Satellite positioning device, satellite positioning method, and program

Abstract

One purpose of the present disclosure is to continue to execute accurate satellite positioning even when signal screening occurs.　A satellite positioning device (10) according to the present disclosure has: a generation unit (11) which generates first accumulated information (100) by associating, for each unit of receipt time / date information, which expresses the receipt time and date at which a positioning signal is received, the receipt time / date information (T1, T2, T3...) with observation information (pseudo-distance information, carrier phase information) which respectively corresponds to a positioning satellite (30) [30a, 30b, 30c, 30d, 30e] at the time / date of receipt, and stores the same in a storage device (20); and a correction unit (13) which refers to the first accumulated information (100) when there is an abnormality in the observation information at the current point in time (t0), generates corrected observation information for correcting the observation information at the current point in time (t0) at which there is an abnormality on the basis of past observation information which was stored before the current point in time (t0) and is obtained from the positioning satellite which corresponds to the observation information at the current point in time (t0) at which there is an abnormality, and corrects the observation information at the current point in time (t0) at which there is an abnormality in the first accumulated information (100) to the corrected observation information.

Description

Technical Field

[0001] The present disclosure relates to a satellite positioning device and a satellite positioning method for satellite positioning, and further relates to a program for realizing these. for realizing these In matters.

Background Art

[0002] In order to perform satellite positioning with high accuracy, it is necessary to consider error factors such as (1) the orbital error of positioning satellites (artificial satellites), (2) the clock error of positioning satellites, (3) the delay due to the ionosphere, (4) the delay due to the troposphere, (5) signal shielding, and (6) multipath.

[0003] In particular, in urban areas where high-rise buildings stand side by side, mountainous areas where trees are thickly grown, etc., error factors such as (5) and (6) described above have a great influence, so it is difficult to perform high-precision satellite positioning.

[0004] As a related technique, Patent Document 1 discloses a position measurement device that can continuously and accurately acquire position information. The position measurement device performs a first position identification process for performing satellite positioning and acquiring the current position and its error range, and a second position identification process for acquiring the current position using the physical quantity measurement value. When the error range satisfies a predetermined accuracy condition, the correspondence relationship between the current position and the physical quantity obtained by the second position identification process is corrected, and when acquiring the current position, the result of the second position identification process after correction is acquired.

[0005] The error range is calculated based on the positioning accuracy obtained by combining the reception states for each position of a plurality of positioning satellites and the deviation of the acquired current position from the predicted position according to the movement state of the own device.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] However, in the positioning device of Patent Document 1, when there are four or more visible satellites that can receive signals (radio waves) from positioning satellites, satellite positioning can be realized. However, when the number of visible satellites becomes three or less due to the influence of the above-mentioned (5) signal shielding, satellite positioning cannot be realized.

[0008] An example of the object of the present disclosure is to continuously perform highly accurate satellite positioning even when signal shielding occurs.

Means for Solving the Problems

[0009] To achieve the above object, a satellite positioning device according to one aspect of the present disclosure includes: a receiving unit that receives positioning signals transmitted from respective positioning satellites; a generation unit that generates first accumulation information by associating the reception date and time information indicating the reception date and time when the positioning signal is received with the observation information corresponding to each of the positioning satellites at the reception date and time, and stores the first accumulation information in a storage device; a correction unit that, when there is an abnormality in the current observation information, refers to the first accumulation information, generates correction observation information for correcting the current observation information having the abnormality based on the past observation information stored before the current time of the positioning satellite corresponding to the current observation information having the abnormality, and corrects the current observation information having the abnormality in the first accumulation information to the correction observation information; characterized by having the above.

[0010] Further, to achieve the above object, a satellite positioning method according to one aspect of the present disclosure includes: a computer generating accumulation information by associating the reception date and time information indicating the date and time when the positioning signal transmitted from each positioning satellite is received with the observation information corresponding to each of the positioning satellites at the reception date and time, and storing the accumulation information in a storage device; When there is an abnormality in the current observation information, refer to the first accumulation information, and based on the past observation information of the positioning satellite corresponding to the current observation information with an abnormality, which was stored before the current time, generate correction observation information for correcting the current observation information with an abnormality, and correct the current observation information with an abnormality in the first accumulation information to the correction observation information; characterized by having.

[0011] Furthermore, in order to achieve the above object, in one aspect of the present disclosure, a program In , For each piece of reception date and time information representing the date and time when the positioning signals transmitted from each positioning satellite are received, associate the reception date and time information with the observation information corresponding to each positioning satellite at the reception date and time, generate accumulation information, and store it in a storage device; When there is an abnormality in the current observation information, refer to the first accumulation information, and based on the past observation information of the positioning satellite corresponding to the current observation information with an abnormality, which was stored before the current time, generate correction observation information for correcting the current observation information with an abnormality, and correct the current observation information with an abnormality in the first accumulation information to the correction observation information; including instructions to execute Son-in-law characterized by the above.

Advantages of the Invention

[0012] As described above, according to the present disclosure, even when signal shielding occurs, continuous and accurate satellite positioning can be performed.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Embodiments for Carrying Out the Invention

[0014] First, an overview will be described to facilitate understanding of the embodiments described hereinafter. A satellite positioning device (user segment) is a device that measures the current position of the satellite positioning device using a plurality of positioning satellites (space segment). The satellite positioning device is mounted on, for example, a vehicle, an aircraft, a ship, a mobile device, etc.

[0015] In the current satellite positioning system, when the number of visible satellites is four or more, the satellite positioning device can perform accurate satellite positioning (normal).

[0016] However, due to the influence of the signal shielding described above (5), when the number of visible satellites decreases and the number of visible satellites becomes three or less, satellite positioning cannot be realized. For example, in urban areas, mountainous areas, etc., when radio waves are blocked by shielding objects (for example, buildings, trees, etc.) and the number of visible satellites becomes three or less, satellite positioning cannot be realized.

[0017] Even when there are four or more visible satellites, due to the influence of the above-mentioned (6) multipath, if the observation information (observation data) described later is abnormal observation information, the accuracy of satellite positioning calculated using the observation information will decrease.

