 0.05 knots or less, that is, if it is greater than 0.05 knots (step S12: NO), the work quality is judged as F on a 5-point scale (step S21), and the work quality judgment process (step S4) is terminated. In this case, "Positioning Level: F" is displayed in the first window 311 (see Figure 8) in the image displayed on the touch panel 31.

[0086] If the stability is less than or equal to 0.05 knots (Step S12: YES), the next step is to check whether the geoid height has been acquired (Step S13). If the geoid height has not been acquired (Step S13: NO), the work quality is rated as C on a 5-point scale (Step S22), and the work quality assessment process (Step S4) is terminated. Then, "Positioning Level: C" is displayed in the first window 311 (see Figure 8) in the image displayed on the touch panel 31.

[0087] If the geoid height has already been acquired (step S13: YES), the next step is to check whether PDOP is 10 or less (step S14). If PDOP is not 10 or less, that is, if PDOP is greater than 10 (step S14: NO), the work quality is judged as C on a 5-point scale (step S22), and the work quality judgment process (step S4) is terminated. Then, "Positioning level: C" is displayed in the first window 311 of the image displayed on the touch panel 31 (see Figure 8).

[0088] If PDOP is 10 or less (Step S14: YES), the next step is to check whether the stability is 0.03 knots or less (Step S15). If the stability is not 0.03 knots or less, that is, if it is greater than 0.03 knots and 0.05 knots or less (Step S15: NO), the work quality is judged as C on a 5-point scale (Step S22), and the work quality judgment process (Step S4) is terminated. Then, "Positioning Level: C" is displayed in the first window 311 (see Figure 8) in the image displayed on the touch panel 31.

[0089] If the stability is 0.03 knots or less (Step S15: YES), the next step is to check whether the stability is 0.02 knots or less (Step S16). If the stability is not 0.02 knots or less, that is, if it is greater than 0.02 knots and 0.03 knots or less (Step S16: NO), the work quality is rated as B on a 5-point scale (Step S23), and the work quality determination process (Step S4) is terminated. Then, "Positioning Level: B" is displayed in the first window 311 (see Figure 8) in the image displayed on the touch panel 31.

[0090] If the stability is 0.02 knots or less (Step S16: YES), the next step is to check whether PDOP is 6 or less (Step S17). If PDOP is not 6 or less, that is, if PDOP is greater than 6 and 10 or less (Step S17: NO), the work quality is rated as B on a 5-point scale (Step S23), and the work quality determination process (Step S4) is terminated. Then, "Positioning Level: B" is displayed in the first window 311 (see Figure 8) in the image displayed on the touch panel 31.

[0091] If PDOP is 6 or less (Step S17: YES), the next step is to check whether the stability is 0.01 knots or less (Step S18). If the stability is not 0.01 knots or less, that is, if it is greater than 0.01 knots and 0.02 knots or less (Step S18: NO), the work quality is rated as A on a 5-point scale (Step S24), and the work quality determination process (Step S4) is terminated. Then, "Positioning Level: C" is displayed in the first window 311 (see Figure 8) in the image displayed on the touch panel 31.

[0092] If the stability is less than or equal to 0.01 knots (Step S18: YES), the next step is to check whether PDOP is less than or equal to 3 (Step S19). If PDOP is not less than or equal to 3, that is, if PDOP is greater than 3 but less than or equal to 6 (Step S19: NO), the work quality is rated A on a 5-point scale (Step S23), and the work quality assessment (Step S4) is terminated. Then, "Positioning Level: A" is displayed in the first window 311 of the image displayed on the touch panel 31. If PDOP is less than or equal to 3 (Step S19: YES), the work quality is rated A+ on a 5-point scale (Step S20), and the work quality assessment process (Step S4) is terminated. Then, "Positioning Level: A+" is displayed in the first window 311 of the image displayed on the touch panel 31 (see Figure 8).

[0093] Once the work quality assessment (step S4) is complete, the next step is to determine whether improvement information is necessary based on the positioning results (step S5). Improvement information is information provided when the work quality assessment result is anything other than A+, which shows the reasons for the low work quality and how to address them, thereby encouraging the user to improve the work quality of satellite positioning.

[0094] The process of determining whether improvement information is necessary (step S5) is performed by selecting and displaying the necessary messages from the list of improvement information shown in Figure 7, following the flowcharts shown in Figures 5A and 5B, as described below. Figure 7 is a list of improvement information. Furthermore, in the following description, "displaying a message" means displaying the message in the sub-window 3111 located below "Reasons for low positioning level and countermeasures" in the first window 311.

[0095] First, it is checked whether the positioning solution is a float solution (step S31). If the positioning solution is a float solution (step S31: YES), messages No. 1 and No. 8 in the table shown in Figure 7 are displayed from the improvement information (step S38). If the positioning solution is a float solution, it is possible that the positioning unit 2 is not receiving signals from satellite 7 properly, for example, because satellite positioning is being performed in an area with an open sky. For this reason, a message (No. 1 in Figure 7) is displayed to prompt the user to receive signals from satellite 7 in an area with an open sky. This allows the user to improve the quality of the satellite positioning work.

