Position determination system, position determination method, and position determination program

Abstract

To provide a position determination device capable of easily determining whether an initial position when a moving body starts traveling is within a predetermined permission range.SOLUTION: A position determination system includes: an acquisition section acquiring positioning information by RTK (Real Time Kinematic) GNSS (Global Navigation Satellite System) positioning regarding an initial position when a moving body starts traveling; a setting section receiving input of information for setting a predetermined range according to at least one of the size and state of a moving body when the moving body starts traveling; a determination section determining whether an initial position is included in a predetermined range; and an output section outputting a determination result by the determination section.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] A current position detection system for an unmanned aerial vehicle is known that acquires map information in advance and corrects the flight path based on the current position and the map information (for example, Patent Document 1).

[0003] On the other hand, there is a growing need to accurately grasp the position of a moving body such as an unmanned aerial vehicle when it starts moving. However, in conventional systems, it is difficult to precisely position the moving body at a predetermined position, and therefore there is a problem in that it is difficult to easily determine whether the position when it starts moving is within an allowable range of a position preset in a flight plan. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-105691 Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a position determination system that can easily determine whether the initial position of a moving body when it starts moving is within a predetermined allowable range. [Means for solving the problem]

[0006] A position determination system according to one embodiment of the present disclosure is characterized by having an acquisition unit that acquires positioning information by RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System) positioning regarding the initial position of a moving body when it starts moving, a setting unit that accepts input of information for setting a predetermined range depending on at least one of the size and state of the moving body each time the moving body starts moving, a determination unit that determines whether the initial position is included in the predetermined range, and an output unit that outputs the determination result by the determination unit.

[0007] A position determination system according to one embodiment of the present disclosure is characterized by having an acquisition unit that acquires positioning information by RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System) positioning regarding the initial position of a moving body when it starts moving, a setting unit that accepts input of information that sets a predetermined range expressed in three dimensions for determining whether the moving body is located within a predetermined allowable range, a determination unit that determines whether the initial position is included in the predetermined range, and an output unit that outputs the determination result by the determination unit.

[0008] In a position determination system according to an embodiment of the present disclosure, the setting unit may set a space including the center of the moving body based on received input information, and further set a predetermined range based on the size of the space.

[0009] The position determination system according to an embodiment of the present disclosure may further include a data storage unit that stores data relating to movements recorded by the mobile object.

[0010] In the position determination system according to an embodiment of the present disclosure, the output unit may further output data related to movement.

[0011] In the position determination system according to an embodiment of the present disclosure, the shape of the space may include a rectangular parallelepiped.

[0012] The position determination system according to an embodiment of the present disclosure may further include a warning unit that issues a warning when the initial position is not within a predetermined range.

[0013] In a position determination system according to one embodiment of the present disclosure, if the initial position is not within a predetermined range, the system may further include a calculation unit that calculates a position correction amount to bring the initial position within the predetermined range, and the output unit may output the position correction amount.

[0014] A position determination method according to one embodiment of the present disclosure is characterized in that an acquisition unit acquires positioning information by RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System) positioning regarding an initial position of a moving body when it starts moving, a setting unit accepts input of information for setting a predetermined range according to at least one of the size and state of the moving body each time the moving body starts moving, a determination unit determines whether the initial position is included in the predetermined range, and an output unit outputs the determination result by the determination unit.

[0015] A position determination program according to one embodiment of the present disclosure is characterized in that it causes a processor to acquire positioning information by RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System) positioning regarding the initial position of a moving body when it starts moving, accept input of information for setting a predetermined range depending on at least one of the size and state of the moving body each time the moving body starts moving, determine whether the initial position is included in the predetermined range, and output the determination result by the determination unit. [Effects of the Invention]

[0016] According to the position determination system according to an embodiment of the present disclosure, it is possible to easily determine whether or not the initial position of a moving body when it starts moving is within a predetermined allowable range. [Brief explanation of the drawings]

