Positioning device

Abstract

To provide a positioning device capable of improving positioning accuracy even when an observation station is distant or even when some time has elapsed since last updating due to a long update interval of observation data.SOLUTION: A positioning device that is mounted in a movable body and positions the location of the movable body for each predetermined positioning cycle in a fixing state in a RTK-GNSS (Real Time Kinematic-Global Navigation Satellite System) comprises an observation data receiving unit for receiving observation data from an observation station which obtains the observation data on a plurality of positioning satellites and whose installation location has already been known; a positioning signal receiving unit for receiving positioning signals from the plurality of positioning satellites; a positioning unit for positioning the location of the movable body; and an update detection unit for detecting whether the observation data received by the observation data receiving unit has been updated. In the positioning cycle in which an update of the observation data is not detected by the update detection unit, the positioning unit positions the location of the movable body, by a relative positioning where the location of the movable body positioned before one positioning cycle is used as a reference location.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a positioning device. [Background technology]

[0002] Conventionally, there has been a work vehicle equipped with a positioning unit that measures the carrier wave phase of transmission signals sent from multiple satellites, a relative displacement calculation unit that uses the carrier wave phase output from the positioning unit to determine the relative positional displacement of the vehicle body from a specific position that has been determined in advance, and an automatic driving control unit that controls the driving state of the vehicle body based on the calculation results of the relative displacement calculation unit so that the vehicle body drives along a predetermined linear target route (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-201612 Summary of the Invention [Problem to be solved by the invention]

[0004] The relative displacement calculation unit of conventional work vehicles has limitations in positioning accuracy because it does not use satellite information observed by reference stations (observation stations) or location information indicating the exact location of the reference stations. It is also possible to obtain observation data from multiple positioning satellites and perform positioning using RTK-GNSS (Real Time Kinematic-Global Navigation Satellite System) information from observation stations whose exact locations are known. Such observation stations include electronic reference stations installed by the Geospatial Information Authority of Japan.

[0005] Furthermore, when a positioning device performs positioning using RTK-GNSS, it will either be in a fixed state where a fixed solution can be obtained, or in a floating state where a fixed solution cannot be obtained. Generally, if the observation station is far away or if the observation data update interval is long and a long time has passed since the last update, a fixed state cannot be obtained and the device will enter a floating state, resulting in reduced positioning accuracy.

[0006] Furthermore, even if a fixed state is obtained, if the update interval of the observation data is long and a long time has passed since the last update, the positioning accuracy may be reduced.

[0007] Therefore, an object of the present invention is to provide a positioning device that can improve positioning accuracy even when the observation station is far away or when the update interval of the observation data is long and a long time has passed since the update. [Means for solving the problem]

[0008] A positioning device according to an embodiment of the present invention is mounted on a moving body and locates the position of the moving body at each predetermined positioning cycle in a fixed state in RTK-GNSS, and includes an observation data receiving unit that acquires observation data for a plurality of positioning satellites and receives the observation data from an observation station whose installation location is known, a positioning signal receiving unit that receives positioning signals from the plurality of positioning satellites, a positioning unit that locates the position of the moving body, and an update detection unit that detects whether the observation data received by the observation data receiving unit has been updated, and in a positioning cycle in which the update detection unit does not detect an update to the observation data, the positioning unit locates the position of the moving body by relative positioning using the position of the moving body located one positioning cycle prior as a reference position. [Effects of the Invention]

[0009] It is possible to provide a positioning device that can improve positioning accuracy even when the observation stations are far away or when the update interval of the observation data is long and a long time has passed since the update. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing a positioning system 1 including a positioning device 100 according to an embodiment. [Figure 2] 1 is a diagram illustrating an example of the configuration of a positioning device 100. FIG. [Figure 3] FIG. 10 is a flowchart showing the processing executed by the control device 130. [Figure 4] FIG. 10 is a diagram illustrating an example of a horizontal error in a position estimation result. [Figure 5] FIG. 10 is a diagram illustrating an example of the standard deviation of the horizontal error of the position estimation result according to the modified example of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment to which the positioning device of the present invention is applied will be described.

