Route determination system, route determination method, and system program

Abstract

To enhance usability in route setting targeting at a mobile body.SOLUTION: A route determination system 1 includes: an arithmetic device 100; a terminal device 10 serving as a route reference of the mobile body 60; and a determination device 200. The arithmetic device 100 comprises: a reception unit which receives data transmitted from a first artificial satellite; a generation unit which generates correction data for correcting schematic position information of the terminal device on the basis of the data; and a transmission unit which transmits a list which is a collection of correction information per first artificial satellite to the terminal device via a second artificial satellite. The terminal device 10 comprises: an acquisition unit which acquires the list; a selection unit which selects, from the list, correction information generated from the data which can be detected from the position of an own device and transmitted by the first artificial satellite; and a calculation unit which calculates the position information of the own device on the basis of the selected correction information. The determination device 200 includes a determination unit which determines a moving route of the mobile body on the basis of the calculated position information.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a route determination system, a route determination method, and a system program. [Background technology]

[0002] In recent years, the need for highly accurate positioning has been increasing.

[0003] For example, Patent Document 1 proposes a so-called automobile navigation support technology that searches for a route that meets a user's conditions based on position information acquired by RTK (Real Time Kinematic) and automatically drives a moving body (an automobile) along the searched route. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-190975 A Summary of the Invention [Problem to be solved by the invention]

[0005] There is a demand for improved usability in route planning for mobile devices. [Means for solving the problem]

[0006] The determination system according to the present application is a route determination system including a calculation device, a terminal device that serves as a reference for the route of a moving body, and the determination device, wherein the calculation device has a receiving unit that receives data transmitted by a first artificial satellite, a generating unit that generates correction information for each artificial satellite that transmitted the first data, based on the data transmitted by the first artificial satellite, and a transmitting unit that transmits a list of the correction information generated for each of the first artificial satellites to the terminal device via one of the second artificial satellites, the terminal device having an acquisition unit that acquires the list, a selection unit that selects the correction information generated from the data transmitted by the first artificial satellite that can be detected from the position of the terminal device from among the correction information included in the list, and a calculation unit that calculates the position information of the terminal device based on the correction information selected by the selection unit, and the determination device has a determination unit that determines the movement route of the moving body based on the position information calculated by the calculation unit. Effect of the Invention

[0007] According to one aspect of the embodiment, for example, it is possible to provide an effect of improving usability in route setting for a moving object. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of a route determination system according to an embodiment. [Diagram 2] FIG. 2 is a diagram (1) showing an overall view of the route determination process according to the embodiment. [Diagram 3] FIG. 3 is a diagram (2) showing an overall view of the route determination process according to the embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of the configuration of a terminal device according to the embodiment. [Diagram 5] FIG. 5 is a diagram illustrating an example of the configuration of a calculation device according to the embodiment. [Figure 6]FIG. 6 is a diagram illustrating an example of the configuration of a determination device according to the embodiment. [Figure 7] FIG. 7 is a diagram illustrating an example of the configuration of a mobile device according to the embodiment. [Figure 8] FIG. 8 is a diagram (1) showing an example of the route determination process according to the first embodiment. [Figure 9] FIG. 9 is a diagram (2) showing an example of the route determination process according to the first embodiment. [Figure 10] FIG. 10 is a diagram (1) showing an example of a route determination process according to the second embodiment. [Figure 11] FIG. 11 is a diagram (2) showing an example of the route determination process according to the second embodiment. [Figure 12] FIG. 12 is a diagram (3) showing an example of the route determination process according to the second embodiment. [Figure 13] FIG. 13 is a diagram (4) showing an example of the route determination process according to the second embodiment. [Figure 14] FIG. 14 is a diagram (5) showing an example of the route determination process according to the second embodiment. [Figure 15] FIG. 15 is a diagram (6) showing an example of the route determination process according to the second embodiment. [Figure 16] FIG. 16 is a diagram (7) showing an example of the route determination process according to the second embodiment. [Figure 17] FIG. 17 is a diagram (8) showing an example of the route determination process according to the second embodiment. [Figure 18] FIG. 18 is a diagram (9) showing an example of the route determination process according to the second embodiment. [Figure 19] FIG. 19 is a diagram (10) showing an example of the route determination process according to the second embodiment. [Figure 20] FIG. 20 is a hardware configuration diagram illustrating an example of a computer that realizes the functions of the determination device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, one mode (hereinafter referred to as "embodiment") for implementing the route determination system, route determination method, and system program according to the present application will be described with reference to the drawings as appropriate. Note that the route determination system, route determination method, and system program according to the present application are not limited to this embodiment. Furthermore, in the following embodiment, the same components are given the same reference numerals, and duplicated explanations will be omitted. Furthermore, in the following explanation, obtaining location information by calculation or the like may be referred to as "positioning."

[0010] (Overview common to all embodiments) 1. Introduction For example, there are many fields where solutions and services using location information are expected for various mobile objects such as drones, construction machinery, agricultural machinery, automobiles, ships, and aircraft. For example, drones are being used not only for aerial photography but also for industrial and private applications such as inspection of roofs, walls, solar panels, power lines, etc. Drones are also being used by police and fire departments for disaster relief and search and rescue activities.

[0011] Until now, GNSS (or GPS) positioning has been the mainstream method for determining the position of moving objects. However, the location information obtained by GNSS (Global Navigation Satellite System) may have an error of several meters compared to the actual location information. In this case, various risks may increase due to the error in the location information.

[0012] For example, in the case of a ship sailing on the ocean, errors in position information can prevent proper navigation and cause operational control problems when docking. For example, in the case of an autonomous vehicle, errors in position information can cause the vehicle to deviate from its designated route, increasing the risk of an accident. For example, in the case of a drone, errors in position information can cause the vehicle to collide with walls or power lines, resulting in damage to property and increasing the danger to residents.

[0013] Therefore, the use of the RTK (Real Time Kinematic) method is becoming more widespread as a new positioning technology that can achieve more accurate positioning. In the RTK method, correction information is generated in real time based on satellite data received by a base station fixed on the ground, and the device performing the positioning calculates its own position information based on this generated correction information. In addition, the RTK method has the advantage of an error of only a few centimeters, making it effective in fields that require highly accurate positioning (e.g. surveying, civil engineering, agriculture, construction, etc.).

[0014] On the other hand, the RTK system has disadvantages such as the need to install many reference stations, which results in high operational costs.

[0015] Here, there is the PPP (Precise Point Positioning) method, which is a positioning technology that overcomes the disadvantages of the RTK method. The PPP method has the advantage that it does not require a reference station and can be used in places where Internet communication is not possible. In addition, while the RTK method has a relatively narrow coverage area, the PPP method can cover a wide area only when satellite reception is possible, and is therefore considered effective in fields such as ships, oceans, aviation, and meteorology. On the other hand, the PPP method has the disadvantage of having a larger error compared to the RTK method.

[0016] As such, RTK and PPP systems have their advantages and disadvantages, and it is necessary to choose which one to use depending on the field of application. However, as mentioned above, RTK systems are highly accurate but expensive, and PPP systems have concerns about accuracy compared to RTK systems, so it is difficult to simply choose which to use.

[0017] Therefore, the PPP-RTK method has been attracting attention as a positioning technology that combines the ideas of the PPP method and the RTK method. In the PPP-RTK method, for example, the device performing positioning acquires correction information from the server at any time according to the movement of the moving object, and corrects errors using the acquired correction information. In this way, the PPP-RTK method has the advantage of reducing the amount of communication over the Internet because one-way communication is performed from the server to the device. In addition, the PPP-RTK method requires a much smaller number of reference stations than the RTK method, so it has the advantage of reducing costs.

[0018] For these reasons, the PPP-RTK method also has the advantage of being applicable to a wide range of moving objects, such as ships sailing through oceanic regions where communications other than satellite communications are unstable, automobiles driving in depopulated areas where communications other than satellite communications are unstable, and aircraft (e.g. drones) flying between remote islands where communications other than satellite communications are unstable.

[0019] In view of the above, in this embodiment, we focus on the PPP method and the PPP-RTK method, which can eliminate the disadvantages of the RTK method, and propose a determination device, a route determination system, a route determination method, and a system program that apply these positioning technologies. Note that, as described below, it should be noted in advance that the determination device, the route determination system, the route determination method, and the system program according to the embodiment are not a simple combination of the conventional PPP method and the conventional RTK method.

[0020] Specifically, the determination device according to the embodiment is a determination device that communicates with a terminal device that is a reference for the route of a moving object. The terminal device acquires correction information generated based on data received from a satellite, and calculates position information of the terminal device based on the acquired correction information. Meanwhile, the determination device determines the moving route of the moving object based on the position information calculated by the terminal device.

[0021] In the following, the route determination process according to the embodiment will be described separately as a first embodiment and a second embodiment. In the first embodiment, the route determination process for a ship and the route determination process for an autonomous vehicle will be described as scenes to which the determination device, the route determination system, the route determination method, and the system program are applied. Meanwhile, in the second embodiment, the route determination process for a drone will be described.

[0022] [2. About the route determination system] Prior to describing the route determination process according to the embodiment, a route determination system according to the embodiment will be described first. Fig. 1 is a diagram showing an example of the route determination system according to the embodiment. Fig. 1 shows a route determination system 1 as an example of the route determination system according to the embodiment.

[0023] 1, the route determination system 1 may include a terminal device 10-x, a reference station 30, a mobile object 60, a calculation device 100, and a determination device 200. The terminal device 10-x, the reference station 30, the mobile object 60, the calculation device 100, and the determination device 200 may be communicatively connected via a network N by wire or wirelessly.

[0024] The terminal device 10-x may be a portable information processing terminal that can be installed at any location that is a reference for the route of the moving object. The terminal device 10-x may be a stationary information processing terminal that is fixedly installed at any location that is a reference for the route of the moving object. The terminal device 10-x may also be mounted on the moving object itself.

[0025] Furthermore, the terminal device 10-x may be owned by a user. Specifically, the terminal device 10-x may be used by a user who has been granted the use authority. Furthermore, the terminal device 10-x may be installed at any location corresponding to the intended use. For example, when a user wants to inspect the exterior wall of a specific floor in a structure (e.g., a building), the user wants to fly a moving body 60 (e.g., a drone) along the exterior wall of this floor. In this case, the user can install the terminal device 10-x at both ends of the building on the ground that correspond to this wall. In this example, the two ends of the building on the ground are examples of any location that serves as a reference for a moving route, and the location where the terminal device 10-x is installed is not limited to this. Furthermore, there are various variations in the installation method, which will be described in detail later.

[0026] Furthermore, the terminal device 10-x may receive a satellite signal. Specifically, the terminal device 10-x may receive a GNSS signal. Furthermore, the terminal device 10-x may be equipped with a positioning module and an antenna for performing PPP positioning. Furthermore, the terminal device 10-x may be equipped with a positioning module and an antenna for performing PPP-RTK positioning. Furthermore, for these reasons, the terminal device 10-x may be equipped with, for example, a GNSS module including a GNSS receiver as a positioning module. Furthermore, the terminal device 10-x may be equipped with a communication module for communicating with the arithmetic device 100 and the determination device 200.

[0027] Furthermore, the terminal device 10-x may perform positioning based on the correction information. Specifically, the terminal device 10-x may receive the correction information distributed from the arithmetic device 100, and may correct the position information of the terminal device 10-x acquired by the satellite signal based on the received correction information.

[0028] Specifically, the terminal device 10-x may correct its own location information by PPP calculation using the correction information. That is, the terminal device 10-x may obtain corrected location information by PPP calculation using the correction information. Furthermore, the terminal device 10-x may be equipped with a program capable of executing the PPP calculation (for example, the system program according to the embodiment). The PPP calculation may be executed by a conventionally known method.

[0029] Furthermore, the terminal device 10-x may correct its own position information by PPP-RTK calculation using the correction information. That is, the terminal device 10-x may acquire corrected position information by PPP-RTK calculation using the correction information. Furthermore, the terminal device 10-x may be equipped with a program capable of executing PPP-RTK calculation (a system program according to an embodiment). The PPP-RTK calculation may be executed by a conventionally known method.

[0030] Hereinafter, when distinguishing between the terminal devices 10-x, any numerical value will be substituted for "x" and the device will be written as terminal device 10-1, terminal device 10-2, etc. Also, the terminal device 10-x may simply be written as terminal device 10.

[0031] The reference station 30 may function as a reference station in the PPP-RTK calculation. That is, the coordinates of the reference station 30 indicating its position may be known. In addition, when there are multiple reference stations 30, the coordinates of each of the multiple reference stations 30 may be known. In the following, such known coordinates of the reference station 30 may be referred to as known coordinates.

[0032] The reference station 30 may also have a receiving function for receiving satellite signals. Specifically, the reference station 30 may have, for example, an antenna or a GNSS module as a GNSS signal receiving function capable of receiving GNSS signals. That is, the reference station 30 may receive GNSS signals. The reference station 30 may also transmit information on known coordinates and information based on the GNSS signal to the arithmetic device 100. The information based on the GNSS signal may include information indicating the satellite that received the GNSS signal, information on the carrier wave, and the like. Specifically, the reference station 30 may transmit various information to the arithmetic device 100 based on, for example, the standards of the Radio Technical Commission For Maritime Services (RTCM).

[0033] The reference station 30 may be installed at any location by any business operator or the like. The reference station 30 may be installed by, for example, a business operator that manages the route determination system 1. The reference station 30 may receive signals from satellites other than the GNSS. For example, the reference station 30 may receive signals from any other satellite such as a Regional Navigation Satellite System (RNSS).

[0034] The mobile body 60 may be a means of transportation that can be used by a user according to the purpose of use. The mobile body 60 may be equipped with a positioning module that performs positioning of the mobile body 60. The mobile body 60 may be equipped with, for example, a terminal device 10-x as a device including a positioning module. That is, the mobile body 60 may obtain corrected position information indicating its own position by PPP calculation using the correction information. The mobile body 60 may obtain corrected position information indicating its own position by PPP-RTK calculation using the correction information. As described above, the PPP calculation and the PPP-RTK calculation may be performed by a conventionally known method.

[0035] Also, the moving object 60 and the terminal device 10-x may be separate devices. That is, for example, a user may attach the terminal device 10-x to the moving object 60 and have the attached terminal device 10-x perform positioning of the moving object 60. Also, the moving object 60 and the terminal device 10-x may be an integrated device.

[0036] In addition, the type of the moving body 60 is not limited. For example, when the moving route of the moving body 60 is determined based on the position information acquired by PPP positioning, the moving body 60 is preferably a moving body suitable for PPP positioning, such as a ship. In addition, when the moving route of the moving body 60 is determined based on the position information acquired by PPP-RTK positioning, the moving body 60 is preferably a moving body suitable for PPP-RTK positioning, such as a car.

[0037] Furthermore, whether the movement path of the moving body 60 is determined based on position information acquired by PPP positioning or the movement path of the moving body 60 is determined based on position information acquired by PPP-RTK positioning, the moving body 60 may be, for example, an air vehicle such as a drone.

[0038] Furthermore, the moving body 60 may be equipped with a moving body device capable of automatically controlling itself. For example, the moving body device is a device for automatically controlling the moving body 60 based on route information acquired from the determining device 200. The moving body device can automatically control the moving body 60 so that the moving body 60 moves along a travel route determined by the determining device 200. The moving body device may be regarded as the moving body 60 itself. In other words, the moving body device mounted on the moving body 60 may be rephrased as the moving body device 60.

[0039] The arithmetic device 100 may be a server device that performs various calculations for generating correction information. First, a case will be taken as an example in which a moving path of a moving object 60 is determined based on location information acquired by PPP positioning. In this case, the arithmetic device 100 uses data received from multiple satellites to generate correction information for each satellite to correct an error in positioning by the terminal device 10-x.

[0040] Specifically, the arithmetic device 100 generates correction information for each of a plurality of satellites by generating correction information corresponding to the satellite based on the GNSS signal received from the satellite. For example, the arithmetic device 100 may use a satellite orbit error and a clock error, and generate correction information for each satellite based on the satellite orbit error and the clock error. In addition, the arithmetic device 100 may broadcast a correction information list, which is a list of correction information generated for each satellite, as one correction information to the terminal device 10-x.

[0041] Next, a case will be taken as an example in which the moving path of the moving object 60 is determined based on the position information acquired by PPP-RTK positioning. In this case, the arithmetic device 100 uses data received from multiple satellites to generate correction information for correcting errors in the positioning by the terminal device 10-x for each area.

[0042] Specifically, the arithmetic device 100 performs a process for all areas to generate correction information corresponding to the area based on the GNSS signal received directly from the satellite and the GNSS signal received indirectly from the satellite via the reference station 30. As a result, the arithmetic device 100 obtains correction information for each area.

[0043] For example, the arithmetic device 100 generates correction information corresponding to the area to be processed using information (e.g., satellite orbit error, satellite clock error, ionospheric delay error, tropospheric delay error, satellite signal bias, etc.) estimated based on the GNSS signal received from a satellite and the GNSS signal received by the reference station 30 corresponding to the area to be processed. At this time, the arithmetic device 100 also combines information of the known coordinates of the reference station 30 corresponding to the area to be processed to generate correction information corresponding to the area to be processed. The arithmetic device 100 performs this process for all areas to obtain correction information corresponding to all areas.

[0044] Furthermore, the arithmetic device 100 may broadcast a correction information list, which is a list of correction information generated for each area, as one piece of correction information to the terminal device 10-x.

[0045] The arithmetic device 100 may be equipped with a GNSS module that receives a GNSS signal transmitted from a satellite and performs positioning (for example, PPP positioning, PPP-RTK positioning) based on the received GNSS signal. The GNSS module may be an antenna-integrated type. On the other hand, the GNSS module does not necessarily have to be an antenna-integrated type. In this case, the arithmetic device 100 has an antenna separate from the GNSS module. The antenna may be, for example, a high-performance antenna equivalent to a radar dome or a parabolic antenna. As described above, the reference station 30 also has an antenna, but the antenna of the arithmetic device 100 and the antenna of the reference station may have the same performance or different performance.

[0046] In addition, regardless of whether PPP positioning or PPP-RTK positioning is used, the calculation device 100 transmits the generated correction information to the terminal device 10-x. Note that the information included in the correction information is not limited to the above example. The correction information may include any information necessary for positioning calculation by the terminal device 10-x.

[0047] Here, an example of positioning using correction information will be described. For example, the terminal device 10-x calculates rough position information (approximate position information) of the terminal device itself by positioning based on satellite signals. Then, the terminal device 10-x calculates more accurate position information by correcting the approximate position information with the correction information acquired from the arithmetic device 100. As a result, the terminal device 10-x acquires corrected position information as more accurate position information.

[0048] The determination device 200 may be a server device that performs a route determination process according to the embodiment. The determination device 200 may determine a movement route of the moving object 60 by the route determination process according to the embodiment. Furthermore, the determination device 200 may acquire corrected position information calculated by the terminal device 10-x from the terminal device 10-x. Then, the determination device 200 may determine a movement route of the moving object 60 based on the acquired corrected position information. Note that the route determination process may be realized by executing a system program according to the embodiment in the determination device 200.

[0049] [3. Overall example of route determination process] From here, an example of the overall flow of the route determination process according to the embodiment will be described with reference to Fig. 2 and Fig. 3. Fig. 2 shows a scene in which the movement route of the moving body 60 is determined based on position information acquired by PPP positioning. Fig. 3 shows a scene in which the movement route of the moving body 60 is determined based on position information acquired by PPP-RTK positioning. In Fig. 2 and Fig. 3, common procedures (steps) are denoted by the same symbols. In the example of Fig. 2 and Fig. 3, the route determination process will be described assuming that GNSS signals are used as satellite signals.

