Location Discovery Methods

Abstract

To provide a position search method which can highly accurately position a facility point, quickly move to the facility point and perform specification in a short time.SOLUTION: A position search method includes a registration step of a desired point 65 and a search step. In the registration step, the desired point is registered in advance with RTK positioning that performs relative positioning between two points. The search of the desired point is performed by a searcher 77 who possesses a mobile station 10 and an instructor 75 who possesses a portable terminal 21 displaying position information of the mobile station. The mobile station and the portable terminal are located on the same point. The method comprises the steps of: making the position information of the mobile station calculated with the RTK positioning the position information of the portable terminal; calculating the position information of the mobile station with the RTK positioning when the searcher who possesses the mobile station moves to the vicinity of the desired point as the portable terminal remains on the same position; and displaying a search instruction image drawing the desired point from the current position of the portable terminal and the position of the mobile station on the portable terminal from the desired point and the position information of the mobile station and the portable terminal.SELECTED DRAWING: Figure 5

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 begun, 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] For example, when searching, the desired spot may become overgrown with grass depending on the season, or may become covered with mud or other sediments due to heavy rain, or snow may accumulate, changing the surrounding scenery and making landmarks difficult to see, making it difficult to identify the desired spot.

[0019] In addition, if the desired location is located under a snow-covered slope, the search staff must spend a great deal of time and effort moving around the snow-covered slope and removing a large amount of snow around the desired location, making it difficult to identify the desired location.

[0020] In addition, when a person searches for a desired location alone, he or she needs to hold an RTK receiver and a mobile device with a display in both hands and constantly check the location on the mobile device's display. This means that in places with poor footing, there is a risk of falling or getting injured while searching, and in order to avoid falling or getting injured, the search behavior becomes more cautious and it takes time to identify the location.

[0021] In addition, when searching for a desired location while comparing the positional relationship between the person in charge's own position, which is based on latitude and longitude information, and the desired location on the display unit, it may be difficult to grasp the positional relationship because the latitude and longitude information is constantly changing during the search.

[0022] In addition, if you search using only latitude and longitude information consisting of text information such as numbers, it is difficult to grasp the positional relationship and is inefficient. Furthermore, in places with poor footing or where it is difficult to identify landmarks, the search work takes even more time, and the efficiency of the search decreases even further. For this reason, there is a demand to shorten the time and improve the efficiency of the search work by using images using AR (Augmented Reality) on the map.

[0023] 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 in accordance with the registration process of the registered location in a short period of time, can guide the searcher to the desired location using a search instruction image, and can further provide a position search method that can position the desired location with high accuracy. [Means for solving the problem]

[0024] In order to achieve the above object, the position search method according to the present invention is a position search method that uses RTK positioning to perform relative positioning between two points, for searching and specifying a desired point registered in advance, wherein the desired point is located in an area where correction information using absolute position information of the electronic reference point from electronic reference points arranged in the vicinity of the desired point can be received, and a GNSS signal can be stably received, and 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, and the search for the desired point is performed by a searcher who possesses a mobile station capable of RTK positioning between the electronic reference point and the mobile station, and an instructor who possesses a mobile terminal capable of displaying the position information of the mobile station on a display unit by RTK positioning between the electronic reference point and the mobile station, and the mobile station is operated by the operator who carries the mobile station and ... mobile station and the operator who carries the mobile station and the mobile station and the step of positioning the mobile station and the mobile terminal at the same location, calculating the location information of the mobile station by RTK positioning between the mobile station and an electronic reference point, and setting the calculated location information of the mobile station as the location information of the mobile terminal; thereafter, the step of moving the searcher carrying the mobile station to the vicinity of a location estimated to be the desired location, while leaving the location of the mobile terminal carried by the instructor unchanged, and calculating the location information of the mobile station carried by the searcher by RTK positioning between the mobile station and an electronic reference point; and the step of displaying a search instruction image on the display unit of the mobile terminal, depicting the location of the desired location and the mobile station from the current location of the mobile terminal, based on the location information of the desired location, the location information of the mobile station, and the location information of the mobile terminal.

[0025] Further, a position search method according to the present invention is a position search method that uses RTK positioning to perform relative positioning between two points, which searches for and specifies a desired point registered in advance, wherein the desired point is located in an area where correction information using absolute position information of the electronic reference point from electronic reference points arranged in the vicinity of the desired point can be received, and a GNSS signal can be stably received, and 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, and the search for the desired point is performed by a searcher who possesses a mobile station capable of RTK positioning between the electronic reference point and the desired point, and an instructor who possesses a mobile terminal capable of displaying position information of the mobile station on a display unit by RTK positioning between the electronic reference point and the mobile station, and the mobile station and the mobile terminal are located at the same point, and the position information of the mobile station at this time is transmitted to the operator via a mobile station. The method comprises the steps of: calculating the position of the mobile station by RTK positioning between a secondary reference point and a mobile terminal; calculating the positional relationship between the mobile station and the desired point from the difference between the positional information of the desired point and the positional information of the mobile station; thereafter, while leaving the position of the mobile terminal held by the instructor unchanged, the searcher holding the mobile station moves to the vicinity of the desired point and the calculated point based on the positional relationship, and calculating the positional information of the mobile station held by the searcher by RTK positioning between an electronic reference point and a mobile terminal; and displaying a search instruction image on the display unit of the mobile terminal, depicting the position of the desired point and the position of the mobile station from the current position of the mobile terminal, based on the positional information of the desired point, the positional information of the mobile station, and the positional information of the mobile terminal.

[0026] Further, a position search method according to the present invention is a position search method using RTK positioning to perform relative positioning between two points, which searches for and specifies a desired point registered in advance, and in which the desired point is located in an area where correction information using absolute position information of the electronic reference point from electronic reference points arranged in the vicinity can be received, and when a GNSS signal cannot be stably received, a mobile station installed in an area around the desired point and in an area where a GNSS signal can be stably received is set as an arbitrary reference point, and position information of the arbitrary reference point is measured by RTK positioning between the arbitrary reference point and the electronic reference point, and a relative position from the arbitrary reference point to the desired point is actually measured, and position information of the desired point is calculated and registered, and the search for the desired point is performed by a searcher having a mobile station capable of RTK positioning with the electronic reference point, and a display unit is used to display the position information of the mobile station by RTK positioning between the electronic reference point and the mobile station. the position information of the mobile station and the mobile terminal being located at the same location, calculating the position information of the mobile station by RTK positioning between the mobile station and an electronic reference point, and setting the calculated position information of the mobile station as the position information of the mobile terminal; thereafter, while leaving the position of the mobile terminal held by the instructor unchanged, the searcher holding the mobile station moves to the vicinity of a location estimated to be the arbitrary reference point, and calculating the position information of the mobile station held by the searcher by RTK positioning between the electronic reference point; and displaying a search instruction image on the display unit of the mobile terminal, depicting the positions of the desired point, the mobile station, and the arbitrary reference point from the current position of the mobile terminal, based on the position information of the desired point, the position information of the mobile station, the position information of the mobile terminal, and the position information of the arbitrary reference point.

[0027] Further, a position search method according to the present invention is a position search method using RTK positioning to perform relative positioning between two points, which searches for and specifies a desired point registered in advance, and in which the desired point is located in an area where correction information using absolute position information of the electronic reference point from electronic reference points arranged in the vicinity can be received, and when a GNSS signal cannot be stably received, a mobile station installed in an area around the desired point and in an area where a GNSS signal can be stably received is set as an arbitrary reference point, and position information of the arbitrary reference point is measured by RTK positioning between the arbitrary reference point and the electronic reference point, and a relative position from the arbitrary reference point to the desired point is actually measured, and position information of the desired point is calculated and registered, and the search for the desired point is performed by a searcher who possesses a mobile station capable of RTK positioning with the electronic reference point, and an instructor who possesses a mobile terminal capable of displaying position information of the mobile station on a display unit by RTK positioning between the electronic reference point and the mobile station, and the mobile station and the the positional relationship between the mobile station and the arbitrary reference point from the difference between the positional information of the arbitrary reference point and the positional information of the mobile station; thereafter, while leaving the position of the mobile terminal held by the instructor unchanged, the searcher holding the mobile station moves to the vicinity of the arbitrary reference point and the calculated point based on the positional relationship, and calculates the positional information of the mobile station held by the searcher by RTK positioning between the arbitrary reference point and the electronic reference point; and, based on the positional information of the desired point, the positional information of the mobile station, the positional information of the mobile terminal, and the positional information of the arbitrary reference point, the display unit of the mobile terminal displays a search instruction image depicting the positions of the desired point, the mobile station, and the arbitrary reference point from the current position of the mobile terminal.

[0028] Further, a position search method according to the present invention is a position search method that searches for and specifies a pre-registered desired point, and uses RTK positioning to perform relative positioning between two points, and in this case, when the desired point is located in an area where correction information using absolute position information of the electronic reference point from electronic reference points arranged in the vicinity cannot be received and GNSS signals can be stably received, a landmark that exists even when searching for the desired point is used as a landmark reference point, a reference station is installed at the landmark reference point, and a mobile station is installed at the desired point, and 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 desired point from the landmark is calculated and registered, and the search for the desired point is performed by installing a reference station at the landmark reference point, and carrying a mobile station capable of RTK positioning with the reference station, and measuring the relative position of the mobile station by RTK positioning between the reference station and the mobile station. The method is performed by an instructor carrying a portable terminal capable of displaying position information on a display unit, and comprises the steps of: positioning the mobile station and the portable terminal at the same location, calculating relative position information of the mobile station from the landmark reference point by RTK positioning between the reference station and the calculated relative position information of the mobile station as relative position information of the portable terminal; thereafter, while leaving the position of the portable terminal carried by the instructor unchanged, the searcher carrying the mobile station moves to the vicinity of a location estimated to be the desired location, and calculating relative position information of the mobile station carried by the searcher by RTK positioning between the reference station; and displaying a search instruction image on the display unit of the portable terminal, depicting the desired location and the position of the mobile station from the current location of the portable terminal, based on the relative position information of the desired location, the relative position information of the mobile station, and the relative position information of the portable terminal.