[0017] [Figure 1]1 is a schematic configuration diagram of a position determination system according to an embodiment of the present disclosure. [Figure 2] 10 is a flowchart illustrating an operation procedure of a position determination system according to an embodiment of the present disclosure. [Figure 3] 1 is a block diagram of an aircraft whose initial position is to be determined by a position determination system according to an embodiment of the present disclosure. [Figure 4] FIG. 2 is a sequence diagram illustrating an operation procedure of the position determination system according to the first embodiment of the present disclosure. [Figure 5] FIG. 10 is a sequence diagram illustrating an operation procedure of a position determination system according to a second embodiment of the present disclosure. [Figure 6] 10 is a flowchart illustrating an operation procedure of a position determination system according to a third embodiment of the present disclosure. [Figure 7] 1 is a perspective view showing the relationship between the range occupied by an aircraft to be determined by a position determination system according to an embodiment of the present disclosure and a predetermined range. FIG. [Figure 8] 1 is a perspective view showing the relationship between the range occupied by an aircraft to be determined by a position determination system according to an embodiment of the present disclosure and a second predetermined range. FIG. [Figure 9] 10 is a plan view for explaining a procedure for calculating an initial position from the range occupied by an aircraft to be determined by a position determination system according to an embodiment of the present disclosure and a second predetermined range. FIG. [Figure 10] 10 is a perspective view illustrating a procedure for calculating an initial position from the range occupied by an aircraft to be determined by a position determination system according to an embodiment of the present disclosure and a second predetermined range. FIG. [Figure 11] 10 is a flowchart illustrating a procedure for calculating an initial position from the range occupied by an aircraft to be determined and a second predetermined range by a position determination system according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0018] The position determination system, the position determination method, and the position determination program according to the present invention will be described below with reference to the drawings. However, it should be noted that the technical scope of the present invention is not limited to the embodiments, but extends to the inventions set forth in the claims and their equivalents.

[0019] [Summary of the Invention] FIG. 1 shows a schematic configuration diagram of a position determination system 1000 according to an embodiment of the present disclosure. The position determination system 1000 includes a position determination device 100 (e.g., a server) and an air vehicle 200, which is a mobile object, and the two communicate wirelessly via a network 300. The wireless communication may be, for example, mobile communication. Any hardware (e.g., a controller, a computer, etc.) that controls the air vehicle 200 may be present between the network 300 and the air vehicle 200. In this case, communication between the controller and the network 300 may be mobile communication, while wireless communication between the controller and the air vehicle 200 may be wireless communication using, for example, a frequency band of 2.4 GHz, 5.6 GHz, 5.7 GHz, or 5.8 GHz. Note that in the following description, an air vehicle (e.g., a drone) is used as an example of a mobile object; however, the mobile object is not limited to this example and may include moving devices such as vehicles and ships.

[0020] The flying object 200 starts moving from an initial position at the departure point and moves to the destination point based on a predetermined flight plan. The initial position may be a specific position included in the area occupied by the flying object 200 when the flying object 200 is placed at the departure point during its initial movement. The initial position may be determined by the flying object 200 itself, or may be determined by a device provided separately from the flying object 200. The initial position may also be a position designated by the position determination device 100. Note that the "initial position" is not limited to any position included in the area occupied by the flying object 200, which is a moving object placed at the departure point, when the flying object 200 flies from the departure point to the destination point, but also includes any position included in the area occupied by the flying object 200, which is a moving object, when the flying object 200 temporarily stops at at least one point along the way from the departure point to the destination point. Here, the "area occupied by the flying object 200, which is a moving object," refers to an area that includes at least a portion of the flying object 200, which is a moving object. For example, if the aircraft 200 departs from point A, passes through point B, and arrives at point C, the "initial position" is not limited to the position of the aircraft 200 at point A, but may include the position of the aircraft 200 at point B when it stops and resumes movement. Furthermore, if the aircraft 200 stops at multiple points before arriving at point C from point A, the initial position may include the position of the aircraft 200 at at least one of the multiple points. For example, if the aircraft 200 makes n temporary stops before arriving at point C from point A, the number m of initial positions may be any value between a minimum of 1 and a maximum of (n+1).

[0021] When the aircraft 200 starts moving, it is difficult to pinpoint the aircraft 200 at an initial position preset in a flight plan. Therefore, in the past, when the aircraft 200 starts moving, it was difficult to determine whether the aircraft 200 has been placed at the initial position preset in the flight plan. The position determination device 100 according to an embodiment of the present disclosure determines whether the initial position of the aircraft 200 when it starts moving is within a predetermined range 201, which is a space with a certain tolerance, rather than a specific point. That is, if the initial position of the aircraft 200 is within the predetermined range 201, it is determined that the aircraft 200 is placed at a predetermined position preset by a flight plan or the like. This configuration makes it easy to determine whether the initial position of the aircraft 200, which is a moving body, was placed at a position preset in the flight plan.

[0022] When the positioning device 100 determines that the initial position of the flying object 200 is within the predetermined range 201, it determines that the flying object 200 is located at a position preset in the flight plan. On the other hand, when the positioning device 100 determines that the initial position of the flying object 200 is not located at the position preset in the flight plan, it determines that the flying object 200 is not located at the position preset in the flight plan. In this way, the positioning device 100 can determine whether the flying object 200 is correctly located at the position preset in the flight plan when it starts moving.