[0050] [3-1. Overall example of route determination process (1)] First, the overall flow of the route determination process according to the embodiment will be described with reference to Fig. 2. Fig. 2 is a diagram (1) showing an overall image of the route determination process according to the embodiment. In the example of Fig. 2, the moving body 60 is a ship, and an example is shown in which a movement route for automatically controlling the movement of the ship is determined. Furthermore, when it is desired to automatically control the movement of the ship in this way, the terminal device 10-x may be installed in any location depending on the purpose of the user.

[0051] For example, in the example of Fig. 2, user U1 wants to move a moving object 60 currently stopped on the sea from a current location (starting target) to a destination (finishing target) on a specific coast and have the moving object 60 dock there. In such a case, user U1 may use, for example, two terminal devices 10-x as shown in Fig. 2. Specifically, user U1 may install one terminal device 10-1 (an example of terminal device 10-x) at the destination corresponding to the reaching target, and install the other terminal device 10-2 (an example of terminal device 10-x) at the current location corresponding to the starting target (i.e., the moving object 60 itself).

[0052] In the example of FIG. 2, user U1 may be a person waiting for the moving object 60 to arrive at the shore, or may be a person actually on board the moving object 60 (e.g., the pilot).

[0053] In addition, in Fig. 2, the overall picture of the route determination process is described focusing on the terminal device 10-1 side out of the terminal device 10-1 and the terminal device 10-2, but the same process may be performed for the terminal device 10-2. Also, a more specific example of the process corresponding to Fig. 2 will be described later with reference to Fig. 8.

[0054] First, in the example of Fig. 2, the satellite SAx transmits a GNSS signal. In this case, the calculation device 100 receives the GNSS signal transmitted by the satellite SAx (step S21). Although one satellite SAx is shown in Fig. 2, the calculation device 100 may receive GNSS signals transmitted by multiple satellites SAx.

[0055] Furthermore, when the arithmetic device 100 receives a GNSS signal, the arithmetic device 100 generates correction information for PPP positioning by a calculation algorithm using information based on the received GNSS signal (i.e., satellite data) (step S22). For example, the arithmetic device 100 generates correction information for each of the multiple satellites SAx by generating correction information corresponding to the satellite SAx based on the GNSS signal received from the satellite SAx. For example, the arithmetic device 100 generates correction information corresponding to each satellite SAx that has transmitted a GNSS signal by a calculation algorithm based on the satellite data received from the satellite SAx.

[0056] Here, the satellite data may include various information such as information indicating the satellite that transmitted the GNSS signal, carrier wave information, etc., and the arithmetic device 100 generates correction information for PPP positioning for each satellite SAx using a calculation algorithm based on this satellite data. For example, the arithmetic device 100 may use a satellite orbit error and a clock error to generate correction information for each satellite SAx based on the satellite orbit error, clock error, etc.

[0057] The calculation device 100 also distributes the generated correction information to the satellite SAx (step S23). For example, the calculation device 100 generates a list of correction information by bundling the correction information obtained for each satellite SAx, and distributes the list of generated correction information to the satellite SAx so that the list is broadcast to the terminal device 10-1. For example, the calculation device 100 may distribute the list of correction information to a satellite SAx that exists above the terminal device 10-1, among the multiple satellites SAx.

[0058] The satellite SAx that has received the list of correction information distributes, i.e., broadcasts, this list of correction information to the terminal device 10-1 (step S24). Note that, although an example in which correction information is distributed from the calculation device 100 to the terminal device 10-1 via the satellite SAx is shown in Fig. 2, the list of correction information may be distributed directly from the calculation device 100 to the terminal device 10-1 without passing through the satellite SAx.

[0059] Here, for example, when the terminal device 10-1 is started after installation, it may calculate position information indicating its own position (installed position) by GNSS positioning based on a GNSS signal. The position information may be rough position information (approximate position information) that may indicate a position within a range of several meters around the actual position of the terminal device. Furthermore, the terminal device 10-1 may transmit the calculated approximate position information to the arithmetic device 100. For example, the terminal device 10-1 may periodically calculate the approximate position information, and transmit the approximate position information to the arithmetic device 100 not only the first time after being started, but also multiple times. On the other hand, the terminal device 10-1 may transmit the approximate position information to the arithmetic device 100 only when it is started for the first time after being installed, for example.

[0060] 2, the terminal device 10-1 may continue to receive the correction information distributed from the calculation device 100 via the satellite SAx while calculating the approximate location information. That is, the terminal device 10-1 continues to obtain the correction information generated based on the satellite data of the satellite SAx.

[0061] When the terminal device 10-1 acquires the correction information, it executes a calculation for correcting the position information based on the acquired correction information (step S25). For example, the terminal device 10-1 detects, among the satellites SAx, a satellite SAx moving within a predetermined range in the sky above the terminal device as a satellite SAx to be processed. For example, the terminal device 10-1 can receive a signal from the satellite SAx moving within a predetermined range in the sky, so it may detect the satellite SAx to be processed based on whether or not it has been able to receive a signal. In addition, the terminal device 10-1 selects correction information corresponding to the satellite SAx to be processed from the acquired correction information, that is, from the list of correction information generated for each satellite SAx. Then, the terminal device 10-1 may calculate corrected position information by correcting the approximate position information by PPP calculation using the selected correction information. The position information calculated here is position information with higher accuracy than the approximate position information.

[0062] Subsequently, the terminal device 10-1 transmits the corrected position information to the determining device 200 (step S26). In this case, the determining device 200 acquires the corrected position information from the terminal device 10-1.

[0063] 2, the determining device 200 may store the acquired corrected position information in the storage unit 220. For example, the determining device 200 may store in the storage unit 220 identification information for identifying the terminal device 10-1 and the corrected position information obtained by the PPP calculation by the terminal device 10-1 in association with each other.

[0064] As described above, the terminal device 10-1 may calculate the approximate location information, and the correction information may be continuously transmitted to the terminal device 10-1 by one-way communication from the arithmetic device 100 side. In such a case, the terminal device 10-1 may repeat step S25 in response to the continuous reception of the correction information. Furthermore, the storage unit 220 of the determination device 200 may accumulate the corrected location information obtained each time step S25 is repeated.

[0065] Furthermore, the determining device 200 may acquire definition information that defines a movement route of the moving object 60. Furthermore, the determining device 200 may determine whether or not the definition information has been received. The definition information may include, for example, information indicating a target point (start target) from which the movement of the moving object 60 starts, and information indicating a target point (arrival target) to which the moving object 60 is to arrive.

[0066] For example, the definition information may include information indicating a direction, distance, altitude, angle, etc. with the terminal device 10-1 as a starting point. That is, the definition information may define a starting target and a final target by information such as a direction, distance, altitude, angle, etc. with the terminal device 10-1 as a starting point. As another example, the definition information may include information indicating a direction, distance, altitude, angle, etc. with the terminal device 10-2 as a starting point. That is, the definition information may define a starting target and a final target by information such as a direction, distance, altitude, angle, etc. with the terminal device 10-2 as a starting point.

[0067] The determining device 200 may acquire the definition information, for example, via a user device T capable of inputting the definition information. According to the example of FIG. 2, a user U1 inputs the definition information using the user device T (step S41). Note that an application (hereinafter, referred to as "application AP") for performing various control settings related to the mobile object 60 may be installed in the user device T. In this case, the determining device 200 can acquire the definition information input by the user U1 via the application AP.

[0068] When the determination device 200 acquires the definition information, the determination device 200 executes a route determination process for determining a movement route of the moving object 60 based on the definition information and the corrected position information acquired in step S26 (step S42). For example, in the route determination process, the determination device 200 may calculate a target point that satisfies the definition information based on the definition information and the corrected position information. For example, the determination device 200 may calculate a start target point (start target) where the moving object 60 starts moving and a destination target point (destination target) where the moving object 60 is to arrive based on the definition information and the corrected position information.

[0069] More specifically, the determination device 200 may calculate a relative position based on the corrected position information. For example, the determination device 200 may calculate a relative position that satisfies the definition information as the position of the target point (start target and end target). Then, the determination device 200 may calculate a trajectory along which the moving body 60 moves, with the calculated position as a target, and determine this trajectory as the moving path of the moving body 60. That is, the determination device 200 may calculate the positions of the start target and the end target based on the corrected position information and the definition information, and determine the trajectory along which the moving body 60 moves from the start target to the end target as the moving path. Note that the moving path may include, for example, a trajectory along which the moving body 60 reaches the start target from the current position. In addition, the moving path may include, for example, a trajectory along which the moving body 60 leaves the end target.

[0070] Furthermore, the determination device 200 may calculate the position of the start target based on the latest corrected position information among the corrected position information stored. For example, the determination device 200 may calculate a position that is a relative position based on a position indicated by the latest corrected position information and satisfies the definition information as the position of the start target. Furthermore, the determination device 200 may calculate a position that is a relative position based on a position indicated by the latest corrected position information among the corrected position information stored and satisfies the definition information as the position of the destination. Then, the determination device 200 may determine a trajectory for the moving object 60 to move from the start target to the destination as the moving path of the moving object 60.

[0071] Next, the determination device 200 transmits information indicating the movement route determined in step S42 (route information) to the moving object 60, thereby instructing the moving object 60 to move along the movement route indicated by the route information (step S43).

[0072] The moving object 60 may move based on the route information. For example, when the moving object 60 acquires the route information from the determination device 200, the moving object 60 may automatically control the movement and start moving toward the starting target based on the route information. Furthermore, when the moving object 60 reaches the starting target, the moving object 60 may automatically control the movement and move toward the reaching target according to the route indicated by the route information.

[0073] As described above, the mobile body 60 may be equipped with the terminal device 10-2 as a positioning module and may acquire corrected position information indicating its own position at any time. In this case, the mobile body 60 may move while comparing the current position indicated by the latest corrected position information with the trajectory indicated by the acquired route information. Specifically, the mobile body 60 may move while comparing the current position with the trajectory position and adjusting the current position so as to move along the trajectory. The mobile body 60 may move toward a destination while adjusting the position so as not to deviate from the trajectory position, for example. The mobile body 60 may continuously acquire corrected position information.

[0074] [3-2. Overall example of route determination process (2)] Next, an overall flow of the route determination process according to the embodiment will be described with reference to Fig. 3. Fig. 3 is a diagram (2) showing an overall image of the route determination process according to the embodiment. In the example of Fig. 3, the moving body 60 is an autonomous vehicle, and an example is shown in which a movement route for automatically controlling the movement of the autonomous vehicle is determined. Furthermore, when it is desired to automatically control the movement of the autonomous vehicle in this way, the terminal device 10-x may be installed in any location depending on the purpose of the user.

[0075] For example, in the example of Fig. 3, user U1 wants to move a moving object 60 currently stopped on a specific route from a current location (starting target) to a destination (finishing target) on a specific road. In this case, user U1 may use, for example, two terminal devices 10-x as shown in Fig. 3. Specifically, user U1 may install one terminal device 10-1 (an example of terminal device 10-x) at the destination corresponding to the reaching target, and install the other terminal device 10-2 (an example of terminal device 10-x) at the current location (i.e., moving object 60 itself) corresponding to the starting target.

[0076] In the example of FIG. 3, the user U1 may be a person waiting for the moving object 60 to arrive at the destination, or may be a person actually riding in the moving object 60 (for example, the driver).

[0077] Also, in the example of Fig. 3, the overall picture of the route determination process will be described focusing on the terminal device 10-1 side out of the terminal device 10-1 and the terminal device 10-2, but the same process may be performed for the terminal device 10-2. Also, a more specific example of the process corresponding to Fig. 3 will be described later with reference to Fig. 9.

[0078] Here, while FIG. 2 shows an example in which a travel route is determined using a positioning result by PPP positioning, FIG. 3 shows an example in which a travel route is determined using a positioning result by PPP-RTK positioning. For this reason, the route determination system 1 shown in FIG. 3 further includes a reference station 30 compared to the route determination system shown in FIG. 2. The reference station 30 has its own position at known coordinates (known coordinates). In addition, by including the reference station 30 in this way, processing that is partially different from the example in FIG. 2 is performed.

[0079] According to the example of Fig. 3, the satellite SAx transmits a GNSS signal in the same manner as in Fig. 2. In this case, the calculation device 100 receives the GNSS signal transmitted by the satellite SAx (step S31), and may receive the GNSS signal via two routes (steps S31-1 and S31-2) in this step S31. For example, as shown in Fig. 3, in one route, the calculation device 100 receives the GNSS signal directly from the satellite SAx (step S31-1).

[0080] Although one satellite SAx is shown in FIG. 3, the calculation device 100 may receive GNSS signals transmitted by a plurality of satellites SAx in step S31-1.

[0081] In addition, the calculation device 100 receives the GNSS signal via the reference station 30 via another route (step S31-2). In step S31-2, the reference station 30 receives the GNSS signal from the satellite SAx (step S31-2a). For example, the reference station 30 may be constantly receiving the GNSS signal, and transmits the received GNSS signal to the calculation device 100 (step S31-2b). As a result, the calculation device 100 receives the GNSS signal via the reference station 30.

[0082] Although one satellite SAx is shown in Fig. 3, the reference station 30 may receive GNSS signals transmitted by multiple satellites SAx in step S31-2a. Although one reference station 30 is shown in Fig. 3, in reality, there may be multiple reference stations 30. In this way, when there are multiple reference stations 30, some of the reference stations 30 receive GNSS signals transmitted by one satellite SAx and some of the reference stations 30 receive GNSS signals transmitted by multiple satellites SAx in step S31-2a, depending on their positional relationship.

[0083] Furthermore, when there are multiple reference stations 30, in step S31-2b, each reference station 30 transmits the GNSS signal received by the own device to the calculation device 100. Furthermore, as described above, each reference station 30 has accurate measured coordinates as known coordinates, and therefore, in step S31-2b, each reference station 30 may also transmit information on the known coordinates of the own device to the calculation device 100.

[0084] Furthermore, the reference station 30 may transmit information based on the GNSS signal to the arithmetic device 100 in response to a distribution request from the arithmetic device 100.

[0085] Although both the arithmetic device 100 and the reference station 30 have antennas for receiving GNSS signals, the performance of the antennas may differ between the two. For example, the antenna of the arithmetic device 100 may be a radar dome or a huge parabolic antenna, and the antenna of the reference station 30 may be a GNSS module. In such a case, the information received by each antenna may be different between the two. Therefore, the GNSS signal acquired by the arithmetic device 100 from the satellite SAx via the route of step S31-1 may contain different information from the GNSS signal acquired by the arithmetic device 100 from the reference station 30 via the route of step S31-2. In this way, by acquiring the GNSS signal via two routes, the arithmetic device 100 is able to generate correction information with higher accuracy.

[0086] Returning to the explanation of Fig. 3, the arithmetic device 100 generates correction information for PPP-RTK positioning by a calculation algorithm using information (i.e., satellite data) based on the GNSS signal acquired from the satellite SAx via the route of step S31-1 and the GNSS signal acquired from the reference station 30 via the route of step S31-2 (step S32). For example, the arithmetic device 100 generates correction information corresponding to each area for each predetermined area based on the GNSS signal acquired from the multiple satellites SAx in step S31-1 and the GNSS signal acquired from the multiple reference stations 30 from step S32-2a to step S32-2b.

[0087] For example, the arithmetic device 100 may generate correction information for each predetermined area based on the GNSS signals acquired from a plurality of satellites SAx and the GNSS signals acquired from a plurality of reference stations 30.

[0088] Here, the predetermined area may refer to each of a plurality of areas that are predefined by dividing into blocks based on any method. On the other hand, the predetermined area may refer to each of a plurality of areas that are set based on information on errors such as satellite orbit error, satellite clock error, ionospheric delay error, tropospheric delay error, and satellite signal bias. The predetermined area may be a planar area relative to the earth's surface, or a spatial area having a concept of height relative to this planar area. Such an area may be referred to as an "area according to the embodiment" below.

[0089] Each area according to the embodiment does not necessarily need to have a reference station 30, and if a reference station 30 is present, there is no limit to the number of reference stations 30. That is, among the areas according to the embodiment, there may be an area where no reference station 30 is present, an area where only one reference station 30 is present, and an area where multiple reference stations 30 are present.

[0090] Furthermore, the arithmetic device 100 can generate correction information for each area according to the embodiment by using a calculation algorithm according to the location of the reference station 30 in the area according to the embodiment.

[0091] According to such a calculation algorithm, for example, for an area where no reference station 30 is located, the calculation device 100 can generate correction information for this area by using information corresponding to a reference station 30 located in an area adjacent or close to this area.

[0092] Furthermore, according to such a calculation algorithm, the arithmetic device 100 can generate correction information for an area in which a reference station 30 is located, for example, by using only information corresponding to the reference station 30. On the other hand, the arithmetic device 100 may generate correction information for an area in which a reference station 30 is located, for example, by using information corresponding to the reference station 30 located in an area adjacent or close to the area in addition to information corresponding to the reference station 30 located in the area.

[0093] From here, a description will be given of an example of a process in which correction information is generated by the arithmetic device 100. The arithmetic device 100 generates correction information corresponding to each area according to the embodiment, for each area, in accordance with the above-mentioned calculation algorithm, for example.

[0094] For example, the arithmetic device 100 generates correction information corresponding to each area according to the embodiment, based on the GNSS signals received from the multiple satellites SAx corresponding to the area and the GNSS signals received by the multiple reference stations 30 corresponding to the area. For example, the arithmetic device 100 generates correction information corresponding to the area according to the embodiment, based on information (satellite data) based on the GNSS signals received from the multiple satellites SAx and information (satellite data) based on the GNSS signals received by the multiple reference stations 30.

[0095] Here, the multiple reference stations 30 corresponding to an area may be reference stations 30 identified based on the location status of the reference stations 30 in the area of ​​the embodiment and the location status of the reference stations 30 in areas adjacent to or close to this area.

[0096] In addition, the calculation device 100 may generate correction information for PPP-RTK positioning for each area according to the embodiment by a calculation algorithm using satellite data acquired from multiple satellites SAx corresponding to the area according to the embodiment and satellite data acquired from multiple reference stations 30 corresponding to the area according to the embodiment.

[0097] For example, in the case where four areas AR1, AR2, AR3, and AR4 are set as areas according to the embodiment, the calculation device 100 generates correction information for each of these four areas.

[0098] The arithmetic device 100 also distributes the generated correction information to the satellite SAx (step S33). For example, the arithmetic device 100 generates a list of correction information by bundling the correction information obtained for each area according to the embodiment, and distributes the list of generated correction information to the satellite SAx so that the list is broadcast to the terminal device 10-1. For example, the arithmetic device 100 may distribute the list of correction information to a satellite SAx that exists above the terminal device 10-1, among the multiple satellites SAx.

[0099] The satellite SAx that has received the list of correction information distributes, i.e., broadcasts, this list of correction information to the terminal device 10-1 (step S34). Note that, although an example in which correction information is distributed from the calculation device 100 to the terminal device 10-1 via the satellite SAx is shown in Fig. 3, the list of correction information may be distributed directly from the calculation device 100 to the terminal device 10-1 without passing through the satellite SAx.

[0100] When the terminal device 10-1 acquires the correction information, it executes a calculation for correcting the position information based on the acquired correction information (step S35). For example, the terminal device 10-1 may calculate position information indicating the position of the terminal device itself (installed position) by GNSS positioning based on the GNSS signal. The position information may be rough position information (approximate position information) that can indicate a position within a range of several meters around the actual position of the terminal device itself.