[0029] Further, a position search method according to the present invention is a position search method using RTK positioning to perform relative positioning between two points, which searches for and specifies a desired point registered in advance, and in which, when the desired point is located in an area where correction information using absolute position information of the electronic reference point from electronic reference points arranged in the vicinity cannot be received and a GNSS signal can be stably received, a landmark that exists even when searching for the desired point is set as a landmark reference point, a reference station is installed at the landmark reference point, and a mobile station is installed at the desired point, and a relative position between the reference station and the mobile station is measured by RTK positioning between the reference station and the mobile station, and relative position information of the desired point from the landmark is calculated and registered, and the search for the desired point is performed by a searcher who installs a reference station at the landmark reference point and possesses a mobile station capable of RTK positioning with the reference station, and an instructor who possesses a mobile terminal capable of displaying relative position information of the mobile station on a display unit by RTK positioning between the reference station and the mobile station, and the mobile station is operated by the mobile station. the step of calculating the positional relationship between the mobile station and the desired point from the difference between the relative position information of the desired point and the relative position information of the mobile station; thereafter, while keeping the position of the mobile terminal held by the instructor unchanged, the searcher holding the mobile station moves to the vicinity of the desired point and the calculated point based on the positional relationship, and calculates the relative position information of the mobile station held by the searcher by RTK positioning with the reference station; and the step of displaying a search instruction image depicting the desired point and the position of the mobile station from the current position of the mobile terminal on the display unit of the mobile terminal from the relative position information of the desired point, the relative position information of the mobile station, and the relative position information of the mobile terminal.

[0030] The portable terminal of the present invention is also characterized in that it is capable of displaying the distance and direction between the mobile station and the desired point on the search instruction image.

[0031] The present invention is characterized in that it further comprises a step in which the instructor uses the search instruction image to guide the explorer to the desired location.

[0032] In addition, the mobile terminal of the present invention is characterized in that it is capable of displaying a ground surface condition image consisting of a map image, an aerial photograph, a satellite image and / or a landscape photograph of the current location of the mobile terminal on the display unit by superimposing it on the search instruction image, and the desired point and the position of the mobile station are displayed at corresponding points in the ground surface condition image on the display unit.

[0033] Furthermore, the ground surface state image of the present invention is characterized in that it can be displayed on the display unit as an eye-level image simulating the viewpoint position of the instructor, a bird's-eye view image looking down on the desired point and / or the mobile station from above the mobile terminal, or an overhead view image looking down on the mobile terminal from directly above.

[0034] The mobile terminal of the present invention is further characterized in that it is equipped with a camera unit capable of capturing an image of the surrounding scenery of the mobile terminal, and the image of the surrounding scenery captured by the camera unit can be displayed on the display unit superimposed on the search instruction image, and the desired location and the position of the mobile station are displayed on the display unit at corresponding locations in the image of the surrounding scenery.

[0035] In addition, the position search method of the present invention is characterized in that, prior to the search, position information of the landmark reference point is confirmed and registered, and the mobile terminal is capable of displaying a ground surface state image consisting of a map image, an aerial photograph, a satellite image and / or a landscape photo of the current position of the mobile terminal superimposed on the search instruction image on the display unit, and the desired point and the position of the mobile station are displayed at corresponding points in the ground surface state image on the display unit by utilizing the position information of the landmark reference point.

[0036] Furthermore, the ground surface state image of the present invention is characterized in that it can be displayed on the display unit as an eye-level image simulating the viewpoint position of the instructor, a bird's-eye view image looking down on the desired point and / or the mobile station from above the mobile terminal, or an overhead view image looking down on the mobile terminal from directly above.

[0037] In addition, the position search method of the present invention is characterized in that, prior to the search, position information of the landmark reference point is confirmed and registered, the mobile terminal is equipped with a camera unit capable of capturing an image of the surrounding scenery of the mobile terminal, and the image of the surrounding scenery captured by the camera unit can be displayed on the display unit superimposed on the search instruction image, and the desired point and the position of the mobile station are displayed at corresponding points in the image of the surrounding scenery on the display unit by utilizing the position information of the landmark reference point. Effect of the Invention

[0038] According to the present invention, a desired location is registered in advance, and when searching for and identifying this registered location using a search instruction image, the desired location is first registered. In this case, the registration method can be easily selected in accordance with a predetermined flow depending on the reception status of correction data from the electronic reference point used for RTK positioning and the reception status of the GNSS signal, so that it is possible to easily handle the position grasping of more public infrastructure facilities, etc.

[0039] 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, and it is possible to easily grasp the locations of more public infrastructure facilities, etc. through the search instruction image.

[0040] 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 is possible to easily register desired locations in advance with high accuracy, and then easily search for and identify these registered locations through a search instruction image.

[0041] 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 through a search instruction image 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.

[0042] In other words, the search for the desired location is carried out by a searcher possessing a mobile station capable of RTK positioning between an electronic reference point and the mobile station, and an instructor possessing a portable terminal capable of displaying the position information of the mobile station on a display unit using RTK positioning between the electronic reference point and the mobile station.By displaying a search instruction image on the display unit of the portable terminal that depicts the desired location and the mobile station from the current location of the portable terminal based on the position information of the desired location, the position information of the mobile station, and the position information of the portable terminal, the instructor can use the search instruction image to reliably guide the searcher to the desired location in a short amount of time, and the search can be carried out efficiently.

[0043] In addition, even if the surrounding scenery changes due to snowfall, weeds, etc., it is possible to easily grasp the position of the desired point through the search instruction image. This allows a searcher with a mobile station to search by simply moving according to the instructions of the instructor.

[0044] In addition, the mobile terminal can display a ground surface condition image consisting of a map image of the mobile terminal's location, an aerial photograph, a satellite image, and a landscape photograph superimposed on the search instruction image, and the positions of the desired point and the mobile station can be displayed at corresponding points in the ground surface condition image, so that the positional relationship between the desired point and the mobile station can be easily understood.

[0045] In addition, the portable terminal held by the instructor can display an image of the surrounding scenery captured by the camera unit superimposed on the search instruction image, and the positions of the desired location and the mobile station can be displayed at corresponding points in the image of the surrounding scenery.As a result, the positional relationship between the desired location and the mobile station can be intuitively grasped through the search instruction image, and the investigator carrying the mobile station can be reliably guided to the desired location in a short amount of time.

[0046] In addition, if the desired point is located in an area where correction information from the electronic reference point used for RTK positioning can be received and GNSS signals cannot be received stably, the desired point can be positioned by RTK positioning using a mobile station installed in an area around the desired point where GNSS signals can be received stably as an arbitrary reference point, the arbitrary reference point can be positioned by RTK positioning, the relative position from the arbitrary reference point to the desired point can be measured to register the position information of the desired point, and the relative position from the arbitrary reference point to the desired point can be used to search through a search instruction image. This makes it possible to easily register and search for the desired point even when GNSS signals cannot be received stably from the desired point.

[0047] In other words, by displaying a search instruction image on the display unit of the portable terminal that depicts the desired point, the mobile station, and the position of an arbitrary reference point from the current position of the portable terminal, an instructor carrying the portable terminal can use the search instruction image to reliably guide a searcher carrying a mobile station to the arbitrary reference point and desired point in a short amount of time.

[0048] In addition, if 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 can be used as the landmark reference point, a reference station can be installed at the landmark reference point, a mobile station can be installed at the desired location, and the relative position information of the desired location can be easily registered using RTK positioning between the reference station installed at the landmark and the mobile station.In addition, a reference station can be installed at the landmark during the search, and the desired location can be easily searched for through a search instruction image using the relative position of the reference station and the mobile station using RTK positioning between the reference station and the mobile station.

[0049] In other words, by displaying a search instruction image on the display unit of the portable terminal that depicts the desired location and the location of the mobile station from the current location of the portable terminal based on the relative location information of the desired location, the relative location information of the mobile station, and the relative location information of the portable terminal, an instructor carrying the portable terminal can use the search instruction image to reliably guide a searcher carrying a mobile station to the desired location in a short amount of time.

[0050] 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 reference point and the mobile station, and the desired location can be easily searched for in a short time using the search instruction image. 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.

[0051] In addition, 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 location of buried objects or submerged objects buried in snow or covered with grass through the search instruction image.

[0052] Furthermore, according to the position search method of the present invention, the image of the surrounding scenery captured by the camera unit can be superimposed on the search instruction image and displayed on the display unit, and the desired point and the position of the mobile station are displayed on the display unit at the corresponding points in the image of the surrounding scenery, making it easy to search with high accuracy and avoiding searches in places with poor footing such as snow-covered slopes. Also, it is easy to guide the searcher to the desired point without relying only on latitude and longitude information. [Brief description of the drawings]

[0053] [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] These figures show the positional relationship between a supervisor carrying a tablet terminal and a searcher carrying a mobile station during the search process, where (a) is a figure showing the positional relationship between the supervisor and the searcher when the mobile station and tablet terminal are located in the same position during the search, and (b) is a figure showing the positional relationship between the supervisor and the searcher when the supervisor moves while keeping the supervisor in the same position. [Figure 6] 11A and 11B are diagrams showing examples of displaying a search instruction image in a search process corresponding to the first registration method, where (a) is a diagram showing an example of displaying only the search instruction image, and (b) is a diagram showing an example of displaying a facility location with a map image superimposed on the search instruction image. [Figure 7]10 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. 1 using an image captured by a camera unit. [Figure 8] FIG. 13 is a diagram showing an example of an image in which an equipment point mark indicating the position of the equipment point in the search instruction image and the location of the mobile station are displayed on an image of the surrounding scenery of the equipment captured by the camera unit of a tablet terminal in a search process corresponding to the first registration method. [Figure 9] 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 10] 10 is a flowchart showing a second registration method in the registration step by the position information registration and search system shown in FIG. [Figure 11] 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 12] 10 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. 9. [Figure 13] 13 is a diagram showing an example of a display of a facility point in which a map image is superimposed on a search instruction image in a search step corresponding to the second registration method. FIG. [Figure 14] This figure shows an example of an image in which an equipment point mark indicating the position of the equipment point in the search instruction image, an arbitrary reference point, and the point of the mobile station are displayed on an image of the surrounding scenery of the equipment captured by the camera unit of a tablet terminal in a search process using the second registration method. [Figure 15] 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 16] 16 is a flowchart showing a third registration method in the registration step by the position information registration and search system shown in FIG. [Figure 17]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 18] 16 is a flowchart of a search process for searching for a registration point corresponding to the third registration method by the position information registration and search system shown in FIG. 15. [Figure 19] FIG. 13 is a diagram showing an example of a facility point display in which a map image is superimposed on a search instruction image in a search step corresponding to the third registration method. [Figure 20] This figure shows an example of an image in which an equipment point mark, a landmark reference point, and the location of the mobile station indicating the position of the equipment point in the search instruction image are displayed on an image of the surrounding scenery of the equipment captured by the camera unit of a tablet terminal in a search process using the third registration method. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0054] 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 mark such as a signal or a sign, it is possible to easily register the desired point in advance with high accuracy, and easily search and identify the registered point using a search instruction image.