[0096] If the positioning solution is not a float solution (step S31: NO), the system then checks whether the positioning solution is a DGPS solution, a standalone positioning solution, or positioning impossible (step S32). If the positioning solution is a DGPS solution, a standalone positioning solution, or positioning impossible (step S32: YES), the system displays messages No. 2 and No. 8 from the improvement information shown in the table in Figure 7 (step S39). If the positioning solution is a DGPS solution, a standalone positioning solution, or positioning impossible, it is possible that the positioning unit 2 is unable to communicate with the fixed station 8 due to reasons such as poor internet communication quality, and RTK positioning is not being performed. For this reason, a message prompting the user to check the communication status (No. 2 in Figure 7) is displayed. This allows the user to improve the quality of satellite positioning operations.

[0097] If the positioning solution is neither a Float solution (Step S31: NO) nor a DGPS solution, a standalone positioning solution, or no positioning (Step S32: NO), i.e., the positioning solution is a Fix solution, then the next step is to check whether the stability is greater than 0.01 knots and less than or equal to 0.03 knots (Step S33). If the stability is greater than 0.01 knots and less than or equal to 0.03 knots (Step S33: YES), then the improvement information messages No. 3 and No. 8 in the table shown in Figure 7 are displayed (Step S40). If the stability is greater than 0.01 knots and less than or equal to 0.03 knots, there is a possibility that the receiver 22 has shifted position due to hand shake, etc., so a message prompting the user to firmly fix the receiver 22 to prevent positional shift is displayed (No. 3 in Figure 7). This allows the user to improve the quality of satellite positioning work.

[0098] If the stability is not greater than 0.01 knots and less than or equal to 0.03 knots (Step S33: NO), the next step is to check whether the stability is greater than 0.03 knots (Step S34). If the stability is greater than 0.03 knots (Step S34: YES), the improvement information messages No. 4 and No. 8 in the table shown in Figure 7 are displayed (Step S41). If the stability is greater than 0.03 knots, there is a possibility that the receiver 22 has shifted position due to hand shake or the like, so a message (No. 4 in Figure 7) is displayed prompting the user to firmly fix the receiver 22 to prevent positional shift. This allows the user to improve the quality of satellite positioning work.

[0099] If the stability is not greater than 0.03 knots (Step S34: NO), the next step is to check whether the PDOP value is greater than 3 but less than or equal to 6 (Step S35). If the PDOP value is greater than 3 but less than or equal to 6 (Step S35: YES), the improvement information messages No. 5 and No. 8 in the table shown in Figure 7 are displayed (Step S42).

[0100] If the PDOP value is not greater than 3 and less than or equal to 6 (Step S35: NO), then it is checked whether the PDOP value is greater than 6 (Step S36). If the PDOP value is greater than 6 (Step S36: YES), the improvement information messages No. 6 and No. 8 in the table shown in Figure 7 are displayed (Step S43).

[0101] If the PDOP value falls within the range shown in steps S35 and S36, it is possible that the positioning of the satellite 7 used for satellite positioning is negatively affecting the quality of the satellite positioning operation. Since satellite 7 is moving, its positioning depends on the timing of the satellite positioning operation. Therefore, by displaying a message (No. 5 and No. 6 in Figure 7) prompting the user to re-position after some time, the user can improve the quality of the satellite positioning operation.

[0102] If the PDOP value is not greater than 6 (Step S36: NO), the next step is to check whether the geoid height has been acquired (Step S37). If the geoid height has not been acquired (Step S37: NO), the improvement information messages No. 7 and No. 8 in the table shown in Figure 7 are displayed (Step S44). If the geoid height has not been acquired, it is possible that the positioning unit 2 is unable to communicate with the server 9 due to reasons such as poor internet communication quality. For this reason, a message prompting the user to check the communication status (No. 7 in Figure 7) is displayed. This allows the user to improve the quality of satellite positioning operations.

[0103] If geoid height has already been obtained (step S37: YES), the work quality corresponds to A+ on a 5-point scale, so the process of determining whether improvement information is necessary (step S5 in Figure 5) is terminated without displaying improvement information.

[0104] In addition, in all of the above steps S38, S39, S40, S41, S42, S43, and S44, the message No. 8 in the table shown in Figure 7 is displayed. This message is intended to prompt the user to prepare to perform positioning again at a later date if no improvement in work quality is observed even after the user performs positioning again based on the messages No. 1-7. In this embodiment, the message No. 8 is displayed in the sub-window 3111 together with the messages No. 1-7, but it may also be displayed on the display screen at all times.

[0105] After completing the process of determining whether improvement information is necessary (step S5), the date and time of satellite positioning, the satellite positioning results, and the work quality judgment results are recorded (step S6). This recording means storing the information in the memory of the control unit 3. The recording may be performed automatically, or it may be performed when the virtual button 315 in the displayed image is pressed.

[0106] (Regarding variations of the positioning program) The positioning program 32 may operate according to the flowchart shown in Figure 9. Figure 9 is a flowchart showing the operation of the positioning program 32 according to a modified example. Steps S1-S4 in Figure 9 are the same as steps S1-S4 shown in Figure 3, so their explanation is omitted.

