Location Discovery Methods

Abstract

To provide a position search method capable of positioning a facility spot with high accuracy, moving to the facility spot and identifying the facility spot in a short time.SOLUTION: A method includes a registration step for a desired spot, and a search step. In the registration step, in a case of registering the desired spot in advance by RTK positioning of performing relative positioning between two spots and searching for this registration spot to identify it, a registration method is selected according to a predetermined flow according to a receiving environment of correction information from an electronic reference point 6 used for the RTK positioning and a receiving state of a GNSS signal, as a first registration method when the desired spot is located in a receiving area of the correction information of the electronic reference point 6 and the GNSS signal can be received, a second registration method when the desired spot is located in the receiving area of the correction information and the GNSS signal cannot be received, and a third registration method when the desired spot is located in an area where the correction information cannot be received and the GNSS signal can be received. In the search step, searching is performed according to the registration method for the registration spot.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a position search method that uses RTK positioning, which performs relative positioning between two points, to register a desired point in advance, and then searches for and identifies the registered point. [Background technology]

[0002] Car navigation systems and the like have been known to receive signals from the Global Navigation Satellite System (GNSS) to perform positioning. The positioning error of this GNSS is on the order of a few meters, which is an error level that is practical for use in car navigation systems and the like.

[0003] On the other hand, in surveying and other fields, high-precision positioning is required, with a positioning error of a few centimeters. For this reason, positioning technologies such as DGPS (Differential GPS) and RTK (Real Time Kinematic) are used.

[0004] Positioning using quasi-zenith satellites has also started, and as the number of receivable satellites increases, positioning accuracy is improving even in mountainous areas and urban areas. By using the RTK service using the L6 band provided by the quasi-zenith satellite "Michibiki," even more accurate positioning can be achieved.

[0005] In recent years, applications and services requiring centimeter-level highly accurate positioning information have expanded beyond surveying to include determining the location of public infrastructure such as water, gas and electricity meters, and the locations of underground water pipes, gas pipes and utility conduits, as well as the autonomous driving of unmanned vehicles.

[0006] Patent Document 1 discloses a navigation device for patrol monitoring used for patrol monitoring of underground buried objects such as water pipes, gas pipes, etc. According to Patent Document 1, the navigation device for patrol monitoring includes a current position detection means for detecting a current position, a map data acquisition means for acquiring map data, a display means for displaying the map data as a map screen, a portable storage medium that stores information about underground buried objects, and a control means for displaying information about underground buried objects read from the portable storage medium superimposed on the map screen displayed on the display means.

[0007] As a result, while normal navigation devices only display roads and facilities that are visible on the ground, the navigation device of Patent Document 1 can also display information about underground buried objects that are not visible on the ground, making it possible to check underground buried objects on the map screen even at night, during snowfall, etc.

[0008] Furthermore, Patent Document 2 discloses a communication system that transmits information on the position, time, and current status of a construction object all at once, with the aim of correcting discrepancies between the position of the object being searched for and a database. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] JP 2004-279172 A [Patent Document 2] Patent No. 4113523 Summary of the Invention [Problem to be solved by the invention]

[0010] In recent years, there has been an increasing need to grasp the location information of public infrastructure facilities. For example, when reading water and gas meters or inspecting facilities, it takes time to find the installation location of the facilities when reading meters or inspecting facilities, because the facilities are often buried underground and small. Furthermore, it becomes even more difficult to find the facilities if there is soil or weeds on top of them. Even above-ground facilities are buried under snow in areas with heavy snowfall, making it difficult to identify the location of the facilities.

[0011] In addition, when checking the location of underground buried equipment, if the positioning error in identifying the location of the equipment is large, the area that needs to be excavated will become larger, wasting a lot of time and effort. In addition, if the positioning error is large, there is a risk that construction equipment may come into contact with other equipment during excavation.

[0012] For example, the navigation device for patrol monitoring disclosed in Patent Document 1 allows a user to approach the vicinity of underground buried objects using a car navigation system, but depending on the accuracy of the navigation system, it may take a long time to confirm the underground buried objects.

[0013] In other words, although there is a need to utilize GNSS and RTK services that enable outdoor positioning, positioning accuracy decreases when using GNSS alone.

[0014] In addition, the L6 band equipment that enables Michibiki's highly accurate positioning is expensive and large, so L6 band equipment may not be suitable for fields that require small, portable devices.

[0015] In addition, while RTK services in mobile communication services are expected to provide highly accurate positioning, they require an Internet connection and cannot be used outside the service areas of mobile networks, such as mountainous areas or tunnels.

[0016] Furthermore, if you use a positioning device to measure location information overseas, you will not be able to use the above-mentioned services because they are not provided there.

[0017] For this reason, applications and services that require location information for public infrastructure require rapid movement to the facility location and quick identification of the facility location, which in turn requires high positioning accuracy.

[0018] Therefore, the present invention aims to provide a position search method that can easily select the registration process of a desired location by following a predetermined flow depending on whether the location is inside or outside a mobile network area where correction data from electronic reference points used for RTK positioning can be received and the reception conditions of GNSS signals, and that can easily perform a search depending on the registration process of the registered location, and that can further provide a position search method that can position the desired location with high accuracy. [Means for solving the problem]

[0019] In order to achieve the above object, a position search method according to the present invention is a position search method using RTK positioning that performs relative positioning between two points, in which a desired point is registered in advance and the registered point is searched for and specified, and the method includes a registration step of the desired point and a search step of the registered point, and in the registration step, as a first registration method, when the desired point is located in an area where correction information using absolute position information of the electronic reference point can be received from electronic reference points arranged around the desired point and a GNSS signal can be stably received, the desired point is located by RTK positioning between a mobile station installed at the desired point and the electronic reference point. and as a second registration method, when the desired point is located in an area where the correction information can be received and the GNSS signal cannot be stably received, a mobile station installed in an area around the desired point and where the GNSS signal can be stably received is set as a second registration method reference point, the second registration method reference point is positioned by RTK positioning between the second registration method reference point and the electronic reference point, the relative position from the second registration method reference point to the desired point is actually measured, and the position information of the desired point is calculated and registered. When the desired point is located in an area where the correction information cannot be received and the GNSS signal can be stably received, a landmark that exists even when searching for the desired point is set as a third registration method reference point, a reference station is installed at the third registration method reference point, and a mobile station is installed at the desired point, and the relative positions of the reference station and the mobile station are measured by RTK positioning between the reference station and the mobile station, and relative position information of the mobile station from the landmark is registered. In the search step, the search for the desired point related to the first registration method is performed by using a mobile station and an electronic reference point The desired point is searched for by moving the mobile station to a point registered as position information of the desired point by RTK positioning between the mobile station and an electronic reference point, the desired point is searched for by moving the mobile station to the second registration method reference point by RTK positioning between the mobile station and an electronic reference point, and the desired point is searched for by actually measuring the relative position from the second registration method reference point to the desired point, and the desired point is searched for by installing a reference station at the landmark and using a mobile station, by RTK positioning between the reference station and the mobile station.The desired location is searched for using the relative position information between the reference station and the mobile station.