[0018] Furthermore, even when there are four or more visible satellites, in urban areas etc., the visible satellites concentrate near the zenith for satellite positioning, and there is a bias in the arrangement of the positioning satellites in the sky, so the accuracy of satellite positioning decreases.

[0019] Through such a process, the inventor found the problem that accurate satellite positioning cannot be performed when (5) signal shielding occurs, or when (6) multipath occurs, or when (7) there is a bias in the arrangement of the positioning satellites, and at the same time derived means to solve the related problems.

[0020] That is, the inventor derived means to continuously perform accurate satellite positioning even when (5) signal shielding occurs, or when (6) multipath occurs, or when (7) there is a bias in the arrangement of the positioning satellites.

[0021] Hereinafter, embodiments will be described with reference to the drawings. In the drawings described below, elements having the same function or corresponding functions are denoted by the same reference numerals, and repeated descriptions thereof may be omitted.

[0022] (Embodiment) Using FIG. 1, the configuration of the satellite positioning system and the satellite positioning device in the embodiment will be described. FIG. 1 is a diagram for explaining an example of the satellite positioning device included in the satellite positioning system.

[0023] [System Configuration] The satellite positioning system shown in FIG. 1 includes positioning satellites 30 (30a, 30b, 30c, 30d, 30e) and a satellite positioning device 10. Note that the number of positioning satellites 30 is not limited to five.

[0024] A satellite positioning system may be, for example, a Global Navigation Satellite System (GNSS). Specifically, the satellite positioning system calculates the current position of the satellite positioning device 10 based on positioning signals transmitted from each of the positioning satellites 30.

[0025] The satellite positioning device 10 receives a positioning signal from the positioning satellite 30 and generates observation information based on the received positioning signal. Then, the satellite positioning device 10 calculates the current position based on the generated observation information.

[0026] The satellite positioning device 10 provides information representing the calculated current position to various applications. Examples of the applications may include a navigation system, an autonomous driving system, etc.

[0027] The satellite positioning device 10 is an information processing device such as a Central Processing Unit (CPU), a programmable device such as a Field-Programmable Gate Array (FPGA), a Graphics Processing Unit (GPU), or a circuit, computer, mobile terminal, etc. equipped with any one or more of them.

[0028] The storage device 20 is a database, a server computer, a circuit having a memory, etc. The storage device 20 stores, for example, at least the accumulated information described later. In the example of FIG. 1, the storage device 20 is provided outside the satellite positioning device 10, but it may also be provided inside the satellite positioning device 10.

[0029] The positioning satellite 30 orbits a predetermined satellite orbit with a predetermined orbit period. The positioning satellite 30 transmits a positioning signal obtained by phase-modulating data representing the transmission date and time, etc.

[0030] [Device Configuration] The satellite positioning device 10 will be described in detail. In the example of FIG. 1, the satellite positioning device 10 includes a receiving unit 11, a generating unit 12, a correcting unit 13, and an estimating unit 14.

[0031] In satellite positioning, the satellite positioning device 10 calculates the current position using observation information (pseudo-range information, carrier phase information) and positioning satellite position information.

[0032] Positioning methods that require the position of the positioning satellite include, for example, single-point positioning, RTK (Realtime kinematic) positioning, PPP (Precise Point Positioning), etc.

[0033] The receiving unit 11 receives the positioning signals transmitted from each positioning satellite, and generates observation information (pseudo-range information, carrier phase information) and positioning satellite position information based on the received positioning signals. Specifically, the positioning signal receiving unit 21 includes an antenna 11a that receives the positioning signal, a circuit for demodulating the positioning signal, and the like.

[0034] ● The case where there is an abnormality in the observation information (pseudo-range information, carrier phase information) will be described. The generating unit 12 generates storage information (first storage information) by associating the reception date and time information representing the date and time when the positioning signal was received with the observation information corresponding to each positioning satellite at the reception date and time for each reception date and time information of the received positioning signal, and stores it in the storage device 20.

[0035] The reception date and time information is information representing, for example, the year, month, day, and time when the positioning signal was received. The observation information includes pseudo-range information representing the pseudo-range, carrier phase information representing the carrier phase, or both pieces of information.

[0036] Figure 2 is a diagram for explaining an example of the data structure of the storage information (for observation information). In Figure 2, storage information 101 and 102 are shown as examples of the storage information 100 (first storage information).

[0037] The accumulated information 101 is information in which the pseudo-range information corresponding to each of the positioning satellites 30a, 30b, 30c, 30d, and 30e is associated for each of the time points T1, T2, T3,... represented by the reception date and time information. In the example of FIG. 2, for the sake of explanation, the pseudo-range information is represented by symbols such as La11 to La13,..., Lb11 to Lb13,..., Lc11 to Lc13,..., Ld11 to Ld13,..., Le11 to Le13, etc.

[0038] Also, the accumulated information 102 is information in which the carrier phase information corresponding to each of the positioning satellites 30a, 30b, 30c, 30d, and 30e is associated for each of the time points T1, T2, T3,... represented by the reception date and time information. In the example of FIG. 2, for the sake of explanation, the carrier phase information is represented by symbols such as Pa11 to Pa13,..., Pb11 to Pb13,..., Pc11 to Pc13,..., Pd11 to Pd13,..., Pe11 to Pe13, etc.

[0039] When there is an abnormality in the observation information at the current time, the correction unit 13 refers to the accumulated information 100 and generates correction observation information for correcting the observation information at the current time with an abnormality based on the past observation information stored before the current time of the positioning satellite 30 corresponding to the observation information with an abnormality at the current time. Thereafter, the correction unit 13 corrects (changes) the observation information at the current time of the accumulated information 100 with an abnormality to the correction observation information.

[0040] An abnormality in the observation information occurs, for example, when (5) signal shielding occurs, or when (6) multipath occurs, or when (7) there is a bias in the arrangement of the positioning satellites.

[0041] The case where (5) signal shielding occurs will be described. When signal shielding occurs, since the positioning signal cannot be received, the observation information (pseudo-range information, or carrier phase information, or both) cannot be acquired.

[0042] When the correction unit 13 cannot obtain the current observation information, it determines that the current observation information is abnormal. This will be described in detail with reference to FIGS. 3 and 4.