[0023] The position of the flying object 200 can be determined with high accuracy to the centimeter level by using position information data from a reference station installed on the ground through RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System) positioning.

[0024] FIG. 2 shows a flowchart illustrating the operation procedure of the position determination system 1000 according to an embodiment of the present disclosure. First, in step S101, a starting point and a destination point are set on a three-dimensional (3D) detailed map. By using the three-dimensional detailed map, the starting point and the destination point can be set with centimeter-level accuracy. However, the three-dimensional detailed map is not required when setting the starting point and the destination point. For example, the starting point and the destination point may be set using the positioning results of the positioning unit 23 mounted on the aircraft 200.

[0025] Next, in step S102, it is determined whether the initial position of the flying object 200 at the departure point is within the predetermined range 201. The method for this determination will be described later. If the initial position of the flying object 200 is not within the predetermined range 201, the position of the flying object 200 is corrected, and step S102 is executed again.

[0026] If the initial position of the flying object 200 is within the predetermined range 201, in step S103, the flying object 200 starts flying toward the target point.

[0027] Next, in step S104, the flying object 200 records its position and images (still images or video) at predetermined times during flight. Here, the flying object 200 can record its initial position by recording its position and images from the start of flight.

[0028] Next, in step S105, the flying object 200 arrives at the destination point.

[0029] In this way, the position determination device 100 can easily determine whether the initial position of the flying object 200 is within the predetermined range 201 at the departure point.

[0030] [Configuration of position determination device] As shown in Figure 1, the position determination device 100 has a control unit 10, a communication unit 9, a memory unit 11, an input unit 12, a display unit 13, and a data storage unit 14, which are connected by an internal bus 15.

[0031] The control unit 10 has an acquisition unit 1, a setting unit 2, a determination unit 3, an output unit 4, a decision unit 5, and an instruction unit 6. The control unit 10 may further have a warning unit 7 and a calculation unit 8. A processor such as a CPU may be used for the control unit 10. The acquisition unit 1, the setting unit 2, the determination unit 3, the output unit 4, the decision unit 5, the instruction unit 6, the warning unit 7, and the calculation unit 8 are realized by the control unit 10 executing a program stored in the storage unit 11.

[0032] The acquisition unit 1 acquires positioning information by RTK-GNSS positioning regarding the initial position when the flying object 200, which is a moving object, starts moving.

[0033] Each time the flying object 200, which is a moving object, starts moving, the setting unit 2 accepts input of information for setting the predetermined range 201 in accordance with at least one of the size and state of the flying object 200, which is a moving object. For example, the setting unit 2 may accept information for setting the predetermined range 201 from the storage unit 11, which information is pre-stored in the storage unit 11. Alternatively, a user may input information for setting the predetermined range 201 to the input unit 12, and the setting unit 2 may accept the information for setting the predetermined range 201 from the input unit 12. Furthermore, the setting unit 2 may accept input of information for setting the predetermined range 201, which is expressed in three dimensions, for determining whether the flying object 200, which is a moving object, is positioned within a predetermined allowable range.

[0034] The setting unit 2 may set a space including the center of the flying object 200, which is a moving object, based on the received input information, and may further set a predetermined range based on the size of the space. Here, the "space including the center" of the flying object 200, which is a moving object, may include not only a space that includes the entire flying object 200, which is a moving object, but also a space that includes at least a part of the flying object 200, which is a moving object. The space including the center of the flying object 200, which is a moving object, may be the range occupied by the flying object 200, which is a moving object.

[0035] Furthermore, if the flying object 200, which is a moving object, is carrying luggage, the setting unit 2 may set a space that encompasses the flying object 200, which is a moving object, and the luggage carried by the flying object 200, based on the received input information, and may further set the predetermined range 201 based on the size of the space. Here, the "space that encompasses" the flying object 200 and the luggage may include not only a space that encompasses the entire flying object 200 and the luggage, but also a space that encompasses at least a portion of the flying object 200 and the luggage. Furthermore, the shape of the space may include, for example, a rectangular parallelepiped. However, the shape of the space is not limited to a rectangular parallelepiped, and may be any shape, such as a sphere, polyhedron, cylinder, cone, prism, pyramid, or dome. Specific methods for setting the space will be described later.

