Positioning system, receiver, and positioning method

Abstract

To achieve high-precision positioning with a simple configuration. [Solution] A positioning system in which a receiver and a server communicate, wherein the receiver comprises a receiver positioning unit that calculates the receiver position based on received satellite signals and a positioning control unit that gives calculation instructions to the receiver positioning unit, the server comprises a receiver data storage unit that stores satellite signals received by the receiver as receiver data, a server positioning unit that calculates the server position, which is a position determined on the server side based on the receiver data, a learning unit that calculates the visible range of positioning satellites corresponding to the position of the receiver based on a plurality of server positioning positions, and a visible range storage unit that stores the visible range in association with the position of the receiver, the positioning control unit specifies the visible range corresponding to the position of the receiver and outputs calculation instructions to the receiver positioning unit.

Description

Technical Field

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

Background Art

[0002] When moving outdoors, the Global Navigation Satellite System (GNNS) is a useful means for position estimation. When there are obstacles in the vicinity, the GNNS may cause instability in the positioning result. As a countermeasure, there is a technique described in International Publication No. 2017 / 010230 (Patent Document 1). This publication states that "the navigation satellite signal receiving device includes a satellite antenna, a satellite orbit information collecting unit that collects the orbit information of navigation satellites, a surrounding environment space information collecting unit that collects the space information of the surrounding environment of the installation position of the satellite antenna, a position information collecting unit that collects the position information of the installation position of the satellite antenna, a determination process for determining whether the navigation satellite related to the received satellite signal is in a state where it can be directly seen from the installation position of the satellite antenna or a state where it cannot be directly seen, and a signal correction unit that performs correction processing on the satellite signal from the navigation satellite in the NLOS (None Line Of Sight) state assuming that the satellite signal is a reflected wave."

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above prior art, for the determination of whether it is in the NLOS state, shooting by an omnidirectional camera is required. Therefore, the load due to image processing is large, and the positioning accuracy is affected by the image quality. Furthermore, in a configuration using satellite signals to specify the camera position, the accuracy of specifying NLOS decreases.

[0005] Therefore, the present invention aims to achieve high-precision positioning with a simple configuration. [Means for solving the problem]

[0006] To achieve the above objective, one representative positioning system of the present invention is a positioning system in which a receiver and a server communicate, wherein the receiver comprises a receiver positioning unit that calculates the receiver position based on received satellite signals and a positioning control unit that gives calculation instructions to the receiver positioning unit, the server comprises a receiver data storage unit that stores the satellite signals received by the receiver as receiver data, a server positioning unit that calculates the server position, which is a position determined on the server side based on the receiver data, a learning unit that calculates the visible range of the positioning satellite corresponding to the position of the receiver based on a plurality of server positioning positions, and a visible range storage unit that stores the visible range in association with the position of the receiver, and the positioning control unit specifies the visible range corresponding to the position of the receiver and outputs calculation instructions to the receiver positioning unit. Furthermore, one representative receiver of the present invention is a receiver that performs positioning by receiving satellite signals from a positioning satellite, the receiver comprising: a receiver positioning unit that calculates the receiver position based on the received satellite signals; and a positioning control unit that gives calculation instructions to the receiver positioning unit, wherein the receiver positioning unit transmits the received satellite signals to a server, the positioning control unit receives information from the server that specifies the visible range corresponding to the receiver position, outputs calculation instructions to the receiver positioning unit by specifying the visible range, and the receiver positioning unit calculates a new receiver position using the satellite signals present in the specified visible range. Furthermore, one representative positioning method of the present invention is a positioning method using a positioning system in which a receiver and a server communicate, characterized in that the method includes the steps of: the receiver calculating a receiver position based on a received satellite signal; the receiver transmitting the received satellite signal to the server as receiver data; the server calculating a server position based on the receiver data, which is a position determined on the server side; the server calculating the visible range of positioning satellites corresponding to the receiver's position based on a plurality of server positioning positions; and the receiver calculating a new receiver position using satellite signals that are in the visible range corresponding to the receiver's position. [Effects of the Invention]

[0007] According to the present invention, high-precision positioning can be achieved with a simple configuration. Other problems, configurations, and effects will be clarified by the following description of the embodiments. [Brief explanation of the drawing]