[0107] In the modified positioning program 32, once the work quality determination process (step S4) is completed, the next step is to check whether the result of the determination in step S4 was A+ or not (step S51).

[0108] If the result of the assessment is A+ (Step S51: YES), the date and time of the satellite positioning, the satellite positioning result, and the work quality assessment result are recorded (Step S6). This Step S6 is the same process as Step S6 shown in Figure 3.

[0109] If the result of the judgment is not A+, that is, if the result of the judgment is A, B, C, or F (step S51: NO), the satellite positioning is automatically repeated. Specifically, first it is checked whether the satellite positioning has already been repeated 200 times (step S52). If the number of satellite positioning repetitions is less than 200 (step S52: NO), satellite positioning is performed (step S3), and the work quality is judged based on the result (step S4). Then it is checked whether the result of the judgment performed immediately before was A+ (step S51). If the result of the judgment is not A+ (step S51: NO), steps S52, S3-S4 are repeated again, and the satellite positioning is repeated until an A+ result is obtained (step S51: YES), or until the number of repetitions reaches 200 (step S52: NO). The 200 repetitions mentioned above are calculated based on a satellite positioning time of 20 seconds and a rate of 10 Hz (repetitions = positioning time / rate). Therefore, the number of repetitions is not limited to 200 and will be adjusted as appropriate based on the positioning time and rate.

[0110] The quality assessment of work described so far is based on satellite positioning performed at a single positioning point. However, in actual civil engineering construction sites, it is common to perform satellite positioning at multiple positioning points. This will be explained using Figure 11. Figure 11 is an aerial view of a gas pipeline 11 laid by civil engineering work. For example, as shown in Figure 11, if a civil engineering project is carried out to create a rectangular excavation hole 10 in the ground G and lay a gas conduit 11 along the longitudinal direction (left-right direction in the figure) of the excavation hole 10, satellite positioning is performed at multiple positioning points P1-P6 surrounding the excavation hole 10. Of the positioning points P1-P6, positions P1, P3, P4, and P6 are positioning points (called end positioning points) that coincide with the longitudinal ends of the excavation hole 10. In other words, the longitudinal length L11 of the excavation hole 10 and the distance from positioning point P1 to positioning point P3 are the same length, and similarly, the length L11 and the distance from positioning point P4 to positioning point P6 are the same. The distance from positioning point P1 to positioning point P3, and the distance from positioning point P4 to positioning point P6 are called the maximum inter-positioning point distance D11. Furthermore, a positioning point sandwiched between the end positioning points (positioning points P1, P3, P4, P6) is called an intermediate positioning point. That is, positioning point P2, sandwiched between positioning point P1 and positioning point P3, is an intermediate positioning point, and similarly, positioning point P5, sandwiched between positioning point P4 and positioning point P6, is also an intermediate positioning point. Note that the number of positioning points P1-P6 is merely an example, and the number of intermediate positioning points will increase or decrease depending on the longitudinal length L11 of the excavated hole 10.

[0111] As described above, when satellite positioning is performed using multiple positioning points P1-P6, the overall quality of the operation (referred to as the positioning operation) becomes an issue. Therefore, the control unit 3 of the satellite positioning device 1 may store a judgment program capable of determining the overall work quality.

[0112] For example, the judgment program uses "total number of positionings," "number of intermediate positionings," "positioning interval in the longitudinal direction," "positioning interval in the width direction," "positioning order," and "work quality" as judgment items to determine the overall work quality.

[0113] The "Total Number of Positioning Points" criterion determines whether the number of positioning points P1-P6 is appropriate for the area where civil engineering work was performed (L11, the longitudinal length of the excavated hole 10). The appropriate number of positioning points n1 is calculated using the following formula (1).

[0114]

number

[0115] For example, if the length L11 of the excavation hole 10 is 20m, the number of appropriate positioning points n1 will be 6. In this case, as shown in Figure 11, if satellite positioning is performed at 6 positioning points P1-P6, the overall work quality will be judged as passing. Alternatively, if the number of positioning points P1-P6 is greater than the calculated number of appropriate positioning points n1, it will also be judged as passing. On the other hand, if the length L11 of the excavation hole 10 is 30m, the number of appropriate positioning points n1 will be 8. In this case, since 6 positioning points P1-P6 are insufficient, the judgment program will notify the worker to perform satellite positioning at more positioning points by displaying a message on the touch panel 31, etc.

[0116] The "Number of Intermediate Positioning Points" criterion determines whether the number of intermediate positioning points (positioning points P2, P5) is appropriate for the maximum positioning point distance D11. The appropriate number of intermediate positioning points n2 is calculated using the following formula (2).

[0117]

number

[0118] For example, if the length L11 of the excavation hole 10 is 20m, the number of appropriate positioning points n2 will be 2. In this case, as shown in Figure 11, if satellite positioning is performed at two intermediate positioning points (positioning points P2 and P5), the overall work quality will be judged as passing. Alternatively, if the number of intermediate positioning points is greater than the calculated number of appropriate positioning points n2, it will also be judged as passing. On the other hand, if the length L11 of the excavation hole 10 is 30m, the number of appropriate positioning points n2 will be 4. In this case, since there are not enough positioning points with two intermediate positioning points (positioning points P2 and P5), the judgment program will notify the worker to perform satellite positioning at more intermediate positioning points by displaying a message on the touch panel 31.