[0101] Then, the terminal device 10-1 selects correction information generated for an area corresponding to the position indicated by the calculated approximate position information from the list of correction information among the areas according to the embodiment. Then, the terminal device 10-1 may calculate corrected position information by correcting the approximate position information by PPP-RTK calculation using the selected correction information. The position information calculated here is position information with higher accuracy than the approximate position information.

[0102] Then, the terminal device 10-1 transmits the corrected position information to the determining device 200 (step S36). In this case, the determining device 200 acquires the corrected position information from the terminal device 10-1. Steps S41 to S43 subsequently performed by the determining device 200 are the same as those in FIG. 2, and therefore the explanation will be simplified.

[0103] Also in the example of FIG. 3, a user U1 inputs definition information into the determination device 200 using a user device T (step S41).

[0104] When the determination device 200 acquires the definition information, the determination device 200 executes a route determination process for determining a movement route of the moving object 60 based on the definition information and the corrected position information acquired in step S36 (step S42). For example, the determination device 200 may calculate a target point that satisfies the definition information based on the definition information and the corrected position information in the route determination process. For example, the determination device 200 may calculate a start target point (start target) where the moving object 60 starts moving and a destination target point (destination target) where the moving object 60 is to arrive based on the definition information and the corrected position information.

[0105] More specifically, the determination device 200 may calculate a relative position based on the corrected position information. For example, the determination device 200 may calculate a relative position that satisfies the definition information as the position of the target point (start target and destination target). Then, the determination device 200 may calculate a trajectory along which the moving body 60 moves, with the calculated position as a target, and determine this trajectory as the moving path of the moving body 60. That is, the determination device 200 may calculate the positions of the start target and the destination target based on the corrected position information and the definition information, and determine the trajectory along which the moving body 60 moves from the start target to the destination target as the moving path.

[0106] Next, the determination device 200 transmits information indicating the movement route determined in step S42 (route information) to the moving object 60, thereby instructing the moving object 60 to move along the movement route indicated by the route information (step S43).

[0107] The moving object 60 may move based on the route information. For example, when the moving object 60 acquires the route information from the determination device 200, the moving object 60 may automatically control the movement and start moving toward the starting target based on the route information. Furthermore, when the moving object 60 reaches the starting target, the moving object 60 may automatically control the movement and move toward the reaching target according to the route indicated by the route information.

[0108] So far, the route determination process utilizing the PPP method (or the PPP-RTK method) has been described with reference to Figures 2 and 3. As described with reference to Figures 2 and 3, the route determination process according to the embodiment uses a dedicated terminal device 10 capable of performing calculations compatible with the PPP method (or the PPP-RTK method).

[0109] As a result, the user can provide accurate position information to the moving body 60 by, for example, installing the terminal device 10-x at an arbitrary location that serves as a reference for the moving route. For example, the user can provide accurate position information to the moving body 60 by defining a destination point or the like with the terminal device 10-x as a starting point. That is, the determination device 200 can determine an optimal moving route based on the corrected position information acquired by the terminal device 10-x.

[0110] For this reason, the route determination process according to the embodiment allows the user to easily set an accurate destination point. In addition, the user can set a route with a high degree of freedom by using the portable terminal device 10-x. Therefore, the route determination process according to the embodiment can improve the usability in route setting.

[0111] 2 and 3, when the PPP method is adopted in the route determination process according to the embodiment, correction information is generated for each satellite SAx on the arithmetic device 100 side, and the generated correction information is transmitted to the terminal device 10-x. As a result, the terminal device 10-x selects correction information generated for the satellite SAx corresponding to the terminal device 10-x (satellite SAx located above the terminal device 10-x) from the correction information for each satellite SAx (list of correction information) acquired from the arithmetic device 100, and corrects the approximate position by PPP calculation using the selected correction information.

[0112] On the other hand, when the PPP-RTK method is adopted, the calculation device 100 generates correction information for each area according to the embodiment, and transmits the generated correction information to the terminal device 10-x. As a result, the terminal device 10-x selects the correction information generated for the area in which the terminal device is located from the correction information for each area (list of correction information) acquired from the calculation device 100, and corrects the approximate position by PPP-RTK calculation using the selected correction information.

[0113] In this manner, in a configuration in which the calculation device 100 generates correction information and transmits the correction information to the terminal device 10-x, and the terminal device 10-x selects the correction information required for correction calculation, the calculation device 100 can dynamically generate correction information by utilizing satellite communication and transmit the correction information to the terminal device 10-x via satellite communication without requiring access from the terminal device 10-x via Internet communication (for example, transmission of general location information). As a result, the terminal device 10-x can also obtain correction information and perform correction calculation without requiring Internet communication.

[0114] Therefore, according to the PPP method according to the embodiment and the PPP-RTK method according to the embodiment described above, it becomes possible to realize highly accurate positioning at sea or in depopulated areas where Internet communication is unstable, which is particularly advantageous in situations where position information is used to control ships sailing on the ocean or autonomous vehicles driving in depopulated areas.

[0115] [4. Variations in definition information] The definition information utilizing the terminal device 10 can be freely set according to the usage scene in which the terminal device 10 is used and the purpose of the user.

[0116] The definition information may also include information that specifies a virtual area in which the moving body 60 is to move in a space in which the moving body 60 is movable. The virtual area may have a three-dimensional shape or a planar shape, and is not particularly limited. That is, the definition information may define a virtual planar area and a virtual spatial area in which the moving body 60 is to move.

[0117] Furthermore, when the definition information defines a polygonal region, for example, it may include information indicating the points (vertex points) that are the vertices of the region. When the definition information defines a circular or spherical region, for example, it may include information indicating the point (center point) that is the center of the region and information indicating the size of the radius. When the definition information defines a region that combines a polygonal region with a circular or spherical region, for example, it may include information that appropriately combines information for defining these shapes. Furthermore, the definition information may include, for example, information indicating the position of the terminal device 10-x, information indicating the altitude from the terminal device 10-x as the starting point, information indicating the altitude of the terminal device 10-x, and the like.

[0118] 5. Configuration of each device Next, the configuration of each device included in the route determination system 1 according to the embodiment will be described with reference to FIGS.

[0119] [5-1. Terminal Device Configuration] 4 is a diagram showing an example of the configuration of the terminal device 10 according to the embodiment. The terminal device 10 may include a communication unit 11, a GNSS module M, a storage unit 12, and a control unit 13.

[0120] (Regarding the communication unit 11 and the GNSS module M) The communication unit 11 may be realized by, for example, a network interface card (NIC) or the like. The communication unit 11 may be connected to a network N by wire or wirelessly. The communication unit 11 may transmit and receive information between the arithmetic device 100 and the determination device 200 via the network N, for example. The GNSS module M can receive GNSS signals. That is, the GNSS module M may be configured by any components for receiving GNSS signals.

[0121] (Regarding the storage unit 12) The storage unit 12 may be realized by, for example, a semiconductor memory element such as a RAM (Random Access Memory) or a flash memory, or a storage device such as a hard disk, an optical disk, etc. The storage unit 12 may store, for example, the approximate position information calculated by the approximate position calculation unit 13b, the correction information received from the arithmetic device 100, and the corrected position information by the PPP calculation or the RTK calculation using the correction information.

[0122] (Regarding the control unit 13) The control unit 13 may be realized by a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an MPU (Micro Processing Unit), or the like, executing various programs stored in a storage device inside the terminal device 10 using a RAM as a working area. The control unit 13 may also be realized by an integrated circuit, such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0123] The control unit 13 may have a receiving unit 13a, an approximate position calculation unit 13b, an acquiring unit 13c, a selecting unit 13d, a correcting unit 13e, and a transmitting unit 13f. Note that the internal configuration of the control unit 13 is not limited to the configuration shown in Fig. 4, and may have other configurations as long as they perform information processing described below. Also, the connection relationship between the processing units included in the control unit 13 is not limited to the connection relationship shown in Fig. 4, and may have other connection relationships.

[0124] (Regarding the receiving unit 13a) The receiving unit 13a corresponds to a GNSS receiver and an antenna, and may receive a GNSS signal. The receiving unit 13a may output the received GNSS signal to the approximate position calculation unit 13b.

[0125] (Regarding the approximate position calculation unit 13b) The approximate position calculation unit 13b may calculate position information indicating the position (installed position) of the own device by GNSS positioning based on the GNSS signal received by the receiving unit 13a. That is, the approximate position calculation unit 13b may calculate the approximate position information by GNSS positioning based on the GNSS signal. For example, the approximate position calculation unit 13b may calculate the approximate position information when it detects that it has been started. The approximate position calculation unit 13b may store the calculated approximate position information in the storage unit 12. In addition, the approximate position calculation unit 13b may transmit the approximate position information to the arithmetic device 100.

[0126] (Regarding the acquisition unit 13c) The acquisition unit 13c acquires correction information generated based on satellite data received from a satellite.

[0127] For example, the acquisition unit 13c acquires, as data received from an artificial satellite, correction information generated on the arithmetic device 100 side based on the data received from the artificial satellite.

[0128] Here, when the PPP method is adopted, the calculation device 100 may generate correction information for PPP positioning for each artificial satellite using data received from the artificial satellite, as described in Fig. 2. Therefore, in this case, the acquisition unit 13c may acquire the correction information for PPP positioning generated for each artificial satellite from the calculation device 100.

[0129] Furthermore, the arithmetic device 100 transmits correction information (for example, a list of correction information) for PPP positioning generated for each artificial satellite to the terminal device 10. At this time, the correction information may be transmitted directly to the terminal device 10, or may be transmitted to the terminal device 10 via an artificial satellite. Thus, the acquisition unit 13c may acquire correction information transmitted directly from the arithmetic device 100, or may acquire correction information transmitted from the arithmetic device 100 via an artificial satellite.

[0130] On the other hand, when the PPP-RTK method is adopted, as described in Fig. 3, the calculation device 100 may generate correction information for PPP-RTK positioning for each predetermined area (i.e., the area according to the embodiment) based on data received from an artificial satellite, not via the reference station 30, and data received via the reference station 30. Therefore, in this case, the acquisition unit 13c may acquire the correction information for PPP-RTK positioning generated for each predetermined area from the calculation device 100.

[0131] The arithmetic device 100 also transmits correction information (for example, a list of correction information) for PPP-RTK positioning generated for each predetermined area to the terminal device 10. At this time, the correction information may be transmitted directly to the terminal device 10, or may be transmitted via an artificial satellite to the terminal device 10. For this reason, even when the PPP-RTK method is adopted, the acquisition unit 13c may acquire correction information transmitted directly from the arithmetic device 100, or may acquire correction information transmitted from the arithmetic device 100 via an artificial satellite.

[0132] (Regarding selection unit 13d) For example, in the case where the PPP method is adopted, it is assumed that the acquisition unit 13c acquires correction information generated for each artificial satellite. In this case, the selection unit 13d may detect an artificial satellite that can be detected from the position of the terminal device 10, and select correction information corresponding to the detected artificial satellite from the correction information generated for each artificial satellite.

[0133] As an example, the selection unit 13d may detect a satellite moving within a specified range in the sky above the terminal device 10 as the satellite to be processed, and may select correction information corresponding to this satellite to be processed from the correction information generated for each satellite.

[0134] On the other hand, when the PPP-RTK method is adopted, it is assumed that the correction information generated for each predetermined area is acquired by the acquisition unit 13c. In this case, the selection unit 13d may detect an area including the position indicated by the approximate position information of the terminal device 10 among the predetermined areas, and select the correction information corresponding to the detected area from the correction information generated for each predetermined area.

[0135] The above-described process described as being performed by the selection unit 13d may be performed by, for example, the correction unit 13e described below. In this case, the terminal device 10 does not need to include the selection unit 13d.

[0136] (Regarding the correction unit 13e) The correction unit 13e calculates the location information of the terminal device 10 based on the correction information acquired by the acquisition unit 13c.

[0137] For example, in the case where the PPP method is adopted, the acquisition unit 13c acquires correction information generated for each artificial satellite, and the selection unit 13d selects correction information corresponding to the artificial satellite to be processed from the acquired correction information. In this case, the correction unit 13e calculates the position information of the terminal device 10 based on the selected correction information from among the correction information generated for each artificial satellite.

[0138] For example, the correction unit 13e calculates the position information of the terminal device 10 by a PPP positioning calculation using the selected correction information. More specifically, the correction unit 13e calculates corrected position information by performing a PPP positioning calculation as a correction calculation for correcting the approximate position information based on the selected correction information and the approximate position information calculated by the approximate position calculation unit 13b.

[0139] On the other hand, when the PPP-RTK method is adopted, the correction information generated for each predetermined area is acquired by the acquisition unit 13c, and the correction information corresponding to the position indicated by the approximate position information of the terminal device 10 is selected by the selection unit 13d from the acquired correction information. In this case, the correction unit 13e calculates the position information of the terminal device 10 based on the selected correction information from the correction information generated for each predetermined area.

[0140] For example, the correction unit 13e calculates the position information of the terminal device 10 by a PPP-RTK positioning calculation using the selected correction information. More specifically, the correction unit 13e calculates corrected position information by performing a PPP-RTK positioning calculation as a correction calculation for correcting the approximate position information based on the selected correction information and the approximate position information calculated by the approximate position calculation unit 13b.

[0141] The correction unit 13e may store corrected position information, which is position information after correction obtained by the correction calculation, in the storage unit 12. The correction unit 13e may be a processing unit corresponding to the calculation unit.

[0142] (Regarding the transmitting unit 13f) The transmitting unit 13f may transmit the position information (corrected position information) calculated by the correcting unit 13e. For example, the transmitting unit 13f may transmit the corrected position information to the determining device 200 directly.

[0143] On the other hand, the transmission unit 13f may transmit the corrected position information to the calculation device 100. In this case, the calculation device 100 transmits the corrected position information to the determination device 200. That is, the transmission unit 13f may transmit the corrected position information to the determination device 200 via the calculation device 100.

[0144] 5-2. Configuration of the arithmetic unit 5 is a diagram showing an example of the configuration of the arithmetic device 100 according to the embodiment. The arithmetic device 100 may include a communication unit 110, a GNSS module 111, a storage unit 120, and a control unit .

[0145] (Regarding communication unit 110) The communication unit 110 may be realized by, for example, a NIC. The communication unit 110 may be connected to the network N by wire or wirelessly. The communication unit 110 may transmit and receive information between the terminal device 10, the reference station 30, and the determination device 200 via the network N, for example.

[0146] (About GNSS module 111) The GNSS module 111 receives GNSS signals transmitted from satellites. The GNSS module 111 may be configured with any components for receiving GNSS signals.

[0147] The GNSS module 111 may be an antenna-integrated type having an antenna integrated therein. On the other hand, the GNSS module 111 does not necessarily have to be an antenna-integrated type, and in this case, the arithmetic device 100 may have an antenna separate from the GNSS module 111. The antenna here may be, for example, a high-performance antenna equivalent to a radar dome or a parabolic antenna.

[0148] (Regarding the storage unit 120) The storage unit 120 may be realized by, for example, a semiconductor memory element such as a RAM or a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 120 may store, for example, the correction information generated by the generation unit 132.

[0149] (Regarding the control unit 130) The control unit 130 may be realized by a CPU, a GPU, an MPU, or the like, executing various programs stored in a storage device inside the arithmetic device 100 using a RAM as a working area. The control unit 130 may also be realized by an integrated circuit such as an ASIC or an FPGA.

[0150] The control unit 130 may have a receiving unit 131, a generating unit 132, and a transmitting unit 133. Note that the internal configuration of the control unit 130 is not limited to the configuration shown in Fig. 5, and may have another configuration as long as it performs information processing described later. Also, the connection relationship between the processing units included in the control unit 130 is not limited to the connection relationship shown in Fig. 5, and may be another connection relationship.

[0151] (Regarding the receiving unit 131) The receiving unit 131 may receive the GNSS signal via the GNSS module 111.

[0152] For example, when the PPP system is adopted, the receiving unit 131 may receive a GNSS signal transmitted by an artificial satellite as described in Fig. 2. For example, the receiving unit 131 may receive GNSS signals transmitted by a plurality of artificial satellites.

[0153] On the other hand, when the PPP-RTK method is adopted, the receiver 131 may receive the GNSS signal transmitted by the artificial satellite via the reference station 30 as described in Fig. 3. For example, the receiver 131 may receive the GNSS signals transmitted by a plurality of artificial satellites via the reference station 30. That is, the receiver 131 may receive the GNSS signal transmitted from the reference station 30 by the reference station 30 receiving the GNSS signal transmitted by the artificial satellite.

[0154] The receiving unit 131 may select a reference station 30 to be processed from among the reference stations 30 installed in various locations based on the terminal device 10, for example. For example, the receiving unit 131 may select a reference station 30 that exists in an area corresponding to the position indicated by the approximate position information of the terminal device 10 as the reference station 30 to be processed. Then, the receiving unit 131 may transmit a distribution request to the selected reference station 30 to request distribution of a GNSS signal, and may receive the GNSS signal transmitted from the reference station 30 in response to the distribution request.

[0155] (Regarding the generation unit 132) The generation unit 132 generates correction information based on information based on the GNSS signal received by the reception unit 131, that is, based on satellite data.

[0156] For example, when the PPP method is adopted, the generation unit 132 acquires satellite data based on the GNSS signal received from the artificial satellite. For example, the generation unit 132 acquires satellite data for each artificial satellite in response to receiving GNSS signals transmitted from multiple artificial satellites. Here, the generation unit 132 may acquire satellite data only from the GNSS signal received from the artificial satellite.

[0157] Then, the generation unit 132 generates correction information for PPP positioning by a calculation algorithm based on the acquired satellite data. Specifically, the generation unit 132 generates correction information corresponding to an artificial satellite by a calculation algorithm using satellite data acquired based on a GNSS signal received from the artificial satellite, thereby generating correction information for each of the multiple artificial satellites.

[0158] On the other hand, when the PPP-RTK method is adopted, the generation unit 132 may not only acquire satellite data based on GNSS signals received without going through the reference station 30, but also acquire satellite data from GNSS signals from artificial satellites received through the reference station 30. More specifically, the generation unit 132 may acquire satellite data for each artificial satellite in response to receiving GNSS signals transmitted from multiple artificial satellites, and may acquire satellite data corresponding to the reference station 30 in response to receiving GNSS signals transmitted from multiple artificial satellites through the reference station 30.

[0159] For example, when multiple reference stations 30 are located in various locations, the satellite from which the GNSS signal is received may differ for each reference station 30. In other words, not all reference stations 30 necessarily receive GNSS signals from a common satellite. Therefore, for example, the generation unit 132 may acquire satellite data corresponding to each reference station 30 based on the GNSS signal received via the reference station 30.

[0160] Then, the generation unit 132 generates correction information for PPP-RTK positioning by a calculation algorithm using the satellite data acquired for each artificial satellite and the satellite data acquired for each reference station 30. For example, the generation unit 132 generates correction information for each area according to the embodiment based on the satellite data acquired for each artificial satellite and the satellite data acquired for each reference station 30 according to the calculation algorithm.

[0161] In addition, the area (predetermined area) according to the embodiment may be an area that is set in advance by any method, or may be an area that is generated in advance by the generation unit 132 based on the satellite orbit error, the satellite clock error, the ionospheric delay error, the tropospheric delay error, the satellite signal bias, etc.

[0162] The generation unit 132 may store the generated correction information in the storage unit 120.