[0043] FIG. 3 is a diagram for explaining signal shielding. In the example of FIG. 3, a vehicle 40 (mobile object) equipped with the satellite positioning device 10 is moving. The satellite positioning device 10 of the vehicle 40 receives positioning signals from four positioning satellites 30a, 30b, 30c, and 30d at time points T1 and T2 (normal).

[0044] On the other hand, at time point T3, the positioning signal from the positioning satellite 30d is shielded by the building 50, and the satellite positioning device 10 of the vehicle 40 cannot receive the positioning signal from the positioning satellite 30d (abnormal). However, even at time point T3, the satellite positioning device 10 of the vehicle 40 can receive the positioning signals from the three positioning satellites 30a, 30b, and 30c respectively.

[0045] FIG. 4 is a diagram for explaining a method of correcting abnormal observation information. In the example of FIG. 4, for easy understanding, the pseudo range in the L1 signal band is represented by simple numerical values. In the case of dual-frequency positioning, the accumulated information of the signal bands for two frequencies is generated, and the pseudo range information for two frequencies is used.

[0046] The accumulated information 101a shown in A of FIG. 4 indicates that the pseudo range information of the positioning satellite 30d could not be obtained at time point T3 due to the influence of signal shielding (abnormal pseudo range information "-").

[0047] When the correction unit 13 cannot obtain the pseudo range information, it corrects the abnormal pseudo range information. That is, when there is an abnormality in the observation information, the correction unit 13 generates corrected observation information to correct the abnormal observation information. Then, the correction unit 13 corrects (changes) the abnormal observation information to the corrected observation information.

[0048] The corrected observation information can be calculated by any one of the following methods (A), (B), (C), and (D), for example.

[0049] In the method of (A), observation information of the positioning satellite corresponding to the abnormal observation information at the previous time point (t1) and the time point two before (t2) than the current time point (t0) is acquired, and corrected observation information is generated based on Equation (1).

[0050] (Equation (1)) f1(t0)=f(t1)+(f(t1)-f(t2)) f1(t0): Corrected observation information f(t1): Observation information at the previous time point (t1) than the current time point (t0) f(t2): Observation information at the time point two before (t2) than the current time point (t0)

[0051] In the example of FIG. 4, based on the pseudo-range information "6" and "5" at the time points T1 (corresponding to t1) and T2 (corresponding to t2) stored before the time point T3 (corresponding to t0) of the positioning satellite 30d of the accumulation information 101a, corrected observation information "7" is generated.

[0052] Then, as shown in the accumulation information 101b shown in FIG. 4B, the abnormal pseudo-range information "-" is corrected (changed) to the corrected observation information "7" (corrected pseudo-range information).

[0053] (B) In the method, observation information of two past points (observation information at the previous time point (t1) and the time point two before (t2) than the current time point (t0)) is acquired, a linear function (Equation (2)) is generated, and corrected observation information is generated using the generated linear function.

[0054] (Equation (2)) f2(t0)=a×t0+b f2(t0): Corrected observation information a: Slope ((f(t2)-f(t1) / t2 - t1)) b: Intercept

[0055] In the method of (C), the observation information of the past three points (the observation information at the time point (t1) one before the current time point (t0), the time point (t2) two before, and the time point (t3) three before) is acquired, a quadratic function (Equation 3) is generated, and the corrected observation information is generated using the generated quadratic function.

[0056] (Equation 3) f3(t0)=a×t0 2 +b×t0+c f3(t0): Corrected observation information a: Real-valued constant (≠0) b: Real-valued constant c: Real-valued constant

[0057] In the method of (D), the corrected observation information is generated by the least squares method using the observation information of a plurality of past points (the observation information at the time point one or more before the current time point (t0)).

[0058] Note that for the accumulated information for carrier phase information, similar to the accumulated information for the pseudo range information described above, when there is an abnormality in the carrier phase information, the corrected observation information (corrected carrier phase information) is generated, and the abnormal carrier phase information is corrected (changed) to the corrected observation information.

[0059] Also, in the example of the accumulated information 101b in FIG. 4, the abnormal observation information is overwritten with the corrected observation information, but it is not necessary to perform the overwriting.

[0060] Also, the accumulated information before correction and the accumulated information after correction may be separately stored in the storage device 20. Specifically, the accumulated information 101a before correction and the accumulated information 101b after correction in FIG. 4 may be separately stored in the storage device 20.

[0061] (6) The case where multipath occurs will be described. When multipath occurs, the observation information (pseudo range information, or carrier phase information, or both) becomes an abnormal value (outlier).

[0062] When the change in the current observation information with respect to the past observation information is equal to or greater than a preset threshold, the correction unit 13 determines that the current observation information is abnormal. This will be described in detail with reference to FIG. 5.

[0063] The threshold may be determined based on, for example, the observation information affected by past multipath, or may be determined by experiments, simulations, etc. For the pseudorange information and the carrier phase information respectively, a threshold for pseudorange information use and a threshold for carrier phase information use are prepared.

[0064] FIG. 5 is a diagram for explaining a method of correcting abnormal observation information. In the example of FIG. 5, for easy understanding of the explanation, the pseudorange in the L1 signal band is represented by simple numerical values. In the case of dual-frequency positioning, accumulated information for the signal bands of the two frequencies is generated, and the pseudorange information for the two frequencies is used.

[0065] The accumulated information 101c shown in A of FIG. 5 indicates that due to the influence of multipath, the pseudorange information of the positioning satellite 30a has become an abnormal value at time T5 (the abnormal pseudorange information "12").

[0066] In the example of FIG. 5, the threshold is set to 4 or more. Therefore, since the current pseudorange information has changed by 4 or more from the pseudorange information at the time immediately before the current time, the current pseudorange information becomes an abnormal value.

[0067] When the pseudorange information is an abnormal value, the correction unit 13 corrects the abnormal pseudorange information. That is, when there is an abnormality in the observation information, the correction unit 13 generates corrected observation information to correct the abnormal observation information.

[0068] The corrected observation information can be calculated, for example, by any one of the methods (A), (B), (C), and (D) described above.