[0119] The judgment item "positioning interval in the longitudinal direction" is an item that determines whether the distance between the end positioning points (positioning points P1, P3, P4, P6) and the intermediate positioning points (positioning points P2, P5) (for example, distance D12 in the diagram) is an appropriate distance. If there are multiple intermediate positioning points lined up in the longitudinal direction, in addition to distance D12, it is also determined whether the distance between the intermediate positioning points is an appropriate distance. An appropriate distance here means that the intermediate positioning points are located at positions that equally divide the maximum positioning point distance D11. The appropriate distance (D1) is calculated by the following formula (3), and if the distance D12 (or the distance between the intermediate positioning points) falls within the range of the calculated appropriate distance D1 ± 2m, it is judged as passing.

[0120]

number

[0121] In equation (3), n3 is the number of intermediate positioning points where satellite positioning was actually performed. In the example shown in Figure 11, there are two intermediate positioning points, P2 and P5, so n3 = 2. In this case, for example, if the distance between the maximum positioning points D11 is 20m, the appropriate distance D1 is 10m. Therefore, if the distance D12 falls within the range of 10m ± 2m, the overall work quality is judged as passing. On the other hand, if the distance D12 is greater than or less than 10m, it means that the intermediate positioning points do not evenly divide the distance between the maximum positioning points D11. In this case, the judgment program notifies the worker to move the intermediate positioning points to an appropriate position by displaying a message on the touch panel 31, etc.

[0122] The judgment item "positioning interval in the width direction" is an item that determines whether the distance D13 in the width direction (direction perpendicular to the longitudinal direction) between positioning points is an appropriate distance. Here, an appropriate distance means a distance of 40 cm or more added to the width L12 of the excavated hole 10. This is because it is common to set the width dimension D14 from the excavated hole 10 to each positioning point P1-P6 to 20 cm.

[0123] For example, if the width L12 of the excavated hole 10 is 60 cm, the appropriate distance in the width direction between positioning points will be 100 cm or more. Therefore, if the actual distance D13 in the width direction between positioning points is 100 cm or more, the overall work quality will be judged as passing. On the other hand, if the distance D13 is less than 100 cm, or if there are positioning points on only one side in the width direction of the excavated hole 10, the judgment program will notify the worker to set the distance D13 to an appropriate distance by displaying a message on the touch panel 31 or the like.

[0124] The judgment item "positioning order" is an item that determines whether the order in which satellite positioning was performed for each positioning point P1-P6 is appropriate. An appropriate order is, for example, a sequence that surrounds the excavation hole 10, such as positioning points P1, P2, P3, P4, P5, P6 (or vice versa). On the other hand, a sequence that straddles the excavation hole 10, such as positioning points P1, P5, P3..., is not appropriate. The judgment program checks the order in which satellite positioning was performed by comparing the time taken for satellite positioning at each positioning point P1-P6. If the satellite positioning was performed in a sequence that surrounds the excavation hole 10, the overall work quality is judged as passing. On the other hand, if the sequence straddles the excavation hole 10, the program notifies the worker to perform satellite positioning in the appropriate order, for example, by displaying a message on the touch panel 31.

[0125] The evaluation criterion "Work Quality" determines whether the work quality of the satellite positioning performed at each positioning point P1-P6 was A or higher. If the work quality of the satellite positioning at all positioning points P1-P6 is A or higher, it is judged as a pass. On the other hand, if the work quality at even one of the positioning points P1-P6 is B, C, or F, the operator is notified by displaying a message on the touch panel 31 or by other means to ensure that the work quality at all positioning points P1-P6 is A or higher. In addition to whether the work quality of the satellite positioning at all positioning points P1-P6 was A or higher, the evaluation may also be based on the percentage of A+ scores at each positioning point P1-P6. Specifically, if a majority (50% or more) of all positioning points P1-P6 are A+, it is judged as a pass.

[0126] Furthermore, the above-mentioned satellite positioning device 1 can also be used as part of a system (construction drawing creation support system 13) that creates drawings (such as completion drawings) showing the state of buried structures, as shown in Figure 12. Figure 12 is a block diagram showing the configuration of the construction drawing creation support system 13.

[0127] The construction drawing creation support system 13 is connected to the imaging device 14, the satellite positioning device 1, and the communication terminal 20 via a communication line 25 such as the Internet.

[0128] The camera 14 is a digital camera used by workers at a construction site to photograph buried objects (e.g., conduits 11) and their surroundings. The camera 14 transmits the captured digital images to the construction drawing creation support system 13 via the communication line 25.

[0129] The satellite positioning device 1 transmits the location information acquired by satellite positioning, the work quality judgment result, and the overall work quality judgment result to the construction drawing creation support system 13 via the communication line 25.

[0130] The construction drawing creation support system 13 includes a communication unit 15, a registration unit 16, a database 17, a processing unit 18, and a communication unit 19.

[0131] The communication unit 15 receives information transmitted from the imaging device 14 and the satellite positioning device 1. The information received by the communication unit 15 is then registered in the database 17 by the registration unit 16.