[0008] [Figure 1] Configuration diagram of the positioning system in Example 1 [Figure 2] Diagram illustrating the connection between Server 10 and Receiver 20. [Figure 3] Diagram illustrating the satellite configuration [Figure 4] Diagram illustrating satellite signals and mobile information. [Figure 5] Diagram illustrating the visible range management data stored in the visible range storage unit. [Figure 6] Flowchart showing the processing steps for positioning. [Figure 7] A flowchart illustrating the processing steps for distribution within the visible range. [Figure 8] A flowchart illustrating the processing steps for learning the visible range. [Modes for carrying out the invention]

[0009] The following describes an example using drawings. [Examples]

[0010] Figure 1 is a diagram of the positioning system of Embodiment 1. The positioning system shown in Figure 1 comprises a server 10 and a receiver 20. The receiver 20 is mounted on a vehicle, which is a moving object. Inside the receiver 20 are a receiver positioning unit 21, a positioning control unit 22, and a mobile object information collection unit 23. The server 10 comprises a receiver data storage unit 11, a server positioning unit 12, a learning unit 13, a visible range storage unit 14, and a local correction information distribution unit 15.

[0011] The receiver positioning unit 21 receives and decodes satellite signals from GNSS positioning satellites. The receiver positioning unit 21 performs positioning processing to calculate the position of the receiver 20 based on the received satellite signals. For convenience, the positioning result by the receiver positioning unit 21 is called the receiver positioning position. The receiver positioning position is calculated using a highly real-time algorithm, for example, for use in vehicle movement control. In other words, an algorithm with a short processing time is adopted rather than an algorithm with high accuracy and a long processing time. The receiver positioning unit 21 performs the calculation of the receiver positioning position when it receives a calculation instruction from the positioning control unit 22. If the receiver positioning unit 21 has received a specification of a visible range from the positioning control unit 22, it calculates the receiver positioning position using satellite signals present in the specified visible range. The receiver positioning unit 21 outputs the receiver positioning position as the positioning result. The receiver positioning unit 21 also transmits the received satellite signals and the receiver positioning position to the server 10.

[0012] The positioning control unit 22 is a processing unit that issues calculation instructions to the receiver positioning unit 21. When the positioning control unit 22 receives a visible range from the server 10, it outputs a calculation instruction to the receiver positioning unit 21, specifying the received visible range. As will be described in detail later, the visible range is set for each cell that divides the map data, and the positioning control unit 22 receives the visible range corresponding to the cell that includes the position of the receiver 20.

[0013] The mobile information collection unit 23 collects information regarding the movement of a mobile device equipped with the receiver 20 as mobile information. This mobile information may include whether the vehicle is stationary or in motion, measurement data from on-board sensors, etc. The mobile information collection unit 23 transmits the mobile information to the server 10.

[0014] The receiver data storage unit 11 of the server 10 stores satellite signals received from the receiver 20 as receiver data. The receiver data storage unit 11 also stores mobile object information received from the receiver 20.

[0015] The server positioning unit 12 performs positioning processing to calculate the position of the receiver 20 based on the receiver data. For convenience, the positioning result obtained by the server positioning unit 12 is referred to as the server positioning position. The server positioning position is calculated to be more accurate than the receiver positioning position. For example, an algorithm that is highly accurate and has a long processing time is used to determine the server positioning position, because real-time accuracy is not required for the server positioning position. Alternatively, for example, the server positioning position may be determined with high accuracy by using receiver data from multiple receivers 20 or receiver data acquired multiple times by the same receiver 20. For example, the accuracy of the server positioning position can be evaluated depending on whether the changes in receiver data from the same receiver 20 are appropriate as vehicle movement. In this case, the server positioning unit 12 can also compare the changes in the server positioning position with the vehicle's movement state using moving object information.

[0016] The learning unit 13 calculates the visible range of positioning satellites according to the position of the receiver 20 based on a plurality of server positioning positions. Specifically, the learning unit 13 first calculates the measurement error of the satellite signal based on the server positioning position and the inter-satellite distance calculated from the receiver data. The learning unit 13 determines whether the positioning satellite is a NLOS (None Line Of Sight) satellite or a LOS (Line Of Sight) satellite based on the measurement error. The learning unit 13 obtains the frequency distributions of NLOS satellites and LOS satellites, and sets the range where the probability of being a NLOS satellite is less than the threshold value as the visible range. The learning unit 13 calculates the visible range for each cell obtained by dividing the map data, associates the cell with the visible range, and stores them in the visible range storage unit 14.