[0069] In the example of FIG. 5, based on the pseudo-range information "7" and "8" of the positioning satellite 30a of the accumulated information 101c at time points T1 (corresponding to t1) and T2 (corresponding to t2) stored before time point T5 (corresponding to t0), the corrected observation information "6" is generated by the method of (A).

[0070] Then, as shown in the accumulated information 101d in FIG. 5B, the abnormal pseudo-range information "12" is corrected (changed) to the corrected observation information "6" (corrected pseudo-range information).

[0071] Also, in the example of the accumulated information 101d in FIG. 5, although the abnormal observation information is overwritten with the corrected observation information, it is not necessary to perform the overwriting.

[0072] Also, the accumulated information before correction and the accumulated information after correction may be separately stored in the storage device 20. Specifically, the accumulated information 101c before correction and the accumulated information 101d after correction in FIG. 5 may be separately stored in the storage device 20.

[0073] (7) The case where a bias occurs in the arrangement of positioning satellites will be described. FIG. 6 is a diagram for explaining the bias in the arrangement of positioning satellites. (5) There is a positioning satellite 30d whose positioning signal cannot be received due to the influence of signal shielding, but there is also a visible satellite 30e (positioning satellite) that can receive the positioning signal.

[0074] However, since the signal of the positioning satellite 30d in the only different direction is blocked, a bias occurs in the arrangement of the satellites available for positioning, and the accuracy of satellite positioning decreases. For example, if the positioning satellite 30a is in the northeast, the positioning satellite 30b is in the east, the positioning satellite 30c is in the southeast, the positioning satellite 30d is in the west, and the positioning satellite 30e is in the east. In that case, if only the positioning satellite 30d is shielded, there will be no positioning satellite in the west, and the positioning satellites will be biased to the east, so the accuracy of satellite measurement decreases.

[0075] Therefore, even when switching to the other visible satellite 30e, the correction unit 13 generates the corrected observation information of the positioning satellite 30d by any one of the methods (A), (B), (C), and (D) described above for a preset period.

[0076] The preset period shall be a period during which the accuracy of satellite positioning does not deteriorate. The period may be determined, for example, by experiments, simulations, etc.

[0077] FIG. 7 is a diagram for explaining the accumulated information when the arrangement of positioning satellites is biased. In the accumulated information 101e of FIG. 7, at time points T5 and T6, the observation information (pseudo-range information) of the positioning satellite 30c cannot be obtained, but the positioning signals of the other visible satellite 30e can be received.

[0078] However, in the accumulated information 101f of FIG. 7, the observation information (pseudo-range information) of the other visible satellite 30e is not used, and the corrected observation information "5" and "5" of the positioning satellite 30d are continuously used. In the example of FIG. 7, it shows that at time point T7 (within the period), normal observation information of the positioning satellite 30d can be obtained.

[0079] In the embodiment, even when there is an abnormality in the observation information at the current time, that is, when (5) signal shielding occurs, or (6) there is an influence of multipath, or (7) there is a bias in the arrangement of positioning satellites, the abnormal observation information can be corrected based on the past observation information stored before the current time, so that accurate satellite positioning can be continuously performed.

[0080] ● The case where there is an abnormality in the positioning satellite position information will be described. The generation unit 12 generates accumulated information (second accumulated information) by associating the positioning satellite position information for each reception date and time information, and stores it in the storage device 20.

[0081] First, when there is an abnormality in the current positioning satellite position information, the correction unit 13 refers to the accumulated information (second accumulated information), and based on the past positioning satellite position information stored before the current time corresponding to the positioning satellite 30 with abnormal current positioning satellite position information, generates corrected positioning satellite position information for correcting the abnormal current positioning satellite position information.

[0082] Next, the correction unit 13 corrects the positioning satellite position information at the current time with an abnormality in the accumulated information (second accumulated information) to the corrected positioning satellite position information.

[0083] FIG. 8 is a diagram for explaining an example of the data structure of the accumulated information (for satellite position information). The accumulated information 201a shown in FIG. 8A is information in which satellite position information corresponding to each of the positioning satellites 30a, 30b, 30c, 30d, and 30e is associated for each time point T1, T2, T3,... represented by the reception date and time information. The satellite position information is information represented by three-dimensional coordinates.

[0084] In the accumulated information 201a shown in FIG. 8A, due to the influence of the above (5)(6)(7), there are abnormalities in the observation information at time points T5 of the positioning satellite 30a, T6 and T7 of the positioning satellite 30c, and T8 and T9 of the positioning satellite 30e, so there are abnormalities in the satellite position information.

[0085] That is, in the accumulated information 201a shown in FIG. 8A, it shows that an abnormality has occurred in the satellite position information "30, 10, 42" at time point T5 of the positioning satellite 30a, an abnormality has occurred in the satellite position information "-" at time points T6 and T7 of the positioning satellite 30c, and an abnormality has occurred in the satellite position information "-" at time points T7, T8, and T9 of the positioning satellite 30e.

[0086] Therefore, when there is an abnormality in the satellite position information, the correction unit 13 corrects the abnormal satellite position information. Specifically, when there is an abnormality in the satellite position information, the correction unit 13 generates corrected satellite position information (X', Y', Z') for correcting each of the three-dimensional coordinates (X, Y, Z) of the abnormal satellite position information.

[0087] The satellite position information is determined to be abnormal when (5) the satellite position information cannot be obtained due to the influence of signal shielding, or (6) when the change in the current satellite position information with respect to the past satellite position information due to the influence of multipath is equal to or greater than a preset threshold value.

[0088] The threshold value may be determined, for example, based on the satellite position information affected by past multipath, or may be determined by experiments, simulations, etc.

[0089] Each of the three-dimensional coordinates of the corrected satellite position information can be calculated, for example, by any one of the following methods (A´), (B´), (C´), and (D´).

[0090] In the method of (A´), the satellite position information at the time point (t1) one before the current time point (t0) and the time point (t2) two before the current time point (t0) of the positioning satellite corresponding to the abnormal satellite position information is obtained, and based on Equation (1´), the corrected satellite position information (each of the three-dimensional coordinates (X´, Y´, Z´)) is generated.