[0132] The processing unit 18 generates drawings based on digital images and location information registered in the database 17. The process of generating drawings is described in detail, for example, in Japanese Patent Publication No. 2020-160626. The data formats for the drawings include 3D drawings such as 3D point cloud data, 3D mesh data, and 3D CAD drawings, as well as 2D drawings such as orthophotos and 2D CAD drawings, and vector data that forms the basis of 3D CAD drawings and 2D CAD drawings.

[0133] The communication terminal 20 is a tablet or notebook computer used by on-site workers and is connected to the construction drawing creation support system 13 via a communication line 25. Therefore, the processing unit 18 can transmit information such as generated drawings via the communication unit 19. On-site workers can use the transmitted drawings to perform tasks such as creating daily construction reports on the communication terminal 20.

[0134] The processing unit 18 of the construction drawing creation support system 13 may also be used to determine work quality and overall work quality. In this case, the determination results are transmitted via the communication line 25 to the satellite positioning device 1 or the communication terminal 20.

[0135] As explained above, according to the satellite positioning device 1 of this embodiment, (1) A satellite positioning device 1 for acquiring location information by performing satellite positioning at a civil engineering construction site comprises a receiver 22 for receiving signals from an artificial satellite 7, a control unit 3 for controlling the receiver 22, and a support unit (e.g., monopod 4) that is grounded at the civil engineering construction site and supports the receiver 22 and the control unit 3. The control unit 3 comprises a positioning program 32 for performing satellite positioning. The positioning program 32, after performing satellite positioning, determines the quality of the satellite positioning work based on the work environment in which the satellite positioning work was performed (step S4).

[0136] (2) In the satellite positioning device 1 described in (1), it is preferable that a communication unit 23 is provided for acquiring correction information of known points (e.g., fixed stations 8) via a communication line 6, the working environment is at least a positioning solution calculated based on the signals and correction information received by the receiver 22, and the positioning program 32 makes a determination of the work quality based on whether the positioning solution is a Fixed solution, a Float solution, a DGPS solution, a standalone positioning solution, or a state where positioning is not possible (step S11).

[0137] (3) In the satellite positioning device 1 described in (2), it is preferable that the positioning program 32 issues improvement information to the user to encourage improvement of work quality when the positioning solution is one of the following (step S31: YES, step S32: YES): a float solution, a DGPS solution, a standalone positioning solution, or no positioning.

[0138] (4) In the satellite positioning device 1 described in any one of (1) to (3), the working environment is at least the stability of the position of the receiver 22 during satellite positioning, and the positioning program 32 calculates the stability as the value obtained by dividing the distance between the nth positioning point and the (n-1)th positioning point by the sampling time, and it is preferable to determine the work quality based on whether the stability is a value of 0.01 knot or less, a value greater than 0.01 knot and less than or equal to 0.02 knots, a value greater than 0.02 knots and less than or equal to 0.03 knots, a value greater than 0.03 knots and less than or equal to 0.05 knots, or a value greater than 0.05 knots (steps S12, S15, S16, S18).

[0139] In the satellite positioning device 1 described in (5)(4), the positioning program preferably issues improvement information to the user to encourage improvement of work quality when the stability is any of the following (step S33:YES, step S34:YES): greater than 0.01knot and less than or equal to 0.02knot, greater than 0.02knot and less than or equal to 0.03knot, greater than 0.03knot and less than or equal to 0.05knot, or greater than 0.05knot.

[0140] (6) In the satellite positioning device 1 described in any one of (1) to (5), it is preferable that a communication unit 23 for acquiring geoid height is provided via a communication line 6, the working environment is at least whether or not geoid height has been acquired, and if geoid height has not been acquired (step S37: NO), the positioning program 32 issues improvement information which is information to encourage the user to improve work quality (step S44).

[0141] (7) In the satellite positioning device 1 described in any one of (1) to (6), it is preferable that the working environment is at least the value of PDOP, and that the positioning program 32 determines the work quality based on whether the value of PDOP is 3 or less, greater than 3 and less than or equal to 6, greater than 6 and less than or equal to 10, or greater than 10 (steps S14, S17, S19).

[0142] In the satellite positioning device 1 described in (8)(7), it is preferable that the positioning program 32 issues improvement information to the user, which is information to encourage improvement of work quality, when the value of PDOP is any of the following: a value greater than 3 and less than or equal to 6, a value greater than 6 and less than or equal to 10, or a value greater than 10 (step S35:YES, step S36:YES).

[0143] (9) In the satellite positioning device 1 described in any one of (1) to (8), it is preferable that the positioning program 32 performs a countdown until satellite positioning is performed (step S2).

[0144] In the satellite positioning device 1 described in any one of (10)(1) to (9), it is preferable that the positioning program 32 repeats satellite positioning until the work quality meets a predetermined standard (step S3 in the case of step S51:NO and step S52:NO).

[0145] In the satellite positioning device described in (11)(10), it is preferable that the positioning program 32 terminates the repetition when it has been repeated a predetermined number of times (for example, 200 times) (step S52: YES).