[0163] (Regarding the transmitting unit 133) The transmission unit 133 transmits the correction information generated by the generation unit 132 to the terminal device 10. For example, the transmission unit 133 may transmit the correction information directly to the terminal device 10, or may transmit the correction information to the terminal device 10 via an artificial satellite.

[0164] For example, when the PPP method is adopted, the transmitting unit 133 may generate a list of correction information by bundling the correction information generated for each satellite, and transmit the generated list of correction information to the satellite so that it is broadcast to the terminal device 10.

[0165] On the other hand, when the PPP-RTK method is adopted, the transmitting unit 133 may generate a list of correction information by bundling the correction information generated for each area according to the embodiment, and transmit the generated list of correction information to the satellite so that it is broadcast to the terminal device 10.

[0166] The artificial satellite that receives the list of correction information transmits the received list of correction information to the terminal device 10, regardless of whether the satellite is based on the PPP method or the PPP-RTK method.

[0167] According to the example described so far, the calculation device 100 generates correction information (correction information for each artificial satellite or correction information for each area) and transmits the correction information to the terminal device 10-x, and the terminal device 10 selects correction information required for correction calculation. However, in the route determination process according to the embodiment, such a configuration does not necessarily have to be adopted.

[0168] For example, the selection of correction information necessary for the correction calculation may also be performed on the side of the arithmetic device 100, and in this case, the arithmetic device 100 may transmit the selected correction information to the terminal device 10. This point will be described in more detail.

[0169] For example, the arithmetic device 100 may further include an approximate location information acquisition unit 134 that acquires the approximate location information calculated by the approximate location calculation unit 13b of the terminal device 10. In this case, the terminal device 10 may transmit the calculated approximate location information to the arithmetic device. The arithmetic device 100 may further include a selection unit 135 as a processing unit corresponding to the selection unit 13d of the terminal device 10.

[0170] Here, when the PPP method is adopted, the selection unit 135 may determine, based on the approximate location information acquired by the approximate location information acquisition unit 134, which artificial satellites can be detected from the position of the terminal device 10 that transmitted the approximate location information, and select correction information corresponding to the determined artificial satellite from the correction information generated for each artificial satellite.

[0171] In addition, when the PPP-RTK method is adopted, the selection unit 135 may detect an area within a specified area that includes the position indicated by the approximate location information of the terminal device 10 that transmitted the approximate location information, and select correction information corresponding to the detected area from the correction information generated for each specified area.

[0172] Then, the transmission unit 133 transmits the correction information selected by the selection unit 135 to the terminal device 10.

[0173] In addition, for example, the approximate position information acquisition unit 134 and the selection unit 135 may be configured as a module that can be combined with the calculation device 100 so that a configuration in which the calculation device 100 selects the correction information required for the correction calculation can be adopted depending on the situation.

[0174] [5-3. Configuration of the decision device] 6 is a diagram showing an example of a configuration of the determining device 200 according to the embodiment. The determining device 200 may include a communication unit 210, a storage unit 220, and a control unit 230.

[0175] (Regarding communication unit 210) The communication unit 210 may be realized by, for example, a NIC. The communication unit 210 may be connected to the network N by wire or wirelessly. The communication unit 210 may transmit and receive information between the terminal device 10 and the arithmetic device 100 via the network N, for example.

[0176] (Regarding the storage unit 220) The storage unit 220 may be realized by, for example, a semiconductor memory element such as a RAM or a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 220 may store, for example, corrected position information acquired by the corrected position information acquisition unit 231 and route information indicating a moving route determined by the determination unit 233.

[0177] (Regarding the control unit 230) The control unit 230 may be realized by a CPU, a GPU, an MPU, or the like, executing various programs (for example, a route determination program according to the embodiment) stored in a storage device inside the determination device 200 using a RAM as a working area. The control unit 230 may also be realized by an integrated circuit such as an ASIC or an FPGA.

[0178] The control unit 230 may have a corrected position information acquisition unit 231, a reception unit 232, a determination unit 233, an instruction unit 234, and an output unit 235. The internal configuration of the control unit 230 is not limited to the configuration shown in Fig. 6, and may be other configurations as long as they perform information processing described later. Furthermore, the connection relationship between the processing units included in the control unit 230 is not limited to the connection relationship shown in Fig. 6, and may be other connection relationships.

[0179] (Regarding the corrected position information acquisition unit 231) The corrected position information acquisition unit 231 may acquire position information of the terminal device 10 installed at an arbitrary location that is a reference for the route of the moving object. The corrected position information acquisition unit 231 may acquire corrected position information that is position information calculated by the correction calculation by the correction unit 13e. The corrected position information acquisition unit 231 may also acquire corrected position information transmitted by the transmission unit 13f.

[0180] (Regarding the reception unit 232) The reception unit 232 may receive definition information that defines a travel route from a user. For example, the reception unit 232 may receive the definition information via an application AP. FIG. 2 (also FIG. 3) illustrates a case in which the reception unit 232 receives definition information from a user U1.

[0181] For example, the reception unit 232 may receive definition information that defines a destination point (e.g., a starting destination and a destination) to be reached by the moving body 60 in a state where a specific terminal device 10-x among the terminal devices 10-x is the target of use. For example, when a "straight line mode" for setting a linear movement route is selected on the application AP, the reception unit 232 may receive definition information that defines at least two destination points (e.g., a starting destination and a destination) to be reached by the moving body 60. That is, the user may move the moving body 60 along a straight line connecting the destination points.

[0182] Furthermore, the reception unit 232 may receive definition information that defines a planar area in which the moving body 60 is to move in a space in which the moving body 60 is movable, in a state in which a specific terminal device 10-x among the terminal devices 10-x is the target of use. For example, the reception unit 232 may receive definition information that defines vertex points that become the vertices of the planar area. For example, when a "planar mode" that is a mode for generating a planar area is selected on the application AP, the reception unit 232 may receive definition information that defines vertex points that become the vertices of the planar area. That is, the user may move the moving body 60 in the planar area.

[0183] Furthermore, the reception unit 232 may receive definition information that defines vertex points that are vertices of a three-dimensional area in space when a specific terminal device 10-x among the terminal devices 10-x is set as a usage target. For example, the reception unit 232 may receive definition information that defines vertex points that are vertices of a three-dimensional area when a "three-dimensional mode" that is a mode for generating a three-dimensional area is selected on the application AP. That is, the user may move the moving object 60 in the three-dimensional area.

[0184] In the above example, the modes for inputting definition information to the application AP are described as "linear mode", "planar mode", and "three-dimensional mode", but the modes of the application AP are not limited to these. For example, the application AP may be capable of inputting definition information of a linear movement path, a planar region, and a three-dimensional region in one mode. That is, the reception unit 232 may receive definition information that arbitrarily includes the definition of at least two target points, the definition of each vertex of the planar region, and the definition of each vertex of the three-dimensional region. That is, the user may input definition information for arbitrarily moving the moving body 60 in a space in which the moving body 60 can move, to the application AP. For example, the user may appropriately input definition information according to the movement of the moving body 60 to the application AP, such as moving the moving body 60 from one target point to another in a linear manner, moving three-dimensionally in a certain space, and moving horizontally on a certain plane.

[0185] (Regarding the determination unit 233) The determination unit 233 determines the moving path of the moving object based on the position information calculated by the correction unit 13e. That is, the determination unit 233 may determine the moving path of the moving object based on the position information acquired by the corrected position information acquisition unit 231. Specifically, the determination unit 233 may determine the moving path of the moving object 60 based on the corrected position information acquired by the corrected position information acquisition unit 231 and the definition information accepted by the acceptance unit 232.

[0186] For example, when definition information in which a target location is defined is received by the receiving unit 232, the determination unit 233 may determine the movement route of the moving body based on the corrected position information corresponding to the terminal device 10-x being used and the definition information.

[0187] For example, a case will be described in which definition information defining a target point is received with one terminal device 10-x as a target of use. In this case, the determination unit 233 may calculate, as the target point position, a position that satisfies the definition information and is a relative position based on the position indicated by the corrected position information corresponding to one terminal device 10-x. The determination unit 233 may determine, as a moving path, a trajectory that moves the moving body 60 to the calculated position as the target point. Details of this will be described later with reference to FIG. 10.

[0188] In addition, a case will be described in which definition information is received that defines a starting point corresponding to one terminal device and a destination point corresponding to the other terminal device as a destination point when two terminal devices 10-x are used. In this case, the determination unit 233 may calculate a position that satisfies the definition information and is a relative position based on the positions indicated by the corrected position information corresponding to these terminal devices as the destination point position. The determination unit 233 may, for example, determine a trajectory that moves the moving body 60 from a position corresponding to the starting point among the calculated positions toward a position corresponding to the destination point as the moving path. This will be described in detail later with reference to FIG. 11.

[0189] A case will be described in which definition information is received that defines the vertex points that are the vertices of the planar area. In this case, the determination unit 233 may generate a planar area that satisfies the definition information based on, for example, corrected position information corresponding to the terminal device 10-x that is the target of use at this time. The determination unit 233 may determine a movement path of the moving body 60 based on, for example, the generated planar area. For example, the determination unit 233 may calculate a position that satisfies the definition information as a vertex point, which is a relative position based on a position indicated by the corrected position information corresponding to the terminal device 10-x that is the target of use. The determination unit 233 may generate a planar area that has the calculated vertex point as a vertex. Furthermore, the determination unit 233 may determine a trajectory that moves the generated planar area to the moving body 60 according to the definition information as a movement path. This will be described in detail later with reference to FIG. 13.

[0190] A case will be described in which definition information is received that defines the vertex points that are the vertices of the three-dimensional area. In this case, the determination unit 233 may generate a three-dimensional area that satisfies the definition information based on corrected position information corresponding to at least two terminal devices 10-x that are the target of use at this time, and may determine a movement path of the moving body 60 based on the generated three-dimensional area. For example, the determination unit 233 may calculate a position that satisfies the definition information, which is a relative position based on the position indicated by the corrected position information corresponding to the two terminal devices 10-x that are the target of use, as the vertex point. For example, the determination unit 233 may generate a three-dimensional area having the calculated vertex point as the vertex. Furthermore, the determination unit 233 may determine, as the movement path, a trajectory that moves the moving body 60 through a predetermined planar area among the planar areas that constitute the generated three-dimensional area. Furthermore, the determination unit 233 may determine, as the movement path, a trajectory that moves the moving body 60 through the inside of the three-dimensional area so as not to leave the inside of the three-dimensional area, according to the definition information. Furthermore, the determining unit 233 may determine, according to the definition information, a trajectory that causes the moving object 60 to move outside the three-dimensional area without entering the inside of the three-dimensional area, as the movement path. Details of this will be described later with reference to Figs. 14 to 19.

[0191] Furthermore, the determination unit 233 may store in the storage unit 220 route information indicating the determined travel route.

[0192] (Regarding the indicator 234) The instruction unit 234 may instruct the processing target moving body 60 to move along the movement route determined by the determination unit 233. That is, the instruction unit 234 may transmit, for example, route information indicating the movement route determined by the determination unit 233 to the moving body 60.

[0193] (Regarding the output unit 235) The output unit 235 may output predetermined information to a user of the moving object 60 based on whether or not the moving object 60 to be processed is moving along the path determined by the determination unit 233. For example, when it is determined that the moving object 60 to be processed is moving away from the path determined by the determination unit 233, the output unit 235 may output information to the effect that the moving object 60 has deviated from the path.

[0194] 5-4. Configuration of the Mobile Device Fig. 7 is a diagram showing a configuration example of a mobile body device 60 according to an embodiment. The mobile body device 60 may include a terminal device 10, a communication unit 61, a driving mechanism 62, and a control unit 63. Although not shown in Fig. 7, the mobile body device 60 may further include a predetermined imaging means.

[0195] (Regarding terminal device 10) The mobile object 60 may be equipped with the terminal device 10 described with reference to FIG. 4 as a positioning module.

[0196] (Regarding communication unit 61) The communication unit 61 may be realized by, for example, a NIC. The communication unit 61 may be connected to the network N by wire or wirelessly. The communication unit 61 may transmit and receive information to and from a user device T such as a smartphone used by a user and the determination device 200 via the network N. The communication unit 61 may transmit and receive information to and from the arithmetic device 100 and the determination device 200 instead of the communication unit 11 of the terminal device 10.

[0197] (Regarding the driving mechanism 62) The drive mechanism 62 may be a control mechanism for operating the moving body 60. For example, the drive mechanism 62 may be composed of a motor, an engine, a propeller, a controller, and the like.

[0198] (Regarding the control unit 63) The control unit 63 may be realized by a CPU, a GPU, an MPU, or the like, executing various programs stored in a storage device inside the mobile device 60 using a RAM as a working area. The control unit 63 may also be realized by an integrated circuit such as an ASIC or an FPGA.

[0199] The control unit 63 may have a corrected position information acquisition unit 63a, a route information acquisition unit 63b, and a movement control unit 63c. The internal configuration of the control unit 63 is not limited to the configuration shown in Fig. 7, and may be other configurations as long as they perform information processing described later. Furthermore, the connection relationship between the processing units included in the control unit 63 is not limited to the connection relationship shown in Fig. 7, and may be other connection relationships.

[0200] (Regarding the corrected position information acquisition unit 63a) The corrected position information acquisition unit 63a may acquire corrected position information obtained by the PPP calculation (or PPP-RTK calculation) performed by the correction unit 13e of the terminal device 10.

[0201] (Regarding the route information acquisition unit 63b) The route information acquisition unit 63b may acquire the route information transmitted by the instruction unit 234 of the determination device 200.

[0202] (Regarding the movement control unit 63c) The movement control unit 63c can control the movement of the moving body 60. For example, the movement control unit 63c may control the movement of the moving body 60 based on the route information acquired by the route information acquisition unit 63b. For example, the movement control unit 63c may control the movement of the moving body 60 based on the corrected position information acquired by the corrected position information acquisition unit 63a and the route information acquired by the route information acquisition unit 63b. For example, the movement control unit 65c may compare the current position indicated by the latest corrected position information with the position of the track indicated by the acquired route information, and control the movement of the moving body 60 so that it moves toward the target point while making adjustments so as not to deviate from the position of the track.

[0203] (First embodiment) [1. Route determination process] Up to now, common points between the first embodiment and the second embodiment have been described with reference to Figs. 1 to 7. From here on, an example of each embodiment will be described in more detail. First, a specific example of the first embodiment will be described with reference to Figs. 8 and 9. As described above, in the first embodiment, the description will focus particularly on route determination processing for a ship and route determination processing for an autonomous vehicle as scenes to which the route determination processing according to the embodiment is applied.

[0204] [1-1. Route determination process (1)] Since the PPP method is suitable for the field of ships, an example of a route determination process that uses the positioning results obtained by PPP positioning to determine the movement route of a ship will be described in Fig. 8. Specifically, an example of a route determination process procedure that uses the positioning results obtained by PPP positioning to determine the movement route of a ship will be described in Fig. 8. Fig. 8 is a diagram (1) showing an example of a route determination process according to the first embodiment.

[0205] Fig. 8 is a more detailed explanation of the route determination process explained in Fig. 2. In other words, in the example of Fig. 8, a user U1 wants to move a mobile object 60 (e.g., a tanker) currently stopped at a predetermined position in a marine area from its current location to a destination on the coast LA5 and to have the mobile object 60 dock at the destination. In this case, the user U1 may install one of the two terminal devices 10-x, terminal device 10-1, at the destination on the coast LA5 and the other terminal device 10-2 on the mobile object 60 itself, as shown in Fig. 8.

[0206] Also, according to the example of Fig. 8, satellite SAx exists in the sky above the marine area. Specifically, Fig. 8 shows an example in which satellites SA1, SA2, SA3, and SA4 (satellites SA1 to SA4) exist in the sky above the marine area as satellites SAx from which the calculation device 100 can receive radio waves. In other words, satellite SAx does not necessarily have to exist in the sky above the marine area as long as it is a satellite from which the calculation device 100 can receive radio waves.

[0207] In this state, the arithmetic device 100 can generate correction information according to the following procedure, and transmit the generated correction information to the terminal device 10-1 and the terminal device 10-2.

[0208] Here, each of the satellites SA1 to SA4 transmits a GNSS signal, so the receiving unit 131 of the arithmetic device 100 receives the GNSS signals transmitted by each of the satellites SA1 to SA4 (step S81).

[0209] Furthermore, when the receiver 131 receives a GNSS signal, the generator 132 of the arithmetic device 100 acquires satellite data, which is information based on the received GNSS signal, for each satellite SAx (step S82). In the example of Fig. 8, the generator 132 acquires satellite data DA11 as satellite data corresponding to the satellite SA1 based on the GNSS signal received from the satellite SA1, and acquires satellite data DA12 as satellite data corresponding to the satellite SA2 based on the GNSS signal received from the satellite SA2. In the example of Fig. 8, the generator 132 acquires satellite data DA13 as satellite data corresponding to the satellite SA3 based on the GNSS signal received from the satellite SA3, and acquires satellite data DA14 as satellite data corresponding to the satellite SA4 based on the GNSS signal received from the satellite SA4.

[0210] Next, the generation unit 132 generates correction information for PPP positioning for each of the satellites SA1 to SA4 by a calculation algorithm using the satellite data acquired in step S82 (step S83).

[0211] Specifically, the generation unit 132 generates correction information corresponding to the satellite SA1 using a calculation algorithm based on the satellite data DA11. Fig. 8 shows an example in which the generation unit 132 generates correction information C1 as the correction information corresponding to the satellite SA1. The generation unit 132 also generates correction information corresponding to the satellite SA2 using a calculation algorithm based on the satellite data DA12. Fig. 8 shows an example in which the generation unit 132 generates correction information C2 as the correction information corresponding to the satellite SA2.

[0212] Furthermore, the generation unit 132 generates correction information corresponding to the satellite SA3 using a calculation algorithm based on the satellite data DA13. Fig. 8 shows an example in which the generation unit 132 generates correction information C3 as the correction information corresponding to the satellite SA3. Similarly, the generation unit 132 generates correction information corresponding to the satellite SA4 using a calculation algorithm based on the satellite data DA14. Fig. 8 shows an example in which the generation unit 132 generates correction information C4 as the correction information corresponding to the satellite SA4.

[0213] Next, the transmitting unit 133 of the calculation device 100 transmits the correction information generated by the generating unit 132 to each of the terminal devices 10-1 and 10-2 (step S84). For example, the transmitting unit 133 may transmit the correction information to each of the terminal devices 10-1 and 10-2 via the satellite SAx. For example, the transmitting unit 133 may distribute the correction information to the satellite SAx so that the correction information generated by the generating unit 132 is broadcast to each of the terminal devices 10-1 and 10-2.

[0214] More specifically, the transmitting unit 133 may generate a list of correction information by bundling the correction information generated for each of the satellites SA1 to SA4, and transmit the generated correction information list to the satellite SAx so that the list is broadcast to each of the terminal device 10-1 and the terminal device 10-2. Fig. 8 shows an example in which the transmitting unit 133 generates a correction information list L1 as a list of correction information, and transmits the generated correction information list L1 to each of the terminal device 10-1 and the terminal device 10-2 via the satellite SAx.

[0215] It should be noted that the process of generating the list of correction information may be performed by, for example, the generating unit 132 instead of the transmitting unit 133.

[0216] Next, when the correction information list L1 is acquired by the acquisition unit 13c, the selection unit 13d of each of the terminal devices 10-1 and 10-2 detects a satellite SAx (i.e., a satellite SAx that can be detected from the terminal device) moving within a predetermined range in the sky above the terminal device as the satellite SAx to be processed, and selects correction information corresponding to the detected satellite SAx from the correction information list L1 (step S85).