[0036] The determination unit 3 determines whether the initial position of the flying object 200 is within the predetermined range 201. Here, when the flying object 200 moves from the departure point to the destination point, the point at which the determination of whether the initial position of the flying object 200 is within the predetermined range 201 is made is not limited to the departure point. That is, when the flying object 200 stops temporarily at at least one point on the way from the departure point to the destination point, the above determination may be made at at least one of the points at which the flying object 200 stopped. By determining whether the initial position of the flying object 200 is within the predetermined range 201 not only at the departure point of the flying object 200 but also at the at least one point at which the flying object 200 stopped temporarily, it is possible to more accurately determine whether the flying object 200 has moved according to the flight plan.

[0037] Furthermore, when the flying object 200 stops temporarily at multiple points on the way from the departure point to the destination point, the points at which it is determined whether the initial position of the flying object 200 is within the predetermined range 201 may be limited to a predetermined number of points. By doing so, even if it takes a certain amount of time to determine whether the initial position of the flying object 200 is within the predetermined range 201, it is possible to reduce the elapsed time added to the flight time due to the determination.

[0038] Furthermore, the occupied range of the flying object 200 and the predetermined range 201, which are the basis for the above determination, may be changed depending on the size and state of the flying object 200 at the departure point and the point where it stops. For example, if the flying object 200 departs from point A without carrying any luggage and picks up luggage at point B on its way to point C, the above determination may be made based on the size of the flying object 200 at point A, and based on the sizes of the flying object 200 and the luggage at point B. A specific method for determining whether the initial position of the flying object 200 is within the predetermined range 201 will be described later.

[0039] The output unit 4 outputs the result of the determination by the determination unit 3.

[0040] The determination unit 5 may determine the flight path by referring to the flight plan of the flying object 200 stored in the memory unit 11.

[0041] The instruction unit 6 may instruct the aircraft 200 to be controlled to fly along the flight path determined by the determination unit 5. For example, the instruction unit 6 may transmit route information indicating the flight path determined by the determination unit 5 to the aircraft 200.

[0042] The position determination device 100 may further include a warning unit 7 that issues a warning if the initial position of the flying object 200 is not within the predetermined range 201. The warning issued by the warning unit 7 may be received by a terminal or the like carried by a user who places the flying object 200 at the departure point. By receiving the warning, the user can recognize that the initial position of the flying object 200 is outside the tolerance range preset in the flight plan.

[0043] The position determination device 100 may further include a calculation unit 8 that, if the initial position of the flying object 200 is not within the predetermined range 201, calculates a position correction amount for bringing the initial position into the predetermined range 201. In this case, the output unit 4 may output the position correction amount calculated by the calculation unit 8. The position correction amount calculated by the calculation unit 8 may be received by a terminal or the like carried by a user who places the flying object 200 at the departure point. By receiving information regarding the position correction amount, the user can obtain the position correction amount for the initial position of the flying object 200 from an allowable range preset in the flight plan, and the user can place the initial position of the flying object 200 within the allowable range preset in the flight plan.

[0044] The communication unit 9 performs wireless communication with the flying object 200 via the network 300. The communication unit 9 may also perform communication with a terminal or the like carried by a user who places the flying object 200 at the departure point.

[0045] The memory unit 11 stores the acquired information about the initial position of the flying object 200. The memory unit 11 may store a flight plan for the flying object 200 and a program for operating the position determination device 100. The memory unit 11 may be a storage device such as a semiconductor memory or a hard disk.

[0046] The input unit 12 may be an input device such as a keyboard or a mouse.

[0047] The display unit 13 may be a display device such as a liquid crystal display device or an organic EL display device. The display unit 13 may display information related to the determination result by the determination unit 3, or information related to the position correction amount calculated by the calculation unit 8.

[0048] The data storage unit 14 may store data related to movement recorded by the flying object 200, which is a moving object. For example, the flying object 200 may be provided with a recording function, and recording may begin when the flying object 200 moves from its departure point, and the position determination device 100 may receive the recorded data from the flying object 200 and store it in the data storage unit 14. The output unit 4 may output the data related to movement stored in the data storage unit 14. Here, the recorded data received by the position determination device 100 from the flying object 200 may include information related to the initial position of the flying object 200 at its departure point. By storing information related to the initial position of the flying object 200, it is possible to verify after the fact whether the initial position of the flying object 200 was a position predefined in the flight plan.

[0049] [Aircraft configuration] Next, the configuration of an air vehicle, the initial position of which is determined by the position determination device 100 according to an embodiment of the present disclosure, will be described. FIG. 3 shows a block diagram of an air vehicle 200, which is an example of a moving vehicle. As described above, the air vehicle 200 is an example of a moving vehicle, and moving vehicles are not limited to this example. The air vehicle 200 includes a control unit 20, a positioning unit 23, a communication unit 24, an imaging unit 25, a memory unit 26, a rotor 27, a rotor control unit 28, and a power supply unit 29, which are connected by an internal bus 30.