[0055] 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.

[0056] The registration step in the position search method according to the present invention can be a registration method according to the reception state of correction data from electronic reference points used in RTK positioning and the reception state of GNSS signals in RTK positioning. The registration step can be performed in three ways, which will be hereinafter referred to as the first registration method, the second registration method, and the third registration method. The search step searches for a registration point corresponding to each of the first registration method, the second registration method, and the third registration method.

[0057] [First registration method and its location search method] First, a location information registration and search system using a first registration method of a desired point and a location search method for searching for the registered point will be described with reference to Fig. 1 to Fig. 8. The first registration method in the location search method is for a desired point to be located in an area where correction information using absolute location information of a GNSS electronic reference point can be received from GNSS electronic reference points arranged around the desired point, and GNSS signals can be stably received, and for calculating and registering location information of the desired point by RTK positioning between a mobile station installed at the desired point and the GNSS electronic reference point, and for searching the location of the registered point, the location of the desired point registered by the first registration method is displayed on a search instruction image and searched for.

[0058] In the following description, a registered location is a desired location registered in a registration process, i.e., a registered equipment location, and an equipment location refers to a location of equipment (desired location) in a search process that searches for registered locations.

[0059] FIG. 1 is a block diagram showing a configuration of a first registration method for registering a desired point in a position search method and 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 a registration process by the location information registration search system shown in FIG. 1. FIG. 3 is a diagram showing an example of a display of an equipment point displayed on a map in a registration process by the first registration method. FIG. 4 is a flowchart showing a search for a registered point corresponding to the first registration method by the location information registration search system shown in FIG. 1. FIG. 5 is a diagram showing a positional relationship between an instructor who holds a tablet terminal and a searcher who holds a mobile station in a search process. FIG. 6 is a diagram showing an example of a display of a search instruction image in a search process corresponding to the first registration method, FIG. 6(a) is a diagram showing an example of a display of only the search instruction image, and FIG. 6(b) is a diagram showing an example of a display of an equipment point displayed by superimposing a map image on the search instruction image.

[0060] 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 mobile terminal 21.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] The mobile station 10 in the location information registration search system 1 includes a receiving antenna 14 that receives radio signals for positioning from satellites of the GNSS 3, a GNSS receiver 11 that calculates location information 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 information from the GNSS receiver 11 and the correction data from the communication device 13 and outputs corrected location information. The mobile station 10 also includes a wireless device 17 that outputs the corrected location information of the RTK calculation unit 12 to a mobile terminal 21 via an antenna 18 of the mobile station 10.

[0067] The location information is information for identifying a location, such as latitude and longitude location information, distance, and relative direction location information.

[0068] The corrected position information 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.

[0069] 1, the mobile terminal 21 in the location information registration search system 1 includes a wireless device 29 that performs wireless communication with the mobile station 10 via an antenna 31, a control processing unit 22 that performs processing using corrected location information from the RTK calculation unit 12 of the mobile station 10, a map image data unit 23 for acquiring map image data corresponding to the corrected location information, a display unit 25 that displays the map image data, etc., an operation unit 26 for an instructor or the like to perform input operations, a camera unit 27 that can capture surrounding scenery, and a sensor unit 28 that detects the direction and inclination of the mobile terminal 21. The control processing unit 22 includes a built-in CPU and executes programs stored in a memory unit 24 to perform various processes.

[0070] The control processing unit 22 has a location registration processing unit 33 which performs registration processing in the first to third registration methods, a search and guidance processing unit 34 which performs a search and guidance processing for a searcher 77 (shown in FIG. 5) to an installation location 65 (see FIG. 6) corresponding to the first to third registration methods by utilizing a search instruction image and a location relationship between the mobile station 10 and a desired location by an instructor 75 (shown in FIG. 5), and a condition setting processing unit 35 which performs a setting processing of various conditions for guidance, display, etc. Also, the search and guidance processing unit 34 has a search instruction image processing unit 34a which processes a search instruction image depicting the installation location 65 and the location of the mobile station 10, etc., from the current location of the portable terminal 21.

[0071] The map image data section 23 records data of map images of the desired points including the registered desired points, as well as data of images of the ground conditions, including aerial photographs, satellite images, and landscape photographs.

[0072] The control processing unit 22 also controls each of the map image data unit 23, the display unit 25, the operation unit 26, and the camera unit 27. The control processing unit 22 outputs map image data from the map image data unit 23 to the display unit 25, and controls the display unit 25 to display the registered point of the facility 64, the current position of the mobile station 10, etc. on the map image. The display unit 25 displays a map, etc. on a display screen such as a liquid crystal display, and displays the facility point 65, the current position of the mobile station 10, etc. on the map.

[0073] The memory section 24 stores a program for processing by the control processing section 22, the registration steps of the first to third registration methods, various data in the search step, condition setting data, and the like.

[0074] Furthermore, memory unit 24 stores various data of camera unit 27, condition setting data, etc. These data are for capturing an image of the scenery around installation site 65 with camera unit 27 of mobile terminal 21, displaying it on display unit 25, and displaying a mark at installation site 65 in the displayed surrounding scenery, and consist of data such as the position photographed by camera unit 27, the direction (azimuth) in which the image was captured, and the lens magnification of camera unit 27.

[0075] In addition, instead of obtaining map image data from the pre-stored map image data unit 23, the mobile terminal 21 may connect to a GIS (Geographic Information System) server to obtain map image data corresponding to the corrected location information.

[0076] The mobile terminal 21 is preferably a tablet terminal in which a display unit 25, an operation unit 26, a camera unit 27, and a sensor unit 28 are integrally configured.

[0077] 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 25 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.

[0078] 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 it can receive correction data from the reference electronics station 5 used for RTK positioning (S1 shown in Fig. 2). If the mobile station 10 is located in an area where it cannot receive correction data from the reference electronics station 5 used for RTK positioning (No in S1), it proceeds to the third registration method shown in Fig. 16 described later.

[0079] 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).

[0080] 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. 10, 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.

[0081] 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 information measured using radio signals received from a satellite of the GNSS 3 and correction data from the electronic reference station 5 of the mobile network 4, outputs the corrected position information in the RTK calculation unit 12, and transfers it to the tablet terminal 21. As a result, the position of the mobile station 10 is fixed at the point of the meter, and the corrected position information output by the mobile station 10 is determined as the installation point 65 of the meter (S5).

[0082] The location registration processing unit 33 stores corrected location information of the positioning result at the location where the meter is installed in the memory unit 24, and registers the installation location 65 on the map as a registration location (S6). The memory unit 24 also stores necessary information such as location information on the installation location 65 of the meter, the date and time of positioning, and the number of the selected registration method. As a result, as shown in Fig. 3, the display unit 25 of the tablet terminal 21 displays the installation location 65 where the meter is registered on the map with a mark consisting of a symbol or figure.

[0083] As described above, the meter's location information is calculated and registered by RTK positioning between the mobile station 10 installed at the desired location of the meter and the reference electronic station 5, and the registration process of the first registration method is completed.

[0084] [Image display using map images during the search process] 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 maps shown in FIG. 5 and FIG.

[0085] The search process (of a desired point) by the location information registration search system 1 is performed by the search and guidance processing unit 34 of the mobile station 10 and the tablet terminal 21, and is performed by a searcher 77 who has a mobile station 10 capable of RTK positioning with the reference electronics station 5, and an instructor 75 who has a tablet terminal 21 that can display the location information of the mobile station 10 on the display unit 25 by RTK positioning between the reference electronics station 5 and the mobile station 10, and is a process of moving the mobile station 10 to a registered point registered as the location information of the equipment 64 to perform a search. Note that the flowchart shown in Fig. 4 shows an example of a search process for searching for a registered point of a meter buried underground as a desired point by the first registration method.

[0086] First, the facility 64 and location to be searched are specified from a menu displayed on the display unit 25 of the tablet terminal 21. The tablet terminal 21 reads out information on the specified facility 64 and location to be searched from the memory unit 24 (S30). In this case, it is confirmed by which registration method the facility location 65 was registered, based on the information on the facility 64 and location read out from the memory unit 24 (S31).

[0087] 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). If it is the second registration method (Yes in S33), the process proceeds to the search flowchart corresponding to the second registration method shown in Figure 12, 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 18.

[0088] In the case of the first registration method (Yes in S32), in order to perform a search corresponding to the first registration method, the latitude and longitude position information of the registration point of the facility 64 to be searched stored in the memory unit 24 is read out (S34). During the search, the instructor 75 carrying the tablet terminal 21 and the searcher 77 carrying the mobile station 10 move to an area where the facility 64 to be searched is expected to exist in advance, and gather at the same point. That is, as shown in Fig. 5(a), the tablet terminal 21 carried by the instructor 75 and the mobile station 10 carried by the searcher 77 are set up so as to be located at the same point during the search for the facility 64 (S35).

[0089] At this time, the mobile station 10 outputs corrected position information from the position information determined by the radio signal received from the GNSS 3 satellite and the correction data of the reference electronics station 5 in the RTK calculation unit 12. That is, the position information of the latitude and longitude, which is the current position of the mobile station 10, is determined by RTK positioning between the mobile station 10 and the reference electronics station 5 (S36). The tablet terminal 21 communicates with the mobile station 10 and sets the latitude and longitude position information of the mobile station 10 as the latitude and longitude position information of the tablet terminal 21 (S37).

[0090] After registering the position information of the mobile station 10 as the position information of the tablet terminal 21 while keeping the position of the tablet terminal 21 held by the instructor 75, the searcher 77 holding the mobile station 10 moves the mobile station 10 away from the tablet terminal 21 to the estimated installation point 65, and calculates the position information of the mobile station 10 by RTK positioning with the electronic reference station 5 (S38). That is, as shown in Fig. 5(b), while keeping the position of the tablet terminal 21 held by the instructor 75, the searcher 77 holding the mobile station 10 moves to the vicinity of the point estimated to be the installation point (desired point) 65, and calculates the position information of the mobile station 10 held by the searcher 77 by RTK positioning with the electronic reference station 5.

[0091] A search instruction image processing unit 34a in the search and guidance processing unit 34 of the tablet terminal 21 creates a search instruction image on the display unit 25 of the tablet terminal 21, depicting the positions of the installation point 65 and the mobile station 10 from the current position of the tablet terminal 21, based on the position information of the installation point 65 (desired point), the position information of the mobile station 10, and the position information of the tablet terminal 21 (S39). The created search instruction image is displayed on the display unit 25 of the tablet terminal 21 (S40).