[0091] (Equation (1´)) g1(t0)=g(t1)+(g(t1)-g(t2)) g1(t0): Corrected satellite position information (three-dimensional coordinates) g(t1): Satellite position information at the time point (t1) one before the current time point (t0) g(t2): Satellite position information at the time point (t2) two before the current time point (t0)

[0092] At the time point T5 of the positioning satellite 30a of the accumulation information 201a shown in A of FIG. 8, based on the satellite position information "11, 35, 13" and "11, 34, 13" at the time points T4 (corresponding to t1) and T3 (corresponding to t2) stored before the time point T5 (corresponding to t0) of the positioning satellite 30a, the corrected satellite position information "11, 36, 13" is generated.

[0093] Then, as shown in the accumulated information 201b in FIG. 8, the abnormal satellite position information "30, 10, 42" is corrected (changed) to the corrected satellite position information "11, 36, 13".

[0094] Also, for the abnormal satellite position information "-" at time points T6 and T7 of the positioning satellite 30c, the corrected satellite position information "30, 32, 15" and "30, 34, 15" are generated by the method of (A´). For the abnormal satellite position information "-" at time points T7, T8, and T9 of the positioning satellite 30e, the corrected satellite position information "38, 60, 40", "36, 60, 40", and "34, 60, 40" are generated by the method of (A´).

[0095] In the method of (B´), the satellite position information of the past two points (the satellite position information at the time point (t1) one before the current time point (t0) and the time point (t2) two before) is acquired, a linear function (Equation 2´) is generated, and the corrected satellite position information (three-dimensional coordinates) is generated using the generated linear function.

[0096] (Equation 2´) g2(t0)=a×t0 + b g2(t0): Corrected satellite position information (three-dimensional coordinates) a: Slope (g(t2)-g(t1) / t2 - t1) b: Intercept

[0097] In the method of (C´), the satellite position information of the past three points (the satellite position information at the time point (t1) one before the current time point (t0), the time point (t2) two before, and the time point (t3) three before) is acquired, a quadratic function (Equation 3´) is generated, and the corrected satellite position information is generated using the generated quadratic function.

[0098] (Equation 3´) g3(t0)=a×t0 2 +b×t0 + c g3(t0): Corrected satellite position information (three-dimensional coordinates) a: Real-valued constant (≠0) b: Real-valued constant c: Real-valued constant

[0099] In the method of (D´), corrected satellite position information is generated by the least squares method using satellite position information at a plurality of past points (satellite position information at a time point one or more before the current time point (t0)).

[0100] The estimation unit 14 performs satellite positioning processing for calculating the current position using the observation information and satellite position information of each positioning satellite included in the current accumulated information, and estimates the current position.

[0101] Also, in the example of the accumulated information 201b in FIG. 8, the satellite position information with an abnormality is overwritten with the corrected satellite position information, but it is not necessary to perform the overwriting.

[0102] Also, the accumulated information before correction and the accumulated information after correction may be separately stored in the storage device 20. Specifically, the accumulated information 201a before correction and the accumulated information 201b after correction in FIG. 8 may be separately stored in the storage device 20.

[0103] The estimation unit 14 performs satellite positioning processing for calculating the current position using the observation information and positioning satellite position information of each positioning satellite 30 at the current time, and estimates the current position.

[0104] In the embodiment, even when there is an abnormality in the satellite position information at the current time, that is, (5) when signal shielding occurs, or (6) when there is an influence of multipath, or (7) when there is a bias in the arrangement of positioning satellites, the satellite position information with an abnormality is corrected based on the past satellite position information stored before the current time, so that accurate satellite positioning can be continuously performed.

[0105] Also, even when a visible satellite moves to an elevation angle of 0 degrees or less and becomes an invisible satellite in an open sky environment or the like, satellite positioning processing is performed using the correction information of the invisible satellite for a preset period.

[0106] [Device Operation] Next, the operation of the satellite positioning device in the embodiment will be described with reference to FIG. 9. FIG. 9 is a diagram for explaining an example of the operation of the satellite positioning device. In the following description, reference will be made to the drawings as appropriate. Also, in the embodiment, by operating the satellite positioning device, a satellite positioning method is implemented. Therefore, the description of the satellite positioning method in the embodiment will be replaced with the following description of the operation of the satellite positioning device.

[0107] As shown in FIG. 9, first, the receiving unit 11 receives the positioning signals transmitted from each of the positioning satellites 30, and generates observation information (pseudo-range information, carrier phase information) and positioning satellite position information based on the received positioning signals (step A1).

[0108] Next, the generating unit 12 generates accumulation information (first accumulation information) by associating the reception date and time information representing the date and time when the positioning signal was received with the observation information (pseudo-range information, carrier phase information) corresponding to each of the positioning satellites at the reception date and time, and stores it in the storage device 20 (step A2).

[0109] Also, in step A2, for each reception date and time information, accumulation information (second accumulation information) is generated in association with the positioning satellite position information representing the position of each positioning satellite, and stored in the storage device 20.

[0110] Next, if there is no abnormality in the observation information and the positioning satellite position information at the current time (step A3: No), the correction unit 13 proceeds to step A5 to execute the satellite positioning process. Also, if there is an abnormality in the pseudo-range information, or the carrier phase information, or the positioning satellite position information, or any two or more of them at the current time (step A3: Yes), the correction unit 13 proceeds to step A4 to generate corrected observation information and corrected positioning satellite position information for the abnormal information.

[0111] In step A3, when signal shielding occurs and the pseudo-range information, or the carrier phase information, or the positioning satellite position information at the current time cannot be obtained, the correction unit 13 determines it as an abnormality.

[0112] Also, in step A3, when multipath occurs in (6), if the change in the current observation information with respect to the past observation information is equal to or greater than a preset threshold, the correction unit 13 determines that the current observation information is abnormal. The abnormality of the pseudo range information is determined using the change in the pseudo range information and the threshold for the pseudo range information. The abnormality of the carrier phase information is determined using the change in the carrier phase information and the threshold for the carrier phase information.

[0113] Also, in step A3, when multipath occurs in (6), if the change in the current positioning satellite position information with respect to the past positioning satellite position information is equal to or greater than a preset threshold (threshold for positioning satellite position information), the correction unit 13 determines that the current positioning satellite position information is abnormal.