[0217] Then, the correction unit 13e executes a calculation for correcting the position information based on the correction information selected by the selection unit 13d (step S86). For example, the correction unit 13e may calculate corrected position information by correcting the approximate position information by PPP calculation using the correction information. Note that the position information calculated here is more accurate than the approximate position information.

[0218] Here, if the selection unit 13d of the terminal device 10-1 detects satellite SA4 as the satellite SAx to be processed in steps S85 to S86, it can select the correction information corresponding to the satellite SA4 from the four correction information included in the correction information list L1. Also, if the selection unit 13d of the terminal device 10-2 detects satellite SA3 as the satellite SAx to be processed in steps S85 to S86, it can select the correction information corresponding to the satellite SA3 from the four correction information included in the correction information list L1.

[0219] Next, the transmission unit 13f of each of the terminal devices 10-1 and 10-2 transmits the corrected position information calculated by the correction unit 13e to the determination device 200 (step S87). In this case, the corrected position information acquisition unit 231 of the determination device 200 acquires the corrected position information from each of the terminal devices 10-1 and 10-2.

[0220] In Fig. 8, the same step numbers are assigned to the processes performed by the terminal device 10-1 and the terminal device 10-2, and an example is shown in which both perform the processes at the same timing. However, since it is assumed that the timings at which the terminal devices 10-1 and 10-2 are started are different, the processes shown in Fig. 8 may be performed separately according to the respective timings.

[0221] By the above processing, the determination device 200 can grasp the accurate position information of the terminal device 10-1 and the terminal device 10-2, which is obtained by the PPP method. In this way, when the determination device 200 has acquired the accurate position information of the terminal device 10-1 and the terminal device 10-2, the user U1 can input to the determination device 200 definition information that defines the movement mode of the moving object 60, such as the route along which the moving object 60 will move.

[0222] In the example of FIG. 8, the user U1 inputs definition information to the determination device 200 that defines a travel route starting from the terminal devices 10-1 and 10-2, with these terminal devices as the target of use. In the example of FIG. 8, as an example, the user U1 can define a destination point based on the terminal device 10-2. For example, the user U1 inputs definition information to the determination device 200 that defines destination points (each destination point connecting the start destination to the destination point) on the travel route using a direction and a distance, such as "the point where the terminal device 10-2 is currently located (the current location of the moving object 60)" (start destination point M81), "the point 10 km north (corresponding to N81)" (intermediate destination point M82), and "the point where the terminal device 10-1 is currently located (the point on the coast LA5)" (destination destination point M83) from the destination point M82. In this case, the reception unit 232 of the determination device 200 receives this definition information (step S88).

[0223] When the definition information is accepted by the accepting unit 232, the deciding unit 233 of the deciding device 200 executes a route deciding process for deciding a moving route of the moving body 60 based on the definition information and the corrected position information of the terminal device 10-1 or the terminal device 10-2 (step S89). For example, the deciding unit 233 may decide, as the moving route of the moving body 60, a route that is a relative position based on the position indicated by the corrected position information and includes a position that satisfies the definition information.

[0224] For example, the determination unit 233 may calculate a relative position using the position indicated by the corrected position information corresponding to the terminal device 10-2 as a reference (reference coordinate m81) and may calculate a position that satisfies [a point 10 km north of the terminal device 10-2] as the position of the target point M82. For example, the determination unit 233 may determine the relative coordinate m82 as the position of the target point M82 by calculating the relative coordinate m82 based on the reference coordinate m81 and "10 km" north.

[0225] The determination unit 233 may determine, as the moving route, a linear trajectory K8 that combines a linear trajectory in which a vector is directed from the target point M81 to the target point M82 and a linear trajectory in which a vector is directed from the target point M82 to the target point M83. The instruction unit 234 may then input route information indicating the trajectory K8 to the moving object 60, thereby instructing the moving object 60 to move in a linear manner from the target point M11 (start target) to the target point M83 (arrival target) via the target point 82.

[0226] Here, as another example, the user U1 may define the target point based on the terminal device 10-1. For example, the user U1 may input definition information to the determination device 200 that defines the target points on the moving route using a direction and a distance, such as "the point where the terminal device 10-1 is currently located (a point on the coast LA5)" (arrival target point M83), "a point 20 km west (corresponding to N83)" from the target point M83 (relay target point M82), and "the point where the terminal device 10-2 is currently located (the current position of the moving object 60)" (start target point M81) from the target point M82.

[0227] In this case, the determination unit 233 may calculate a relative position using the position indicated by the corrected position information corresponding to the terminal device 10-1 as a reference (reference coordinate m83) and may calculate a position that satisfies [a point 20 km west of the terminal device 10-1] as the position of the target point M82. For example, the determination unit 233 may determine the relative coordinate m82 as the position of the target point M82 by calculating the relative coordinate m82 based on the reference coordinate m83 and "20 km" west.

[0228] The determination unit 233 may determine, as the moving route, a linear trajectory K8 that combines a linear trajectory in which a vector is directed from the target point M81 to the target point M82 and a linear trajectory in which a vector is directed from the target point M82 to the target point M83. The instruction unit 234 may then input route information indicating the trajectory K8 to the moving object 60, thereby instructing the moving object 60 to move in a linear manner from the target point M81 (start target) to the target point M83 (arrival target) via the target point 82.

[0229] [1-2. Route determination process (2)] Next, since the PPP-RTK method is suitable for the field of autonomous vehicles, an example of a route determination process for determining a travel route of an autonomous vehicle using a positioning result by PPP-RTK positioning will be described in FIG. 9. Specifically, an example of a route determination process procedure for determining a travel route of an autonomous vehicle using a positioning result by PPP-RTK positioning will be described in FIG. 9. FIG. 9 is a diagram (2) showing an example of a route determination process according to the first embodiment.

[0230] Moreover, Fig. 9 explains the route determination process explained in Fig. 3 in more detail. That is, in the example of Fig. 9, a user U1 wants to move a moving object 60 (e.g., an on-demand car) currently stopped on a road from its current location to a destination on the road. In this case, the user U1 may install one of two terminal devices 10-x, terminal device 10-1, at the destination on the road, and the other terminal device 10-2 at the moving object 60 itself, as shown in Fig. 9.

[0231] In addition, while the areas according to the embodiment have been described in FIG. 3, in the example of FIG. 9, the route determination process will be described using an example of a scene in which four areas AR1, AR2, AR3, and AR4 (areas AR1 to AR4) are set as areas according to the embodiment. Note that the areas AR to AR4 do not necessarily have to have the same shape or size, and the shapes and sizes may differ depending on the situation. For example, as described in FIG. 3, the areas according to the embodiment may be set based on information related to errors, and therefore the shapes and sizes may differ between the areas depending on the error situation.

[0232] In addition, in response to the setting of the area according to the embodiment, the calculation device 100 may have information on the set area. In the example of Fig. 9, the calculation device 100 may have, for example, position information indicating the positions of each of the areas AR1 to AR4.

[0233] As described in FIG. 3, each area according to the embodiment does not necessarily need to have a reference station 30, and if a reference station 30 is present, the number of reference stations 30 is not limited. That is, among the areas according to the embodiment, there may be an area where no reference station 30 is present, an area where only one reference station 30 is present, and an area where multiple reference stations 30 are present. Based on this example, FIG. 9 shows an example in which a reference station 30-1 is installed in area AR1, a reference station 30-2 is installed in area AR2, and a reference station 30-4 is installed in area AR4. On the other hand, according to the example of FIG. 9, no reference station 30 is installed in area AR3.

[0234] Also, in the example of Fig. 9, a satellite SAx exists in the sky above the areas. Specifically, Fig. 9 shows an example in which satellites SA1, SA2, SA3, and SA4 (satellites SA1 to SA4) exist in the sky above the areas AR1 to AR4 as satellites SAx from which the calculation device 100 can receive radio waves. In other words, the satellite SAx does not necessarily have to exist in the sky above the areas AR1 to AR4 as long as the calculation device 100 can receive radio waves from the satellite SAx.

[0235] In this state, the arithmetic device 100 can generate correction information according to the following procedure, and transmit the generated correction information to the terminal device 10-1 and the terminal device 10-2.

[0236] Here, each of the satellites SA1 to SA4 transmits a GNSS signal. In this case, the receiver 131 of the arithmetic device 100 receives the GNSS signal transmitted by the satellite SAx (step S91), and may receive the GNSS signal through two routes (steps S91-1 and S91-2) in this step S91. For example, as shown in FIG. 9, the receiver 131 receives the GNSS signal from the satellite SAx through one route (step S91-1). In the example of FIG. 9, the receiver 131 receives the GNSS signal transmitted by each of the satellites SA1 to SA4.

[0237] In addition, the receiver 131 receives the GNSS signal via the reference station 30 via another route (step S91-2). In step S91-2, the reference station 30 receives the GNSS signal from the satellite SAx (step S31-2a). In this regard, FIG. 9 shows an example in which the reference station 30-1 located in the area AR1 receives the GNSS signal transmitted by the satellite SA1, the reference station 30-2 located in the area AR2 receives the GNSS signals transmitted by the satellites SA2 and SA3, and the reference station 30-4 located in the area AR4 receives the GNSS signal transmitted by the satellite SA4.

[0238] 9 shows an example in which the reference station 30-1 transmits the GNSS signal received from the satellite SA1 to the calculation device 100, the reference station 30-2 transmits the GNSS signal received from the satellites SA and SA3 to the calculation device 100, and the reference station 30-4 transmits the GNSS signal received from the satellite SA4 to the calculation device 100. As a result, the receiver 131 receives the GNSS signal via the reference station 30.

[0239] In step S91-2b, the reference station 30 may also transmit information indicating the known coordinates of its own device together with the GNSS signal to the calculation device 100. Specifically, the reference station 30-1 transmits information on the known coordinates of its own device to the calculation device 100, and the reference station 30-2 transmits information on the known coordinates of its own device to the calculation device 100. In addition, the reference station 30-3 transmits information on the known coordinates of its own device to the calculation device 100, and the reference station 30-4 transmits information on the known coordinates of its own device to the calculation device 100.

[0240] Furthermore, when the receiving unit 131 receives a GNSS signal, the generating unit 132 acquires information based on the received GNSS signal (step S92).

[0241] For example, the generation unit 132 may acquire, for each satellite SAx, satellite data based on the GNSS signals received directly from each satellite SAx in step S91-1 as information based on the GNSS signals.

[0242] In the example of Fig. 9, it is assumed that the generation unit 132 acquires satellite data DA11 as satellite data corresponding to satellite SA1 based on the GNSS signal received directly from satellite SA1, and acquires satellite data DA12 as satellite data corresponding to satellite SA2 based on the GNSS signal received directly from satellite SA2. Also, in the example of Fig. 9, it is assumed that the generation unit 132 acquires satellite data DA13 as satellite data corresponding to satellite SA3 based on the GNSS signal received directly from satellite SA3, and acquires satellite data DA14 as satellite data corresponding to satellite SA4 based on the GNSS signal received directly from satellite SA4.

[0243] Meanwhile, the generation unit 132 may acquire, as the information based on the GNSS signal, reference station data based on the GNSS signal received in step S91-2 via each of the reference stations 30 located in each area, for each reference station 30. For example, the generation unit 132 may acquire, as the reference station data, satellite data based on the GNSS signal received in step S91-2 via each of the reference stations 30 located in each area and information on known coordinates transmitted together with the GNSS signal.

[0244] 9, the generation unit 132 acquires reference station data including satellite data corresponding to the reference station 30-1 and information indicating the known coordinates of the reference station 30-1 based on the GNSS signal received via the reference station 30-1 located in the area AR1. In this regard, in the example of FIG. 9, if the generation unit 132 acquires the reference station data DA21, the reference station data DA21 may include satellite data corresponding to the reference station 30-1 and information indicating the known coordinates of the reference station 30-1.

[0245] Also, in the example of FIG. 9, the generation unit 132 acquires reference station data including satellite data corresponding to the reference station 30-2 and information indicating the known coordinates of the reference station 30-2 based on the GNSS signal received via the reference station 30-2 located in the area AR2. In this regard, in the example of FIG. 9, it is assumed that the generation unit 132 acquires the reference station data DA22 (DA22-1, DA22-2). In this case, the reference station data DA22-1 may include satellite data based on the GNSS signal of the satellite SA2 among the GNSS signals received via the reference station 30-2, and information indicating the known coordinates of the reference station 30-2. On the other hand, the reference station data DA22-2 may include satellite data based on the GNSS signal of the satellite SA3 among the GNSS signals received via the reference station 30-2, and information indicating the known coordinates of the reference station 30-2.

[0246] 9, the generation unit 132 acquires reference station data including satellite data corresponding to the reference station 30-4 and information indicating the known coordinates of the reference station 30-4 based on the GNSS signal received via the reference station 30-4 located in area AR4. In this regard, in the example of FIG. 9, if the generation unit 132 acquires the reference station data DA24, the reference station data DA24 may include satellite data corresponding to the reference station 30-4 and information indicating the known coordinates of the reference station 30-4.

[0247] Next, the generation unit 132 generates correction information for PPP-RTK positioning for each of the areas AR1 to AR4 according to the embodiment by a calculation algorithm using the satellite data and base station data acquired in step S92 (step S93). For example, the generation unit 132 may generate correction information for each of the areas AR1 to AR4 based on the satellite data acquired in step S92 and the reference station data acquired in step S92.

[0248] For example, the generation unit 132 may generate the correction information for each area according to the embodiment using a calculation algorithm according to the location of the reference station 30 in the area according to the embodiment. According to the calculation algorithm, the generation unit 132 may generate the correction information for each area by the following method.

[0249] For example, for the area AR1 in which the reference station 30-1 is located, the generation unit 132 may generate correction information corresponding to the area AR1 based on the satellite data acquired for each satellite SAx (i.e., satellite data DA11 to DA14) and the reference station data DA21 acquired for the reference station 30-1. Here, according to the example of FIG. 9, the reference station 30-2 is located in the area AR2 adjacent to the area AR1, and the reference station 30-4 is located in the other area AR4 adjacent to the area AR1. Therefore, the generation unit 132 may further use the reference station data DA22 (DA22-1, DA22-2) acquired for the reference station 30-2 and the reference station data DA24 acquired for the reference station 30-4 to generate correction information corresponding to the area AR1. FIG. 9 shows an example in which the generation unit 132 generates correction information K1 as correction information corresponding to the area AR1.

[0250] Furthermore, for the area AR2 in which the reference station 30-2 is located, the generation unit 132 may generate correction information corresponding to the area AR2 based on the satellite data DA11 to DA14 acquired for each satellite SAx and the reference station data DA22 (DA22-1, DA22-2) acquired for the reference station 30-2. Here, according to the example of FIG. 9, the reference station 30-1 is located in the area AR1 adjacent to the area AR2. Therefore, the generation unit 132 may further use the reference station data DA21 acquired for the reference station 30-1 to generate correction information corresponding to the area AR2. Furthermore, since the reference station 30-4 is located in the area AR4 adjacent to the area AR2, the generation unit 132 may further use the reference station data DA24 acquired for the reference station 30-4 to generate correction information corresponding to the area AR2. FIG. 9 shows an example in which the generation unit 132 generates correction information K2 as correction information corresponding to the area AR2.

[0251] Moreover, the reference station 30 is not located in the area AR3, but the reference station 30-2 is located in the area AR2 adjacent to the area AR3, and the reference station 30-4 is located in the other area AR4 adjacent to the area AR3. For this reason, when generating correction information for the area AR3 where the reference station 30 is not located, the generating unit 132 may generate correction information corresponding to the area AR3 based on at least one of the satellite data DA11 to DA14 acquired for each satellite SAx and the reference station data DA22 acquired for the reference station 30-2 (or the reference station data DA24 acquired for the reference station 30-4). Since the reference station 30-1 is located in the area AR1 adjacent to the area AR3, the generating unit 132 may further use the reference station data DA21 acquired for the reference station 30-1 to generate correction information corresponding to the area AR3. FIG. 9 shows an example in which the generating unit 132 generates correction information K3 as correction information corresponding to the area AR3.

[0252] Furthermore, for the area AR4 in which the reference station 30-4 is located, the generation unit 132 may generate correction information corresponding to the area AR4 based on the satellite data DA11 to DA14 acquired for each satellite SAx and the reference station data DA24 acquired for the reference station 30-4. Here, according to the example of FIG. 9, the reference station 30-1 is located in the area AR1 adjacent to the area AR4. Therefore, the generation unit 132 may generate correction information corresponding to the area AR4 by further using the reference station data DA21 acquired for the reference station 30-1. Furthermore, since the reference station 30-2 is located in the area AR2 adjacent to the area AR4, the generation unit 132 may generate correction information corresponding to the area AR4 by further using the reference station data DA22 acquired for the reference station 30-2. FIG. 9 shows an example in which the generation unit 132 generates correction information K4 as correction information corresponding to the area AR4.

[0253] Next, the transmission unit 133 transmits the correction information generated by the generation unit 132 to each of the terminal devices 10-1 and 10-2 (step S94). For example, the transmission unit 133 may transmit the correction information to each of the terminal devices 10-1 and 10-2 via the satellite SAx. For example, the transmission unit 133 may distribute the correction information generated by the generation unit 132 to the satellite SAx so that the correction information is broadcast to each of the terminal devices 10-1 and 10-2.

[0254] More specifically, the transmitting unit 133 may generate a list of correction information by bundling the correction information generated for each of the areas AR1 to AR4, and transmit the generated list of correction information to the satellite SAx so that the list is broadcast to each of the terminal device 10-1 and the terminal device 10-2. Fig. 9 shows an example in which the transmitting unit 133 generates a correction information list L2 as a list of correction information, and transmits the generated correction information list L2 to each of the terminal device 10-1 and the terminal device 10-2 via the satellite SAx.

[0255] It should be noted that the process of generating the list of correction information may be performed by, for example, the generating unit 132 instead of the transmitting unit 133.

[0256] Next, when the correction information list L2 is acquired by the acquisition unit 13c, the selection unit 13d of each of the terminal devices 10-1 and 10-2 selects from the list of correction information the correction information generated for the area corresponding to the position indicated by the approximate position information of the terminal device among the areas according to the embodiment (step S95). In the example of FIG. 9, the selection unit 13d of the terminal device 10-1 may determine that the position indicated by the approximate position information of the terminal device is included in the area AR1, and may select the correction information corresponding to the area AR1 among the four correction information included in the correction information list L2. Also, in the example of FIG. 9, the selection unit 13d of the terminal device 10-2 may determine that the position indicated by the approximate position information of the terminal device is included in the area AR1, and may select the correction information corresponding to the area AR1 among the four correction information included in the correction information list L2.

[0257] Then, the correction unit 13e executes a calculation for correcting the position information based on the correction information selected by the selection unit 13d (step S96). For example, the correction unit 13e may calculate corrected position information by correcting the approximate position information by PPP-RTK calculation using the correction information. Note that the position information calculated here is more accurate than the approximate position information.

[0258] Next, the transmission unit 13f of each of the terminal devices 10-1 and 10-2 transmits the corrected position information calculated by the correction unit 13e to the determination device 200 (step S97). In this case, the corrected position information acquisition unit 231 of the determination device 200 acquires the corrected position information from each of the terminal devices 10-1 and 10-2.

[0259] 9, the same step numbers are assigned to the processes performed by the terminal device 10-1 and the processes performed by the terminal device 10-2, and an example is shown in which both perform the processes at the same timing. However, since it is assumed that the timings at which the terminal device 10-1 and the terminal device 10-2 are started are different, the processes shown in FIG. 9 may be performed separately according to each timing.