[0012] <Embodiment> FIG. 1 is a diagram showing a positioning system 1 including a positioning device 100 according to an embodiment. In FIG. 1, the horizontal axis represents the time axis. Here, as an example, a configuration will be described in which the positioning device 100 is mounted on a drone 20, which is an example of a moving object. The positioning system 1 enables highly accurate position measurement using RTK-GNSS (Real Time Kinematic-Global Navigation Satellite System). Positioning using RTK-GNSS involves receiving positioning signals output from positioning satellites 5 at an observation station 10 and a positioning device 100 mounted on the drone 20, measuring the distance between the positioning satellites 5 and the positioning device 100, and calculating three-dimensional coordinates of the positioning device 100 by solving simultaneous equations for the multiple positioning satellites 5.

[0013] Here, a form using GPS (Global Positioning System), which is an example of GNSS, will be described, and therefore the positioning signals output from the positioning satellites 5 are GPS signals. However, the GNSS is not limited to GPS, and three-dimensional coordinates may be calculated using GLONASS, Beidou (BeiDou-2, Compass), Galileo, or other GNSS.

[0014] In RTK-GNSS, the positioning device 100 uses observation data received from the observation station 10 and positioning signals received from the positioning satellite 5 to determine the position of the positioning device 100 by relative positioning with the installation position of the observation station 10 as the reference position. Here, the position of the positioning device 100 is synonymous with the position of the drone 20.

[0015] The observation station 10 has a known exact installation location (coordinates representing latitude, longitude, and altitude), and receives (acquires) GPS radio waves from multiple positioning satellites 5 to measure the distance to each positioning satellite 5. The observation station 10 constantly outputs observation data including position data representing the installation location and distance data representing the distance to each positioning satellite 5. The distance data included in the observation data is updated at predetermined intervals because the positional relationship between the observation station 10 and the multiple positioning satellites 5 fluctuates. Such observation stations 10 may include electronic reference points of the Geospatial Information Authority of Japan.

[0016] The drone 20 is an example of a moving object, and is equipped with a positioning device 100. The drone 20 is equipped with, as an example, a navigation control device that controls the navigation of the drone 20 based on the coordinates of the drone 20 measured by the positioning device 100.

[0017] Generally, when positioning using RTK-GNSS, the system is in either a fixed state where a fixed solution can be obtained, or a floating state where a fixed solution cannot be obtained. In a fixed state, high positioning accuracy of about several centimeters can be obtained by performing positioning based on observation data from the observation station 10. However, in a floating state, the positioning accuracy may deteriorate to about several meters due to factors such as the long distance from the observation station 10 and the long time that has passed since the observation data was last updated.

[0018] Even if a fixed state is obtained, if the observation data update interval is long and a long time has passed since the last update, the positioning accuracy may be reduced. For example, if the observation station 10 updates the observation data at a relatively long interval, such as 30 seconds, the positioning accuracy may be reduced immediately before the next update.

[0019] The positioning device 100 of the embodiment is intended to be used in a situation where a fixed state can be obtained, such as when the positioning device 100 is located in a place with good visibility over long distances and no obstacles that block the positioning signal, such as a large plain.

[0020] In this example, the observation station 10 updates the observation data every 30 seconds, which is the same as the period when the Geospatial Information Authority of Japan's reference point electronics updates the observation data. In the fixed state, the positioning device 100 of the embodiment is designed to provide high positioning accuracy even after a certain amount of time has passed since the observation data was last updated.

[0021] 1, assume that the observing station 10 updates the observation data and the positioning device 100 receives the same observation data. If the positioning period of the positioning device 100 is one second, the positioning device 100 will also receive the same observation data at time t+1 (one second after time t), which is the next update timing for the observing station 10 to update the observation data. This situation will continue until time t+29, 29 seconds later.

[0022] If a long time has passed since the observation data update timing, the difference between the actual distance between the positioning satellite 5 and the observation station 10 measured at the update timing and the actual distance between the positioning satellite 5 and the observation station 10 measured at a timing when time has passed since the update timing becomes large, which may result in a decrease in positioning accuracy even in a situation where a fixed state is obtained. Therefore, the positioning device 100 of the embodiment is configured to obtain high positioning accuracy even when a long time has passed since the observation data update timing in a situation where a fixed state is obtained.

[0023] <Configuration of positioning device 100> 2 is a diagram showing an example of the configuration of the positioning device 100. The positioning device 100 includes an observation data receiving unit 110, a positioning signal receiving unit 120, and a control device 130. The observation data receiving unit 110 is a receiver that receives observation data from the observation station 10 via a mobile phone line. The positioning signal receiving unit 120 is a GPS receiver that receives positioning signals output from at least four or more positioning satellites 5.