[0092] Thereafter, the distance and direction between the mobile station 10 and the installation point 65 are calculated from the difference between the position information of the installation point 65 and the position information of the mobile station 10 (S41). The positional relationship between the mobile station 10 and the installation point 65 is displayed as distance and direction in a field in the lower area of ​​the display unit 25 of the tablet terminal 21 shown in FIG. 6 (S42).

[0093] As a result, the search process determines the approximate location of the facility 64, and by repeating steps from S38 shown in Fig. 4 as necessary, the exact location of the facility 64 can be identified. This makes it possible to accurately approach the desired location, and to perform the search operation efficiently. This completes the search process for searching for a registration location corresponding to the first registration method by the location information registration search system 1.

[0094] In this way, the search process involves the instructor 75 carrying the tablet terminal 21 and the searcher 77 carrying the mobile station 10 gathering at the same location, and then the tablet terminal 21 remaining in its position while the searcher 77 of the mobile station 10 moves away from that location, allowing the instructor 75 of the tablet terminal 21 to issue instructions to the searcher 77 to move, making it easy to search for the desired location.

[0095] It is needless to say that the sequence of the flow chart is not limited to that shown in FIG.

[0096] Next, the display of a search instruction image in the search step will be described with reference to Fig. 6. Fig. 6 is a diagram showing a display example of a search instruction image in the search step corresponding to the first registration method.

[0097] As shown in Fig. 6(a), a search instruction image is displayed near the bottom of the display unit 25 of the tablet terminal 21, depicting an installation point (desired point) 65 indicated by an X mark and the position of the mobile station 10 indicated by a black circle mark from the current position of the tablet terminal 21 (the double circle mark shown in Fig. 6(a)). In the search instruction image shown in Fig. 6(a), a map image is not displayed, but the positional relationship of the installation point 65 and the mobile station 10 from the current position of the tablet terminal 21 is displayed on the display unit 25 of the tablet terminal 21, and further information on the distance and direction between the mobile station 10 and the installation point 65 is displayed at the bottom of the display unit 25, making it possible to intuitively grasp the position of the installation point 65.

[0098] As shown in Fig. 6(a), the search instruction image can also be created with the viewpoint being the current position of the tablet terminal 21. In Fig. 6(a), since the instructor 75 is holding the tablet terminal 21, the location of the tablet terminal 21 is the current position of the instructor 75, and the tablet terminal 21 is displayed at the bottom of the search instruction image, in the center left and right. Therefore, the search instruction image is created with the viewpoint being the current position of the tablet terminal 21, giving it a sense of realism.

[0099] On the other hand, it is also possible to place the tablet terminal 21 at a position other than the center of the left and right of the bottom row of the search instruction image. That is, it is sufficient that the positions of the installation point (desired point) 65, the mobile station 10, and the tablet terminal 21 are depicted on the search instruction image.

[0100] 6(b), tablet terminal 21 can also superimpose a map image, which is an image of the ground surface condition, on the position of installation point 65 in the search instruction image in the search step corresponding to the first registration method and the current position 70 of mobile station 10 and display it on display unit 25. Tablet terminal 21 is located at a point indicated by a double circle mark near the bottom of the map image on display unit 25. In this way, a map image may be superimposed on the position of installation point 65 in the search instruction image and the current position 70 of mobile station 10 and displayed on display unit 25.

[0101] 6, the double circle mark indicating the position of the tablet terminal 21 may not be displayed on the display unit 25. That is, when the tablet terminal 21 is defined to be located at the bottom of the search instruction image and in the center of the left and right, the search instruction image displayed on the display unit 25 is viewed from the position of the tablet terminal 21, so the double circle mark of the tablet terminal 21 does not need to be displayed, and the instructor 75 can naturally understand his / her own position without displaying the position of the tablet terminal 21. Moreover, displaying or not displaying the double circle mark indicating the position of the tablet terminal 21 on the display unit 25 may also be applied to the search process of the registration point corresponding to the second and third registration methods described below.

[0102] In this way, the search and guidance processing unit 34 of the tablet terminal 21 performs processing for guiding a searcher 77 (shown in FIG. 5 ) to a desired location using the search instruction image created by the search instruction image processing unit 34a and the positional relationship between the installation location 65 and the mobile station 10 calculated from the difference between the location information of the installation location 65 and the location information of the mobile station 10, and displays the installation location 65 and the current location 70 of the mobile station 10 as marks on the display unit 25. Also, as shown in FIG. 6 , the registration number of the installation location 65, the distance between the mobile station 10 and the installation location 65, the direction indicated by the compass, and screen selection items are displayed in the lower area of ​​the screen of the display unit 25.

[0103] Furthermore, after the tablet terminal 21 carried by the instructor 75 and the mobile station 10 carried by the investigator 77 are located at the same location during the search for the equipment 64, the investigator 77 carrying the mobile station 10 moves the mobile station 10 away from the tablet terminal 21 to the estimated equipment location 65. However, it is also possible to move to a location that is thought to be the equipment location (desired location) 65, that is, without preparing location information regarding the equipment location, if the investigator 77 has a memory regarding the equipment location at the time of registration or knows the equipment location to some extent by guessing.

[0104] In addition, as the ground surface condition image, it is possible to use a map image, an aerial photograph, a satellite image, whose position can be uniquely identified by latitude and longitude position information, or a landscape photograph whose photographing location and camera shooting conditions are specified.

[0105] In addition, the ground surface condition image can be displayed on the display unit 25 of the tablet terminal 21 in the form of an eye-level image, which is an image captured at the camera height of the viewpoint of the instructor 75; a bird's-eye view image, which is an image captured from the sky such as a map image, aerial photograph, satellite image, etc.; or an overhead view image, which is captured from directly above such as a map image, aerial photograph, satellite image, etc. and created in a flat form.

[0106] The ground surface condition image can be used not only for the first registration method and its position search method, but also for the second registration method and its position search method and the third registration method and its position search method described below.

[0107] The display screen and display contents of the display unit 25 of the tablet terminal 21 shown in FIG. 6 are not limited to those shown therein, and other types of display screen and display contents may be used.

[0108] As described above, in the search process, the instructor 75 carrying the tablet terminal 21 and the searcher 77 carrying the mobile station 10 gather at the same location, and then the tablet terminal 21 remains in the same position while the searcher 77 of the mobile station 10 moves away from that location. As a result, the search and guidance processing unit 34 on the tablet terminal 21 displays on a map image information regarding the positions of the mobile station 10 and the equipment site 65, as well as their orientation and distance. The instructor 75 carrying the tablet terminal 21 uses the search guidance image to move the searcher 77 carrying the mobile station 10 and guides him so that the current position 70 of the mobile station 10 coincides with the equipment site 65, thereby making it possible to reliably guide the searcher 77 to the desired location in a short amount of time through the search guidance image, and making it possible to perform the search efficiently.

[0109] [Image display using AR (Augmented Reality) during the exploration process] It is also possible to search for a desired location registered by the first registration method by capturing an image of the surrounding scenery with the camera unit 27 of the tablet terminal 21, and a search process by AR (Augmented Reality) using the camera unit 27 will be described with reference to Figures 7 and 8. Note that displaying a desired location or the like by AR (Augmented Reality) technology using an image captured by a camera is a well-known technology, and a detailed description of the principles will be omitted.

[0110] Fig. 7 is a flowchart of 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 using an image captured by the camera unit 27. Fig. 8 is a diagram showing an example of an image in which an equipment point mark 66 indicating the position of the equipment point 65 in the search instruction image and the position of the mobile station 10 are displayed on an image of the surrounding scenery of the equipment 64 captured by the camera unit 27 of the tablet terminal 21 in the search process corresponding to the first registration method.

[0111] The search process shown in Fig. 7 is the same as the search process shown in Fig. 4 up to step S39, so S85 and onwards shown in Fig. 7 will be described. As shown in Fig. 7, after the process of creating a search instruction image, the camera unit 27 of the tablet terminal 21 is prepared to capture a scenery image (S85 shown in Fig. 7). The camera unit 27 of the tablet terminal 21 captures an image of the scenery around the installation site 65 (S86 shown in Fig. 7). The tablet terminal 21 detects from the sensor unit 28 the orientation of the tablet terminal 21 at the time of capturing the image and the forward / backward tilt of the optical axis of the camera unit 27 relative to the horizontal plane (S87 shown in Fig. 7).

[0112] Next, the tablet terminal 21 calculates the positions of the facility 64 and the mobile station 10 in the scenery image, and performs a process of creating a search instruction image (S88 shown in FIG. 7). The search and guidance processing unit 34 of the tablet terminal 21 superimposes the captured scenery image on the search instruction image and displays it on the display unit 25, as shown in FIG. 8 (S89 shown in FIG. 7). As a result, the display unit 25 depicts the positions of the facility site 65 and the mobile station 10 from the viewpoint of the camera unit 27 on the surrounding scenery captured by the camera unit 27 of the tablet terminal 21 held by the instructor 75.

[0113] Also, a searcher 77 carrying a mobile station 10 moves to the vicinity of a point estimated to be the installation point 65, and the mobile station 10 calculates position information by RTK positioning with the electronic reference station 5, and outputs the calculated position information to the tablet terminal 21 (S90 shown in FIG. 7). Also, the tablet terminal 21 calculates the distance and direction between the installation point 65 to be searched and the mobile station 10 from the position information of the installation point 65 and the position information of the mobile station 10 (S91 shown in FIG. 7), and displays the positional relationship between the mobile station 10 and the installation point 65 in the form of distance and direction in a field in the lower area of ​​the display unit 25 (S92 shown in FIG. 7).

[0114] In addition, the processing of steps S88 to S89 and steps S90 to S92 shown in FIG. 7 is not restricted to a particular order and can be processed simultaneously. It is also possible to process steps S88 to S89 after processing steps S90 to S92.

[0115] As shown in Fig. 8, a surrounding image captured by the camera unit 27 of the tablet terminal 21 is displayed on the display unit 25. In the scenery image shown in Fig. 8, the surroundings of the facility 64 are covered in snow, and the position of the facility 64 on the scenery image is displayed by an facility point mark 66. Note that, since the surroundings of the facility 64 are covered in snow, the explorer 77 is unable to visually confirm the facility point.

[0116] Also displayed in the lower area of ​​the screen of the display unit 25 are the registration number of the installation location 65, the distance between the mobile station 10 and the desired location, the direction indicated by a compass, and screen selection items.