[0017] The visible range storage unit 14 stores the visible range in association with the position of the receiver. Specifically, the visible range storage unit 14 associates NLOS satellite data, LOS satellite data, and the visible range for each cell obtained by dividing the map data. The NLOS satellite data is a list of satellites that cannot be directly seen from the position of the corresponding cell. The LOS satellite data is a list of satellites that can be directly seen from the position of the corresponding cell. The visible range is obtained from the NLOS satellite data and LOS satellite data of the corresponding cell, and shows the range where directly visible satellites are distributed as a range on the celestial sphere.

[0018] The local correction information distribution unit 15 receives the receiver positioning position from the receiver 20, and transmits the visible range associated with the cell containing the receiver positioning position to the receiver 20. The visible range transmitted by the local correction information distribution unit 15 is used by the positioning control unit 22 of the receiver 20 when calculating the next receiver positioning position.

[0019] Figure 2 is an explanatory diagram of the connection between the server 10 and the receiver 20. The server 10 can connect wirelessly to multiple receivers 20 (receivers 20_1 to 20_3, etc.). The server 10 stores receiver data received from multiple receivers 20, determines the server positioning position from the numerous stored receiver data, and evaluates the distribution of NLOS and LOS satellites to obtain a visible range corresponding to the position. By providing this visible range to the receivers 20, the receivers 20 can achieve high-precision positioning with a simple configuration by using positioning satellites within the visible range.

[0020] Figure 3 is an explanatory diagram of the satellite arrangement. Figure 3(a) shows the arrangement of receiving satellites in the celestial sphere. These receiving satellites include NLOS satellites and LOS satellites. Figure 3(b) shows the visible range in the celestial sphere. By using this visible range, NLOS satellites and LOS satellites can be distinguished, as shown in Figure 3. The receiver positioning unit 21 of the receiver 20 uses the arrangement of receiving satellites determined from the received satellite signals and the visible range specified by the positioning control unit 22 to calculate the receiver position by excluding the satellite signals of NLOS satellites.

[0021] Figure 4 is an explanatory diagram of satellite signals and mobile object information. The satellite signal received and decoded by the receiver positioning unit 21 includes data such as satellite identification number, detection time, frequency, pseudo-distance, carrier phase, carrier-to-noise ratio (C / N), and Doppler frequency. This data is transmitted to the server 10 as receiver data. The server 10 receives receiver data from multiple receivers 20 and registers it in the receiver data storage unit 11. At this time, the receiver data for each receiver 20 is registered separately.

[0022] The mobile object information collected by the mobile object information collection unit 23 includes the detection time, measurements from an inertial measurement unit (IMU), and displacement values ​​measured by an encoder. The mobile object information is transmitted to the server 10. The server 10 receives the mobile object information from multiple receivers 20 and registers it in the receiver data storage unit 11. At this time, the mobile object information for each receiver 20 is registered separately.

[0023] Figure 5 is an explanatory diagram of the visible range management data stored in the visible range storage unit 14. The visible range management data consists of map data that divides the range in which a vehicle can move into cells, and cell-corresponding data registered in each cell. The cell-corresponding data includes NLOS satellite data, LOS satellite data, NLOS probability threshold range data, LOS probability threshold range data, visible range, etc.

[0024] NLOS satellite data is a list of satellites that cannot be directly seen from the location of the corresponding cell. LOS satellite data is a list of satellites that can be directly seen from the location of the corresponding cell. NLOS and LOS satellite data include items such as receiver ID, satellite identification number, detection time, frequency, azimuth angle, and elevation angle. The learning unit 13 registers satellites it determines to be NLOS satellites in the NLOS satellite data and satellites it determines to be LOS satellites in the LOS satellite data.

[0025] The NLOS probability threshold range data indicates the range in the celestial sphere where the probability of a satellite being identified as an NLOS satellite in the corresponding cell is above the threshold. The learning unit 13 obtains the NLOS probability threshold range data from the NLOS satellite data of the corresponding cell.

[0026] The LOS probability threshold range data indicates the range in the celestial sphere where the probability of a satellite being identified as an LOS satellite in the corresponding cell is above the threshold. The learning unit 13 obtains the LOS probability threshold range data from the LOS satellite data of the corresponding cell.