[0114] Next, when there is an abnormality in the observation information (pseudo range information, or carrier phase information, or both) at the current time, the correction unit 13 refers to the first accumulation information and generates correction observation information for correcting the abnormal observation information based on the past observation information of the positioning satellite 30 corresponding to the abnormal observation information at the current time and stored before the current time (step A4).

[0115] Specifically, in step A4, the correction unit 13 generates the correction observation information by any one of the methods (A), (B), (C), and (D) described above. Then, in step A4, the correction unit 13 corrects (changes) the abnormal observation information to the correction observation information.

[0116] Also, in step A4, when there is an abnormality in the positioning satellite position information at the current time, the correction unit 13 refers to the second accumulation information and generates correction positioning satellite position information for correcting the abnormal positioning satellite position information based on the past positioning satellite position information of the positioning satellite 30 corresponding to the abnormal positioning satellite position information at the current time and stored before the current time.

[0117] Specifically, in step A4, the correction unit 13 generates corrected positioning satellite position information by any one of the above-described methods (A´)(B´)(C´)(D´). Then, in step A4, the correction unit 13 corrects (changes) the positioning satellite position information with anomalies to the corrected positioning satellite position information.

[0118] The estimation unit 14 performs satellite positioning processing for calculating the current position using the observation information and the positioning satellite position information of each positioning satellite included in the current accumulated information (first accumulated information, second accumulated information), and estimates the current position (step A5).

[0119] In this way, the satellite positioning device 10 repeatedly executes the above-described processes of steps A1 to A5.

[0120] [Effect of Embodiment] According to the embodiment, even when there are anomalies in the observation information at the current time, that is, when (5) signal shielding occurs, or (6) there is an influence of multipath, or (7) there is a bias in the arrangement of positioning satellites, the observation information with anomalies can be corrected based on the past observation information stored before the current time, so that accurate satellite positioning can be continuously performed.

[0121] [Program] The program in the embodiment may be a program that causes a computer to execute steps A1 to A5 shown in FIG. 9. By installing and executing this program on a computer, the satellite positioning device and the satellite positioning method in the embodiment can be realized. In this case, the processor of the computer functions as the receiving unit 11, the generating unit 12, the correcting unit 13, and the estimating unit 14, and performs processing.

[0122] Also, the program in the embodiment may be executed by a computer system constructed by a plurality of computers. In this case, for example, each computer may function as any one of the receiving unit 11, the generating unit 12, the correcting unit 13, and the estimating unit 14.

[0123] [Physical Configuration] Here, a computer that realizes a satellite positioning device by executing the program in the embodiment will be described with reference to FIG. 10. FIG. 10 is a diagram showing an example of a computer that realizes the satellite positioning device in the embodiment.

[0124] As shown in FIG. 10, the computer 110 includes a CPU (Central Processing Unit) 1 11, a main memory 112, a storage device 113, an input interface 114, a display controller 115, a data reader / writer 116, and a communication interface 117. These components are connected to each other via a bus 121 so as to be capable of data communication. Note that the computer 110 may include a GPU or an FPGA in addition to or instead of the CPU 111.

[0125] The CPU 111 expands the program (code) in the embodiment stored in the storage device 113 into the main memory 112 and executes these in a predetermined order to perform various operations. The main memory 112 is typically a volatile storage device such as a DRAM (Dynamic Random Access Memory). Also, the program in the embodiment is provided in a state stored in a computer-readable recording medium 120. Note that the program in the embodiment may be distributed on the Internet connected via the communication interface 117. Note that the recording medium 120 is a non-volatile recording medium.

[0126] In addition, specific examples of the storage device 113 include a hard disk drive and a semiconductor storage device such as a flash memory. The input interface 114 mediates data transmission between the CPU 111 and an input device 118 such as a keyboard and a mouse. The display controller 115 is connected to the display device 119 and controls the display on the display device 119.

[0127] The data reader / writer 116 mediates data transmission between the CPU 111 and the recording medium 120, and performs reading of programs from the recording medium 120 and writing of processing results in the computer 110 to the recording medium 120. The communication interface 117 mediates data transmission between the CPU 111 and other computers.

[0128] Also, specific examples of the recording medium 120 include general-purpose semiconductor memory devices such as CF (Compact Flash (registered trademark)) and S D (Secure Digital), magnetic recording media such as flexible disks (Flexible Disk), or optical recording media such as CD-ROM (Compact Disk Read Only Memory).

[0129] Note that the satellite positioning device in the embodiment can also be realized by using hardware corresponding to each part instead of a computer in which a program is installed. Furthermore, a part of the satellite positioning device 10 may be realized by a program and the remaining part may be realized by hardware.

[0130] As described above, the invention has been described with reference to the embodiments, but it is not limited to the above-described embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details within the scope of the invention.

[0131] [Supplementary Note] Regarding the above embodiments, the following supplementary notes are further disclosed. Some or all of the above-described embodiments can be expressed by (Supplementary Note 1) to (Supplementary Note 21) described below, but are not limited to the following description.

[0132] (Supplementary Note 1) A receiving unit that receives positioning signals transmitted from each positioning satellite, For each piece of reception date and time information representing the reception date and time when the positioning signal was received, generate first accumulation information by associating the reception date and time information with the observation information corresponding to each of the positioning satellites at the reception date and time, and store the first accumulation information in a storage device; a generation unit When there is an abnormality in the current observation information, refer to the first accumulation information, and based on the past observation information of the positioning satellite corresponding to the current observation information with the abnormality, which was stored before the current time, generate correction observation information for correcting the current observation information with the abnormality, and correct the current observation information with the abnormality in the first accumulation information to the correction observation information; a correction unit A satellite positioning device having

[0133] (Appendix 2) When the correction unit cannot obtain the current observation information, or when the change in the current observation information with respect to the past observation information is equal to or greater than a preset threshold, the correction unit determines that the current observation information is abnormal The satellite positioning device according to Appendix 1.

[0134] (Appendix 3) The observation information includes pseudorange information representing a pseudorange, carrier phase information representing a carrier phase, or both pieces of information The satellite positioning device according to Appendix 2.