[0020] Furthermore, the position search method of the present invention is characterized in that, in searching for the desired point in the first registration method, the mobile station is provided with a display unit capable of displaying a current location of the mobile station on a map, and the display unit is also capable of displaying the registered desired point on the map, and a user of the position search method is able to search for the desired point by moving the mobile station so that the display of the current location of the mobile station matches the display of the desired point on the map.

[0021] Furthermore, the position search method of the present invention is characterized in that, in searching for the desired point related to the second registration method, the mobile station is provided with a display unit capable of displaying the current location of the mobile station on a map, and the display unit is also capable of displaying the second registration method reference point and the registered desired point on the map, and a user of the position search method identifies the second registration method reference point by moving the mobile station so that the display of the current location of the mobile station on the map matches the display of the second registration method reference point, thereby enabling searching for the desired point using the relative position from the second registration method reference point to the desired point.

[0022] Furthermore, the position search method of the present invention is characterized in that, in searching for the desired point related to the third registration method, the mobile station is provided with a display unit capable of displaying the position of the landmark and the registered desired point on a map, and the display unit is capable of displaying the current location of the mobile station on the map using the relative position information between the reference station and the mobile station by displaying the reference station in alignment with the landmark displayed on the map, and a user of the position search method is able to search for the desired point by moving the mobile station so that the display of the current location of the mobile station on the map matches the display of the registered desired point.

[0023] In addition, in the position detection method of the present invention, a buried object and / or a submerged object is present at the desired location, and the position detection method is used to register and search for the position of the buried object and / or the submerged object. Effect of the Invention

[0024] According to the present invention, a desired location is registered in advance, and when searching for and identifying this registered location, the desired location is first registered. In this case, the registration method can be easily selected according to a predetermined flow depending on the reception environment of correction data from the electronic reference point used for RTK positioning and the reception conditions of the GNSS signal, so that it is possible to easily handle the position grasping of more public infrastructure facilities, etc.

[0025] In addition, since the type of search method in the search process is determined according to the type of registration method in the registration process, it is possible to easily select not only the registration method but also the search method in accordance with a predetermined flow, making it possible to easily respond to the need to grasp the locations of more public infrastructure facilities, etc.

[0026] In this case, RTK positioning can perform relative positioning between two points with high accuracy, and by combining this RTK positioning with absolute position information from electronic reference points and stationary landmarks such as traffic lights and signs, it becomes possible to easily register desired locations in advance with high accuracy, and then easily search for and identify these registered locations.

[0027] In this case, if the desired point is located in an area where correction information from the surrounding electronic reference points used for RTK positioning can be received and GNSS signals can be stably received, the position information of the desired point can be calculated and registered by RTK positioning between a mobile station installed at the desired point and the electronic reference point, and the desired point can be easily searched for by moving the mobile station to the point registered as the position information of the desired point by RTK positioning between the mobile station and the electronic reference point. This makes it possible to easily and highly accurately register and search for the desired point by using the correction data of the electronic reference points from the mobile network and the GNSS signals.

[0028] Furthermore, when a desired point is located in an area where correction information from an electronic reference point used for RTK positioning can be received and GNSS signals cannot be stably received, a mobile station installed in an area around the desired point where GNSS signals can be stably received is set as the second registration method reference point, the second registration method reference point is positioned by RTK positioning, the relative position from the second registration method reference point to the desired point is actually measured to register the position information of the desired point, and the desired point can be searched using the relative position from the second registration method reference point. This makes it possible to easily register and search for the desired point even when GNSS signals cannot be stably received from the desired point.

[0029] In addition, when the desired location is located in an area where correction information from an electronic reference point cannot be received, but GNSS signals can be stably received, a landmark such as a traffic light that remains unchanged at the same location even during a search is used as the third registration method reference point instead of absolute position information, a reference station is installed at the third registration method reference point, a mobile station is installed at the desired location, and the relative position of the reference station installed at the landmark and the mobile station is used by RTK positioning to easily register the location information of the desired location, and during the search, a reference station is installed at the landmark, and a mobile station is used, making it possible to easily search for the desired location using the relative position of the reference station and the mobile station by RTK positioning between the reference station and the mobile station.

[0030] As a result, even if the desired location is located in an area where correction information cannot be received from electronic reference points in a mobile network area such as mountainous areas, the location of the target facility can be determined with high accuracy based on the relative positions of the reference station and the mobile station by RTK positioning between the reference station installed at the landmark and the mobile station, and the desired location can be easily searched for in a short time. Therefore, since there is no need for wide-area search work as in the case of large positioning errors, it is also possible to reduce unnecessary work, equipment, and personnel.

[0031] Furthermore, according to the location search method of the present invention, by registering the location of buried objects or submerged objects at desired locations, it becomes possible to easily search for the locations of buried objects or submerged objects that are buried in snow or covered in grass. [Brief description of the drawings]

[0032] [Figure 1] 1 is a block diagram showing a configuration of a location information registration and search system that uses RTK positioning to implement a first registration method for registering a desired location in a location search method and a search for the registered location. [Diagram 2] 4 is a flowchart showing a first registration method in a registration step by the location information registration and search system shown in FIG. [Diagram 3] FIG. 13 is a diagram showing an example of a display of a facility point on a map in a registration process according to the first registration method. [Figure 4] 4 is a flowchart of a search process for searching for a registration point corresponding to a first registration method by the position information registration and search system shown in FIG. [Diagram 5] FIG. 13 is a diagram showing an example of display of facility points on a map in a search process corresponding to the first registration method. [Figure 6] 1 is a block diagram showing a configuration of a location information registration and search system that uses RTK positioning to implement a second registration method for registering a desired location in a location search method and to search for the registered location. FIG. [Figure 7] 7 is a flowchart showing a second registration method in the registration step by the position information registration and search system shown in FIG. [Figure 8] FIG. 13 is a diagram showing an example of a display of a facility point on a map in a registration process according to the second registration method. [Figure 9] 7 is a flowchart of a search process for searching for a registration point corresponding to a second registration method by the position information registration and search system shown in FIG. 6. [Figure 10] FIG. 13 is a diagram showing an example of displaying facility points on a map in a search process corresponding to the second registration method. [Figure 11]11 is a block diagram showing a configuration of a location information registration and search system that uses RTK positioning to implement a third registration method for registering a desired location in a location search method and to search for the registered location. FIG. [Figure 12] 12 is a flowchart showing a third registration method in the registration step by the position information registration and search system shown in FIG. [Figure 13] FIG. 13 is a diagram showing an example of a display of a facility point on a map in a registration process according to the third registration method. [Figure 14] 12 is a flowchart of a search process for searching for a registration point corresponding to a third registration method by the position information registration and search system shown in FIG. [Figure 15] FIG. 13 is a diagram showing an example of a display of a facility point on a map in a search process corresponding to the third registration method. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0033] Hereinafter, with reference to the drawings, an embodiment for carrying out the position search method according to the present invention will be described. The present invention is a position search method that easily selects a registration method according to the reception status of the GNSS signal in RTK positioning and the reception status of correction data from the electronic reference point used in RTK positioning, moves the mobile station to register position information related to a desired point, and easily searches for the desired point by RTK positioning according to the selected registration method. In this case, RTK positioning can perform relative positioning between two points with high accuracy, and by combining this RTK positioning with absolute position information of the electronic reference point and a non-moving landmark such as a signal or a sign, it becomes possible to easily register a desired point in advance with high accuracy, and easily search and identify the registered point.