[0024] As an example, the positioning device 100 employs single-frequency RTK, which is a method of receiving a single-frequency positioning signal (GPS signal), receiving observation data from the observation station 10 via a mobile phone line, and locating the position of the positioning device 100 based on the received positioning signal (GPS signal) and the received observation data.

[0025] In order to position the position of the drone 20 using RTK-GNSS for each positioning period, the positioning device 100 cancels out the error contained in the positioning signal based on the received positioning signal and the received observation data, determines the relative position of the positioning device 100 with respect to the installation position of the observation station 10 based on the positioning signal with the error canceled out, and determines the position of the positioning device 100 based on the determined relative position and the installation position of the observation station 10.

[0026] The control device 130 has a main control unit 131, a positioning unit 132, an update detection unit 133, and a memory 134. The control device 130 is realized by a computer or microcomputer including a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), an input / output interface, an internal bus, etc. The main control unit 131, the positioning unit 132, and the update detection unit 133 are functional blocks representing the functions of a program executed by the control device 130. The memory 134 is a functional representation of the memory of the control device 130.

[0027] The main control unit 131 is a processing unit that controls the processing of the control device 130, and executes processing other than that executed by the positioning unit 132 and the update detection unit 133. The main control unit 131 outputs, for example, a command to the observation data receiving unit 110 to receive observation data, and outputs a command to the positioning signal receiving unit 120 to receive a positioning signal.

[0028] In a positioning cycle in which an update to the observation data is detected by the update detection unit 133, the positioning unit 132 uses the observation data received by the observation data receiving unit 110 and the positioning signal received by the positioning signal receiving unit 120 to locate the position of the positioning device 100 by relative positioning using the installation position of the observation station 10 as the reference position. The positioning cycle in which an update to the observation data is detected is the positioning cycle at time t shown in FIG. 1.

[0029] More specifically, in a positioning cycle in which an update of the observation data is detected by the update detection unit 133, the positioning unit 132 cancels out the error contained in the positioning signal based on the observation data received by the observation data receiving unit 110 and the positioning signal received by the positioning signal receiving unit 120, and uses the positioning signal with the error canceled out to locate the position of the positioning device 100 by relative positioning with the installation position of the observation station 10 as the reference position.

[0030] Furthermore, in a positioning cycle in which no update of the observation data is detected by the update detection unit 133, the positioning unit 132 measures the position of the positioning device 100 by relative positioning using the position of the positioning device 100 measured one positioning cycle before as a reference position. The positioning cycle in which no update of the observation data is detected is the positioning cycle from time t+1 to t+29 shown in Fig. 1. Furthermore, the position of the positioning device 100 measured one positioning cycle before, for example, the position of the positioning device 100 measured one positioning cycle before at time t+1, is the position of the positioning device 100 measured at time t.

[0031] More specifically, in a positioning cycle in which the update detection unit 133 does not detect an update of the observation data, the positioning unit 132 uses the position of the positioning device 100 positioned one positioning cycle ago as a reference position, cancels out the error contained in the positioning signal based on the observation data received by the observation data receiving unit 110 in the current positioning cycle and the positioning signal received by the positioning signal receiving unit 120 in the current positioning cycle, and locates the position of the positioning device 100 based on the positioning signal with the error canceled out.

[0032] The update detection unit 133 detects updates to the observation data received by the observation data receiving unit 110. The observation data includes position data indicating the installation position of the observation station 10 and distance data indicating the distance to each positioning satellite 5, and it is the distance data indicating the distance to each positioning satellite 5 that is updated. Therefore, more specifically, the update detection unit 133 detects that the observation data has been updated when the distance data included in the observation data received by the observation data receiving unit 110 differs from the distance data included in the observation data received one positioning cycle before.

[0033] The memory 134 stores programs and data used by the main control unit 131, the positioning unit 132, and the update detection unit 133 when executing the above-mentioned processes, and also temporarily stores the positioning signals and observation data received by the observation data receiving unit 110 and the positioning signal receiving unit 120.

[0034] <Processing Executed by the Control Device 130 of the Positioning Device 100> FIG. 3 is a flowchart showing the processing executed by the control device 130. As shown in FIG.

[0035] When the flow starts, the main control unit 131 outputs a command to the observation data receiving unit 110 to receive observation data (step S1). As a result, the observation data receiving unit 110 receives the observation data.