[0260] By the above processing, the determining device 200 can grasp the accurate position information of the terminal device 10-1 and the terminal device 10-2, which is obtained by the PPP-RTK method. In this way, when the determining device 200 has acquired the accurate position information of the terminal device 10-1 and the terminal device 10-2, the user U1 can input to the determining device 200 definition information that defines the movement mode of the moving object 60, such as the route along which the moving object 60 will move.

[0261] In the example of FIG. 9, the user U1 inputs definition information to the determination device 200 that defines a moving route starting from the terminal devices 10-1 and 10-2, with these terminal devices as the target of use. In the example of FIG. 9, as an example, the user U1 can define a destination point based on the terminal device 10-2. For example, the user U1 inputs definition information to the determination device 200 that defines destination points (each destination point connecting the starting destination to the destination point) on the moving route using a direction and a distance, such as "the point where the terminal device 10-2 is currently located (the current location of the moving object 60)" (start destination point M91), "the point 20 km east (corresponding to N91)" (intermediate destination point M92) from the destination point M91, and "the point where the terminal device 10-1 is currently located" (destination destination point M93) from the destination point M92. In this case, the reception unit 232 of the determination device 200 receives this definition information (S98).

[0262] When the definition information is accepted by the accepting unit 232, the deciding unit 233 of the deciding device 200 executes a route deciding process for deciding a moving route of the moving body 60 based on the definition information and the corrected position information of the terminal device 10-1 or the terminal device 10-2 (step S99). For example, the deciding unit 233 may decide, as the moving route of the moving body 60, a route that is a relative position based on the position indicated by the corrected position information and includes a position that satisfies the definition information.

[0263] For example, the determination unit 233 may calculate a relative position using the position indicated by the corrected position information corresponding to the terminal device 10-2 as a reference (reference coordinate m91) and may calculate a position that satisfies [a point 20 km east of the terminal device 10-2] as the position of the target point M92. For example, the determination unit 233 may determine the relative coordinate m92 as the position of the target point M92 by calculating the relative coordinate m92 based on the reference coordinate m91 and "20 km" east.

[0264] The determination unit 233 may determine, as the moving route, a linear trajectory K9 that combines a linear trajectory in which a vector is directed from the target point M91 to the target point M92 and a linear trajectory in which a vector is directed from the target point M92 to the target point M93. The instruction unit 234 may input route information indicating the trajectory K9 to the moving object 60, thereby instructing the moving object 60 to move in a linear manner from the target point M91 (start target) to the target point M93 (arrival target) via the target point 92.

[0265] Here, as another example, the user U1 may define the target point based on the terminal device 10-1. For example, the user U1 may input definition information to the determination device 200 that defines the target points on the moving route using a direction and a distance, such as "the point where the terminal device 10-1 is currently located" (the arrival target point M93), "the point 10 km south (corresponding to N93)" from the target point M93 (the intermediate target point M92), and "the point where the terminal device 10-2 is currently located (the current position of the moving object 60)" (the start target point M91) from the target point M92.

[0266] In this case, the determination unit 233 may calculate a relative position using the position indicated by the corrected position information corresponding to the terminal device 10-1 as a reference (reference coordinate m93) and may calculate a position that satisfies "a point 10 km south of the terminal device 10-1" as the position of the target point M92. For example, the determination unit 233 may determine the relative coordinate m92 as the position of the target point M92 by calculating the relative coordinate m92 based on the reference coordinate m93 and "10 km" south.

[0267] The determination unit 233 may determine, as the moving route, a linear trajectory K8 that combines a linear trajectory in which a vector is directed from the target point M91 to the target point M92 and a linear trajectory in which a vector is directed from the target point M92 to the target point M93. The instruction unit 234 may input route information indicating the trajectory K9 to the moving object 60, thereby instructing the moving object 60 to move in a straight line from the target point M91 (start target) to the target point M93 (arrival target) via the target point M92.

[0268] Second Embodiment [1. Route determination process] From here, a specific example of the second embodiment will be described with reference to Figs. 10 to 19. As described above, in the second embodiment, the description will focus on route determination processing for a drone as a scene to which the route determination processing according to the embodiment is applied. In the field of drones, either the PPP method or the PPP-RTK method may be adopted, but the PPP-RTK method, which can realize highly accurate and stable positioning in a small range, is more suitable for main applications (for example, inspection, surveying, agriculture, construction, etc.).

[0269] For this reason, in the examples of Figures 10 to 19, it is assumed that corrected position information obtained by PPP-RTK positioning is used. Specifically, it is assumed that the determination device 200 acquires corrected position information of the terminal device 10-x, which is corrected position information obtained by PPP-RTK positioning, through the processes described above. In addition, in the examples of Figures 10 to 19, an example of a route determination process is shown for each of the usage methods (installation methods, installation modes) of the terminal device 10-x and the variations in the way of definition according to the usage methods.

[0270] In addition, since Figures 10 to 19 are explanatory diagrams illustrating examples targeting drones, the "moving body 60" is rephrased as the "aircraft body 60" and the "movement path" is rephrased as the "flight path."

[0271] The variations in the installation method and the definition information shown in the following examples are merely examples, and the user can perform various installations and inputs according to the purpose. The route determination process according to the second embodiment is not limited to the following examples. In addition, in Figs. 10 to 19, the values ​​indicating the direction, distance, and altitude are shown using the symbols "N71" to "N141", but any value may be applied according to the situation or purpose. That is, the route determination process according to the embodiment may apply any value according to the contents of the definition information. In addition, in the following description, the direction, distance, and altitude indicated by the symbols "N71" to "N141" are explained by showing a specific direction, distance, and altitude such as "directly above, 10 m" for convenience, but the definition information defined by the user is not limited to this. That is, the user may define the target point using any direction, distance, and altitude.

[0272] [1-1. Route determination process (1)] Fig. 10 is a diagram (1) showing an example of a route determination process according to the second embodiment. Fig. 10 illustrates a case where one terminal device 10-1 is set at a destination position and used as a target. That is, the user U1 may input definition information that defines a linear flight route starting from the terminal device 10-1 to the determination device 200 in a state where one terminal device 10-1 is set at a destination position and used as a target.

[0273] The user U1 may input definition information that defines a target point on the flight route using a direction, distance, and altitude, for example, with the terminal device 10-1 as the starting point, to the determination device 200. Specifically, the user U1 may input definition information that defines a target point on the flight route using a direction, distance, and altitude, such as, for example, [a point 10 m (corresponding to N71) directly above the terminal device 10-1 (target point M11), a point 3 m (corresponding to N72) east of the target point M11 (target point M12), and a point 5 m (corresponding to N73) north of the target point M12 (target point M13)] to the determination device 200. The reception unit 232 of the determination device 200 may receive this definition information.

[0274] It is assumed that user U1 will input such definition information when, for example, he / she wants to photograph a specific area from the sky in a specific trajectory, or when he / she wants to spray pesticides on a specific area from the sky in a specific trajectory.

[0275] 10, the determination unit 233 may calculate, as the position of the target point M11, a position that is a relative position with the position indicated by the corrected position information corresponding to the terminal device 10-1 as a reference (reference coordinate P10-1) and that satisfies "a point 10 m directly above the terminal device 10-1." For example, the determination unit 233 may determine the relative coordinate m11 as the position of the target point M11 by calculating the relative coordinate m11 based on the reference coordinate P10-1 "x1, y1, z1" and the height "10 m."

[0276] Furthermore, the determination unit 233 may calculate, as the position of the target point M12, a position that is a relative position using the position indicated by the corrected position information corresponding to the terminal device 10-1 as a reference (reference coordinate P10-1) and that satisfies [a point 10 m directly above the terminal device 10-1 and a point 3 m east]. For example, the determination unit 233 may determine the relative coordinate m11 as the position of the target point M12 by calculating the relative coordinate m12 based on the reference coordinate P10-1 "x1, y1, z1" and the height "10 m" and "3 m east".

[0277] Furthermore, the determination unit 233 may calculate, as the position of the target point M13, a position that is a relative position using the position indicated by the corrected position information corresponding to the terminal device 10-1 as a reference (reference coordinate P10-1) and that satisfies [a point 10 m above the terminal device 10-1, a point 3 m east, and a point 5 m north]. For example, the determination unit 233 may determine the relative coordinate m13 as the position of the target point M13 by calculating the relative coordinate m13 based on the reference coordinate P10-1 "x1, y1, z1" and the height "10 m", "3 m east", and "5 m north".

[0278] The determination unit 233 may determine, as the flight path, a linear trajectory K1 that combines, for example, a linear trajectory in which a vector is directed from the target point M11 to the target point M12 and a linear trajectory in which a vector is directed from the target point M12 to the target point M13. The instruction unit 234 may input route information indicating the trajectory K1 to the flying object 60, thereby instructing the flying object 60 to fly in a straight line from the target point M11 (start target) to the target point M13 (arrival target) via the target point M12.

[0279] The user U1 can also define the position where the terminal device 10-1 is installed (reference coordinate P10-1) as the starting target and the target point M12 as the destination target, thereby setting a flight route such that the terminal device 10-1 flies at an angle in a straight line from the position where the terminal device 10-1 is installed to the target point M12. The user U1 can also set a flight route such that the terminal device 10-1 flies at an angle in a straight line from the position where the terminal device 10-1 is installed to the target point M12, for example, by defining the direction, distance, and angle with respect to the position where the terminal device 10-1 is installed (reference coordinate P10-1).

[0280] Also, the user U1 can set a circular flight path by defining a center point and a radius. Using the example of Fig. 10, the user U1 can set a circular flight path by defining the target point M11 as the center of the circle and the distance between the target point M11 and the target point M12 as the radius. Also, the user U1 can set a flight path in which the user U1 first flies to the target point M13 and then moves in a straight line from there while maintaining a specific direction and altitude by defining the target point M13 as the start target and also defining the direction and altitude relative to the target point M13.

[0281] Here, the user U1 may cause the flying object 60 to take off from the location where the terminal device 10-x is installed. That is, the flying object 60 may take off from the location where the terminal device 10-1 is installed, for example, and fly to the target point M11. Then, the flying object 60 may fly from the target point M11 to reach the target point M13.

[0282] Also, the user U1 may take off the flying object 60 from a position that is a predetermined distance away from the position where the terminal device 10-x is installed. In this case, the reception unit 232 may receive, for example, definition information that defines a takeoff point. For example, the reception unit 232 may receive definition information defined using an element starting from the terminal device 10-1, such as "a position 100 m away from the terminal device 10-1 is set as the takeoff point." That is, the flying object 60 may take off from the takeoff point and fly to the target point M11. Then, the flying object 60 may fly from the target point M11 to reach the target point M13. After reaching the target point M13, the flying object 60 may return to the takeoff point and land.

[0283] After arriving at the target point M13, the flying object 60 may land at any point. For example, the flying object 60 may land at the point where it took off. For example, the flying object 60 may land at the location where the terminal device 10-1 is installed. For example, the flying object 60 may land at a dedicated station for storing the flying object 60. For example, the flying object 60 may land at any point designated by the user.

[0284] The determination unit 233 may determine a take-off point from which the flying object 60 takes off toward the flight path, based on the corrected position information corresponding to the terminal device 10-x to be used.

[0285] For example, the determination unit 233 may calculate the position of the takeoff point as a relative position based on the position indicated by the corrected position information corresponding to the terminal device 10-x and satisfying the definition information that defines the takeoff point. Also, the instruction unit 234 may instruct the aircraft 60 to take off from the calculated position toward the flight path. In this case, the aircraft 60 may, for example, fly from the current position toward the takeoff point and land at the takeoff point. After that, the aircraft 60 may take off toward a target point (for example, a starting target) included in the flight path.

[0286] [1-2. Route determination process (2)] FIG. 11 is a diagram (2) showing an example of a route determination process according to the second embodiment. FIG. 11 illustrates a case where a user U1 installs a terminal device 10-1 at one end of the building BD corresponding to a wall surface corresponding to a specific floor of the building BD and installs a terminal device 10-2 at the other end, depending on a purpose such as wanting to inspect the wall surface. For example, the user U1 may install the terminal device 10-1 at a point 3 m (corresponding to N81) away from one end of the building BD on the ground, and install the terminal device 10-2 at a point 3 m (corresponding to N82) away from the other end of the building BD on the ground. That is, the user U1 may input definition information that defines a linear flight route starting from the terminal devices 10-1 and 10-2 to the determination device 200, with the terminal devices 10-1 and 10-2 as the target of use, for example.

[0287] Specifically, the user U1 may input definition information that defines a target point on the flight route using a direction and an altitude, such as "fly from a point 10 m above the ground (corresponding to N83) for the terminal device 10-1 (target point M21) to a point 10 m above the ground (corresponding to N84) for the terminal device 10-2 (target point M23)," to the determining device 200. In this case, the receiving unit 232 of the determining device 200 may receive this definition information.

[0288] In this case, the determination unit 233 may calculate a position that satisfies the definition information and is a relative position with the corrected position information corresponding to each of the two terminal devices 10-x as a reference (reference coordinates) as the position of the target point. Specifically, the determination unit 233 may calculate a relative coordinate m21 based on, for example, the reference coordinate P10-1 "x3, y3, z3" corresponding to the terminal device 10-1 and the height "10 m". Then, the determination unit 233 may determine the calculated relative coordinate m21 as the position of the target point M21. Furthermore, the determination unit 233 may calculate a relative coordinate m22 based on, for example, the reference coordinate P10-2 "x4, y4, z4" corresponding to the terminal device 10-2 and the height "10 m". Then, the determination unit 233 may determine the calculated relative coordinate m22 as the position of the target point M22.

[0289] The determination unit 233 may determine a straight-line trajectory K2 with a vector directed from the target point M21 to the target point M22 as the flight path. The instruction unit 234 may input route information indicating the trajectory K2 to the flying object 60, thereby instructing the flying object 60 to fly in a straight line from the target point M21 (start target) to the target point M22 (arrival target).

[0290] [1-3. Route determination process (3)] FIG. 11 shows an example in which definition information is input so that a line segment connecting points in the sky above each of the two terminal devices 10-x is set as a flight route. However, the user U1 can input definition information so that a flight route is set that further extends the line segment connecting points in the sky above each of the two terminal devices 10-x by a predetermined distance. FIG. 12 shows an example of such definition information and an example of a route determination process based on the definition information as a modified example corresponding to FIG. 11. FIG. 12 is a diagram (3) showing an example of a route determination process according to the second embodiment.

[0291] The user U1 may input definition information such as "extend from a point 10 m above the terminal device 10-2 (target point M22) to a point 5 m (corresponding to N91) (target point M23)" to the determination device 200 as definition information for setting a flight route that is further extended by a predetermined distance. In this case, the reception unit 232 of the determination device 200 may receive this definition information.

[0292] In this case, the determination unit 233 may calculate position information based on a vector (direction) from the target point M21 to M22 and the reference coordinate P10-2 "x4, y4, z4". The determination unit 233 may calculate the relative coordinate m23 based on the position information indicating the position of the target point M21 and the extension distance "5 m", for example. Then, the determination unit 233 may determine the relative coordinate m23 as the position of the target point M23.

[0293] Furthermore, the determination unit 233 may determine a linear trajectory K21 with a vector directed from the target point M21 to the target point M23 as the flight path. Then, the instruction unit 234 may input route information indicating the trajectory K21 to the flying object 60. That is, the instruction unit 234 may instruct the flying object 60 to fly in a straight line from the target point M21 (start target) to the target point M23 (arrival target) via the target point M22.

[0294] [1-4. Route determination process (4)] FIG. 13 is a diagram (4) showing an example of the route determination process according to the second embodiment. In the example of FIG. 13, a case is illustrated in which, for example, a user U1 wants to thoroughly inspect the walls corresponding to the 2nd to 5th floors of a building BD, and the terminal device 10-1 is installed at one end of the building BD corresponding to the wall, and the terminal device 10-2 is installed at the other end. For example, the user U1 may install the terminal device 10-1 at a point 3 m (corresponding to N101) away from one end of the building BD, and the terminal device 10-2 at a point 3 m (corresponding to N102) away from the other end of the building BD. That is, the user U1 may input definition information to the determination device 200, which defines the vertex points that are the vertices of the planar area, with the terminal devices 10-1 and 10-2 as the target of use, as the starting points.

[0295] Specifically, the user U1 may input, for example, definition information 1 to the determination device 200, which states that "a point 5 m above (corresponding to N103)" for the position of the terminal device 10-1 is set as one vertex (vertex point T11), and a point 15 m above (corresponding to N104) for the terminal device 10-1 is set as one vertex (vertex point T12)." The user U1 may also input definition information 2 to the determination device 200, which states that "a point 5 m above (corresponding to N105)" for the position of the terminal device 10-2 is set as one vertex (vertex point T21), and a point 15 m above (corresponding to N106) for the terminal device 10-2 is set as one vertex (vertex point T21)." The user U1 may also input definition information 3 to the determination device 200, which states that "the four vertices determined in the definition information 1 and 2 are connected to form a planar region." The receiving unit 232 of the determining device 200 may receive this series of definition information.

[0296] In this case, the determination unit 233 may calculate a position that is a relative position using the corrected position information corresponding to each of the two terminal devices 10-x as a reference (reference coordinates) and satisfies the definition information 1 to 3 as the position of the vertex point.

[0297] Specifically, the determination unit 233 may calculate a relative coordinate t11 based on, for example, the reference coordinate P10-1 "x3, y3, z3" corresponding to the terminal device 10-1 and the height "5m". Then, the determination unit 233 may determine the relative coordinate t11 as the position of the vertex point T11. Furthermore, the determination unit 233 may calculate a relative coordinate t12 based on, for example, the reference coordinate P10-1 "x3, y3, z3" corresponding to the terminal device 10-1 and the height "15m". Then, the determination unit 233 may determine the relative coordinate t12 as the position of the vertex point T12. Furthermore, the determination unit 233 may calculate a relative coordinate t21 based on, for example, the reference coordinate P10-2 "x4, y4, z4" corresponding to the terminal device 10-2 and the height "5m". Then, the determination unit 233 may determine the relative coordinate t21 as the position of the vertex point T21. Furthermore, the determination unit 233 may calculate the relative coordinate t22 based on, for example, the reference coordinate P10-2 “x4, y4, z4” corresponding to the terminal device 10-2 and the height “15 m.” Then, the determination unit 233 may determine the relative coordinate t22 as the position of the vertex point T22.

[0298] The determination unit 233 may generate a planar area AR11 by connecting the four determined vertices T11, T12, T21, and T22. For example, the determination unit 233 may determine a trajectory that moves within the planar area AR11 along the planar area AR11 as a flight path. The instruction unit 234 may instruct the flying object 60 to move evenly within the planar area AR11 by inputting route information indicating the determined flight path to the flying object 60. Note that, when the flying object 60 flies while photographing the flight path, the determination unit 233 may determine the flight path using the overlap ratio of the photographed image. For example, the determination unit 233 may calculate the overlap ratio for the traveling direction and the overlap ratio for the adjacent areas, and determine a flight path such that the image to be photographed has the calculated overlap ratio.