[0034] The position search method of the present invention comprises a registration step of registering a desired point of a buried object, etc., using RTK positioning that performs relative positioning between two points, and a search step of searching for the registered point of a buried object, etc. Note that a buried object is defined as something that has been buried artificially, and a buried object is defined as something that has been buried as a result of being buried by snow, earth, sand, etc.

[0035] The registration process in the position search method according to the present invention can use a first registration method, a second registration method, or a third registration method depending on the reception state of correction data from electronic reference points used for RTK positioning and the reception state of GNSS signals in RTK positioning, and the search process searches for registration points corresponding to the first registration method, the second registration method, or the third registration method, respectively.

[0036] [First registration method and its location search method] First, a location information registration and search system using a first registration method of a desired location and a location search method for performing a search for the registered location will be described with reference to Figs. 1 to 5.

[0037] Fig. 1 is a block diagram showing a first registration method for registering a desired point in a position search method and a configuration of a location information registration search system using RTK positioning for performing a search for the registered point. Fig. 2 is a flowchart showing the first registration method in the registration process by the location information registration search system shown in Fig. 1, and Fig. 3 is a diagram showing an example of display of an equipment point displayed on a map in the registration process by the first registration method. Fig. 4 is a flowchart for searching for a registration point corresponding to the first registration method by the location information registration search system shown in Fig. 1, and Fig. 5 is a diagram showing an example of display of an equipment point displayed on a map in the search process corresponding to the first registration method.

[0038] As shown in FIG. 1, the location information registration and search system 1 registers and searches for the location of a facility 64 that is a desired location, and includes a GNSS 3, a reference electronics station 5, a mobile station 10, and a display terminal 20.

[0039] The GNSS 3 in the location information registration search system 1 is a satellite positioning system such as QZSS (quasi-zenith satellite system) or GPS, and radio signals for positioning are transmitted from satellites. As satellites in the GNSS 3, quasi-zenith satellites such as "Michibiki" can be used.

[0040] The electronic reference station 5 in the location information registration search system 1 is fixedly installed on the ground, receives radio signals for positioning from satellites of GNSS 3, calculates the difference between the location information determined by the received radio signals and the predetermined absolute position information of the electronic reference station 5 as correction data, and transmits the absolute position information of the electronic reference station 5 and the calculated correction data to the mobile station 10 via the mobile network 4.

[0041] The electronic reference station 5 in the location information registration search system 1 is fixedly installed on the ground, receives radio signals for positioning from satellites of the GNSS 3, calculates the difference between the location information determined by the received radio signals and the absolute location information of the electronic reference station 5 that is specified in advance as an error in the electronic reference station 5, and can transmit this together with the absolute location information of the electronic reference station 5. Since the positioning error appears similar to that of the electronic reference station 5 in the surroundings (surrounding area) of the electronic reference station 5, the positioning error of the mobile station 10 located around the electronic reference station 5 can be corrected using the error in the electronic reference station 5.

[0042] In this case, the absolute position information of the electronic reference station 5 and the calculated error at the electronic reference station 5 are defined as correction data, and the electronic reference station 5 transmits the correction data to the mobile station 10 via a mobile network 4 (mobile phone network) of a telecommunications carrier or the like.

[0043] In addition, in the present invention, when one of the points in the relative positioning between two points of RTK positioning is the electronic reference station 5, in addition to the position information measured by the radio signal received from the satellite of GNSS3, the absolute position information of the electronic reference station 5 is required to correct the positioning error for the absolute position information that is the reference at the electronic reference station 5. Since the absolute position information of the electronic reference station 5 is different from the RTK positioning when the electronic reference station 5 is not used, in this case, "correction information using the absolute position information of the electronic reference point" and "correction information" are defined as information for correcting the positioning error using the absolute position information of the electronic reference station 5, and are not limited to the absolute position information of the electronic reference station 5 itself, but also include the case where the positioning error at the electronic reference station 5 is calculated using the absolute position information of the electronic reference station 5. Therefore, in the present invention, the correction information is a concept included in the correction data.

[0044] The reference electronics station 5 constitutes the reference electronics point 6 of the present invention, the reference electronics station 5 functions as the reference electronics point 6, and the reference electronics station 5 includes the reference electronics point 6. In the following explanation, the reference electronics station 5 is used for explanation. The reference electronics station 5 is installed by the Geospatial Information Authority of Japan or a telecommunications carrier, and provides correction data (correction information) to the mobile station 10 via a mobile network 4 such as LTE (Long Term Evolution) of the telecommunications carrier, etc.

[0045] The mobile station 10 in the location information registration search system 1 is equipped with a receiving antenna 14 that receives radio signals for positioning from satellites of GNSS 3, a GNSS receiver 11 that calculates location data from the signals received by the receiving antenna 14, an antenna 15 that receives radio signals from an electronic reference station 5 installed on the ground via a mobile network 4 of a telecommunications carrier or the like, a communication device 13 that receives correction data from the electronic reference station 5 received by the antenna 15, and an RTK calculation unit 12 that calculates the location data from the GNSS receiver 11 and the correction data from the communication device 13 and outputs corrected location data.

[0046] The corrected position data output from the RTK calculation unit 12 of the mobile station 10 is corrected position information of the mobile station 10 obtained by RTK positioning between the mobile station 10 and the electronic reference station 5.

[0047] 1, the display terminal 20 in the location information registration search system 1 is connected to the mobile station 10, either wired or wirelessly, and moves together with the mobile station 10, and includes a control processing unit 22 that performs processing using corrected location data from the RTK calculation unit 12 of the mobile station 10, a map data unit 21 for acquiring map data corresponding to the corrected location data, a display unit 23 that displays the map data, etc., and an operation unit 25 for a user or the like to perform input operations. The control processing unit 22 has a built-in CPU and executes programs stored in a memory unit 29 to perform various processes.

[0048] The control processing unit 22 has a location registration processing unit 26 which performs registration processing from the first registration method to the third registration method, a search and guidance processing unit 27 which performs guidance and search processing to an equipment location 65 (see Figure 5) corresponding to the first registration method to the third registration method, and a condition setting processing unit 28 which performs setting processing of various conditions for guidance, display, etc.

[0049] Furthermore, the control processing unit 22 controls each of the map data unit 21, the display unit 23, and the operation unit 25. The control processing unit 22 outputs map data from the map data unit 21 to the display unit 23, and controls so as to display the registered point of the facility 64, the current position of the mobile station 10, etc. on the map. The display unit 23 displays the map on a display screen such as a liquid crystal display, and displays the registered point, the current position of the mobile station 10, etc. on the map.

[0050] The memory unit 29 stores programs for the processing of the control processing unit 22, the registration steps of the first to third registration methods, various data in the search step, condition setting data, and the like.