[0117] The calculation of the facility 64 on the image is performed by reading out the lens magnification, focal length, etc., which are the setting conditions for the camera unit 27 from the condition setting processing unit 35, calculating the orientation and inclination of the camera unit 27 from the sensor unit 28, and calculating the position of the facility 64 on the image based on the position information of the tablet terminal 21, the location of the facility 64, and the mobile station 10. Note that the method of calculating the location of a predetermined location, etc. by AR (Augmented Reality) technology using an image captured by a camera, etc. is a well-known technology, and a detailed description thereof will be omitted.

[0118] 7, the instructor 75 captures an image of the surrounding scenery with the camera unit 27 of the tablet terminal 21, and displays the position of the desired point superimposed on the scenery image on the display unit 25. This makes it possible to easily confirm the position of the equipment 64 through the search instruction image, even if the equipment point 65 is buried in snow and difficult to identify.

[0119] [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. 9 to Fig. 14. 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.

[0120] FIG. 9 is a block diagram showing a configuration of a location information registration search system using RTK positioning for performing a search for a desired point in a location search method and a second registration method for registering a desired point in the location search method. FIG. 10 is a flowchart showing the second registration method in the registration process by the location information registration search system shown in FIG. 9, and FIG. 11 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. 12 is a flowchart of a search process for searching a registration point corresponding to the second registration method by the location information registration search system shown in FIG. 9, and FIG. 13 is a diagram showing an example of display of an equipment point displayed by superimposing a map image on a search instruction image in the search process corresponding to the second registration method. FIG. 14 is a diagram showing an example of an image in which an equipment point mark indicating the position of the equipment point in the search instruction image, an arbitrary reference point, and the point of a mobile station are displayed on an image of the surrounding scenery of the equipment captured by the camera unit of a tablet terminal in the search process by the second registration method.

[0121] 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.

[0122] 9, the location information registration and search system 30 includes a GNSS 3, a reference electronics station 5, a mobile station 10, a tablet terminal 21, and a distance and direction measuring instrument 67. The reference electronics station 5 functions as a reference electronics point 6 of the present invention.

[0123] The distance and direction measuring instrument 67 shown in Fig. 9 is a measuring instrument that actually measures the relative position from an arbitrary reference point 61 (shown in Fig. 11) to a desired installation point 65 (shown in Fig. 11). 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. Note that the arbitrary 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.

[0124] In the second registration method, a case where GNSS signals cannot be stably received at the equipment location 65 to be registered means, for example, a state where radio waves from GNSS3 satellites are reflected and blocked by a building, and the mobile station 10 cannot stably receive GNSS signals. On the other hand, reception of correction data from the reference electronics station 5 is less susceptible to the influence of buildings. As a result, in order for the mobile station 10 to stably receive GNSS signals, it is necessary to move from the equipment location 65 to be registered to a location where GNSS3 satellites can be seen, so as not to be influenced by buildings. Usually, a movement of a few meters is sufficient.

[0125] Next, a second registration method in the registration process by the location information registration and search system 30 shown in Fig. 9 will be described with reference to the flowcharts shown in Fig. 2 and Fig. 10, and the map displayed on the display unit 25 shown in Fig. 11. In the following description, the facility 64 to be registered is a meter buried underground.

[0126] 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. 10.

[0127] 10, 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 received stably (S10). The mobile station 10 is fixed using a tripod or the like, and the fixed position is set as an arbitrary reference point 61 (S11).

[0128] Next, the mobile station 10 located at the arbitrary reference point 61 locates the arbitrary reference point 61 by RTK positioning with the electronic reference station 5, and outputs corrected position information in the RTK calculation unit 12 based on the position information from the GNSS signal and correction data from the electronic reference station 5 of the mobile network 4. The corrected position information is transferred to the tablet terminal 21 as position information of the arbitrary reference point 61, and stored in the memory unit 24 of the tablet terminal 21 (S12).

[0129] Next, the relative position (distance, direction) from the arbitrary 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 result is input to the position registration processing unit 33 from the operation unit 26 (S13).

[0130] 11, the location registration processing unit 33 registers an equipment location 65 on a map based on location information of the arbitrary reference point 61 measured by the mobile station 10, and data on the actual distance and direction from the arbitrary reference point 61 to the equipment 64 to be registered (S14). The memory unit 24 also stores necessary information such as location information on the equipment location 65 of the meter, the date and time of positioning, and the number of the selected registration method. As a result, as shown in FIG. 11, the tablet terminal 21 displays, with marks, the arbitrary reference point 61 where a GNSS signal can be stably received and the registered equipment location 65 of the meter on the map on the display unit 25.

[0131] As a result of the above, the position of the arbitrary reference point 61 is determined using RTK positioning between the mobile station 10 and the electronic reference station 5, the relative position from the arbitrary reference point 61 to the meter installation point 65 is actually measured, the meter's position information is calculated and registered, and the registration process of the second registration method is completed.

[0132] 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. 9 will be described with reference to the flowcharts shown in Fig. 4 and Fig. 12. The flowchart shown in Fig. 12 shows the search process for searching for the positions of meters buried underground.

[0133] 4, first, the facility 64 and location to be searched for are specified from a menu displayed on the display unit 25 of the tablet terminal 21 (S30). As a result, the tablet terminal 21 reads out information on the specified facility 64 and location to be searched for from the memory unit 24. In this case, it is confirmed by which registration method the facility location 65 was registered, based on the information on the facility 64 and location read out from the memory unit 24 (S31).

[0134] 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 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 12.

[0135] As shown in Fig. 12, the latitude and longitude position information, which is the position information of the arbitrary reference point 61 in the second registration method stored in the memory unit 24, is read out (S50). During the search, the instructor 75 who carries the tablet terminal 21 and the searcher 77 who carries the mobile station 10 move to a zone where the arbitrary reference point 61 to be searched for is thought to exist in advance, and gather at the same point. That is, during the search, the tablet terminal 21 carried by the instructor 75 and the mobile station 10 carried by the searcher 77 are positioned at the same point (S51), and the position information of the mobile station 10 at this time is calculated by RTK positioning with the electronic reference station 5 (S52), and the tablet terminal 21 communicates with the mobile station 10 and sets the calculated position information of the mobile station 10 as the position information of the tablet terminal 21 (S53).

[0136] After registering the position information of the mobile station 10 as the position information of the tablet terminal 21 while keeping the position of the tablet terminal 21 held by the instructor 75, the searcher 77 holding the mobile station 10 moves the mobile station 10 away from the tablet terminal 21 to a location near the arbitrary reference point 61 where at least the correction data from the electronic reference station 5 and the GNSS signal from the satellite of GNSS3 can be stably received like the arbitrary reference point 61, and the RTK calculation unit 12 of the mobile station 10 outputs corrected position information from the position information measured by the radio signal received from the satellite of GNSS3 and the correction data of the electronic reference station 5 (S54). That is, the latitude and longitude position information of the current position 70 of the mobile station 10 is calculated by the RTK positioning between the mobile station 10 and the electronic reference station 5.

[0137] Next, a search instruction image processing unit 34a in the search and guidance processing unit 34 of the tablet terminal 21 creates a search instruction image on the display unit 25 of the tablet terminal 21, depicting the positions of the installation point 65, the mobile station 10, and the arbitrary reference point 61 from the current position of the tablet terminal 21, based on the position information of the installation point 65, the position information of the mobile station 10, the position information of the tablet terminal 21, and the position information of the arbitrary reference point 61 (S55). The created search instruction image is displayed on the display unit 25 of the tablet terminal 21 (S56).

[0138] Thereafter, the distance and direction between the mobile station 10 and the arbitrary reference point 61 are calculated from the difference between the position information of the arbitrary reference point 61 and the position information of the mobile station 10 (S57).

[0139] The positional relationship between the mobile station 10 and the arbitrary reference point 61 is displayed in the form of distance and direction in a field in the lower area of ​​the display unit 25 of the tablet terminal 21 (S58).

[0140] The relative position (distance, direction) from the registered arbitrary reference point 61 to the meter installation point 65, and the distance and direction from the mobile station 10 to the installation point 65 are calculated from the distance and direction between the arbitrary reference point 61 and the mobile station 10 (S59).

[0141] Next, the tablet terminal 21 displays the distance and direction between the mobile station 10 and the installation point 65 in a field in the lower area of ​​the display unit 25 (S60), and the searcher 77 uses the distance and direction measuring device 67 to actually measure the distance from the mobile station 10 to the installation point 65 based on the relative position (distance, direction) information displayed on the tablet terminal 21. The installation point 65 is determined by the actual measurement (S61). This completes the search process for searching for a registration point corresponding to the second registration method by the location information registration and search system 30.

[0142] In addition, the processing of steps S55 to S56 and steps S57 to S60 shown in FIG. 12 is not restricted to a particular order and can be processed simultaneously. It is also possible to process steps S55 to S56 after processing steps S57 to S60.

[0143] Fig. 13 is a diagram showing an example of a display of an equipment location in which a map image is superimposed on a search instruction image in a search process corresponding to the second registration method. As shown in Fig. 13, the tablet terminal 21 displays on the display unit 25 a map image, which is a ground surface state image, superimposed on the search instruction image in a search process corresponding to the second registration method.

[0144] That is, a search instruction image, which depicts marks indicating the installation point 65, the arbitrary reference point 61, and the current position 70 of the mobile station 10 from the current position of the tablet terminal 21 (a double circle mark shown in FIG. 13) of the tablet terminal 21, is superimposed on the map image and displayed on the display unit 25. Also, as shown in FIG. 13, the registration number of the installation point 65, the distance between the mobile station 10 and the installation point 65, the direction indicated by a compass, and screen selection items are displayed in the lower area of ​​the screen of the display unit 25.

[0145] In this way, the search process involves the instructor 75 carrying the tablet terminal 21 and the searcher 77 carrying the mobile station 10 gathering at the same location, and then the position of the tablet terminal 21 remaining the same while the searcher 77 of the mobile station 10 moves away from that location. Using the search and guidance processing unit 34 on the tablet terminal 21, the instructor 75 carrying the tablet terminal 21 guides the searcher 77 carrying the mobile station 10 to the vicinity of the arbitrary reference point 61 through a search guidance image, and then the distance and direction measuring device 67 measures from the current position of the mobile station 10 to the equipment location 65, allowing the mobile station 10 to arrive at the desired equipment location 65.

[0146] After the tablet terminal 21 held by the instructor 75 and the mobile station 10 held by the searcher 77 are located at the same point during the search for the facility 64, the searcher 77 holding the mobile station 10 moves the mobile station 10 away from the tablet terminal 21 to the vicinity of the point estimated to be the arbitrary reference point 61, but it is also possible to move to an area that is likely to be the arbitrary reference point 61 without preparing position information of the arbitrary reference point 61 in the vicinity of the arbitrary reference point 61. However, the searcher 77 moves the mobile station 10 to a point with the same radio wave conditions as the arbitrary reference point 61, that is, to a point near the arbitrary reference point 61 where the correction data from the electronic reference station 5 and the GNSS signal from the satellite of the GNSS 3 can be stably received.