[0027] The visible range represents the area on the celestial sphere over which satellites that have a direct line of sight to the corresponding cell are distributed. The learning unit 13 calculates the visible range from NLOS probability threshold range data and LOS probability threshold range data.

[0028] If the number of satellites registered in the NLOS satellite data or LOS satellite data for a given cell is insufficient, it is difficult to determine the visible range from the NLOS probability threshold range data or LOS probability threshold range data for that cell. In this case, the learning unit 13 estimates the visible range of the cell in question from the visible ranges of surrounding cells. For example, if the visible ranges have already been generated for the cells adjacent to the left and right of a cell with an insufficient number of satellites, the average of the visible ranges of the left and right cells is used as the visible range of the cell in question. In this way, if there is a second cell in the vicinity of a first cell to which a visible range calculated based on the server positioning position has been associated, and to which a visible range based on the server positioning position cannot be associated, the learning unit 13 can generate a visible range to associate with the second cell from the visible range associated with the first cell.

[0029] Figure 6 is a flowchart showing the processing steps for positioning. The receiver 20 and the server 10 sequentially execute the following steps S101 to S108. Step S101: The GNSS antenna of the receiver positioning unit 21 receives a satellite signal. Then, the process proceeds to step S102.

[0030] Step S102: The receiver positioning unit 21 decodes the satellite signal. Then, the process proceeds to step S103. Step S103: The receiver positioning unit 21 calculates the receiving satellite configuration from the satellite signals. Then, the process proceeds to step S104.

[0031] Step S104: The positioning control unit 22 selects satellites that are within the visible range from the receiving satellite configuration. Then, the process proceeds to step S105. In step S105, the receiver positioning unit 21 performs positioning calculations using the satellites selected by the positioning control unit 22 to calculate the receiver position. Then, the process proceeds to step S106. Step S106: The receiver positioning unit 21 transmits the receiver positioning location to the local correction information distribution unit 15 of the server 10. Then, the process proceeds to step S107.

[0032] In step S107, the local correction information distribution unit 15 transmits the visible range at the receiver positioning location to the positioning control unit 22 from the visible range management data stored in the visible range storage unit 14. The process then proceeds to step S108. The positioning control unit 22 uses the received visible range in step S104 of the next processing step. Step S108 The receiver positioning unit 21 outputs a satellite signal to the outside and transmits it to the receiver data storage unit 11, and the process ends.

[0033] Figure 7 is a flowchart showing the processing procedure for distribution within the visible range. The local correction information distribution unit 15 sequentially executes the following steps S201 to S203. Step S201: The local correction information distribution unit 15 receives the receiver positioning position. Then, the process proceeds to step S202.

[0034] In step S202, the local correction information distribution unit 15 reads the visible range at the receiver positioning location from the visible range management data stored in the visible range storage unit 14. Then, the process proceeds to step S203. Step S203: The local correction information distribution unit 15 transmits the visible range to the positioning control unit 22 and terminates the process.

[0035] Figure 8 is a flowchart showing the processing procedure for learning within the visible range. The learning unit 13 sequentially executes the following steps S301 to S308. Step S301: The receiver positioning unit 21 transmits the decoded satellite signal to the receiver data storage unit 11. Then, the process proceeds to step S302.

[0036] In step S302, the server positioning unit 12 calculates the server position based on the receiver data stored in the receiver data storage unit 11. Then, the process proceeds to step S303. In step S303, the learning unit 13 calculates the measurement error of the satellite signal based on the inter-satellite distance calculated from the server positioning position and satellite position / satellite signal. Then, the process proceeds to step S304. Step S304 The learning unit 13 determines whether the measurement error intensity of the satellite signal is above a threshold. If it is below the threshold, proceed to step S305. If it is above the threshold, proceed to step S307.

[0037] Step S305: The learning unit 13 determines whether the signal strength of the satellite signal is above a threshold. If it is below the threshold, the process ends. If it is above the threshold, the process proceeds to step S306. In step S306, the learning unit 13 registers satellites whose difference between the inter-satellite distance and the pseudo-distance is less than a threshold as LOS satellites in the visible range storage unit 14. Then, the process proceeds to step S308. In step S307, the learning unit 13 registers satellites whose difference between the inter-satellite distance and the pseudo-distance is greater than or equal to a threshold as NLOS satellites in the visible range storage unit 14. Then, the process proceeds to step S308. In step S308, the learning unit 13 calculates and updates the visible range from the NLOS and LOS satellites stored in the visible range storage unit 14, and then terminates the process.