[0051] Incidentally, instead of acquiring map data from the pre-stored map data section 21, the display terminal 20 may be connected to a GIS (Geographic Information System) server to obtain map data corresponding to the corrected position data.

[0052] The display terminal 20 is preferably a tablet terminal in which the display unit 23 and the operation unit 25 are integrated together. The display terminal 20 is not limited to a tablet terminal and may be something else. Hereinafter, the display terminal will be referred to as the tablet terminal 20.

[0053] Moreover, the tablet terminal 20 may be configured integrally with the mobile station 10 and provided within the mobile station 10. By configuring the tablet terminal 20 integrally with the mobile station 10, the mobile station has a display unit, making it easier to handle.

[0054] Next, a first registration method in the registration process by the location information registration and search system 1 shown in Fig. 1 will be described with reference to the flowchart shown in Fig. 2 and the map displayed on the display unit 23 shown in Fig. 3. In the following description, the equipment 64 to be registered is a meter buried underground. The first registration method is a registration method that is implemented when a desired point is located within an area where correction data can be received from the surrounding electronic reference stations 5 used for RTK positioning, and GNSS signals can be received stably.

[0055] As shown in Fig. 2, first, it is checked whether the mobile station 10 owned by the user is located in an area of ​​the mobile network 4 where the correction data from the reference electronics station 5 used for RTK positioning can be received (S1 shown in Fig. 2). If the mobile station 10 is located in an area where the correction data from the reference electronics station 5 used for RTK positioning cannot be received (No in S1), the process proceeds to the third registration method shown in Fig. 12, which will be described later.

[0056] If the mobile station 10 is located in an area where it can receive correction data from the reference electronics station 5 (Yes in S1), the mobile station 10 is installed on the facility (underground meter) 64 to be registered, positioning is started, and data on the latitude and longitude where the mobile station 10 is located is obtained (S2). In this case, it is confirmed whether the mobile station 10 can stably receive GNSS signals (S3).

[0057] If the mobile station 10 cannot stably receive the GNSS signal (No in S3), the process proceeds to a second registration method shown in Fig. 7, which will be described later. If the mobile station 10 can stably receive the GNSS signal (Yes in S3), the process executes the first registration method in S4 and thereafter.

[0058] RTK positioning is performed between the mobile station 10 installed on the meter, which is a desired point, and the electronic reference station 5 (S4). That is, the mobile station 10 receives position data from the GNSS 3 and correction data from the electronic reference station 5 of the mobile network 4, acquires corrected position data, and transfers it to the tablet terminal 20. As a result, the position of the mobile station 10 is fixed at the point of the meter, and the mobile station 10 determines the acquired corrected position data as the installation point 65 of the meter (S5).

[0059] The location registration processing unit 26 stores the corrected location data of the meter's location measurement result in the memory unit 29, and registers the installation location 65 on the map (S6). The memory unit 29 also stores necessary information such as location information on the installation location 65 of the meter, the date and time of position measurement, and the number of the selected registration method. As a result, as shown in Fig. 3, the display unit 23 of the tablet terminal 20 displays the installation location 65 where the meter is registered on the map with a mark consisting of a symbol or a figure.

[0060] As described above, the location information of the meter is calculated and registered by RTK positioning between the mobile station 10 installed on the meter at the desired location and the electronic reference station 5, and the registration process of the first registration method is completed.

[0061] Next, a search process for searching for a registration point corresponding to the first registration method by the location information registration and search system shown in FIG. 1 will be described with reference to the flowchart shown in FIG. 4 and the map shown in FIG.

[0062] The search process by the location information registration and search system is executed by the search and guidance processing unit 27 of the mobile station 10 and the tablet terminal 20, and is a process of moving the mobile station 10 to a location registered as location information of the equipment by RTK positioning between the mobile station 10 and the electronic reference station 5 to perform a search. Note that the flowchart shown in Fig. 4 shows an example of a search process for searching for a registration location of a meter buried underground as a desired location by the first registration method.

[0063] First, the facility and location to be searched for are specified from a menu displayed on the display unit 23 of the tablet terminal 20. The tablet terminal 20 reads out information on the specified facility and location to be searched for from the memory unit 29 (S30). In this case, it is confirmed by which registration method the facility location 65 was registered, based on the facility and location information read out from the memory unit 29 (S31).

[0064] It is determined whether the registration method of the equipment location 65 is the first registration method (S32), and if it is not the first registration method (No in S32), it is determined whether it is the second registration method (S33), and if it is the second registration method, the process proceeds to the search flowchart corresponding to the second registration method shown in Figure 9, and if it is the third registration method (No in S33), the process proceeds to the search flowchart corresponding to the third registration method shown in Figure 14.

[0065] In the case of the first registration method (Yes in S32), the latitude and longitude of the registration point of the facility 64 to be registered stored in the memory unit 29 are read out in order to perform a search corresponding to the first registration method (S34). The mobile station 10 carried by the user is connected to the tablet terminal 20, a map of the meter area which is the facility 64 is displayed on the tablet terminal 20, and positioning is started (S35).

[0066] The mobile station 10 also calculates corrected position data from the position data obtained from the GNSS 3 and the correction data from the reference electronics station 5. That is, the latitude and longitude data of the current position of the mobile station 10 is calculated by RTK positioning between the mobile station 10 and the reference electronics station 5 (S36). As shown in Fig. 5, the tablet terminal 20 displays the current position 70 of the mobile station 10 as a mark on the map in addition to the mark of the equipment point 65 on the meter. The distance and direction between the two points are calculated from the registered latitude and longitude of the equipment 64 to be registered and the latitude and longitude of the current position (S37).

[0067] It is checked whether the distance between the two points is 10 cm or less (S38). If the distance between the two points exceeds 10 cm (No in S38), the tablet terminal 20 checks whether the distance between the two points is 10 m or less (S39). If the distance between the two points is 10 m or less (Yes in S39), a warning message saying "A search object is present within 10 m of the receiver's position" and the distance and direction to the search object (facility) are displayed on the display unit 23 (S40). Thereafter, the mobile station 10 is moved according to the display (S41), and the process proceeds to S36.

[0068] Furthermore, if the distance between the two points exceeds 10 m (No in S39), the tablet terminal 20 displays the distance and direction to the search object on the display unit 23 (S42). Then, the process proceeds to S41. If the distance between the two points is 10 cm or less (Yes in S38), the display unit 23 displays "You have arrived at the location of the search object. Guidance will end" (S43).

[0069] In this way, the search and guidance processing unit 27 on the tablet terminal 20 calculates the difference between the positioning value (current position) of the mobile station 10 and the registered value (latitude and longitude) of the installation point 65, and displays the current position and a message on the map. The mobile station 10 is moved so that the positioning value of the mobile station 10 matches the registered value, and is guided so that the current position 70 of the mobile station 10 matches the installation point 65 on the map, thereby arriving at the desired installation point 65.

[0070] Incidentally, the judgment values ​​for determining the distance between the registered latitude and longitude of the equipment 64 to be registered and the latitude and longitude of the current location of the mobile station 10 are 10 cm and 10 m, but this is data set in advance by the condition setting processing unit 28 of the tablet terminal 20, and the data is not limited to this, and the data can be set according to the installation conditions of the equipment, etc.