[0147] In addition, an embodiment has been described in which, after the tablet terminal 21 and the mobile station 10 are located at the same point, the searcher 77 carrying the mobile station 10 moves the mobile station 10 away from the tablet terminal 21, moves it to the vicinity of the estimated arbitrary reference point 61, and performs actual measurements from the current position of the mobile station 10 to the equipment point 65 using the distance and direction measuring device 67. However, it is also possible to guide the searcher 77 so that the mobile station 10 moves away from the tablet terminal 21 and positions the mobile station at the estimated arbitrary reference point 61 (not in the vicinity but the arbitrary reference point 61 itself), and perform actual measurements from the arbitrary reference point 61 to the equipment point 65 using the distance and direction measuring device 67.

[0148] The display screen and display contents of the display unit 25 of the tablet terminal 21 shown in FIG. 13 are not limited to those shown therein, and other types of display screen and display contents may be used.

[0149] As described above, in the second registration method and its position search method, the mobile station 10 is installed in an area where GNSS signals can be stably received, and the installation position of the mobile station 10 is set as the arbitrary reference point 61, and in the search process, the instructor 75 carrying the tablet terminal 21 and the searcher 77 carrying the mobile station 10 gather at the same point, and then, while the position of the tablet terminal 21 remains the same, the searcher 77 carrying the mobile station 10 moves away from that point, moving the mobile station 10 to a point near the arbitrary reference point 61 where correction data from the electronic reference station 5 and GNSS signals from the satellites of GNSS3 can be stably received, and the relative position from the mobile station 10 to the equipment point 65 is actually measured, and the equipment point 65 is determined. This makes it possible to search even if the equipment 64 to be searched is at a point where GNSS signals cannot be stably received.

[0150] Unlike the arbitrary reference point 61, the installation point 65 is a point where GNSS signals cannot be received stably, and therefore high-precision positioning cannot be performed using the mobile station 10. However, the position of the installation point 65 is identified and registered by actual measurement from the arbitrary reference point 61 to the installation point 65 in the registration process. Therefore, even after the instructor 75 carrying the tablet terminal 21 guides the searcher 77 carrying the mobile station 10 to the vicinity of the arbitrary reference point 61 or to the arbitrary reference point 61 itself through a search instruction image, it is possible that the instructor 75 can guide the searcher 77 to the installation point 65 through the search instruction image without actually measuring the position, although high-precision positioning cannot be performed using the mobile station 10.

[0151] It is also possible to search for a desired point registered by the second registration method by capturing an image of the surrounding scenery with the camera unit 27 of the tablet terminal 21. Fig. 14 is a diagram showing an example of an image in which an equipment point mark 66 indicating the position of an equipment point 65 in a search instruction image, an arbitrary reference point 61, and the point of the mobile station 10 are displayed on an image of the surrounding scenery of equipment 64 captured by the camera unit 27 of the tablet terminal 21 in a search process corresponding to the second registration method.

[0152] 14, the surroundings of the equipment point 65 are covered with weeds, and the position of the equipment point 65 on the scenery image is displayed by an equipment point mark 66, and the arbitrary reference point 61 is displayed by an X mark. Since the position of the equipment point 65 and the surroundings of the arbitrary reference point 61 are covered with weeds, the explorer 77 is unable to visually confirm the equipment point 65 or the arbitrary reference point 61. In this case, the arbitrary reference point 61 does not need to be some kind of physical landmark, and therefore does not need to be visible in the first place as long as its position can be identified.

[0153] Therefore, by searching for a desired point registered by the second registration method, the instructor 75 takes an image of the surrounding scenery with the camera unit 27 of the tablet terminal 21, and displays the arbitrary reference point 61 and the equipment point mark 66 indicating the position of the equipment point 65 superimposed on the scenery image on the display unit 25. As a result, even if it is difficult to identify the equipment point 65 or the arbitrary reference point 61 because it is buried in weeds or the like, the position of the equipment 64 can be easily confirmed through the search instruction image.

[0154] [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 Fig. 15 to Fig. 20. The third registration method is a registration method that is implemented when the desired point is located in an area where correction information from the surrounding reference electronic stations 5 used for RTK positioning cannot be received, and the GNSS signal can be stably received.

[0155] The third registration method and the location information registration search system 40 using RTK positioning for performing a search for the registration point are used when a desired point of an installed 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 intentionally determines as a landmark a facility that is fixed and installed, such as a traffic light, a fire hydrant, a road sign, etc., that does not move even when searching for the facility point 65, and obtains the location information of the facility to set the landmark as a unique reference point, a landmark reference point 62 (shown in FIG. 17), and installs a reference station 45 that can be located by a GNSS signal at the landmark reference point 62. In particular, in snowy regions, a facility that is not buried in snow and does not move, such as a traffic light on a road, is set as the landmark reference point 62.

[0156] FIG. 15 is a block diagram showing a configuration of a location information registration search system 40 using RTK positioning for performing a third registration method in the location search method and a search for the registration point. FIG. 16 is a flowchart showing the third registration method in the registration process by the location information registration search system 40 shown in FIG. 15, and FIG. 17 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. 18 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. 15, and FIG. 19 is a diagram showing an example of display of an equipment point displayed by superimposing a map image on a search instruction image in the search process corresponding to the third registration method. FIG. 20 is a diagram showing an example of an image in which an equipment point mark, a landmark reference point, and a mobile station point showing the position of the equipment point in the search instruction image are displayed on an image of the surrounding scenery of the equipment captured by the camera unit of the tablet terminal in the search process by the third registration method.

[0157] 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.

[0158] As shown in FIG. 15, 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 includes a GNSS 3, a reference station 45, a mobile station 19, and a tablet terminal 21.

[0159] A reference station 45 in a location information registration search system 40 that implements the third registration method and searches for the registration point performs relative positioning by RTK positioning with a mobile station 19, and has a receiving antenna 50 that receives radio signals for positioning from GNSS3 satellites, a GNSS receiver 46 that calculates location information from the signal received by the receiving antenna 50, a processing unit 47 that processes the location information from the GNSS receiver 46, and a wireless device 48 that outputs the location information of the reference station 45 processed by the processing unit 47 from an antenna 49. The wireless device 48 communicates with the mobile station 19 and outputs the location information of the reference station 45 to the mobile station 19.

[0160] The mobile station 19 in the position information registration search system 40 performs relative positioning by RTK positioning with a reference station 45, and has a radio 16 and an antenna 15 that receive position information from the reference station 45. The position information of the reference station 45 received by the radio 16 is input to the RTK calculation unit 20, and the RTK calculation unit 20 calculates the relative position, which is the difference between the position information received by the GNSS receiver 11 and the position information from the reference station 45, to calculate the relative position information from the reference station 45.

[0161] In this way, the reference station 45 and the mobile station 19 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 19), and the mobile station 19 receives position information 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 20 calculates the difference between the position information of the mobile station 19 received by the GNSS receiver 11 and the position information (reference data) from the reference station 45 to calculate relative position information from the reference station 45. Note that the distance between the reference station 45 and the mobile station 19 is preferably within 200 meters within a short-distance communication area.

[0162] The tablet terminal 21 in the location information registration search system 40 is wirelessly connected to the mobile station 19, and has a control processing unit 22 that performs processing using relative location information of the mobile station 19 from the reference station 45 calculated by the RTK calculation unit 20 of the mobile station 19 and location information of a landmark (called a landmark reference point 62) that serves as a unique reference point, a map image data unit 23 for acquiring map image data corresponding to the location information of the landmark, a display unit 25 that displays the map image data, etc., and an operation unit 26 where a user or the like performs input operations. The control processing unit 22 has a built-in CPU and executes programs stored in the memory unit 24 to perform various processes.

[0163] That is, the tablet terminal 21 has the same configuration in terms of the control processing unit 22 and the map image data unit 23 as the tablet terminal 21 used in Figure 1 (first registration method / search method) and Figure 9 (second registration method / search method). In Figures 1 and 9, the control processing unit 22 and the map image data unit 23 perform processing using corrected position information from the RTK calculation unit 12 of the mobile station 19, but the tablet terminal 21 in Figure 15 relating to the third registration method / search method differs in that processing is performed using relative position information from the reference station 45 of the mobile station 19 calculated by the RTK calculation unit 20 and position information of the landmark reference point 62, which is a landmark that serves as a unique reference point. The other configurations are the same as those of the tablet terminal 21 in Figures 1 and 9.

[0164] 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 19 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 19 and the reference station 45 can only use GNSS signals, the mobile station 19 and the reference station 45 are located relatively close to each other, and therefore the positioning errors at the mobile station 19 and the reference station 45 are approximately equal, and therefore the relative positioning itself between the mobile station 19 and the reference station 45 is highly accurate.

[0165] 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 19 and the reference station 45 are approximately equal, it is possible to perform relative positioning between the mobile station 19 and the reference station 45 with high accuracy.

[0166] In this way, in the location information registration and search system 40 which implements the third registration method and the search for the registration point, the reference station 45 is used as a parent device, and the mobile station 19 is used as a child device. The mobile station 19 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 from the reference station 45, which is an immovable landmark as a landmark reference point 62 that is an original reference point, between the mobile station 19 and the reference station 45.

[0167] Next, a third registration method in the registration process by the location information registration and search system 40 shown in Fig. 15 will be described with reference to the flowcharts shown in Fig. 2 and Fig. 16, and the map displayed on the display unit 25 shown in Fig. 17. In the following description, the facility 64 to be registered is a meter buried underground.

[0168] As shown in Fig. 2, the mobile station 19 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 19 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. 16.

[0169] 16, a point where GNSS signals can be stably received is set as a landmark 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 landmark reference point 62. The reference station 45 is installed next to the landmark reference point 62, and the GNSS signals are received to perform positioning (S21).

[0170] Next, the mobile station 19 is installed on the facility 64 to be registered, and receives a GNSS signal to perform positioning (S22). The mobile station 19 communicates with the reference station 45, and calculates the direction and distance from the relative position to the reference station 45 using the position information measured by the reference station 45 and the position information of the facility 64 to be registered measured by the mobile station 19, and the relative position information of the facility 64 to be registered (desired point) from the landmark reference point 62 is calculated (S23). The direction and distance can also be expressed as a combination of the distance in the north-south direction (NS direction in FIG. 17) and the east-west direction (EW direction in FIG. 17) from the reference station 45 to the mobile station 19, and either way is defined as relative position information.