[0299] [1-5. Route determination process (5)] FIG. 14 is a diagram (5) showing an example of the route determination process according to the second embodiment. In the example of FIG. 14, a case is illustrated in which the user U1 installs the terminal device 10-1 at one end of the building BD on the ground and the terminal device 10-2 at the other end, in accordance with the purpose of flying the flying object 60 in a predetermined manner in a three-dimensional area surrounding the building BD. For example, the user U1 may install the terminal device 10-1 at a point 3 m away from one end of the building BD on the ground and the terminal device 10-2 at a point 3 m away from the other end of the building BD on the ground. That is, the user U1 may input definition information to the determination device 200, for example, defining vertex points that are vertices of the three-dimensional area with the terminal devices 10-1 and 10-2 as the starting points, with these terminal devices as the use targets.

[0300] Specifically, the user U1 may input, for example, definition information 1 to the determining device 200, which is [the position of the terminal device 10-1 is one vertex (vertex point T31), and the "point at a depth of 10 m (corresponding to N111)" relative to the terminal device 10-1 is one vertex (vertex point T34)]. The user U1 may also input, for example, definition information 2 to the determining device 200, which is [the position of the terminal device 10-2 is one vertex (vertex point T32), and the "point at a depth of 10 m (corresponding to N112)" relative to the terminal device 10-2 is one vertex (vertex point T33)]. The user U1 may also input, for example, definition information 3 to the determining device 200, which is [a three-dimensional area with a height of "30 m" (corresponding to N113) and with a surface connecting the vertices T31 to T34 as the bottom surface]. The receiving unit 232 of the determining device 200 may receive this series of definition information.

[0301] In this case, the determination unit 233 may use the corrected position information corresponding to each of the two terminal devices 10-x as a reference (reference coordinates) and calculate a position that satisfies the definition information 1 to 3 as the position of the vertex point.

[0302] Specifically, the determination unit 233 may determine, for example, the reference coordinate P10-1 "x3, y3, z3" corresponding to the terminal device 10-1 as the position of the vertex point T31. Furthermore, the determination unit 233 may calculate the relative coordinate t34 based on the reference coordinate P10-1 "x3, y3, z3" corresponding to the terminal device 10-1 and the depth "10 m". Then, the determination unit 233 may determine the relative coordinate t34 as the position of the vertex point T34. Furthermore, the determination unit 233 may determine, for example, the reference coordinate P10-2 "x4, y4, z4" corresponding to the terminal device 10-2 as the position of the vertex point T32. Furthermore, the determination unit 233 may determine the relative coordinate t33 as the position of the vertex point T33 by calculating the relative coordinate t33 based on, for example, the reference coordinate P10-2 "x4, y4, z4" corresponding to the terminal device 10-2 and the depth "10 m".

[0303] Furthermore, the determination unit 233 may calculate, as the positions of the vertices, positions that are relative positions using the corrected position information corresponding to each of the two terminal devices 10-x as a reference (reference coordinates) and that satisfy the definition information 3. For example, the determination unit 233 may calculate the remaining four vertices (vertex points T35 to T38) that correspond to a height of "30 m" when the plane connecting the vertices T31 to T34 is taken as the bottom.

[0304] For example, the determination unit 233 may calculate relative coordinates t35 and t38 based on the reference coordinates P10-1 "x3, y3, z3", the depth "10 m", and the height "30 m" corresponding to the terminal device 10-1. The determination unit 233 may also determine the relative coordinate t35 as the position of the vertex point T35, and the relative coordinate t38 as the position of the vertex point T38. The determination unit 233 may also calculate relative coordinates t36 and t37 based on the reference coordinates P10-2 "x4, y4, z4", the depth "10 m", and the height "30 m" corresponding to the terminal device 10-2. The determination unit 233 may then determine the relative coordinate t36 as the position of the vertex point T36, and the relative coordinate t37 as the position of the vertex point T37, for example.

[0305] Furthermore, the determination section 233 may generate the three-dimensional area AR12 by connecting the eight determined vertex points T31 to T38.

[0306] The determination unit 233 may determine the flight path based on the three-dimensional region AR12. For example, the determination unit 233 may determine the trajectory of the aircraft moving within a predetermined planar region (for example, a planar region connecting vertices T31, T32, T35, and T36) among the planar regions constituting the three-dimensional region AR12 as the flight path. For example, the determination unit 233 may determine the trajectory of the aircraft 60 moving outside the three-dimensional region AR12 so that the aircraft 60 does not enter the three-dimensional region AR12 as the flight path. For example, the determination unit 233 may determine the trajectory of the aircraft moving within the three-dimensional region AR12 so that the aircraft does not leave the three-dimensional region AR12 as the flight path.

[0307] In the example of FIG. 14, the determination unit 233 generates a so-called rectangular parallelepiped three-dimensional region in space based on the definition information by the user U1. However, the user U1 may define a three-dimensional region of any shape by the definition information according to the purpose. That is, the user U1 can cause the determination unit 233 to generate three-dimensional regions of various shapes according to, for example, how many terminal devices 10-x are to be installed in what positional relationship, what height is to be defined, and the like. That is, the determination unit 233 may generate a three-dimensional region of any shape based on the definition information. For example, in the example of FIG. 14, depending on the height, the determination unit 233 can generate a three-dimensional region of a cube in space. Also, for example, when a total of six vertices are defined using three vertices T31, T32, and T33 (or the vertex T34) and the height, the determination unit 233 can generate a three-dimensional region of a triangular prism in space.

[0308] [1-6. Route determination process (6)] FIG. 15 is a diagram (6) showing an example of the route determination process according to the second embodiment. FIG. 15 illustrates a case where a user U1 installs a terminal device 10-1, a terminal device 10-2, and a terminal device 10-3 at three ends on the ground of a building BD, respectively, in response to a purpose such as flying an aircraft 60 in a predetermined manner in a three-dimensional area surrounding a building BD. The example of FIG. 15 differs from the example of FIG. 14 in that the terminal device 10-3 is further installed at the other end on the ground of the building BD. That is, the user U1 may input definition information to the determination device 200, for example, defining vertex points that are to be the vertices of the three-dimensional area with the terminal devices 10-1 to 10-3 as the starting points, with these terminal devices as the use targets.

[0309] Specifically, the user U1 may input, for example, definition information 1, "the position of the terminal device 10-1 is one vertex (vertex point T31)," to the determining device 200. The user U1 may also input, for example, definition information 2, "the position of the terminal device 10-2 is one vertex (vertex point T32)," to the determining device 200. The user U1 may also input, for example, definition information 3, "the position of the terminal device 10-3 is one vertex (vertex point T33)," to the determining device 200. The user U1 may also input, for example, definition information 4, "the position on the diagonal line based on the definition information 1 to 3 is further set as one vertex (vertex point T34)," to the determining device 200. The user U1 may also input, for example, definition information 5, "a three-dimensional area with a height of "30 m" (corresponding to N121) and with a surface connecting the vertices T31 to T34 as the base," to the determining device 200.

[0310] In this case, the determination unit 233 may calculate the positions that satisfy the definition information 1 to 5 as the positions of the vertices, using the corrected position information corresponding to each of the three ground terminal devices 10-x as a reference (reference coordinates).

[0311] Specifically, the determination unit 233 may determine, for example, the reference coordinate P10-1 "x3, y3, z3" corresponding to the terminal device 10-1 as the position of the vertex point T31. The determination unit 233 may also determine, for example, the reference coordinate P10-2 "x4, y4, z4" corresponding to the terminal device 10-2 as the position of the vertex point T32. The determination unit 233 may also determine, for example, the reference coordinate P10-3 "x5, y5, z5" corresponding to the terminal device 10-3 as the position of the vertex point T33. The determination unit 233 may also calculate the relative coordinate t34 based on these three reference coordinates, thereby determining the relative coordinate t34 as the position of the vertex point T34.

[0312] Furthermore, the determination unit 233 may calculate, as the positions of the vertices, positions that are relative positions using the corrected position information corresponding to each of the three terminal devices 10-x on the ground as a reference (reference coordinates) and that satisfy the definition information 5. For example, the determination unit 233 may calculate the remaining four vertices (vertex points T35 to T38) that correspond to a height of "30 m" when the plane connecting the vertices T31 to T34 is taken as the bottom.

[0313] For example, the determination unit 233 may calculate a relative coordinate t35 based on the reference coordinate P10-1 "x3, y3, z3" corresponding to the terminal device 10-1 and the height "30 m" to determine the relative coordinate t35 as the position of the vertex point T35. Also, for example, the determination unit 233 may calculate a relative coordinate t36 based on the reference coordinate P10-2 "x4, y4, z4" corresponding to the terminal device 10-2 and the height "30 m". Then, the determination unit 233 may determine the relative coordinate t36 as the position of the vertex point T36. Also, for example, the determination unit 233 may calculate a relative coordinate t37 based on the reference coordinate P10-1 "x5, y5, z5" corresponding to the terminal device 10-3 and the height "30 m". Then, the determination unit 233 may determine the relative coordinate t37 as the position of the vertex point T37. Also, for example, the determining unit 233 may calculate the remaining relative coordinate t38 based on the relationship between the relative coordinates t35 to t37. Then, the determining unit 233 may determine the relative coordinate t38 as the position of the vertex point T38.

[0314] The determination unit 233 may generate a three-dimensional area AR12 by connecting the eight vertices T31 to T38 thus determined. The determination unit 233 may determine the flight path of the flying object according to the definition information of the user U1. The flight path may be the same as the path described in the path determination process (5). The instruction unit 234 may input path information indicating the determined flight path to the flying object 60.

[0315] [1-7. Route determination process (7)] FIG. 16 is a diagram (7) showing an example of the route determination process according to the second embodiment. In FIG. 16, a case is illustrated in which a user U1 installs a terminal device 10-1 and a terminal device 10-2 at two ends of the building BD on the ground, and also installs a terminal device 10-3 on the roof of the building BD, in response to a purpose such as flying an aircraft 60 in a predetermined manner in a three-dimensional area surrounding the building BD. The example of FIG. 16 is different from the example of FIG. 15 in that the point at which the terminal device 10-3 is installed with respect to the building BD is different. Specifically, in the example of FIG. 15, the terminal device 10-3 is installed at one end of the building BD on the ground so as to define one of the vertices, whereas in the example of FIG. 16, the terminal device 10-3 is installed on the roof of the building BD so as to define the altitude. That is, the user U1 may input definition information to the determination device 200, for example, defining vertex points that are vertices of the three-dimensional area with the terminal devices 10-1 to 10-3 as the starting points, with these terminal devices as the use targets.

[0316] Specifically, the user U1 may input, for example, definition information 1 to the determining device 200, which is [the position of the terminal device 10-1 is one vertex (vertex point T31), and the "point at a depth of 10 m (corresponding to N131)" with respect to the terminal device 10-1 is one vertex (vertex point T34)]. The user U1 may also input, for example, definition information 2 to the determining device 200, which is [the position of the terminal device 10-2 is one vertex (vertex point T32), and the "point at a depth of 10 m (corresponding to N132)" with respect to the terminal device 10-2 is one vertex (vertex point T33)]. The user U1 may also input, for example, definition information 3 to the determining device 200, which is [a three-dimensional region with a surface connecting the vertices T31 to T34 as the bottom surface and the position of the terminal device 10-3 as the height].

[0317] In this case, the determination unit 233 may calculate a position that satisfies the definition information 1 to 3 as the position of the vertex point, using the corrected position information corresponding to the two terminal devices 10-x on the ground as a reference (reference coordinates).

[0318] Specifically, the determination unit 233 may determine, for example, the reference coordinate P10-1 "x3, y3, z3" corresponding to the terminal device 10-1 as the position of the vertex point T31. The determination unit 233 may also calculate the relative coordinate t34 based on the reference coordinate P10-1 "x3, y3, z3" corresponding to the terminal device 10-1 and the depth "10 m". The determination unit 233 may then determine the relative coordinate t34 as the position of the vertex point T34. The determination unit 233 may also determine, for example, the reference coordinate P10-2 "x4, y4, z4" corresponding to the terminal device 10-2 as the position of the vertex point T32. The determination unit 233 may also calculate the relative coordinate t33 based on the reference coordinate P10-2 "x4, y4, z4" corresponding to the terminal device 10-2 and the depth "10 m". Then, the determination unit 233 may determine the relative coordinate t33 as the position of the vertex point T33.

[0319] Furthermore, the determination unit 233 may calculate, as the positions of the vertices, positions that are relative to the coordinates (reference coordinates) of the position indicated by the corrected position information corresponding to each of the terminal devices 10-x and that satisfy the definition information 3. For example, the determination unit 233 may calculate the remaining four vertices (vertices T35 to T38) by applying the height indicated by the reference coordinates P10-3 “x6, y6, z6” corresponding to the terminal device 10-3 to the plane connecting the vertices T31 to T34.

[0320] For example, the determination unit 233 may calculate relative coordinates t35 and t38 based on the reference coordinate P10-1 "x3, y3, z3", the depth "10 m", and the reference coordinate P10-3 corresponding to the terminal device 10-1. Then, the determination unit 233 may determine the relative coordinate t35 as the position of the vertex point T35, and the relative coordinate t38 as the position of the vertex point T38. Also, for example, the determination unit 233 may calculate relative coordinates t36 and t37 based on the reference coordinate P10-2 "x4, y4, z4", the depth "10 m", and the reference coordinate P10-3 corresponding to the terminal device 10-2. Then, the determination unit 233 may determine the relative coordinate t36 as the position of the vertex point T36, and the relative coordinate t37 as the position of the vertex point T37.

[0321] The determination unit 233 may generate the three-dimensional area AR12 by connecting the eight vertices T31 to T38 thus determined. The determination unit 233 may determine a flight route according to the definition information of the user U1. The flight route may be the same as the route described in the route determination process (5). The instruction unit 234 may input route information indicating the determined flight route to the flying object 60.

[0322] [1-8. Route determination process (8)] FIG. 17 is a diagram (8) showing an example of the route determination process according to the second embodiment. In FIG. 17, a case is illustrated in which a user U1 installs a terminal device 10-1, a terminal device 10-2, a terminal device 10-3, and a terminal device 10-4 at each of the four ends on the ground of a building BD in response to a purpose such as flying an aircraft 60 in a predetermined manner with respect to a three-dimensional area surrounding the building BD. In the example of FIG. 17, one more terminal device 10-x is added (four in total) compared to FIG. 15. Also, in the example of FIG. 17, compared to FIG. 15, the added one terminal device 10-x is further installed at the remaining end of the building BD. Specifically, in the example of FIG. 17, the added terminal device 10-4 is installed at the remaining end of the building BD. That is, the user U1 may input definition information to the determination device 200 that defines the vertex points that become the vertices of the three-dimensional area, for example, with the terminal devices 10-1 to 10-4 as the use targets and these terminal devices as the starting points.

[0323] Specifically, the user U1 may input, for example, definition information 1, "the position of the terminal device 10-1 is one vertex (vertex point T31)," to the determining device 200. The user U1 may also input, for example, definition information 2, "the position of the terminal device 10-2 is one vertex (vertex point T32)," to the determining device 200. The user U1 may also input, for example, definition information 3, "the position of the terminal device 10-3 is one vertex (vertex point T33)," to the determining device 200. The user U1 may also input, for example, definition information 4, "the position of the terminal device 10-4 is one vertex (vertex point T34)," to the determining device 200. The user U1 may also input, for example, definition information 5, "a three-dimensional area with a height of "30 m" (corresponding to N141) and with a surface connecting the vertices T31 to T34 as the bottom surface," to the determining device 200.

[0324] In this case, the determination unit 233 may calculate the positions that satisfy the definition information 1 to 5 as the positions of the vertices, using the corrected position information corresponding to each of the four ground terminal devices 10-x as a reference (reference coordinates).

[0325] Specifically, the determination unit 233 may determine, for example, the reference coordinate P10-1 "x3, y3, z3" corresponding to the terminal device 10-1 as the position of the vertex point T31. The determination unit 233 may also determine, for example, the reference coordinate P10-2 "x4, y4, z4" corresponding to the terminal device 10-2 as the position of the vertex point T32. The determination unit 233 may also determine, for example, the reference coordinate P10-3 "x5, y5, z5" corresponding to the terminal device 10-3 as the position of the vertex point T33. The determination unit 233 may also determine, for example, the reference coordinate P10-3 "x7, y7, z7" corresponding to the terminal device 10-4 as the position of the vertex point T34.

[0326] Furthermore, the determination unit 233 may calculate, as the positions of the vertices, positions that are relative positions using the corrected position information corresponding to each of the four terminal devices 10-x as a reference (reference coordinates) and that satisfy the definition information 5. For example, the determination unit 233 may calculate the remaining four vertices (vertex points T35 to T38) that correspond to a height of "30 m" when the plane connecting the vertices T31 to T34 is taken as the bottom.

[0327] For example, the determination unit 233 may calculate a relative coordinate t35 based on the reference coordinate P10-1 "x3, y3, z3" corresponding to the terminal device 10-1 and the height "30 m". Then, the determination unit 233 may determine the relative coordinate t35 as the position of the vertex point T35. Furthermore, the determination unit 233 may calculate a relative coordinate t36 based on the reference coordinate P10-2 "x4, y4, z4" corresponding to the terminal device 10-2 and the height "30 m". Then, the determination unit 233 may determine the relative coordinate t36 as the position of the vertex point T36. Furthermore, the determination unit 233 may calculate a relative coordinate t37 based on the reference coordinate P10-1 "x5, y5, z5" corresponding to the terminal device 10-3 and the height "30 m". Then, the determination unit 233 may determine the relative coordinate t37 as the position of the vertex point T37. Furthermore, the determination unit 233 may calculate the relative coordinate t38 based on, for example, the reference coordinate P10-4 “x7, y7, z7” corresponding to the terminal device 10-4 and the height “30 m.” Then, the determination unit 233 may determine the relative coordinate t38 as the position of the vertex point T38.

[0328] The determination unit 233 may generate the three-dimensional area AR12 by connecting the eight vertices T31 to T38 thus determined. The determination unit 233 may determine a flight route according to the definition information of the user U1. The flight route may be the same as the route described in the route determination process (5). The instruction unit 234 may input route information indicating the determined flight route to the flying object 60.

[0329] [1-9. Route determination process (9)] FIG. 18 is a diagram (9) showing an example of the route determination process according to the second embodiment. In FIG. 18, a case is illustrated in which a user U1 installs a terminal device 10-1, a terminal device 10-2, and a terminal device 10-3 at each of the three ends of the ground of a building BD, and also installs a terminal device 10-4 on the roof of the building BD, in response to a purpose such as flying an aircraft 60 in a predetermined manner in a three-dimensional area surrounding the building BD. In the example of FIG. 18, one more terminal device 10-x is added (four in total) compared to the example of FIG. 15. In addition, in the example of FIG. 18, the additional one terminal device 10-x is further installed on the roof of the building BD, compared to the example of FIG. 15. Specifically, in the example of FIG. 18, the additional terminal device 10-4 is installed on the roof of the building BD. That is, the user U1 may input to the determining device 200 definition information that defines vertex points that become the vertices of the three-dimensional area, with the terminal devices 10-1 to 10-4 being the target devices for use, as starting points.

[0330] Specifically, the user U1 may input, for example, definition information 1, "the position of the terminal device 10-1 is one vertex (vertex point T31)," to the determining device 200. The user U1 may also input, for example, definition information 2, "the position of the terminal device 10-2 is one vertex (vertex point T32)," to the determining device 200. The user U1 may also input, for example, definition information 3, "the position of the terminal device 10-3 is one vertex (vertex point T33)," to the determining device 200. The user U1 may also input, for example, definition information 4, "the position on the diagonal line based on the definition information 1 to 3 is further one vertex (vertex point T34)," to the determining device 200. The user U1 may also input, for example, definition information 5, "a three-dimensional region with the surface connecting the vertices T31 to T34 as the bottom and the position of the terminal device 10-4 as the height," to the determining device 200.