[0038] As described above, the positioning system disclosed in the embodiment is a positioning system in which a receiver 20 and a server 10 communicate with each other. The receiver 20 includes a receiver positioning unit 21 that calculates a receiver position based on received satellite signals, and a positioning control unit 22 that gives calculation instructions to the receiver positioning unit 21. The server 10 includes a receiver data storage unit 11 that stores satellite signals received by the receiver 20 as receiver data, a server positioning unit 12 that calculates a server position based on the receiver data, which is a position determined on the server side, a learning unit 13 that calculates the visible range of positioning satellites corresponding to the receiver's position based on a plurality of server positioning positions, and a visible range storage unit 14 that stores the visible range in association with the receiver's position. The positioning control unit 22 specifies the visible range corresponding to the receiver 20's position and outputs calculation instructions to the receiver positioning unit 21. This configuration and operation allows the positioning system to achieve high-precision positioning with a simple setup. For example, in environments such as urban areas and factories, NLOS satellites are likely to be present. However, by mounting a receiver 20 on a mobile body that repeatedly travels within the same area and transmitting positioning data within the area to a server 10, the position can be calculated with high accuracy from observation data of multiple mobile bodies, and the visible range at a specified location can be generated. The server 10 receives position information from the receiver 20 mounted on the mobile body and transmits the visible range at that location as correction information to the mobile body. By performing positioning using satellites within the received visible range, the mobile body can exclude NLOS satellites, enabling simple and highly accurate positioning. By centralizing the calculations for generating and managing the visible range on server 10, large-scale calculations are not required on the receiver 20 side.

[0039] Furthermore, the learning unit 13 calculates the measurement error of the satellite signal based on the server positioning position and the inter-satellite distance calculated from the receiver data, and determines whether the positioning satellite is an NLOS (None Line Of Sight) satellite or an LOS (Line Of Sight) satellite based on the measurement error, and the visible range storage unit 14 stores the NLOS satellite and the LOS satellite, respectively. The learning unit 13 determines the frequency of the NLOS satellite and the LOS satellite, and defines the visible range as the range in which the probability of an satellite being an NLOS satellite is less than a threshold. With this configuration and operation, the positioning system can accumulate positioning data from multiple servers to determine the visible range, enabling high-precision positioning with a simple receiver 20.

[0040] Furthermore, the visible range is associated with cells that divide the map, and the positioning control unit 22 specifies the visible range corresponding to the cell containing the position of the receiver 20 and outputs a calculation instruction to the receiver positioning unit 21. As an example, if there is a second cell near a first cell to which a visible range calculated based on the server positioning location has been associated, and to which a visible range based on the server positioning location cannot be associated, the learning unit 13 generates a visible range to be associated with the second cell from the visible range associated with the first cell. This configuration and operation allow for easy management of the visible range and enable high-precision positioning with the receiver 20.

[0041] Furthermore, the server positioning unit 12 calculates the server positioning position based on changes in receiver data from the same receiver. As an example, the system further includes a mobile information collection unit 23 that collects mobile information, which is information relating to the movement of a mobile body equipped with the receiver 20, and the server positioning unit 12 further uses the mobile information to calculate the server positioning location. With this configuration and operation, by further utilizing information related to the movement of the moving object, the visible range can be generated with even greater precision, and the positioning accuracy of the receiver 20 is improved.

[0042] Furthermore, the server 10 includes a local correction information distribution unit 15 that receives location information from the receiver 20 and transmits a visible range corresponding to the received location information to the receiver 20. With this configuration and operation, the receiver 20 can receive the visible range corresponding to its own position from the server 10, thereby improving positioning accuracy.