[0171] Furthermore, necessary information such as position information of traffic lights and the like that serve as landmarks as landmark reference points 62, relative position information regarding the installation point 65 of the meter, the date and time of positioning, and the number of the selected registration method are stored and registered in the memory unit 24 (S24). As a result, as shown in Fig. 17, the display unit 25 of the tablet terminal 21 displays, on the map, the landmark registered as the landmark reference point 62 and the installation point 65 that is the registered point where the meter is registered, as a mark. In this way, the position information of the facility 64 to be registered by the third registration method is registered, and the registration process is completed.

[0172] 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. 15 will be described with reference to the flowcharts shown in Fig. 4 and Fig. 18. The flowchart shown in Fig. 18 shows a search process for searching for the positions of meters buried underground.

[0173] 4, first, the facility 64 and location to be searched for are specified from a menu displayed on the display unit 25 of the tablet terminal 21 (S30). As a result, the tablet terminal 21 reads out information on the specified facility 64 and location to be searched for from the memory unit 24. In this case, it is confirmed by which registration method the facility location 65 was registered, based on the information on the facility 64 and location read out from the memory unit 24 (S31).

[0174] 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 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 18.

[0175] As shown in Fig. 18, relative position information between the position of the landmark reference point 62 in the third registration method stored in the memory unit 24 and the equipment point 65 of the search object, which is the meter to be searched for, is read out (S70). The relative position information is the direction and distance from the landmark reference point 62 to the search object. A traffic light, utility pole, or the like, which serves as a landmark registered as the landmark reference point 62, is confirmed on the tablet terminal 21. After confirming the landmark reference point 62, a reference station 45 is installed next to the landmark reference point 62 (S71).

[0176] Also, a commander 75 carrying a tablet terminal 21 and a searcher 77 carrying a mobile station 19 move to an area where the facility 64 to be searched is thought to exist in advance, and meet at the same point. That is, during the search, the tablet terminal 21 carried by the commander 75 and the mobile station 19 carried by the searcher 77 are positioned at the same point (S72), and the relative position information of the mobile station 19 from the landmark reference point 62 at this time is calculated by RTK positioning with the reference station 45 (S73), and the calculated relative position information of the mobile station 19 is set as the relative position information of the tablet terminal 21 (S74).

[0177] In addition, after registering the relative position information of the mobile station 19 as the relative position information of the tablet terminal 21 while leaving the position of the tablet terminal 21 held by the instructor 75 unchanged, the explorer 77 holding the mobile station 19 moves the mobile station 19 away from the tablet terminal 21 to the vicinity of the equipment point 65, and calculates the relative position information of the mobile station 19 held by the explorer 77 by RTK positioning with the reference station 45 (S75).

[0178] Next, a search instruction image processing unit 34a in the search and guidance processing unit 34 of the tablet terminal 21 creates a search instruction image on the display unit 25 of the tablet terminal 21, depicting the positions of the installation point 65 (desired point) and the mobile station 19 from the current position of the tablet terminal 21, based on the relative position information of the installation point 65 (desired point), the relative position information of the mobile station 19, and the relative position information of the tablet terminal 21 (S76). The created search instruction image is displayed on the display unit 25 of the tablet terminal 21 (S77).

[0179] Thereafter, the distance and direction, which are the positional relationship between the mobile station 19 and the installation point 65, are calculated from the difference between the relative position information of the installation point 65 and the relative position information of the mobile station 19 (S78). The positional relationship between the mobile station 19 and the installation point 65 (desired point) is displayed as distance and direction in a field in the lower area of ​​the display unit 25 of the tablet terminal 21 (S79).

[0180] In addition, the processing of steps S76 to S77 and steps S78 to S79 ​​shown in FIG. 18 is not restricted to a particular order and can be processed simultaneously. It is also possible to process steps S76 to S77 after processing steps S78 to S79.

[0181] The search process specifies the location of the facility by repeating steps S75 and onwards as necessary. This completes the search process for searching for a registration point corresponding to the third registration method by the location information registration and search system 40.

[0182] In addition, when searching for a registered point registered by the third registration method, the position information of the landmark reference point 62 is confirmed and registered before the search. That is, in the search process corresponding to the third registration method, the position information of the landmark reference point 62 is registered as relative position information, so the position of the landmark reference point 62 cannot be determined uniquely. For this reason, absolute position information such as the latitude and longitude of the landmark reference point 62 is obtained in advance to display a search instruction image on a map.

[0183] Fig. 19 is a diagram showing a display example of an equipment location 65 in which a map image is superimposed on a search instruction image in a search process corresponding to the third registration method. As shown in Fig. 19, the tablet terminal 21 displays, on the display unit 25, a search instruction image in a search process corresponding to the third registration method superimposed on a map image, which is an image of the ground surface state.

[0184] That is, a search instruction image in which the positions of the installation point 65, the mobile station 19, and the landmark reference point 62 from the current position of the tablet terminal 21 (a double circle mark shown in Fig. 19) are drawn with marks near the bottom of the display unit 25 of the tablet terminal 21 is superimposed on the map image and displayed on the display unit 25. Also, as shown in Fig. 19, the registration number of the installation point 65, the distance between the mobile station 19 and the installation point 65, the direction indicated by a compass, and screen selection items are displayed in the lower area of ​​the screen of the display unit 25.

[0185] In this way, the search process involves the instructor 75 carrying the tablet terminal 21 and the searcher 77 carrying the mobile station 19 gathering at the same location, and then the position of the tablet terminal 21 remaining the same while the searcher 77 of the mobile station 19 moves away from that location.The search and guidance processing unit 34 on the tablet terminal 21 allows the instructor 75 carrying the tablet terminal 21 to guide the searcher 77 through a search guidance image so that the current position 70 of the mobile station 19 coincides with the equipment location 65, and the searcher can arrive at the desired equipment location 65.

[0186] Furthermore, after the tablet terminal 21 carried by the instructor 75 and the mobile station 19 carried by the investigator 77 are located at the same location during the search for the equipment 64, the investigator 77 carrying the mobile station 19 moves the mobile station 19 away from the tablet terminal 21 to the estimated equipment location 65. However, it is also possible to move to a location that is thought to be the equipment location (desired location) 65, that is, without preparing location information for the equipment location 65, if the investigator 77 has a memory of the equipment location at the time of registration or knows the equipment location to some extent by guess.

[0187] The display screen and display contents of the display unit 25 of the tablet terminal 21 shown in FIG. 19 are not limited to those shown therein, and other types of display screen and display contents may be used.

[0188] In addition, a search for a desired point registered by the third registration method can be performed by capturing an image of the surrounding scenery with the camera unit 27 of the tablet terminal 21. FIG. 20 is a diagram showing an example of an image in which an equipment point mark 66 indicating the position of the equipment point 65 in the search instruction image, a landmark reference point 62, and the point of the mobile station 19 are displayed on an image of the surrounding scenery of the equipment 64 captured by the camera unit 27 of the tablet terminal 21 in a search process corresponding to the third registration method. In the landscape image shown in FIG. 20, the surroundings of the equipment 64 are covered with snow, and the position of the equipment 64 on the landscape image is displayed by the equipment point mark 66, and the landmark reference point 62 is displayed. Since the surroundings of the equipment 64 are covered with snow, the searcher 77 cannot visually confirm the equipment point 65.

[0189] Therefore, when searching for a desired point registered by the third registration method, the instructor 75 captures an image of the surrounding scenery with the camera unit 27 of the tablet terminal 21, and displays the position of the equipment point mark 66 indicating the equipment point 65 of the search instruction image superimposed on the scenery image on the display unit 25. Also, as shown in Fig. 20, the position of the landmark reference point 62 may be displayed superimposed on the surrounding scenery. This makes it possible to easily confirm the position of the equipment 64 through the search instruction image, even if the equipment point 65 is covered in snow and difficult to identify.

[0190] As a result, 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 landmark reference point 62, and the relative position between the reference station 45 and the mobile station 19 is measured by RTK positioning between the reference station 45 and the mobile station 19, making it possible to search for the equipment point 65 at the relative position between the landmark and the mobile station 19 through a search instruction image. Also, since highly accurate absolute position coordinates such as those of the electronic reference point 6 are not required, positioning can be performed in a short time.

[0191] As described above, 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 25 of the tablet terminal 21 to search for the meter (equipment 64). In this case, instead of displaying a map of the surroundings on the tablet terminal 21, it is also possible to display the surrounding scenery on the display unit 25 through the camera unit 27 of the tablet terminal 21, and use AR (augmented reality) technology to superimpose an image of the surrounding scenery on a search instruction image and display the mark at the meter installation location 65 in the displayed surrounding scenery.

[0192] That is, the tablet terminal 21 can calculate the installation point 65 from the position photographed by the camera unit 27, the photographed direction (azimuth), magnification, etc., and display a mark at the installation point 65 of the meter in the surrounding scenery displayed on the display unit 25. 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 to display a mark at the installation point 65 of the meter in the surrounding scenery displayed on the display unit 25.

[0193] This is also possible when checking on the tablet terminal 21 a mark at the installation location 65 of a meter registered using the first to third registration methods, and it is also possible to capture an image of the surrounding scenery on the display unit 25 of the tablet terminal 21 through the camera unit 27 of the tablet terminal 21, superimpose the image of the surrounding scenery on the search instruction image, and display a mark at the installation location 65 of the meter in the displayed scenery.

[0194] 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.