[0331] In this case, the determination unit 233 may calculate the positions that satisfy the definition information 1 to 5 as the positions of the vertices, using the corrected position information corresponding to each of the three ground terminal devices 10-x as a reference (reference coordinates).

[0332] Specifically, the determination unit 233 may determine, for example, the reference coordinate P10-1 "x3, y3, z3" corresponding to the terminal device 10-1 as the position of the vertex point T31. The determination unit 233 may also determine, for example, the reference coordinate P10-2 "x4, y4, z4" corresponding to the terminal device 10-2 as the position of the vertex point T32. The determination unit 233 may also determine, for example, the reference coordinate P10-3 "x5, y5, z5" corresponding to the terminal device 10-3 as the position of the vertex point T33. The determination unit 233 may also calculate the relative coordinate t34 based on these three reference coordinates. The determination unit 233 may determine, for example, the relative coordinate t34 as the position of the vertex point T34.

[0333] Furthermore, the determination unit 233 may calculate, as the positions of the vertices, positions that are relative positions using the corrected position information corresponding to each terminal device 10-x as a reference (reference coordinates) and that satisfy the definition information 5. For example, the determination unit 233 may calculate the remaining four vertices (vertex points T35 to T38) by applying the height indicated by the reference coordinates P10-4 “x6, y6, z6” corresponding to the terminal device 10-4 to a plane connecting the vertices T31 to T34.

[0334] For example, the determination unit 233 may calculate a relative coordinate t35 based on the reference coordinate P10-1 "x3, y3, z3" corresponding to the terminal device 10-1 and the reference coordinate P10-4. Then, the determination unit 233 may determine the relative coordinate t35 as the position of the vertex point T35. Furthermore, the determination unit 233 may calculate a relative coordinate t36 based on the reference coordinate P10-2 "x4, y4, z4" corresponding to the terminal device 10-2 and the reference coordinate P10-4. Then, the determination unit 233 may determine the relative coordinate t36 as the position of the vertex point T36. Furthermore, the determination unit 233 may calculate a relative coordinate t37 based on the reference coordinate P10-3 "x5, y5, z5" corresponding to the terminal device 10-3 and the reference coordinate P10-4. Then, the determination unit 233 may determine the relative coordinate t37 as the position of the vertex point T37. Furthermore, the determining unit 233 may calculate the remaining relative coordinate t38 based on the relationship between the relative coordinates t35 to t37. Then, the determining unit 233 may determine the relative coordinate t38 as the position of the vertex point T38.

[0335] The determination unit 233 may generate the three-dimensional area AR12 by connecting the eight vertices T31 to T38 thus determined. The determination unit 233 may determine a flight route according to the definition information of the user U1. The flight route may be the same as the route described in the route determination process (5). The instruction unit 234 may input route information indicating the determined flight route to the flying object 60.

[0336] [1-10. Route determination process (10)] FIG. 19 is a diagram (10) showing an example of the route determination process according to the second embodiment. In FIG. 19, a case is illustrated in which a user U1 installs a terminal device 10-1, a terminal device 10-2, a terminal device 10-3, and a terminal device 10-4 at each of the four ends of the ground of a building BD, and also installs a terminal device 10-5 on the roof of the building BD, in response to a purpose such as flying an aircraft 60 in a predetermined manner in a three-dimensional area surrounding the building BD. In the example of FIG. 19, one more terminal device 10-x is added (five in total) compared to the example of FIG. 17. In addition, in the example of FIG. 19, the additional one terminal device 10-x is further installed on the roof of the building BD, compared to the example of FIG. 17. Specifically, in the example of FIG. 19, the additional terminal device 10-5 is installed on the roof of the building BD. That is, the user U1 may input to the determining device 200 definition information that defines vertex points that become the vertices of the three-dimensional area, with the terminal devices 10-1 to 10-5 being the target devices for use, as starting points.

[0337] Specifically, the user U1 may input, for example, definition information 1, "the position of the terminal device 10-1 is one vertex (vertex point T31)," to the determining device 200. The user U1 may also input, for example, definition information 2, "the position of the terminal device 10-2 is one vertex (vertex point T32)," to the determining device 200. The user U1 may also input, for example, definition information 3, "the position of the terminal device 10-3 is one vertex (vertex point T33)," to the determining device 200. The user U1 may also input, for example, definition information 4, "the position of the terminal device 10-4 is one vertex (vertex point T34)," to the determining device 200. The user U1 may also input, for example, definition information 5, "a three-dimensional region with a surface connecting the vertices T31 to T34 as the bottom and the position of the terminal device 10-5 as the height," to the determining device 200.

[0338] In this case, the determination unit 233 may calculate the positions that satisfy the definition information 1 to 5 as the positions of the vertices, using the corrected position information corresponding to each of the four ground terminal devices 10-x as a reference (reference coordinates).

[0339] Specifically, the determination unit 233 may determine, for example, the reference coordinate P10-1 "x3, y3, z3" corresponding to the terminal device 10-1 as the position of the vertex point T31. The determination unit 233 may also determine, for example, the reference coordinate P10-2 "x4, y4, z4" corresponding to the terminal device 10-2 as the position of the vertex point T32. The determination unit 233 may also determine, for example, the reference coordinate P10-3 "x5, y5, z5" corresponding to the terminal device 10-3 as the position of the vertex point T33. The determination unit 233 may also determine, for example, the reference coordinate P10-4 "x7, y7, z7" corresponding to the terminal device 10-4 as the position of the vertex point T34.

[0340] Furthermore, the determination unit 233 may calculate, as the positions of the vertices, positions that are relative to the coordinates (reference coordinates) of the position indicated by the corrected position information corresponding to each of the terminal devices 10-x and that satisfy the definition information 5. For example, the determination unit 233 may calculate the remaining four vertices (vertices T35 to T38) by applying the height indicated by the reference coordinates P10-5 “x6, y6, z6” corresponding to the terminal device 10-5 to the plane connecting the vertices T31 to T34.

[0341] For example, the determination unit 233 may calculate a relative coordinate t35 based on the reference coordinate P10-1 "x3, y3, z3" corresponding to the terminal device 10-1 and the reference coordinate P10-5. Then, the determination unit 233 may determine the relative coordinate t35 as the position of the vertex point T35. Furthermore, the determination unit 233 may calculate a relative coordinate t36 based on the reference coordinate P10-2 "x4, y4, z4" corresponding to the terminal device 10-2 and the reference coordinate P10-5. Then, the determination unit 233 may determine the relative coordinate t36 as the position of the vertex point T36. Furthermore, the determination unit 233 may calculate a relative coordinate t37 based on the reference coordinate P10-3 "x5, y5, z5" corresponding to the terminal device 10-3 and the reference coordinate P10-5. Then, the determination unit 233 may determine the relative coordinate t37 as the position of the vertex point T37. Furthermore, the determination unit 233 may calculate the relative coordinate t38 based on, for example, the reference coordinate P10-4 “x7, y7, z7” corresponding to the terminal device 10-4 and the reference coordinate P10-5. Then, the determination unit 233 may determine the relative coordinate t38 as the position of the vertex point T38.

[0342] The determination unit 233 may generate the three-dimensional area AR12 by connecting the eight vertices T31 to T38 thus determined. The determination unit 233 may determine a flight route according to the definition information of the user U1. The flight route may be the same as the route described in the route determination process (5). The instruction unit 234 may input route information indicating the determined flight route to the flying object 60.

[0343] (Other embodiments) The terminal device 10-x is expected to be used in various fields other than the above examples by combining the route determination process shown in the above embodiment. An example of a use case of the terminal device 10-x is shown below.

[0344] For example, it is assumed that the terminal device 10-x is installed with respect to a specific object, and definition information tailored to the purpose is input. In this case, the determination device 200 may control the flying object 60 to fly along a flight path that follows the object while maintaining a specific distance from the object. According to this, the determination device 200 according to one embodiment can acquire a photographed image of a moving object such as a vehicle, a train, a drone, etc., while maintaining a constant distance from the object. In addition, for example, when photographing an object for the purpose of inspection, the determination device 200 can improve the accuracy of the inspection by acquiring a photographed image with a constant distance.

[0345] The determination device 200 may also determine an optimal flight path based on a history of position information (corrected position information) obtained from the terminal device 10-x. For example, when the terminal device 10-x is mounted on a vehicle, the determination device 200 may detect a movement trajectory indicating what kind of trajectory the vehicle has moved on, based on a history of position information obtained from the terminal device 10-x. In this case, if more vehicles are equipped with the terminal device 10-x, the determination device 200 can detect statistics of the movement trajectories. That is, the determination device 200 according to an embodiment may detect a roadway. In this case, the determination device 200 may determine a trajectory shifted from the movement trajectory as a flight path above the detected movement trajectory (roadway). Specifically, the determination device 200 may determine a trajectory along the movement trajectory as a flight path above the movement trajectory. According to this, the determination device 200 according to an embodiment can reduce the risk that the flying object 60 falls toward a vehicle or a roadway. In addition, the determination device 200 according to an embodiment may determine a flight path that can capture traffic conditions.

[0346] The determination device 200 may also determine an optimal flight path for track inspection based on a history of position information (corrected position information) obtained from the terminal device 10-x. In this case, since the terminal device 10-x is mounted on a railway, the determination device 200 according to an embodiment can detect relatively highly accurate coordinates according to the track. That is, the determination device 200 according to an embodiment can utilize the flying object 60 for track inspection by determining a trajectory indicated by coordinates according to the track as a flight path.

[0347] (Hardware configuration) Moreover, the terminal device 10-x, the mobile device 60, the arithmetic device 100, and the determination device 200 included in the route determination system 1 according to the above embodiment may be realized by a computer 1000 having a configuration as shown in Fig. 20, for example. The determination device 200 will be described below as an example. Fig. 20 is a hardware configuration diagram showing an example of the computer 1000 that realizes the functions of the determination device 200. The computer 1000 may have a CPU 1100, a RAM 1200, a ROM 1300, a HDD 1400, a communication interface (I / F) 1500, an input / output interface (I / F) 1600, and a media interface (I / F) 1700.

[0348] The CPU 1100 may operate and control each unit based on a program stored in the ROM 1300 or the HDD 1400. The ROM 1300 may store a boot program executed by the CPU 1100 when the computer 1000 is started up, a program dependent on the hardware of the computer 1000, and the like.

[0349] The HDD 1400 may store programs executed by the CPU 1100, data used by the programs, etc. The communication interface 1500 may receive data from other devices via the communication network 50 and transmit the data to the CPU 1100. The communication interface 1500 may transmit data generated by the CPU 1100 to other devices via the communication network 50.

[0350] The CPU 1100 may control output devices such as a display and a printer, and input devices such as a keyboard and a mouse, via the input / output interface 1600. The CPU 1100 may obtain data from the input devices via the input / output interface 1600. The CPU 1100 may also output generated data to the output devices via the input / output interface 1600.

[0351] The media interface 1700 may read a program or data stored in the recording medium 1800 and provide it to the CPU 1100 via the RAM 1200. The CPU 1100 may load the program from the recording medium 1800 onto the RAM 1200 via the media interface 1700 and execute the loaded program. The recording medium 1800 may be, for example, an optical recording medium such as a DVD (Digital Versatile Disc) or a PD (Phase change rewritable Disk), a magneto-optical recording medium such as an MO (Magneto-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory.

[0352] For example, when the computer 1000 functions as the determination device 200 according to the embodiment, the CPU 1100 of the computer 1000 may realize the function of the control unit 230 by executing a program loaded on the RAM 1200. Furthermore, the HDD 1400 may store data in the storage unit 120. The CPU 1100 may read and execute these programs from the recording medium 1800. The CPU 1100 may obtain these programs from another device via the communication network 50.

[0353] (others) In addition, each component of each device shown in the figure is a functional concept, and does not necessarily have to be physically configured as shown in the figure. In other words, the specific form of distribution and integration of each device is not limited to that shown in the figure, and all or part of them can be functionally or physically distributed and integrated in any unit according to various loads, usage conditions, etc.

[0354] For example, when the above embodiment includes multiple terminal devices 10-x, the multiple terminal devices 10-x may be different devices. In other words, as long as the functions of the terminal device can be realized, the multiple terminal devices 10-x do not have to be the same device. For example, the shape and functions of the device may be different depending on the scene in which the terminal device 10-x is installed or mounted.

[0355] The above describes the embodiments of the present application in detail with reference to several drawings. However, these are merely examples, and the present invention can be embodied in other forms that incorporate various modifications and improvements based on the knowledge of those skilled in the art, including the aspects described in the Disclosure of the Invention section.

[0356] Furthermore, the above-mentioned "section, module, unit" can be read as "means" or "circuit", etc. For example, a decision unit can be read as a decision means or a decision circuit, etc. [Explanation of symbols]

[0357] 1. Routing system 10 Terminal Equipment 13a Receiving section 13b Rough position calculation section 13c acquisition part 13d Selection section 13e Correction section 13f Transmitter 30 Reference station 60 Mobile equipment (mobile) 63a Corrected position information acquisition unit 63b Route information acquisition unit 63c Movement control section 100 Computing equipment 131 Receiving unit 132 Generation part 133 Transmitter 200 Determination device 231 Corrected location information acquisition unit 232 Reception 233 Decision Section 234 Instruction section 235 Output section

Claims

1. A route determination system including a calculation device, a terminal device that is a reference for a route of a moving object, and a determination device, The computing device includes: A receiving unit for receiving data transmitted by an artificial satellite; a generation unit that generates correction information for correcting approximate location information of the terminal device based on the data transmitted by each of the artificial satellites; a transmitting unit that transmits to the terminal device a list in which the correction information generated for each artificial satellite is compiled; having The terminal device An acquisition unit that acquires the list; a selection unit that selects, from among the correction information included in the list, the correction information generated from the data transmitted by an artificial satellite that can be detected from the position of the device itself among the artificial satellites; a calculation unit that calculates location information of the own device based on the correction information selected by the selection unit; having The determination device comprises: A determination unit that determines a moving path of the moving object based on the position information calculated by the calculation unit. have A route determination system comprising:

2. The calculation unit calculates the location information of the terminal device by a PPP (Precise Point Positioning) positioning calculation using the correction information selected by the selection unit.

2. The route determination system according to claim 1.

3. A route determination system including a calculation device, a reference station, a terminal device that serves as a reference for a route of a moving object, and a determination device, The computing device includes: A receiving unit for receiving data transmitted by a plurality of artificial satellites; a generation unit that generates correction information for correcting approximate position information of the terminal device for each area included in a predetermined range including the reference station, based on data received not via the reference station and data received via the reference station and including information on coordinates of the reference station among the data; a transmission unit that transmits the correction information generated for each area to the terminal device; having the generation unit identifies, for each of the areas, a reference station from which data is to be used among the reference stations according to a location status of the reference station for each of the areas, and generates the correction information for each of the areas based on the data received via the identified reference station and the data received without via the reference station; The terminal device an acquisition unit that acquires the correction information generated for each of the areas; a selection unit that selects correction information generated for an area corresponding to a location of the own device from among the areas, the correction information generated for each of the areas; a calculation unit that calculates location information of the own device based on the correction information selected by the selection unit; having The determination device comprises: A determination unit that determines a moving path of the moving object based on the position information calculated by the calculation unit. have A route determination system comprising:

4. The transmission unit transmits the correction information generated for each of the areas to the terminal device via a wireless network.

4. The route determination system according to claim 3.

5. The calculation unit calculates the position information of the terminal device by a PPP (Precise Point Positioning)-RTK (Real Time Kinematic) positioning calculation using the correction information selected by the selection unit.

4. The route determination system according to claim 3.

6. The determination device comprises: A reception unit that receives definition information defining the travel route from a user, The determination unit determines a moving path of the moving object based on the position information calculated by the calculation unit and the definition information accepted by the acceptance unit. A route determination system according to any one of claims 1 to 5.

7. A route determination method executed by a route determination system including a calculation device, a terminal device that is a reference for a route of a moving object, and a determination device, comprising: The computing device, a receiving step of receiving data transmitted by the satellite; a generating step of generating correction information for correcting approximate location information of the terminal device based on the data transmitted by each of the artificial satellites; a transmitting step of transmitting a list of the correction information generated for each of the artificial satellites to the terminal device; Including, The terminal device, An acquisition step of acquiring the list; a selection step of selecting, from among the correction information included in the list, the correction information generated from the data transmitted by the artificial satellite that can be detected from the position of the device; a calculation step of calculating position information of the own device based on the correction information selected by the selection step; Including, The determining device, A determination step of determining a moving path of the moving object based on the position information calculated in the calculation step. Includes A route determination method comprising:

8. A route determination method executed by a route determination system including a calculation device, a reference station, a terminal device that serves as a reference for a route of a moving object, and a determination device, comprising: The computing device, a receiving step of receiving data transmitted by a plurality of artificial satellites; a generation step of generating correction information for correcting rough position information of the terminal device for each area included in a predetermined range including the reference station, based on data received not via the reference station and data received via the reference station and including information on coordinates of the reference station; a transmission step of transmitting the correction information generated for each area to the terminal device; Including, The generating step includes: identifying, for each of the areas, a reference station from which data is to be used among the reference stations according to a location status of the reference station for each of the areas; and generating the correction information for each of the areas based on data received via the identified reference station and data received without via the reference station; The terminal device, an acquisition step of acquiring the correction information generated for each of the areas; a selection step of selecting correction information generated for an area corresponding to a position of the own device from among the areas, from the correction information generated for each of the areas; a calculation step of calculating position information of the own device based on the correction information selected by the selection step; Including, The determination device comprises: A determination step of determining a moving path of the moving object based on the position information calculated in the calculation step. Includes A route determination method comprising:

9. A system program including a calculation program executed by a calculation device, a terminal program executed by a terminal device that is a reference for a route of a moving object, and a route determination program executed by a determination device, The computing device includes: a receiving step of receiving data transmitted by the satellite; a generating step of generating correction information for correcting approximate location information of the terminal device based on the data transmitted by each of the artificial satellites; a transmission step of transmitting to the terminal device a list in which the correction information generated for each artificial satellite is compiled; Run the command, The terminal device, An acquisition step for acquiring the list; a selection step of selecting, from among the correction information included in the list, the correction information generated from the data transmitted by the satellite that can be detected from the position of the device; a calculation step of calculating location information of the own device based on the correction information selected by the selection step; Run the command, The determining device, a determining step of determining a moving path of the moving object based on the position information calculated by the calculating step; Run A system program comprising:

10. A system program including a calculation program executed by a calculation device, a terminal program executed by a terminal device that is a reference for a route of a moving object, and a route determination program executed by a determination device, The computing device includes: a receiving step of receiving data transmitted by a plurality of artificial satellites; a generation step of generating correction information for correcting approximate position information of the terminal device for each area included in a predetermined range including the reference station, based on data received without going through a reference station and data received through the reference station and including information on coordinates of the reference station; a transmission step of transmitting the correction information generated for each area to the terminal device; Run the command, The generation step includes identifying a reference station among the reference stations for each area, the reference station being used for data, according to a location status of the reference station for each area, and generating the correction information for each area based on data received via the identified reference station and data received without via the reference station; The terminal device, an acquisition step of acquiring the correction information generated for each of the areas; a selection step of selecting correction information generated for an area corresponding to a position of the own device from among the areas, from the correction information generated for each of the areas; a calculation step of calculating location information of the own device based on the correction information selected by the selection step; Run the command, The determining device, a determining step of determining a moving path of the moving object based on the position information calculated by the calculating step; Run A system program comprising:

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