[0071] Also, in FIG. 4, the tablet terminal 20 first checks in S38 whether the distance between both points is 10 cm or less, and if the distance between both points exceeds 10 cm (No in S38), it checks whether the distance between both points is 10 m or less (S39). However, a flowchart in which first the distance between both points is checked to see if it is 10 m or less, and then, if the distance between both points is within 10 m, the flowchart in which the distance between both points is checked to see if it is 10 cm or less is also contemplated, and it is natural that the flowchart is not limited to the order shown in FIG. 4.

[0072] [Second registration method and its location search method] Next, a second registration method for a desired location and a location information registration and search system for searching for the registered location will be described with reference to Fig. 6 to Fig. 10. The second registration method is a registration method that is implemented when the desired location is located within an area where correction data can be received from the surrounding electronic reference stations 5 used for RTK positioning, and the GNSS signal cannot be received stably.

[0073] Fig. 6 is a block diagram showing a configuration of a second registration method for registering a desired point in the position search method and a location information registration search system using RTK positioning for performing a search for the registered point. Fig. 7 is a flowchart showing the second registration method in the registration process by the location information registration search system shown in Fig. 6, and Fig. 8 is a diagram showing an example of display of an equipment point displayed on a map in the registration process by the second registration method. Fig. 9 is a flowchart of a search process for searching for a registration point corresponding to the second registration method by the location information registration search system shown in Fig. 6, and Fig. 10 is a diagram showing an example of display of an equipment point displayed on a map in the search process corresponding to the second registration method.

[0074] In the location information registration search system 30 for implementing the second registration method and searching for its registration location, parts similar to those in the location information registration search system 1 for implementing the first registration method and searching for its registration location are given the same symbols and their descriptions are omitted.

[0075] 6, the location information registration and search system 30 includes a GNSS 3, a reference electronics station 5, a mobile station 10, a tablet terminal 20, and a distance and direction measuring device 67. The reference electronics station 5 functions as a reference electronics point 6 of the present invention.

[0076] The distance and direction measuring instrument 67 shown in Fig. 6 is a measuring instrument that actually measures the relative position from the second registration method reference point 61 (shown in Fig. 8) to the desired installation point 65 (shown in Fig. 8). The distance and direction measuring instrument 67 may be a compass, a tape measure, a laser length measuring instrument, or the like, as long as it can measure the direction and distance. The second registration method reference point 61 is a reference point that indicates the position of the mobile station 10 that has been moved to an area where the mobile station 10 can stably receive GNSS signals in the second registration method.

[0077] In the second registration method, a case where the GNSS signal cannot be stably received at the equipment location to be registered means, for example, a state where the mobile station cannot stably receive the GNSS signal because radio waves from the satellite are reflected and blocked by a building. On the other hand, reception of correction data from the reference electronics station 5 is less affected by buildings. As a result, in order for the mobile station to stably receive the GNSS signal, the mobile station is moved from the equipment location to be registered to a location where the satellite can be seen without being affected by buildings. Usually, the movement is sufficient to be a distance of a few meters.

[0078] Next, a second registration method in the registration process by the location information registration and search system 30 shown in Fig. 6 will be described with reference to the flowcharts shown in Fig. 2 and Fig. 7 and the map displayed on the display unit 23 shown in Fig. 8. In the following description, the facility 64 to be registered is a meter buried underground.

[0079] As shown in FIG. 2, it is confirmed whether the mobile station 10 can stably receive GNSS signals, and if the mobile station 10 cannot stably receive GNSS signals (No in S3 shown in FIG. 2), the mobile station 10 proceeds to the second registration method shown in FIG. 7.

[0080] 7, the mobile station 10 is installed in an area around the location of the facility 64 to be registered and where GNSS signals can be stably received (S10). The mobile station 10 is fixed using a tripod or the like, and the fixed position is set as the second registration method reference point 61 (S11).

[0081] Next, the mobile station 10 located at the second registration method reference point 61 locates the second registration method reference point 61 by RTK positioning with the electronic reference station 5, obtains corrected position data using the position data from the GNSS signal and correction data from the electronic reference station 5 of the mobile network 4, transfers it to the tablet terminal 20 as position data of the second registration method reference point 61, and stores it in the memory unit 29 (S12).

[0082] Next, the relative position from the point set as the second registration method reference point 61 to the equipment 64 to be registered is measured by the distance and direction measuring device 67, and the measured relative position value is input from the operation unit 25 to the position registration processing unit 26 (S13).

[0083] Next, as shown in Fig. 8, an equipment point 65 is registered on a map based on the position data of the second registration method reference point 61 measured by the mobile station 10, and the direction and distance data from the second registration method reference point 61 to the equipment 64 to be registered (S14). The memory unit 29 also stores necessary information such as position information on the equipment point of the meter, the date and time of positioning, and the number of the selected registration method. As a result, as shown in Fig. 8, the tablet terminal 20 displays, with marks, the second registration method reference point 61 where a GNSS signal can be stably received and the equipment point 65 where the meter is registered on the map on the display unit 23.

[0084] As a result of the above, the position of the second registration method reference point 61, which is the position of the mobile station 10, is located using RTK positioning between the second registration method reference point 61 and the electronic reference station 5, the relative position from the second registration method reference point 61 to the meter location is actually measured, the meter position information is calculated and registered, and the registration process of the second registration method is completed.

[0085] Next, a search process for searching for a registration point corresponding to the second registration method by the location information registration and search system 30 shown in Fig. 6 will be described with reference to the flowchart shown in Fig. 9. The flowchart shown in Fig. 9 shows the search process for searching for the positions of meters buried underground.

[0086] 4, first, the facility and location to be searched for are specified from a menu displayed on display unit 23 of tablet terminal 20 (S30). As a result, tablet terminal 20 reads out information on the specified facility and location to be searched for from memory unit 29. In this case, it is confirmed by which method the facility location was registered, based on the facility and location information read out from memory unit 29 (S31).

[0087] It is determined whether the registration method of the equipment location is the first registration method (S32), and if it is not the first registration method (No in S32), it is determined whether it is the second registration method (S33), and if it is the second registration method, the second registration method is selected (Yes in S33), and the process proceeds to the search flowchart corresponding to the second registration method shown in Figure 9.

[0088] As shown in Figure 9, the latitude and longitude of the position of the second registration method reference point 61 in the second registration method stored in the memory unit 29 are read out (S50), and the mobile station 10 is connected to the tablet terminal 20 to start RTK positioning (S51).

[0089] Furthermore, in order for the mobile station 10 to move to the second registration method reference point 61, corrected position data is calculated from the position data obtained from the GNSS 3 and the correction data of the reference electronics station 5. That is, latitude and longitude data of the current position 70 of the mobile station 10 is calculated by RTK positioning between the mobile station 10 and the reference electronics station 5 (S52). The distance and direction between both points are calculated from the registered latitude and longitude of the second registration method reference point 61 and the latitude and longitude of the current position of the mobile station 10 (S53). It is checked whether the distance between both points is 10 cm or less (S54).