[0036] The main control unit 131 outputs a command to the positioning signal receiving unit 120 to receive the positioning signal (step S2). This causes the positioning signal receiving unit 120 to receive the positioning signal. The distance to the positioning satellite 5 included in the observation data received in response to the command output in step S1 and the distance to the positioning satellite 5 obtained by the positioning signal received in response to the command output in step S2 are distances obtained based on the positioning signals received by the observation data receiving unit 110 and the positioning signal receiving unit 120 at the same time.

[0037] The update detection unit 133 detects updates to the observation data received by the observation data reception unit 110 (step S3).

[0038] When the update detection unit 133 detects an update of the observation data (S3: YES), the positioning unit 132 uses the observation data received by the observation data receiving unit 110 and the positioning signal received by the positioning signal receiving unit 120 to determine the position of the positioning device 100 by relative positioning using the installation position of the observation station 10 as the reference position, for the positioning cycle in which the update was detected (step S4). The positioning in step S4 is a process performed by RTK-GNSS, and the position determined in this manner represents the estimated position of the positioning device 100 estimated using the observation data and the positioning signal.

[0039] On the other hand, in step S3, if the update detection unit 133 has not detected an update of the observation data (S3: NO), the position of the positioning device 100 is determined by relative positioning using the position of the positioning device 100 determined one positioning cycle before as a reference position (step S5). The positioning in step S5 is a process performed by RTK-GNSS, and the position determined in this manner represents the estimated position of the positioning device 100 estimated from the observation data and the positioning signal.

[0040] When the processing of step S4 or S5 ends, the main control unit 131 determines whether or not to end the series of processes (step S6). The series of processes ends when, for example, the power supply of the drone 20 is turned off. When the main control unit 131 determines that the series of processes will not end, it returns the flow to step S1. When the power supply of the drone 20 is turned off, the main control unit 131 ends the series of processes (end).

[0041] <Horizontal error of position estimation result> FIG. 4 shows an example of horizontal error in a position estimation result. FIG. 4(A) shows the result of estimating the position of the positioning device 100 at time t+29, 29 seconds after each update of the observation data, when the positioning device 100 is fixed and positioning is performed for 33 minutes. The positioning cycle is, for example, 1 second, and the position estimation results at time t+29, 29 seconds after each update over the 33 minutes, are collected. As shown in FIG. 4(A), the standard deviation of the horizontal error is 0.74 cm. All estimated positions are within an area of approximately 2 cm square.

[0042] For comparison, Figure 4(B) shows the results of a comparative example in which the reference position for positioning was fixed at the installation location of the observation station 10, the position of the positioning device was fixed, positioning was performed for 33 minutes, and the position of the positioning device was estimated at time t+29, 29 seconds after each update of the observation data. The positioning cycle is, for example, 1 second, and the position estimation results at time t+29, 29 seconds after each update over the 33-minute period, are collected. As shown in Figure 4(B), the standard deviation of the horizontal error was 1.08 cm. Furthermore, compared to Figure 4(A), the estimated position included some estimation results that extended outside the approximately 2 cm square area equivalent to Figure 4(A).

[0043] In this way, the positioning device 100 positions the position of the positioning device 100 using relative positioning, which uses the position of the positioning device 100 measured before the positioning cycle as the reference position, except for the positioning cycle at the time when the observation data is updated (the time t mentioned above).This has enabled the horizontal error of the position estimation result to be reduced to approximately 68.5% compared to when the reference position is fixed to the installation position of the observation station 10.

[0044] In the comparative positioning device, the reference position remains fixed to the installation position of the observation station 10 even after a certain amount of time has passed since the update timing, resulting in a large measurement error. In contrast, the positioning device 100 measures the position of the positioning device 100 by relative positioning using the position of the positioning device 100 measured before the positioning cycle as the reference position, except for the positioning cycle at which the observation data is updated (the above-mentioned time t), thereby improving the position estimation accuracy, which is thought to have caused the above-mentioned difference.

[0045] Therefore, it is possible to provide a positioning device 100 that can improve positioning accuracy even when the observation station 10 is far away or when the update interval of the observation data is long and a long time has passed since the update.

[0046] Furthermore, when a certain amount of time has passed since the update timing, it is conceivable to use measurement values from a gyro sensor, acceleration sensor, etc. to estimate the current position of the positioning device 100 with high accuracy, but the positioning device 100 can improve positioning accuracy without using measurement values from a gyro sensor, acceleration sensor, etc.