[0043] It should be noted that the present invention is not limited to the embodiments described above, and various modifications are included. For example, the embodiments described above are explained in detail to make the present invention easier to understand, and are not necessarily limited to those having all the configurations described. Furthermore, it is possible to replace or add configurations, not just delete them. For example, in the above embodiment, the local correction information distribution unit 15 of the server 10 receives the receiver positioning position from the receiver 20 and transmits the visible range corresponding to the receiver positioning position to the receiver 20. As another configuration, a portion of the visible range management data may be transmitted to the receiver 20 in advance. Specifically, a visible range map data is transmitted to the receiver 20 that associates a map of the area where the mobile body equipped with the receiver 20 may move with the visible range corresponding to the cells in the map. In this configuration, the receiver 20 refers to the visible range map data based on the receiver positioning position, identifies the visible range, excludes NLOS satellites, and performs positioning again, thereby achieving high-precision positioning. [Explanation of symbols]

[0044] 10: Server, 11: Receiver data storage unit, 12: Server positioning unit, 13: Learning unit, 14: Visible range storage unit, 15: Local correction information distribution unit, 20: Receiver, 21: Receiver positioning unit, 22: Positioning control unit, 23: Mobile object information collection unit

Claims

1. A positioning system in which a receiver and a server communicate with each other, The aforementioned receiver is A receiver positioning unit that calculates the receiver's position based on the received satellite signal, A positioning control unit that issues calculation instructions to the receiver positioning unit, Equipped with, The aforementioned server, The receiver data storage unit stores the satellite signal received by the receiver as receiver data, A server positioning unit calculates a server positioning position, which is the position determined on the server side based on the receiver data, A learning unit that calculates the visible range of positioning satellites corresponding to the receiver's position based on the positioning locations of multiple servers, A visible range storage unit that stores the visible range in association with the position of the receiver, Equipped with, The positioning system is characterized in that the positioning control unit specifies a visible range corresponding to the position of the receiver and outputs a calculation instruction to the receiver positioning unit.

2. A positioning system according to claim 1, The learning unit calculates the measurement error of the satellite signal based on the server positioning position and the inter-satellite distance calculated from the receiver data, and determines the positioning satellite as an NLOS (None Line Of Sight) satellite or an LOS (Line Of Sight) satellite based on the measurement error. The visible range storage unit stores the NLOS satellite and the LOS satellite, respectively. A positioning system characterized by the following features.

3. A positioning system according to claim 2, The positioning system is characterized in that the learning unit determines the frequency of the NLOS satellite and the LOS satellite, and defines the visible range as the range in which the probability of becoming an NLOS satellite is less than a threshold.

4. A positioning system according to claim 1, The aforementioned visible range is associated with the cells that divide the map, The positioning system is characterized in that the positioning control unit specifies a visible range corresponding to a cell including the position of the receiver and outputs a calculation instruction to the receiver positioning unit.

5. A positioning system according to claim 4, The positioning system is characterized in that, when the learning unit has associated a visible range calculated based on the server positioning position with a second cell, and that second cell has a visible range that cannot be associated based on the server positioning position with a first cell, the learning unit generates a visible range to be associated with the second cell from the visible range associated with the first cell.

6. A positioning system according to claim 1, The positioning system is characterized in that the server positioning unit calculates the server positioning position based on changes in receiver data from the same receiver.

7. A positioning system according to claim 6, The system further includes a mobile information collection unit that collects mobile information, which is information relating to the movement of a mobile body equipped with the aforementioned receiver. The positioning system is characterized in that the server positioning unit further uses the mobile information to calculate the server positioning location.

8. A positioning system according to claim 1, The positioning system is characterized in that the server further comprises a local correction information distribution unit that receives location information from the receiver and transmits a visible range corresponding to the received location information to the receiver.

9. A receiver that receives satellite signals from positioning satellites to determine position, The aforementioned receiver is A receiver positioning unit that calculates the receiver position based on the received satellite signal, A positioning control unit that issues calculation instructions to the receiver positioning unit, Equipped with, The receiver positioning unit transmits the received satellite signal to the server. The positioning control unit receives information from the server that identifies the visible range corresponding to the receiver positioning position, specifies the visible range, and outputs a calculation instruction to the receiver positioning unit. The receiver positioning unit is characterized by calculating a new receiver positioning position using satellite signals present within a specified visible range.

10. A positioning method using a positioning system in which a receiver and a server communicate, The receiver calculates its position based on the received satellite signal. The receiver transmits the received satellite signal to the server as receiver data. The steps include: the server calculates the server positioning position, which is the position determined on the server side based on the receiver data; The steps include: the server calculating the visible range of the positioning satellites corresponding to the receiver's position based on a plurality of server positioning positions; The receiver calculates a new receiver position using satellite signals located within the visible range corresponding to the receiver's position. A positioning method characterized by including the following.

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