[0090] 10, the search and guidance processing unit 27 of the tablet terminal 20 displays on the map the calculated current position 70 of the mobile station 10 and the second registration method reference point 61, in addition to the mark of the meter installation point 65. If the distance between the two points exceeds 10 cm (No in S54), the tablet terminal 20 checks whether the distance between the two points is 10 m or less (S55).

[0091] If the distance between the two points is 10 m or less (Yes in S55), a warning message stating "A second registration method reference point exists within 10 m of the receiver's position" is displayed on the display unit 23 along with the distance and direction to the second registration method reference point (S56).The user then moves the mobile station 10 in accordance with the display (S57) and the process proceeds to S52.

[0092] Furthermore, if the distance between the two points exceeds 10 m (No in S55), the tablet terminal 20 displays the distance and direction to the second registration method reference point 61 on the display unit 23 (S58). Then, the process proceeds to S57.

[0093] If the distance between the two points is 10 cm or less (Yes in S54), the display unit 23 displays "You have arrived at the second registration method reference point. Guidance will end" (S59).

[0094] As a result, the search and guidance processing unit 27 on the tablet terminal 20 calculates the difference between the current position 70 of the mobile station 10 and the registered values ​​(latitude and longitude) of the second registration method reference point 61, and displays the current position 70 of the mobile station 10 and a message on the map. The mobile station 10 is moved so that the positioning value of the mobile station 10 matches the registered value of the second registration method reference point 61, and the current position 70 of the mobile station 10 matches the second registration method reference point 61 on the map, thereby arriving at the second registration method reference point 61.

[0095] Next, the tablet terminal 20 displays the relative position from the second registration method reference point 61 to the installation point 65, and the user or the like measures the distance to the installation point 65 using the distance and direction measuring device 67 based on the information of the relative position displayed on the tablet terminal 20 (S60). The installation point 65 is determined by the actual measurement.

[0096] Thus, in the second registration method and its position search method, the mobile station is installed in an area where GNSS signals can be stably received, the installation position of the mobile station 10 is set as the second registration method reference point 61, and the second registration method reference point 61 is identified by moving the mobile station 10 so that the display of the current location of the mobile station 10 matches the display of the second registration method reference point 61, and the relative position from the second registration method reference point 61 to the meter point is actually measured to determine the equipment point 65. This makes it possible to search even if the equipment to be searched is in a position where GNSS signals cannot be stably received.

[0097] [Third registration method and its location search method] Next, a third registration method of a desired point and a location information registration search system for searching for the registered point will be described with reference to Figures 11 to 15. The third registration method is a registration method that is implemented when the desired point is located in an area where correction information from surrounding electronic reference stations used for RTK positioning cannot be received, and GNSS signals can be stably received.

[0098] Fig. 11 is a block diagram showing a configuration of a location information registration search system 40 using RTK positioning for implementing a third registration method in the location search method and a search for the registration point. Fig. 12 is a flowchart showing the third registration method in the registration process by the location information registration search system 40 shown in Fig. 11, and Fig. 13 is a diagram showing an example of display of an equipment point displayed on a map in the registration process by the third registration method. Fig. 14 is a flowchart of a search process for searching for a registration point corresponding to the third registration method by the location information registration search system 40 shown in Fig. 11, and Fig. 15 is a diagram showing an example of display of an equipment point displayed on a map in the search process corresponding to the third registration method.

[0099] In location information registration search system 40 for implementing the third registration method and searching for its registration points, parts similar to location information registration search system 1 for implementing the first registration method and searching for its registration points are given the same symbols and their descriptions are omitted.

[0100] As shown in FIG. 11, a location information registration and search system 40 for implementing a third registration method for registering a desired location and searching for the registered location has a GNSS 3, a reference station 45, a mobile station 18, and a tablet terminal 20.

[0101] A reference station 45 in a location information registration search system 40 which implements the third registration method and searches for the registration point performs relative positioning by RTK positioning with a mobile station 18, and has a receiving antenna 50 which receives radio signals for positioning from GNSS3 satellites, a GNSS receiver 46 which calculates position data from the signals received by the receiving antenna 50, a processing unit 47 which processes the position data from the GNSS receiver 46, and a wireless device 48 which outputs the position data of the reference station 45 processed by the processing unit 47 from an antenna 49. The wireless device 48 communicates with the mobile station 18 and outputs the position data of the reference station 45 to the mobile station 18.

[0102] The mobile station 18 in the location information registration search system 40 performs relative positioning by RTK positioning with the reference station 45, and has a radio 16 and an antenna 15 that receive position data from the reference station 45. The position data of the reference station 45 received by the radio 16 is input to the RTK calculation unit 19, which calculates the difference between the position data received by the GNSS receiver 11 and the position data from the reference station 45 to calculate the relative position from the reference station 45.

[0103] In this way, the reference station 45 and the mobile station 18 are connected by wireless communication (Bluetooth, wireless LAN, commercial / special low-power radio, etc.) via their respective radios 48 (reference station 45) and radios 16 (mobile station 18), and the mobile station 18 receives position data calculated by the reference station 45 from the GNSS signal as reference data (data for relative positioning by RTK positioning), and the RTK calculation unit 19 calculates the difference between the position data of the mobile station 18 received by the GNSS receiver 11 and the position data (reference data) from the reference station 45 to calculate the relative position from the reference station 45. Note that the distance between the reference station 45 and the mobile station 18 is preferably within 200 meters within a short-distance communication area.

[0104] The tablet terminal 20 in the location information registration search system 40 is connected to the mobile station 18, either wired or wirelessly, and moves together with the mobile station 18, and has a control processing unit 22 that performs processing using data on the relative position of the mobile station 18 from the reference station 45 received from the RTK calculation unit 19 and position data of a landmark that serves as a unique reference point, a map data unit 21 for acquiring map data corresponding to the position data of the landmark, a display unit 23 that displays the map data, etc., and an operation unit 25 where a user or the like performs input operations. The control processing unit 22 has a built-in CPU and executes programs stored in a memory unit 29 to perform various processes.

[0105] That is, the tablet terminal 20 has the same configuration in terms of the control processing unit 22 and map data unit 21 as the tablet terminal 20 used in Figure 1 (first registration method / search method) and Figure 6 (second registration method / search method), and in Figures 1 and 6, the control processing unit 22 and map data unit 21 perform processing using corrected position data from the RTK calculation unit 12 of the mobile station 10, but the tablet terminal 20 in Figure 11 relating to the third registration method / search method differs in that it performs processing using data on the relative position of the mobile station 18 from the reference station 45 received from the RTK calculation unit 19 and position data of a landmark that serves as a unique reference point, and the other configurations are the same as the tablet terminal 20 in Figures 1 and 6.

[0106] As shown in Figures 1 and 6, the tablet terminal 20 may be configured integrally with the mobile station 18 and provided within the mobile station 18. By configuring the tablet terminal 20 integrally with the mobile station 18, the mobile station 18 is provided with a display unit, making it easier to handle.