[0047] Furthermore, when a measuring device such as a gyro sensor or acceleration sensor is mounted on a moving body such as the drone 20, problems arise, such as an increase in weight, a problem of securing space for mounting, and the difficulty of mounting the device itself when the moving body is small. In contrast, when the positioning device 100 is installed on a moving body such as the drone 20, there is no need to mount a measuring device such as a gyro sensor or acceleration sensor, and therefore the various problems described above do not occur, and the device can be realized at low cost.

[0048] <Modification> 5 is a diagram showing an example of the standard deviation of the horizontal error of the position estimation result according to the modified example of the embodiment. In Fig. 5, the horizontal axis represents the elapsed time (seconds) from the start of the position estimation, and the vertical axis represents the standard deviation of the horizontal error of the position estimation result in the vertical and horizontal directions at each positioning cycle.

[0049] The solid line characteristics in Figure 5 show the time change in the standard deviation of the horizontal error of the vertical and horizontal position estimation results obtained at each positioning cycle, when the position of the positioning device 100 is fixed and positioning is performed every 30 seconds for 29 seconds over a period of 33 minutes, starting from the observation data update timing (0 seconds). The positioning cycle is 1 second, and from 1 second after the update timing to 29 seconds after, the position of the positioning device 100 is measured using relative positioning, using the position of the positioning device 100 measured one positioning cycle before (i.e., 1 second before) as the reference position. The standard deviation of the horizontal error every 2 seconds from 0 seconds to 29 seconds is the standard deviation of 66 horizontal errors obtained every second by repeatedly performing positioning every 30 seconds over a period of 33 minutes.

[0050] For comparison, the dashed line characteristics in Figure 5 show the time variation of the standard deviation of the horizontal error of the vertical and horizontal position estimation results obtained at each positioning interval when a positioning device with a fixed reference position for positioning at the installation location of the observation station 10 performs positioning every 30 seconds for 33 minutes, starting from the timing of updating the observation data (0 seconds) for 29 seconds. The positioning device's position is fixed. The dashed line characteristics in Figure 5 represent the results of positioning using the same distance data for 29 seconds starting from the timing of updating the observation data (0 seconds) and using the installation location of the observation station 10 as the reference position. Similar to the solid line characteristics, the standard deviation of the horizontal error every 2 seconds from 0 seconds to 29 seconds is the standard deviation of 66 horizontal errors obtained every second by repeatedly performing positioning every 30 seconds for 33 minutes.

[0051] As shown in Figure 5, the standard deviation of the horizontal error for the characteristics of the solid line was higher than that for the characteristics of the dashed line up to 5 seconds after the observation data update timing (0 seconds), and was lower than that for the characteristics of the dashed line from 6 seconds to 29 seconds. From 6 seconds to 29 seconds, the difference between the standard deviation of the horizontal error for the characteristics of the solid line and the standard deviation of the horizontal error for the characteristics of the dashed line became larger as the time elapsed from the update timing (0 seconds) increased.

[0052] This indicates that in this measurement, as an example, no problems occurred when using the same distance data from the update timing (0 seconds) until 5 seconds had elapsed, and when positioning was performed using the installation position of the observation station 10 as the reference position.

[0053] For this reason, the standard deviation of the horizontal error of positioning by the positioning device 100 and the standard deviation of the horizontal error of positioning by the comparative ranging device may be measured in advance, and positioning may be performed by the comparative ranging device from the update timing (0 seconds) until the timing of reversal (5 seconds later in Figure 5), and positioning may be performed by the positioning device 100 from 6 seconds later.

[0054] In other words, if the number of positioning periods from the update timing (0 seconds) to the reversal timing is set to a predetermined number, the positioning unit 132 may use the observation data received by the observation data receiving unit 110 and the positioning signal received by the positioning signal receiving unit 120 to locate the position of the positioning device 100 by relative positioning using the installation position as the reference position in the positioning period within the predetermined number of positioning periods from the positioning period in which the update of the observation data was detected by the update detection unit 133, and may locate the position of the positioning device 100 by relative positioning using the position of the positioning device 100 located one positioning period before as the reference position in the positioning period that is later than the predetermined number of positioning periods from the positioning period in which the update of the observation data was detected.