[0135] (Appendix 4) When using the pseudorange information, perform single-point positioning processing as satellite positioning processing The satellite positioning device according to Appendix 3.

[0136] (Appendix 5) When using the carrier phase information, perform real-time kinematic positioning processing as satellite positioning processing The satellite positioning device according to Appendix 3.

[0137] (Appendix 6) When using the pseudorange information and the carrier phase information, perform precise single-point positioning processing as satellite positioning processing The satellite positioning device according to Appendix 3.

[0138] (Appendix 7) When the generation unit is a positioning method that requires positioning satellite position information representing the position of the positioning satellite in the process of satellite positioning processing, for each piece of reception date and time information, the generation unit associates the positioning satellite position information to generate second accumulation information, and stores the second accumulation information in the storage device. When there is an abnormality in the current positioning satellite position information, the correction unit refers to the second accumulation information, and based on the past positioning satellite position information of the positioning satellite corresponding to the current positioning satellite position information with an abnormality, which was stored before the current time, the correction unit generates correction positioning satellite position information for correcting the current positioning satellite position information with an abnormality, and corrects the current positioning satellite position information with an abnormality in the second accumulation information to the correction positioning satellite position information. The estimation unit executes the satellite positioning process for calculating the current position by using the observation information and the positioning satellite position information of each of the positioning satellites at the current time, and estimates the current position. The satellite positioning device according to Appendix 1.

[0139] (Appendix 8) A computer For each piece of reception date and time information representing the reception date and time when the positioning signals transmitted from each of the positioning satellites are received, the computer associates the reception date and time information with the observation information corresponding to each of the positioning satellites at the reception date and time to generate first accumulation information, and stores the first accumulation information in the storage device. When there is an abnormality in the current observation information, the computer refers to the first accumulation information, and based on the past observation information of the positioning satellite corresponding to the current observation information with an abnormality, which was stored before the current time, the computer generates correction observation information for correcting the current observation information with an abnormality, and corrects the current observation information with an abnormality in the first accumulation information to the correction observation information. Satellite positioning method.

[0140] (Appendix 9) If the current observation information cannot be obtained, or if the change in the current observation information with respect to the past observation information is equal to or greater than a preset threshold, the current observation information is determined to be abnormal. The satellite positioning method according to Supplementary Note 8.

[0141] (Supplementary Note 10) The observation information includes pseudorange information representing a pseudorange, carrier phase information representing a carrier phase, or both types of information. The satellite positioning method according to Supplementary Note 9.

[0142] (Supplementary Note 11) When using the pseudorange information, single-point positioning processing is executed as satellite positioning processing. The satellite positioning method according to Supplementary Note 10.

[0143] (Supplementary Note 12) When using the carrier phase information, real-time kinematic positioning processing is executed as satellite positioning processing. The satellite positioning method according to Supplementary Note 10.

[0144] (Supplementary Note 13) When using the pseudorange information and the carrier phase information, precise single-point positioning processing is executed as satellite positioning processing. The satellite positioning method according to Supplementary Note 10.

[0145] (Supplementary Note 14) In the case of a positioning method that requires positioning satellite position information representing the position of the positioning satellite in the process of satellite positioning processing, for each reception date and time information, second accumulation information is generated by associating the positioning satellite position information, and is stored in the storage device. If there is an abnormality in the current positioning satellite position information, referring to the second accumulation information, based on the past positioning satellite position information stored before the current time of the positioning satellite corresponding to the current positioning satellite position information with an abnormality, correction positioning satellite position information for correcting the current positioning satellite position information with an abnormality is generated, and the current positioning satellite position information with an abnormality in the second accumulation information is corrected to the correction positioning satellite position information. Using the observation information and positioning satellite position information of each of the positioning satellites at the current time, execute the satellite positioning process for calculating the position at the current time, and estimate the position at the current time. The satellite positioning method according to Supplementary Note 8.

[0146] (Supplementary Note 15) Cause a computer to For each reception date and time information representing the reception date and time when the positioning signals transmitted from each of the positioning satellites are received, associate the reception date and time information with the observation information corresponding to each of the positioning satellites at the reception date and time, generate first accumulation information, and store it in a storage device. When there is an abnormality in the observation information at the current time, refer to the first accumulation information, and based on the past observation information stored before the current time of the positioning satellite corresponding to the observation information at the current time with the abnormality, generate correction observation information for correcting the observation information at the current time with the abnormality, and correct the observation information at the current time with the abnormality in the first accumulation information to the correction observation information. Including commands In Logra In

[0147] (Supplementary Note 16) When the observation information at the current time cannot be obtained, or when the change in the observation information at the current time with respect to the past observation information is equal to or greater than a preset threshold, determine that the observation information at the current time is abnormal. As described in Supplementary Note 15 Program 。

[0148] (Supplementary Note 17) The observation information includes pseudorange information representing a pseudorange, or carrier phase information representing a carrier phase, or both types of information. As described in Supplementary Note 16 Program 。

[0149] (Supplementary Note 18) When using the pseudorange information, execute single-point positioning processing as the satellite positioning process. As described in Supplementary Note 17Program 。

[0150] (Appendix 19) When using the above carrier phase information, execute real-time kinematic positioning processing as satellite positioning processing as described in Appendix 17 Program 。

[0151] (Appendix 20) When using the above pseudorange information and the above carrier phase information, execute precise single-point positioning processing as satellite positioning processing as described in Appendix 17 Program 。

[0152] (Appendix 21) When it is a positioning method that requires positioning satellite position information representing the position of the positioning satellite in the process of satellite positioning processing, for each piece of reception date and time information, generate second accumulation information by associating the positioning satellite position information, and store it in the storage device. If there is an abnormality in the current positioning satellite position information, refer to the second accumulation information, and based on the past positioning satellite position information stored before the current time of the positioning satellite corresponding to the current positioning satellite position information with an abnormality, generate correction positioning satellite position information for correcting the current positioning satellite position information with an abnormality, and correct the current positioning satellite position information with an abnormality in the second accumulation information to the correction positioning satellite position information. Execute the satellite positioning processing for calculating the current position using the observation information and positioning satellite position information of each of the positioning satellites at the current time, and estimate the current position. as described in Appendix 15 Program 。

[0153] As described above, the present disclosure has been described with reference to the embodiments, but the present disclosure is not limited to the above-described embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure. And each embodiment can be combined with other embodiments as appropriate.