[0107] The location information registration search system 40 using RTK positioning for carrying out the third registration method and the search for the registration point is used when a desired point of an installation facility, etc., is located in an area where correction information from the electronic reference station 5 cannot be received, and correction information from the electronic reference station 5 cannot be received, but GNSS signals can be stably received. Therefore, the third registration method uses fixed equipment that is installed and does not move even when searching for the equipment location, such as traffic lights, fire hydrants, road signs, etc., as landmarks, and sets the reference station 45 that can be located by GNSS signals as the third registration method reference point 62 (shown in FIG. 13), which is a unique reference point. In particular, in snowy countries, equipment that is not buried in snow and does not move, such as traffic lights on the road, as the third registration method reference point 62.

[0108] In the third registration method, unlike the first and second registration methods, signals from the reference electronics station 5 cannot be received, and therefore the mobile station 18 cannot receive correction data using the absolute position information of the reference electronics station 6 from the reference electronics station 5, and therefore high-precision positioning of the absolute position cannot be performed as is. However, in the third registration method, although the mobile station 18 and the reference station 45 can only use GNSS signals, the mobile station 18 and the reference station 45 are located relatively close to each other, and therefore the positioning errors at the mobile station 18 and the reference station 45 are approximately equal, and therefore the relative positioning itself between the mobile station 18 and the reference station 45 is highly accurate.

[0109] In other words, when positioning is performed using only GNSS signals, positioning errors occur due to the diffuse reflection and disturbance of radio waves caused by the ionosphere, radio wave delays, weather conditions, etc., but by taking advantage of the fact that the positioning errors at the mobile station 18 and the reference station 45 are approximately equal, it is possible to perform relative positioning between the mobile station 18 and the reference station 45 with high accuracy.

[0110] In this way, in the location information registration and search system 40 which implements the third registration method and searches for the registration point, the reference station 45 is used as a parent device, and the mobile station 18 is used as a child device. The mobile station 18 calculates the relative position from the position of the reference station 45 with high accuracy by RTK positioning with the reference station 45, and registers and searches for the facility 64 with high accuracy by performing relative positioning between the mobile station 18 and the reference station 45 using an immovable landmark as the third registration method reference point 62 which is an original reference point.

[0111] Next, a third registration method in the registration process by the location information registration and search system 40 shown in Fig. 11 will be described with reference to the flowcharts shown in Fig. 2 and Fig. 12 and the map displayed on the display unit 23 shown in Fig. 13. In the following description, the facility 64 to be registered is a meter buried underground.

[0112] As shown in Fig. 2, the mobile station 18 owned by the user checks whether it is in an area where it can receive correction data from the electronic reference station 5 of the mobile network 4 (S1). If the mobile station 18 is in an area where it cannot receive correction data from the electronic reference station 5 of the mobile network 4 (No in S1), it transitions to the third registration method shown in Fig. 12.

[0113] As shown in Fig. 12, a point where GNSS signals can be stably received is set as a third registration method reference point 62, and a reference station 45 capable of positioning using GNSS signals is prepared (S20). A fixed landmark such as a traffic light or utility pole is selected as the third registration method reference point 62. A reference station 45 is installed next to the third registration method reference point 62, and GNSS signals are received to perform positioning (S21).

[0114] Next, the mobile station 18 is installed on the facility 64 to be registered, and receives GNSS signals to perform positioning (S22). The mobile station 18 communicates with the reference station 45, and calculates the direction and distance from its relative position to the reference station 45 using position data measured by the reference station 45 and position data of the facility 64 to be registered measured by the mobile station 18 (S23). The direction and distance are indicated by the distance from the reference station 45 to the mobile station 18 in the north-south direction (NS direction in FIG. 13) and the east-west direction (EW direction in FIG. 13).

[0115] Furthermore, necessary information such as the positions of traffic lights and the like that serve as landmarks as the third registration method reference points 62, position information on the installation point of the meter, the date and time of positioning, the number of the selected registration method, etc. are stored and registered in the memory unit 29. As a result, as shown in Fig. 13, the display unit 23 of the tablet terminal 20 displays the registered installation point 65 of the meter as a mark on the map together with the landmarks registered as the third registration method reference points 62. In this way, the position information of the equipment 64 to be registered by the third registration method is registered, and the registration process is completed.

[0116] Next, a search process for searching for a registration point corresponding to the third registration method by the location information registration and search system 40 shown in Fig. 11 will be described with reference to the flowcharts shown in Fig. 4 and Fig. 14. The flowchart shown in Fig. 14 shows the search process for searching for the positions of meters buried underground.

[0117] 4, first, the facility and location to be searched for are specified from a menu displayed on display unit 23 of tablet terminal 20 (S30). As a result, tablet terminal 20 reads out information on the specified facility and location to be searched for from memory unit 29. In this case, it is confirmed by which method the facility location was registered, based on the facility and location information read out from memory unit 29 (S31).

[0118] It is determined whether the registration method of the equipment location is the first registration method (S32), and if it is not the first registration method (No in S32), it is determined whether it is the second registration method (S33), and if it is not the second registration method, the third registration method is selected (No in S33), and the process proceeds to the search flowchart corresponding to the third registration method shown in Figure 14.

[0119] As shown in FIG. 14, relative distance information between the position of the third registration method reference point 62 in the third registration method stored in the memory unit 29 and the search object, which is a meter to be searched, is read out (S70). The relative distance information is the distance in the north-south and east-west directions from the third registration method reference point 62 to the search object. A traffic light or a utility pole, which is a landmark registered as the third registration method reference point 62, is confirmed on the tablet terminal 20 (S71). After confirming the third registration method reference point 62, a reference station 45 is installed next to the third registration method reference point 62, and the reference station 45 receives a GNSS signal after installation to perform positioning (S72). The user carries a mobile station 18, receives a GNSS signal, and performs positioning (S73).

[0120] The mobile station 18 communicates with the reference station 45 to obtain position data of the reference station 45, calculates relative position data from the position data measured by the reference station 45 and the position data measured by the mobile station 18, and outputs the calculated relative position data to the tablet terminal 20 (S74). The tablet terminal 20 calculates the distance and direction between both the reference station 45 and the mobile station 18 (S75).

[0121] Next, tablet terminal 20 checks whether the distance between the two points is 10 cm or less (S76). Furthermore, as shown in Fig. 15, search and guidance processing unit 27 of tablet terminal 20 displays on the map a mark of registered equipment point 65 of the meter, as well as the calculated current position 70 of mobile station 10 and third registration method reference point 62 registered as a landmark.

[0122] If the distance between the two points exceeds 10 cm (No in S76), the tablet terminal 20 checks whether the distance between the two points is 10 m or less (S77). If the distance between the two points is 10 m or less (Yes in S77), the display unit 23 displays a warning message saying "A search object is present within 10 m of the receiver's position," along with the distance and direction to the search object (S78). Thereafter, the mobile station is moved according to the display (S79), and the process proceeds to S74.

[0123] Furthermore, if the distance between the two points exceeds 10 m (No in S77), the tablet terminal 20 displays the distance and direction to the search object on the display unit 23 (S80), and then proceeds to S79.

[0124] If the distance between the two points is 10 cm or less (Yes in S76), a message "You have arrived at the point of the search object. Guidance will end" is displayed on the display unit 23 (S81).