[0055] More specifically, in a positioning cycle within a predetermined number of positioning cycles from the positioning cycle in which an update of the observation data was detected by the update detection unit 133, the positioning unit 132 may cancel out an error included in the positioning signal based on the observation data received by the observation data receiving unit 110 and the positioning signal received by the positioning signal receiving unit 120, and use the positioning signal with the error canceled to locate the position of the positioning device 100 by relative positioning using the installation position as a reference position. Then, in a positioning cycle that is more than a predetermined number of positioning cycles from the positioning cycle in which an update of the observation data was detected, the positioning unit 132 may cancel out an error included in the positioning signal based on the observation data received by the observation data receiving unit 110 and the positioning signal received by the positioning signal receiving unit 120 in relative positioning using the position of the positioning device 100 measured one positioning cycle before as the reference position, and locate the position of the positioning device 100 based on the positioning signal with the error canceled.

[0056] The above describes a positioning device according to an exemplary embodiment of the present invention, but the present invention is not limited to the specifically disclosed embodiment, and various modifications and changes are possible without departing from the scope of the claims. [Explanation of symbols]

[0057] 1. Positioning System 5. Positioning satellites 10 Observation Stations 20 Drone 100 Positioning device 110 Observation data receiver 120 Positioning signal receiver 130 Control device 131 Main control unit 132 Positioning unit 133 Update detection unit 134 memory

Claims

1. A positioning device that is mounted on a moving body and that measures the position of the moving body at predetermined positioning intervals in a fixed state in an RTK-GNSS, an observation data receiving unit that acquires observation data from a plurality of positioning satellites and receives the observation data from an observation station whose installation location is known; a positioning signal receiving unit that receives positioning signals from the plurality of positioning satellites; a positioning unit that measures the position of the moving object; an update detection unit that detects whether the observation data received by the observation data receiving unit has been updated; Including, In a positioning cycle in which an update of the observation data received by the observation data receiving unit is not detected by the update detection unit, the positioning unit locates the position of the moving body by relative positioning using the position of the moving body located one positioning cycle prior as a reference position.

2. 2. The positioning device according to claim 1, wherein, during a positioning cycle in which an update of the observation data received by the observation data receiving unit is detected by the update detection unit, the positioning unit uses the observation data received by the observation data receiving unit and the positioning signal received by the positioning signal receiving unit to determine the position of the moving body by relative positioning using the installation position as a reference position.

3. 3. The positioning device according to claim 1, wherein, during a positioning cycle in which an update of the observation data received by the observation data receiving unit is detected by the update detection unit, the positioning unit cancels out an error contained in the positioning signal based on the observation data received by the observation data receiving unit and the positioning signal received by the positioning signal receiving unit, and uses the positioning signal in which the error has been canceled out to determine the position of the moving body by relative positioning with the installation position as a reference position.

4. 4. The positioning device according to claim 1, wherein, during a positioning cycle in which an update of the observation data received by the observation data receiving unit is not detected by the update detection unit, the positioning unit uses the position of the moving body positioned one positioning cycle prior as a reference position, cancels out an error contained in the positioning signal based on the observation data received by the observation data receiving unit and the positioning signal received by the positioning signal receiving unit, and determines the position of the moving body based on the positioning signal from which the error has been canceled.

5. The positioning unit when an update of the observation data received by the observation data receiving unit is within a predetermined number of positioning periods from the positioning period detected by the update detecting unit, the position of the moving body is determined by relative positioning using the observation data received by the observation data receiving unit and the positioning signal received by the positioning signal receiving unit, with the installation position as a reference position; 3. The positioning device according to claim 1, wherein in a positioning cycle that is more than a predetermined number of positioning cycles after the positioning cycle in which the update of the observation data is detected, the position of the moving body is determined by relative positioning using the position of the moving body determined one positioning cycle before as a reference position.

6. The positioning unit When an update of the observation data received by the observation data receiving unit is within a predetermined number of positioning periods from the positioning period detected by the update detecting unit, an error included in the positioning signal is cancelled out based on the observation data received by the observation data receiving unit and the positioning signal received by the positioning signal receiving unit, and the position of the moving body is determined by relative positioning using the positioning signal from which the error has been cancelled out, with the installation position as a reference position; 6. The positioning device according to claim 5, wherein, in a positioning cycle that is more than a predetermined number of positioning cycles after the positioning cycle in which an update of the observation data is detected, in relative positioning using the position of the moving body that was positioned one positioning cycle prior as a reference position, an error contained in the positioning signal is canceled out based on the observation data received by the observation data receiving unit and the positioning signal received by the positioning signal receiving unit, and the position of the moving body is determined based on the positioning signal in which the error has been canceled out.

7. The positioning device according to claim 1 , wherein the positioning unit measures the position of the moving object by single-frequency RTK.

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