[0146] In the satellite positioning device 1 described in any one of (1)(1) to (11), it is preferable that the control unit 3 includes a determination program that, when positioning work is performed at multiple positioning points P1-P6 in the field, performs a determination of the overall work quality, which is the quality of the positioning work, based on the results of the work quality determination at each of the multiple positioning points P1-P6.

[0147] In the satellite positioning device described in (13)(12), it is preferable that the determination program makes a determination of the overall work quality based on the number of multiple positioning points P1-P6 ("total number of positioning points", "intermediate number of positioning points"), the relative positions of the multiple positioning points P1-P6 ("positioning interval in the longitudinal direction", "positioning interval in the width direction"), and the order in which satellite positioning of the multiple positioning points P1-P6 was performed ("positioning order").

[0148] Furthermore, in order to solve the above problems, the satellite positioning method of the present invention has the following configuration.

[0149] (14) A satellite positioning method for acquiring location information by performing satellite positioning at a construction site using a satellite positioning device 1 which comprises a receiver 22 for receiving signals from an artificial satellite 7 and a support part (e.g., a monopod 4) that is grounded at the construction site of a civil engineering work and supports the receiver 22, characterized in that after performing satellite positioning, the work quality is determined based on the work environment in which the satellite positioning work was performed (step S4).

[0150] In the satellite positioning method described in (15)(14), it is preferable to use a satellite positioning device equipped with a communication unit 23 for acquiring correction information of known points (e.g., fixed stations 8) via a communication line 6, the working environment is at least a positioning solution calculated based on the signals and correction information received by the receiver 22, and the work quality is determined based on whether the positioning solution is a Fixed solution, a Float solution, a DGPS solution, a standalone positioning solution, or a state where positioning is impossible, meaning that a positioning solution cannot be calculated (step S11).

[0151] In the satellite positioning method described in (16)(15), when the positioning solution is one of the following: Float solution, DGPS solution, standalone positioning solution, or no positioning (step S31:YES, step S32:YES), it is preferable to issue improvement information to the user, which is information to encourage improvement of work quality (steps S38, S39).

[0152] In the satellite positioning method described in any one of (17), (14), to (16), it is preferable that the working environment is at least the stability of the position of the receiver 22 during satellite positioning, the stability is calculated as the distance between the nth positioning point and the (n-1)th positioning point divided by the sampling time, and the work quality is determined based on whether the stability is 0.01 knots or less, greater than 0.01 knots and less than or equal to 0.02 knots, greater than 0.02 knots and less than or equal to 0.03 knots, greater than 0.03 knots and less than or equal to 0.05 knots, or greater than 0.05 knots (steps S12, S15, S16, S18).

[0153] In the satellite positioning method described in (18)(17), when the stability is any of the following values: greater than 0.01 knots and less than or equal to 0.02 knots, greater than 0.02 knots and less than or equal to 0.03 knots, greater than 0.03 knots and less than or equal to 0.05 knots, or greater than 0.05 knots (step S33: YES, step S34: YES), it is preferable to issue improvement information to the user, which is information to encourage improvement of work quality (steps S40, S41).

[0154] In the satellite positioning method described in any one of (19), (14), to (18), it is preferable to use a satellite positioning device 1 equipped with a communication unit 23 for acquiring geoid height via a communication line 6, the working environment is at least whether or not geoid height has been acquired, and if geoid height has not been acquired (step S37: NO), improvement information is issued to the user to encourage improvement of work quality (step S44).

[0155] In the satellite positioning method described in any one of (20)(14) to (19), it is preferable that the working environment is at least the value of PDOP, and that the working quality is determined based on whether the value of PDOP is 3 or less, greater than 3 and less than or equal to 6, greater than 6 and less than or equal to 10, or greater than 10 (steps S14, S17, S19).

[0156] In the satellite positioning method described in (21)(20), when the PDOP value is any of the following: greater than 3 and less than or equal to 6, greater than 6 and less than or equal to 10, or greater than 10 (step S35:YES, step S36:YES), it is preferable to issue improvement information to the user, which is information to encourage improvement of work quality (steps S42, S43).

[0157] In the satellite positioning method described in any one of (22)(14) to (21), it is preferable to perform a countdown until satellite positioning is performed (step S2).

[0158] In the satellite positioning method described in any one of (23), (14) to (22), it is preferable to repeat the satellite positioning until the work quality meets a predetermined standard (step S3 in the case of step S51: NO and step S52: NO).

[0159] In the satellite positioning method described in (24)(23), it is preferable to terminate the repetition when the repetition has been performed a predetermined number of times (for example, 200 times) (step S52: YES).

[0160] In the satellite positioning method described in (25)(14) to (24), when positioning work is performed at multiple positioning points P1-P6 at the site, it is preferable to perform an overall work quality determination, which is the quality of the positioning work, based on the results of the work quality determination at each of the multiple positioning points P1-P6.

[0161] In the satellite positioning method described in (26)(25), it is preferable to determine the overall work quality based on the number of multiple positioning points P1-P6 ("total number of positioning points", "intermediate number of positioning points"), the relative positions of the multiple positioning points ("total number of positioning points", "intermediate number of positioning points") ("positioning interval in the longitudinal direction", "positioning interval in the width direction"), and the order in which satellite positioning was performed for the multiple positioning points ("positioning interval in the longitudinal direction", "positioning interval in the width direction") ("positioning order").