[0125] In this way, the search and guidance processing unit 27 of the tablet terminal 20 calculates the difference between the positioning value of the mobile station 18 and the registered value of the equipment point, and displays the current position 70 of the mobile station 18 and a message on the map. The mobile station 18 is guided so that the positioning value matches the registered value, and moves so that the mobile station 18 matches the equipment point 65 on the map, and arrives at the desired equipment point 65.

[0126] Thus, in the third registration method and its position search method, even in an area where correction information from the electronic reference station 5 cannot be received, if GNSS signals can be stably received, the reference station 45 is installed at a landmark that serves as the reference point 62 of the third registration method, and the relative position between the reference station 45 and the mobile station 18 is measured by RTK positioning between the reference station 45 and the mobile station 18, making it possible to search for the facility location based on the relative position between the landmark and the mobile station 18. Furthermore, since highly accurate absolute position coordinates such as those of electronic reference points are not required, positioning can be performed in a short time.

[0127] In the first to third search methods, a mark for the meter installation location 65 is displayed on a surrounding map on the display unit 23 of the tablet terminal 20 to search for the meter (equipment 64). In this case, instead of displaying a surrounding map on the tablet terminal 20, it is also possible to display the surrounding scenery on the display unit 23 through a camera unit (not shown) of the tablet terminal 20 and use AR (Augmented Reality) technology to display the mark at the meter installation location 65 in the displayed surrounding scenery.

[0128] That is, the tablet terminal 20 can calculate the installation point 65 from the position photographed by the camera unit, the photographed direction (azimuth), magnification, and the like, and display a mark at the installation point 65 of the meter in the surrounding scenery displayed on the display unit 23. In this case, it is also possible to use AI (Artificial Intelligence) to calculate the installation point 65 from the surrounding map image and position information of the installation point 65, and image recognition of the photographed surrounding scenery, and display a mark at the installation point 65 of the meter in the surrounding scenery displayed on the display unit 23.

[0129] This is also possible when checking on the tablet terminal 20 the mark at the installation location 65 of the meter registered using the first to third registration methods, and it is also possible to display the surrounding scenery on the display unit 23 of the tablet terminal 20 through the camera unit (not shown) of the tablet terminal 20 and display a mark at the installation location 65 of the meter in the displayed scenery.

[0130] The present invention may be embodied in many different forms without departing from the essential characteristics thereof, and it is to be understood that the above-described embodiments are merely illustrative and are not intended to limit the present invention.

[0131] In addition, the functional block diagrams shown in Figures 1, 6, and 11 show the functional configuration of the location information registration and search system 1, 30, 40 of the present invention, and do not limit the specific implementation form. In other words, it is not necessary to implement hardware corresponding to the functional blocks in the diagram, and it is of course possible to configure the system so that one processor executes a program to realize the functions of multiple functional units. In addition, some of the functions realized by software in the embodiments may be realized by hardware, and further, some of the functions realized by hardware may be realized by software. [Explanation of symbols]

[0132] 1,30,40 Location information registration and search system 3. GNSS 4. Mobile Network 5 Electronic reference station 6 Electronic reference point 10,18 Mobile Station 11 GNSS receiver 12,19 RTK calculation section 13 Communication Device 14 Receiving antenna 15 Antenna (for communication with base station) 16 Radio 20 Display device (tablet device) 21 Map Data Section 22 Control processing section 23 Display section 25 Control section 26 Location registration processing unit 27 Search and Guidance Processing Unit 28 Condition setting processing section 29 Memory section 45 Reference station 46 GNSS receivers 47 Processing section 48 Radio 49 Antenna 50 Antenna 61 Second Registration Method Reference Point 62 Third Registration Method Reference Point 64 Equipment 65 Facility Locations 67 Distance and direction measuring device (measurement device) 70 Current location of mobile station

Claims

1. A position search method using RTK positioning that performs relative positioning between two points by registering a desired point in advance and searching for and identifying the registered point, The method comprises a step of registering the desired location and a step of searching for the registered location, In the registration process, as a first registration method, when the desired point is located in an area where correction information using absolute position information of the electronic reference point from surrounding electronic reference points can be received, and a GNSS signal can be stably received, the position information of the desired point is calculated and registered by RTK positioning between a mobile station installed at the desired point and the electronic reference point; As a second registration method, when the desired point is located in an area where the correction information can be received and the GNSS signal cannot be stably received, a mobile station installed in the vicinity of the desired point and in an area where the GNSS signal can be stably received is set as a second registration method reference point, the second registration method reference point is positioned by RTK positioning between the second registration method reference point and the electronic reference point, and the relative position from the second registration method reference point to the desired point is actually measured to calculate and register the position information of the desired point; As a third registration method, when the desired point is located in an area where the correction information cannot be received and GNSS signals can be stably received, a landmark that exists even when searching for the desired point is set as a third registration method reference point, a reference station is installed at the third registration method reference point, and a mobile station is installed at the desired point, and the relative positions of the reference station and the mobile station are measured between the reference station and the mobile station by RTK positioning, and relative position information of the mobile station from the landmark is registered; In the search step, the search for the desired point according to the first registration method is performed by moving the mobile station to a point registered as position information of the desired point by RTK positioning between the mobile station and a reference point electronics, and searching for the desired point; The search for the desired point according to the second registration method includes moving the mobile station to the second registration method reference point by RTK positioning between the mobile station and an electronic reference point, and searching for the desired point by actually measuring the relative position from the second registration method reference point to the desired point; The search for the desired point in the third registration method is a location search method characterized in that a reference station is installed at the landmark, and the desired point is searched for using the relative position information between the reference station and the mobile station by RTK positioning using a mobile station.

2. In the search for the desired location according to the first registration method, the mobile station includes a display unit capable of displaying a current location of the mobile station on a map; The display unit can also display the registered desired point on the map, 2. The position search method according to claim 1, wherein a user of the position search method is able to search for the desired point by moving the mobile station so that a display of the current location of the mobile station coincides with a display of the desired point on the map.

3. In the search for the desired location according to the second registration method, the mobile station includes a display unit capable of displaying a current location of the mobile station on a map; The display unit can also display the second registration method reference point and the registered desired point on the map, The position search method according to claim 1 or 2, characterized in that a user of the position search method identifies the second registration method reference point by moving the mobile station so that the display of the current location of the mobile station on the map coincides with the display of the second registration method reference point, and is able to search for the desired point using the relative position from the second registration method reference point to the desired point.

4. In the search for the desired location according to the third registration method, the mobile station includes a display unit capable of displaying the position of the landmark and the registered desired point on a map; the display unit is capable of displaying a current location of the mobile station on the map by using the relative position information between the base station and the mobile station by displaying the base station in correspondence with the landmark displayed on the map; 4. The position search method according to claim 1, wherein a user of the position search method moves the mobile station so that a display of a current location of the mobile station on the map coincides with a display of the registered desired location, thereby enabling the user to search for the desired location.

5. The location search method according to any one of claims 1 to 4, characterized in that a buried object and / or a submerged object is present at the desired location, and the location search method is used to register and search for the location of the buried object and / or the submerged object.

Images