[0195] In addition, the functional block diagrams shown in Figures 1, 9, and 15 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]

[0196] 1,30,40 Location information registration and search system 3. GNSS 4. Mobile Network 5 Electronic reference station 6 Electronic reference point 10,19 Mobile Station 11 GNSS receiver 12,20 RTK calculation section 13 Communication Device 14 Receiving antenna 15 Antenna (communication with reference station) 16 Radio 17 Radio 18 Antenna 21 Mobile devices (tablet devices) 22 Control processing section 23 Map image data section 24 Memory section 25 Display section 26 Control section 27 Camera Division 28 Sensor section 29 Radio 31 Antenna 33 Location registration processing unit 34 Search and guidance processing section 34a Search instruction image processing unit 35 Condition setting processing section 45 Reference station 46 GNSS receivers 47 Processing section 48 Radio 49 Antenna 50 Antenna 61 Arbitrary reference point 62 Landmark Reference Point 64 Equipment 65 Facility location (desired location) 66 Facility location mark 67 Distance and direction measuring device (measurement device) 70 Current location of mobile station 75 Instructor 77 Explorer

Claims

1. A position search method using RTK positioning that performs relative positioning between two points to search for and identify a desired point that has been registered in advance, 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 GNSS signals 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. The search for the desired point is performed by a searcher who possesses a mobile station capable of RTK positioning between the electronic reference point and the mobile station, and an instructor who possesses a portable terminal capable of displaying position information of the mobile station on a display unit by RTK positioning between the electronic reference point and the mobile station, a step of positioning the mobile station and the portable terminal at the same point, calculating position information of the mobile station by RTK positioning between the mobile station and an electronic reference point, and setting the calculated position information of the mobile station as position information of the portable terminal; Then, the position of the portable terminal held by the instructor remains the same, and the searcher holding the mobile station moves to the vicinity of the location estimated to be the desired location, and calculates the position information of the mobile station held by the searcher by RTK positioning between the mobile station and an electronic reference point; displaying, on the display unit of the portable terminal, a search instruction image depicting the desired point and the position of the mobile station from a current position of the portable terminal based on the position information of the desired point, the position information of the mobile station, and the position information of the portable terminal; A location search method comprising:

2. A position search method using RTK positioning that performs relative positioning between two points to search for and identify a desired point that has been registered in advance, 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 GNSS signals 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. The search for the desired point is performed by a searcher who possesses a mobile station capable of RTK positioning between the electronic reference point and the mobile station, and an instructor who possesses a portable terminal capable of displaying position information of the mobile station on a display unit by RTK positioning between the electronic reference point and the mobile station, a step of positioning the mobile station and the portable terminal at the same point, calculating position information of the mobile station by RTK positioning between the mobile station and an electronic reference point, and setting the calculated position information of the mobile station as position information of the portable terminal; calculating a positional relationship between the mobile station and the desired point from a difference between position information of the desired point and position information of the mobile station; Then, the position of the portable terminal held by the instructor remains the same, and the searcher holding the mobile station moves to a position near the desired point and the calculated point based on the positional relationship, and calculates the position information of the mobile station held by the searcher by RTK positioning between the portable terminal and the electronic reference point; displaying, on the display unit of the portable terminal, a search instruction image depicting the desired point and the position of the mobile station from a current position of the portable terminal based on the position information of the desired point, the position information of the mobile station, and the position information of the portable terminal; A location search method comprising:

3. A position search method using RTK positioning that performs relative positioning between two points to search for and identify a desired point that has been registered in advance, 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 GNSS signals cannot be stably received, a mobile station installed in an area around the desired point and where GNSS signals can be stably received is used as an arbitrary reference point, and the position information of the arbitrary reference point is measured by RTK positioning between the arbitrary reference point and the electronic reference point, and the relative position from the arbitrary reference point to the desired point is actually measured, and the position information of the desired point is calculated and registered; The search for the desired point is performed by a searcher who possesses a mobile station capable of RTK positioning between the electronic reference point and the mobile station, and an instructor who possesses a portable terminal capable of displaying position information of the mobile station on a display unit by RTK positioning between the electronic reference point and the mobile station, a step of positioning the mobile station and the portable terminal at the same point, calculating position information of the mobile station by RTK positioning between the mobile station and an electronic reference point, and setting the calculated position information of the mobile station as position information of the portable terminal; Then, the position of the portable terminal carried by the indicator remains the same, and the searcher carrying the mobile station moves to the vicinity of the point estimated to be the arbitrary reference point, and calculates the position information of the mobile station carried by the searcher by RTK positioning between the electronic reference point and the mobile station carried by the searcher; displaying, on the display unit of the portable terminal, a search instruction image depicting the positions of the desired point, the mobile station, and the arbitrary reference point from a current position of the portable terminal, based on the position information of the desired point, the position information of the mobile station, the position information of the portable terminal, and the position information of the arbitrary reference point; A location search method comprising:

4. A position search method using RTK positioning that performs relative positioning between two points to search for and identify a desired point that has been registered in advance, 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 GNSS signals cannot be stably received, a mobile station installed in an area around the desired point and where GNSS signals can be stably received is used as an arbitrary reference point, and the position information of the arbitrary reference point is measured by RTK positioning between the arbitrary reference point and the electronic reference point, and the relative position from the arbitrary reference point to the desired point is actually measured, and the position information of the desired point is calculated and registered; The search for the desired point is performed by a searcher who possesses a mobile station capable of RTK positioning between the electronic reference point and the mobile station, and an instructor who possesses a portable terminal capable of displaying position information of the mobile station on a display unit by RTK positioning between the electronic reference point and the mobile station, a step of positioning the mobile station and the portable terminal at the same point, calculating position information of the mobile station by RTK positioning between the mobile station and an electronic reference point, and setting the calculated position information of the mobile station as position information of the portable terminal; calculating a positional relationship between the mobile station and the arbitrary reference point from a difference between position information of the arbitrary reference point and position information of the mobile station; Then, the position of the portable terminal held by the indicator is kept unchanged, and the searcher holding the mobile station moves to the vicinity of the point calculated as the arbitrary reference point based on the positional relationship, and calculates the position information of the mobile station held by the searcher by RTK positioning between the arbitrary reference point and the electronic reference point; displaying, on the display unit of the portable terminal, a search instruction image depicting the positions of the desired point, the mobile station, and the arbitrary reference point from a current position of the portable terminal, based on the position information of the desired point, the position information of the mobile station, the position information of the portable terminal, and the position information of the arbitrary reference point; A location search method comprising:

5. A position search method using RTK positioning that performs relative positioning between two points to search for and identify a desired point that has been registered in advance, 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 cannot be received, and GNSS signals can be stably received, a landmark that exists even when searching for the desired point is used as a landmark reference point, a reference station is installed at the landmark 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 desired point from the landmark is calculated and registered; The search for the desired point is performed by a searcher who installs a reference station at the landmark reference point and has a mobile station capable of RTK positioning between the reference station and the mobile station, and an instructor who has a portable terminal capable of displaying relative position information of the mobile station on a display unit by RTK positioning between the reference station and the mobile station, a step of positioning the mobile station and the portable terminal at the same point, calculating relative position information of the mobile station from the landmark reference point by RTK positioning between the mobile station and the reference station, and setting the calculated relative position information of the mobile station as relative position information of the portable terminal; Then, the position of the portable terminal held by the instruction person remains the same, and the searcher holding the mobile station moves to the vicinity of the location estimated to be the desired location, and calculates relative position information of the mobile station held by the searcher by RTK positioning between the mobile station and the reference station; displaying, on the display unit of the portable terminal, a search instruction image depicting the desired point and the position of the mobile station from a current position of the portable terminal based on the relative position information of the desired point, the relative position information of the mobile station, and the relative position information of the portable terminal; A location search method comprising:

6. A position search method using RTK positioning that performs relative positioning between two points to search for and identify a desired point that has been registered in advance, 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 cannot be received, and GNSS signals can be stably received, a landmark that exists even when searching for the desired point is used as a landmark reference point, a reference station is installed at the landmark 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 desired point from the landmark is calculated and registered; The search for the desired point is performed by a searcher who installs a reference station at the landmark reference point and has a mobile station capable of RTK positioning between the reference station and the mobile station, and an instructor who has a portable terminal capable of displaying relative position information of the mobile station on a display unit by RTK positioning between the reference station and the mobile station, a step of positioning the mobile station and the portable terminal at the same point, calculating relative position information of the mobile station from the landmark reference point by RTK positioning between the mobile station and the reference station, and setting the calculated relative position information of the mobile station as relative position information of the portable terminal; calculating a positional relationship between the mobile station and the desired point from a difference between the relative position information of the desired point and the relative position information of the mobile station; Then, the position of the portable terminal held by the indicator is kept unchanged, and the searcher holding the mobile station moves to a position near the desired point and the calculated point based on the positional relationship, and calculates relative position information of the mobile station held by the searcher by RTK positioning with the reference station; displaying, on the display unit of the portable terminal, a search instruction image depicting the desired point and the position of the mobile station from a current position of the portable terminal based on the relative position information of the desired point, the relative position information of the mobile station, and the relative position information of the portable terminal; A location search method comprising:

7. 7. The position search method according to claim 1, wherein the portable terminal is also capable of displaying, on the search instruction image, a distance and a direction between the mobile station and the desired point.

8. 8. The position search method according to claim 1, further comprising a step of the instructor guiding the searcher to the desired location by using the search instruction image.

9. the mobile device is capable of displaying a ground surface state image, which is made up of a map image, an aerial photograph, a satellite image, and / or a landscape photograph, of a current position of the mobile device on the display unit by superimposing the search instruction image; 5. The method according to claim 1, wherein the desired point and the position of the mobile station are displayed at corresponding points on the ground surface condition image on the display unit.

10. The position search method according to claim 9, characterized in that the ground surface condition image can be displayed on the display unit as an eye-level image simulating the viewpoint position of the instructor, a bird's-eye view image looking down on the desired point and / or the mobile station from above the mobile terminal, or an overhead view image looking down on the mobile terminal from directly above.

11. The mobile terminal includes a camera unit capable of capturing an image of a surrounding scene of the mobile terminal, an image of the surrounding scenery captured by the camera unit can be displayed on the display unit in a superimposed manner on the search instruction image; 5. The method of claim 1, wherein the desired point and the position of the mobile station are displayed at corresponding points in the image of the surrounding scenery on the display unit.

12. Prior to the search, confirm and register position information of the landmark reference point; the mobile device is capable of displaying a ground surface state image, which is made up of a map image, an aerial photograph, a satellite image, and / or a landscape photograph, of a current position of the mobile device on the display unit by superimposing the search instruction image; The position search method according to claim 5 or claim 6, characterized in that the desired point and the position of the mobile station are displayed at corresponding points in the ground surface state image on the display unit by utilizing the position information of the landmark reference point.

13. The position search method according to claim 12, characterized in that the ground surface condition image can be displayed on the display unit as an eye-level type image simulating the viewpoint position of the instructor, a bird's-eye view type image looking down on the desired point and / or the mobile station from above the mobile terminal, or an overhead view type image looking down on the mobile terminal from directly above.

14. Prior to the search, confirm and register position information of the landmark reference point; The mobile terminal includes a camera unit capable of capturing an image of a surrounding scene of the mobile terminal, an image of the surrounding scenery captured by the camera unit can be displayed on the display unit in a superimposed manner on the search instruction image; The position search method according to claim 5 or claim 6, characterized in that the desired point and the position of the mobile station are displayed at corresponding points in the image of the surrounding scenery on the display unit by utilizing the position information of the landmark reference point.

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