[0162] Furthermore, in order to solve the above problems, the construction drawing creation support system 13 of the present invention has the following configuration.

[0163] (27) A construction drawing creation support system 13 for creating drawings that show the state of laying buried objects (e.g., conduits 11) buried underground by civil engineering works, characterized in that it is equipped with a satellite positioning device 1 for acquiring location information, and the satellite positioning device 1 is the satellite positioning device 1 described in (1).

[0164] The above-described satellite positioning device 1, satellite positioning method, or construction drawing creation support system is characterized by the fact that, after performing satellite positioning, the quality of the satellite positioning work is determined based on the work environment in which the satellite positioning work was performed (for example, the positioning solution calculated based on the signal received by the receiver, the stability of the receiver's position during satellite positioning, whether or not the geoid height has been acquired, and the PDOP value), making it possible to easily determine whether the quality of the satellite positioning work is good or bad.

[0165] The above embodiments are merely illustrative and do not limit the present invention in any way. Therefore, the present invention can naturally be improved and modified in various ways without departing from its essence. For example, in this embodiment, gas pipelines are used as an example of buried objects, but buried objects are not limited to these and may include sewer pipes, optical cables, water pipes, etc. Also, regarding the determination item "presence or absence of geoid height," the determination item may be whether or not the height data obtained by satellite positioning has been corrected, or whether or not the elevation has been output as a result of the correction. [Explanation of symbols]

[0166] 1. Satellite positioning equipment 3. Control Unit 4. Monopod (an example of a support structure) 8. Fixed stations (an example of a known location) 10 Communication lines 22 Receivers 23 Communications Department 32 Positioning Programs

Claims

1. In a satellite positioning device used to acquire location information by performing satellite positioning at a civil engineering construction site, A receiver for receiving signals from artificial satellites, A control unit that controls the aforementioned receiver, A support unit grounded at the site and supporting the receiver and the control unit, To be equipped, The control unit includes a positioning program for performing the satellite positioning. The positioning program described above is: After performing the aforementioned satellite positioning, the quality of the satellite positioning work is determined based on the work environment in which the satellite positioning work was performed. A satellite positioning device characterized by the following features.

2. In the satellite positioning device according to claim 1, It is equipped with a communication unit for acquiring correction information for known points via a communication line. The aforementioned working environment is, at a minimum, a positioning solution calculated based on the signal received by the receiver and the correction information. The positioning program determines the work quality based on whether the positioning solution is a Fixed solution, a Float solution, a DGPS solution, a standalone positioning solution, or a state where positioning is impossible, meaning that the positioning solution cannot be calculated. A satellite positioning device characterized by the following features.

3. In the satellite positioning device according to claim 2, The positioning program, when the positioning solution is any of the Float solution, the DGPS solution, the standalone positioning solution, or no positioning possible, issues improvement information to the user to encourage improvement of the work quality. A satellite positioning device characterized by the following features.

4. In the satellite positioning device according to claim 1, The aforementioned working environment is, at a minimum, the stability of the receiver's position during satellite positioning. The positioning program described above is: The stability is calculated as the distance between the nth positioning point and the (n-1)th positioning point divided by the sampling time. The work quality is determined based on whether the stability is 0.01 knots or less, greater than 0.01 knots and less than or equal to 0.02 knots, greater than 0.02 knots and less than or equal to 0.03 knots, greater than 0.03 knots and less than or equal to 0.05 knots, or greater than 0.05 knots. A satellite positioning device characterized by the following features.

5. In the satellite positioning device according to claim 4, The positioning program, when the stability is any of the following values: greater than 0.01 knots and less than or equal to 0.02 knots, greater than 0.02 knots and less than or equal to 0.03 knots, greater than 0.03 knots and less than or equal to 0.05 knots, or greater than 0.05 knots, issues improvement information to the user to encourage improvement of the work quality. A satellite positioning device characterized by the following features.

6. In the satellite positioning device according to claim 1, It is equipped with a communication unit for obtaining geoid height via a communication line. The aforementioned work environment must, at a minimum, have the geoid height already been obtained. The satellite positioning device is characterized in that, if the geoid height has not been acquired, the positioning program issues improvement information to the user, which is information to encourage improvement of the work quality.

7. In the satellite positioning device according to claim 1, The aforementioned working environment must have at least the PDO value. The positioning program determines the work quality based on whether the PDP value is 3 or less, greater than 3 and less than or equal to 6, greater than 6 and less than or equal to 10, or greater than 10. A satellite positioning device characterized by the following features.

8. In the satellite positioning device according to claim 7, The positioning program, when the PDP value is any of the following: greater than 3 and less than or equal to 6, greater than 6 and less than or equal to 10, or greater than 10, issues improvement information to the user, which is information to encourage improvement of the work quality. A satellite positioning device characterized by the following features.

9. In the satellite positioning device according to claim 1, The positioning program performs a countdown until the satellite positioning is performed. A satellite positioning device characterized by the following features.

10. In the satellite positioning device according to claim 1, The positioning program repeats the satellite positioning until the work quality meets a predetermined standard. A satellite positioning device characterized by the following features.