[0154] This application claims priority based on Japanese Patent Application No. 2022-088159 filed on May 31, 2022, and incorporates all of its disclosures herein.

Industrial Applicability

[0155] According to the above description, even when (5) signal shielding occurs, or (6) there is an influence of multipath, or (7) there is a bias in the positioning satellite arrangement, accurate satellite positioning can be continuously performed. It is also useful in fields where accurate satellite positioning is required.

Explanation of Signs

[0156] 10 Satellite positioning device 11 Receiver 11a Antenna 12 Generation unit 13 Correction unit 14 Estimation unit 20 Storage device 30, 30a, 30b, 30c, 30d, 30e Positioning satellites 40 Vehicle 50 Building 110 Computer 111 CPU 112 Main memory 113 Storage device 114 Input interface 115 Display controller 116 Data reader / writer 117 Communication interface 118 Input device 119 Display device 120 Recording medium 121 Bus

Claims

1. Receiving means for receiving positioning signals transmitted from each of the positioning satellites; For each piece of reception date and time information indicating the reception date and time when the positioning signal is received, the reception date and time information and the observation information corresponding to each of the positioning satellites at the reception date and time are associated to generate first accumulation information, and generation means for storing the first accumulation information in a storage device; When there is an abnormality in the current observation information, referring to the first accumulation information, based on the past observation information of the positioning satellite corresponding to the current observation information with the abnormality, which was stored before the current time, generation means for generating correction observation information for correcting the current observation information with the abnormality, and correction means for correcting the current observation information with the abnormality in the first accumulation information to the correction observation information; A satellite positioning device having the above.

2. When the correction means cannot acquire the current observation information, or when the change in the current observation information with respect to the past observation information is equal to or greater than a preset threshold value, the correction means determines that the current observation information is abnormal. The satellite positioning device according to Claim 1.

3. The observation information includes pseudo range information representing a pseudo range, or carrier phase information representing a carrier phase, or both pieces of information. The satellite positioning device according to Claim 2.

4. When using the pseudo range information, single point positioning processing is executed as satellite positioning processing. The satellite positioning device according to Claim 3.

5. When using the carrier phase information, real-time kinematic positioning processing is executed as satellite positioning processing. The satellite positioning device according to Claim 3.

6. When using the pseudo range information and the carrier phase information, precise single point positioning processing is executed as satellite positioning processing. The satellite positioning device according to Claim 3.

7. When the generation means is a positioning method that requires positioning satellite position information representing the position of the positioning satellite in the process of satellite positioning processing, for each piece of reception date and time information, the positioning satellite position information is associated to generate second accumulation information, and the second accumulation information is stored in the storage device. When there is an abnormality in the current positioning satellite position information, the correction means refers to the second accumulation information, and based on the past positioning satellite position information of the positioning satellite corresponding to the current positioning satellite position information with the abnormality, which was stored before the current time, generation means for generating correction positioning satellite position information for correcting the current positioning satellite position information with the abnormality, and correcting the current positioning satellite position information with the abnormality in the second accumulation information to the correction positioning satellite position information. The estimation means executes the satellite positioning process of calculating the current position using the observation information and the positioning satellite position information of each of the positioning satellites at the current time, and estimates the current position. The satellite positioning device according to claim 1.

8. The computer For each reception date and time information representing the reception date and time when the positioning signals transmitted from each of the positioning satellites are received, associates the reception date and time information with the observation information corresponding to each of the positioning satellites at the reception date and time, generates first accumulation information, and stores it in the storage device. When there is an abnormality in the current observation information, referring to the first accumulation information, generating correction observation information for correcting the current observation information with an abnormality based on the past observation information stored before the current time of the positioning satellite corresponding to the current observation information with an abnormality, and correcting the current observation information with an abnormality in the first accumulation information to the correction observation information. Satellite positioning method.

9. When the current observation information cannot be obtained, or when the change in the current observation information with respect to the past observation information is equal to or greater than a preset threshold, determine that the current observation information is abnormal. The satellite positioning method according to claim 8.

10. The observation information includes pseudo-range information representing a pseudo-range, or carrier phase information representing a carrier phase, or both pieces of information. The satellite positioning method according to claim 9.

11. When using the pseudo-range information, execute single-point positioning processing as the satellite positioning process. The satellite positioning method according to claim 10.

12. When using the carrier phase information, execute real-time kinematic positioning processing as the satellite positioning process. The satellite positioning method according to claim 10.

13. When using the pseudo-range information and the carrier phase information, execute precise single-point positioning processing as the satellite positioning process. The satellite positioning method according to claim 10.

14. In the case of a positioning method that requires positioning satellite position information representing the position of the positioning satellite during the satellite positioning process, for each reception date and time information, associate the positioning satellite position information to generate second accumulation information, and store it in the storage device. When there is an abnormality in the current positioning satellite position information, refer to the second accumulated information, and based on the past positioning satellite position information stored before the current time of the positioning satellite corresponding to the current positioning satellite position information with the abnormality, generate corrected positioning satellite position information for correcting the current positioning satellite position information with the abnormality, and correct the current positioning satellite position information with the abnormality in the second accumulated information to the corrected positioning satellite position information. Execute the satellite positioning process for calculating the current position using the observation information and positioning satellite position information of each of the positioning satellites at the current time, and estimate the current position. The satellite positioning method according to claim 8.

15. On a computer, For each reception date and time information representing the reception date and time when a positioning signal transmitted from each positioning satellite is received, associate the reception date and time information with the observation information corresponding to each of the positioning satellites at the reception date and time, and generate first accumulated information, and store it in a storage device. When there is an abnormality in the current observation information, refer to the first accumulated information, and generate corrected observation information for correcting the current observation information with the abnormality based on the past observation information stored before the current time of the positioning satellite corresponding to the current observation information with the abnormality, and cause the current observation information with the abnormality in the first accumulated information to be corrected to the corrected observation information. A program including instructions.

Images