11. In the satellite positioning device according to claim 10, The positioning program terminates the repetition when it has performed the repetition a predetermined number of times. A satellite positioning device characterized by the following features.

12. In the satellite positioning device according to claim 1, The control unit, When positioning work is performed at multiple positioning points in the aforementioned site, including satellite positioning and determination of work quality, The system includes a determination program that determines the overall work quality, which is the quality of the positioning work, based on the results of the work quality determination at each of the plurality of positioning points. A satellite positioning device characterized by the following features.

13. In the satellite positioning device according to claim 12, The aforementioned determination program The number of the aforementioned multiple positioning points, The relative positions of the aforementioned multiple positioning points, The order in which the satellite positioning was performed for the plurality of positioning points, Based on this, the overall work quality is determined. A satellite positioning device characterized by the following features.

14. A receiver for receiving signals from artificial satellites, It is grounded at the civil engineering construction site and has a support part that supports the receiver. Using a satellite positioning device equipped with, In a satellite positioning method for obtaining location information by performing satellite positioning at the aforementioned site, After performing the aforementioned satellite positioning, the quality of the satellite positioning work is determined based on the work environment in which the satellite positioning work was performed. A satellite positioning method characterized by the following.

15. In the satellite positioning method described in claim 14, Using a satellite positioning device equipped with a communication unit for acquiring correction information for known points via a communication line, The aforementioned working environment is, at a minimum, a positioning solution calculated based on the signal received by the receiver and the correction information. The work quality is determined based on whether the positioning solution is a Fixed solution, a Float solution, a DGPS solution, a standalone positioning solution, or a state where positioning is impossible, meaning that the positioning solution cannot be calculated. A satellite positioning method characterized by the following.

16. In the satellite positioning method described in claim 15, When the positioning solution is any of the Float solution, the DGPS solution, the standalone positioning solution, or no positioning possible, improvement information is issued to the user to encourage improvement of the work quality. A satellite positioning method characterized by the following.

17. In the satellite positioning method described in claim 14, The aforementioned working environment is, at a minimum, the stability of the receiver's position during satellite positioning. The stability is calculated as the distance between the nth positioning point and the (n-1)th positioning point divided by the sampling time. The work quality is determined based on whether the stability is 0.01 knots or less, greater than 0.01 knots and less than or equal to 0.02 knots, greater than 0.02 knots and less than or equal to 0.03 knots, greater than 0.03 knots and less than or equal to 0.05 knots, or greater than 0.05 knots. A satellite positioning method characterized by the following.

18. In the satellite positioning method described in claim 17, When the stability is greater than 0.01 knots and less than or equal to 0.02 knots, greater than 0.02 knots and less than or equal to 0.03 knots, greater than 0.03 knots and less than or equal to 0.05 knots, or greater than 0.05 knots, improvement information is issued to the user to encourage improvement of the work quality. A satellite positioning method characterized by the following.

19. In the satellite positioning method described in claim 14, Using a satellite positioning device equipped with a communication unit for acquiring geoid height via a communication line, The aforementioned work environment must, at a minimum, have the geoid height already been obtained. A satellite positioning method characterized by issuing improvement information to the user, which is information to encourage the user to improve the work quality, if the geoid height has not been acquired.

20. In the satellite positioning method described in claim 14, The aforementioned working environment must have at least the PDO value. The work quality is determined based on whether the PDP value is 3 or less, greater than 3 and less than or equal to 6, greater than 6 and less than or equal to 10, or greater than 10. A satellite positioning method characterized by the following.

21. In the satellite positioning method described in claim 20, When the PDP value is any of the following: greater than 3 and less than or equal to 6, greater than 6 and less than or equal to 10, or greater than 10, improvement information is issued to the user to encourage improvement of the work quality. A satellite positioning method characterized by the following.

22. In the satellite positioning method described in claim 14, To count down the time until the aforementioned satellite positioning is performed. A satellite positioning method characterized by the following.

23. In the satellite positioning method described in claim 14, The satellite positioning process is repeated until the work quality meets the predetermined standard. A satellite positioning method characterized by the following.

24. In the satellite positioning method described in claim 23, When the above repetition has been performed a predetermined number of times, the repetition is terminated. A satellite positioning method characterized by the following.

25. In the satellite positioning method described in claim 14, When positioning work is performed at multiple positioning points in the aforementioned site, including satellite positioning and determination of work quality, Based on the results of the work quality determination at each of the aforementioned multiple positioning points, the overall work quality, which is the quality of the positioning work, is determined. A satellite positioning method characterized by the following.

26. In the satellite positioning method described in claim 25, The number of the aforementioned multiple positioning points, The relative positions of the aforementioned multiple positioning points, The order in which the satellite positioning was performed for the plurality of positioning points, Based on this, the overall work quality is determined. A satellite positioning method characterized by the following.

27. In a construction drawing creation support system for creating drawings that show the laying state of buried objects installed underground by civil engineering works, Equipped with satellite positioning equipment for acquiring location information, The satellite positioning device is the satellite positioning device described in claim 1. A construction drawing creation support system characterized by the following features.

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