[0050] The control unit 20 has a route information acquisition unit 21 and a movement control unit 22, which are realized by the control unit 20 executing a program stored in the storage unit .

[0051] The route information acquisition unit 21 may acquire route information transmitted by the instruction unit 6 of the position determination device 100 via the communication unit 9. Alternatively, the route information acquisition unit 21 may acquire, via the network 300, mobile object information including the identification information, departure time, departure point, and destination point of the flying object 200 using the communication unit 24, and may acquire route information indicating the movement route by deriving the movement route of the flying object 200 based on the information regarding the departure point and destination point included in the mobile object information.

[0052] The movement control unit 22 may control the start and stop of movement, ascent, descent, movement direction, movement speed, attitude, etc. of the flying object 200 by controlling the rotor 27 using the rotor control unit 28 in accordance with the route information acquired by the route information acquisition unit 21.

[0053] The positioning unit 23 can measure the position of the aircraft 200. The positioning unit 23 basically receives positioning radio waves from four or more navigation satellites and measures the position of the aircraft 200 using RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System) positioning. GNSS correction data is received from a reference station (not shown). The GNSS correction data is data including coordinate information of the reference station and phase information of the radio waves received by the reference station from the navigation satellites. Communication with the reference station to receive the GNSS correction data is performed using a high-speed communication standard. The positioning unit 23 may output positioning results at predetermined time intervals.

[0054] In RTK-GNSS positioning, the positioning unit 23 of the aircraft 200 and multiple reference stations whose exact installation positions are known receive GNSS signals from GNSS satellites and acquire their respective position information. Next, the positioning unit 23 of the aircraft 200 acquires the position information of the reference stations obtained based on the GNSS signals from multiple reference stations near the positioning unit 23 of the aircraft 200 in real time.

[0055] Next, the positioning unit 23 calculates position coordinates using the observation results of the carrier waves transmitted from the satellite to the ground and parameters contained in the observation results, such as wave number, wavelength, and phase. In RTK-GNSS positioning, the positioning unit 23 corrects the provisional position information obtained based on the GNSS signal using correction information generated from position information of a reference station located in a reception environment estimated to be similar to the reception environment of the GNSS signal at the positioning unit 23. With such RTK-GNSS positioning, the correction can reduce the error contained in the position information to about a few centimeters.

[0056] The communication unit 24 communicates with the position determination device 100, navigation satellites, and communication base stations. The communication unit 24 may also communicate with a terminal carried by a user.

[0057] The imaging unit 25 is an imaging device (e.g., an RGB camera) that captures images (still images or video) of the surroundings of the flying object 200 while the flying object 200 is flying. Furthermore, the imaging unit 25 may capture images of the surroundings of the departure and arrival point where the flying object 200 is installed before the flying object 200 takes flight. For example, the imaging unit 25 may capture an image including a marker provided at the departure point where the flying object 200 is located. Furthermore, the imaging unit 25 may start recording when the flying object 200 starts moving, attach data of the initial position to the captured video, and transmit the data to the position determination device 100, and the position determination device 100 may store the received information in the data storage unit 14.

[0058] The storage unit 26 may store image data captured by the imaging unit 25. The storage unit 26 may also store position information of the flying object 200 measured by the positioning unit 23. The storage unit 11 may store a flight plan for the flying object 200 and a program for operating the flying object 200. The storage unit 26 may be a storage device such as a semiconductor memory or a hard disk.

[0059] The rotors 27 generate a downward air current to lift the flying object 200. The number of rotors 27 may be three or more.

[0060] The rotor control unit 28 generates thrust and torque for the flying object 200 by controlling the rotation of the rotors 27. Increasing the rotation speed of the rotors 27 causes the flying object 200 to ascend, and decreasing the rotation speed causes the flying object 200 to descend. In addition, by changing the rotation speed of each of the multiple rotors 27, the flying object 200 can be moved forward, backward, left, right, or rotated.

[0061] The power supply unit 29 supplies the necessary power to each part of the flying object 200. The power supply unit 29 may be a storage battery, and may further include a solar cell.

[0062] [Example 1] Next, a position determination device according to a first embodiment will be described. The configuration of the position determination device 100 according to the first embodiment is as shown in FIG. 1, but the calculation unit 8 is not used. FIG. 4 shows a sequence diagram for explaining the operation procedure of the position determination system 1000 according to the first embodiment of the present disclosure. First, in step S201, the flying object 200 is placed at a departure point. A marker or the like may be provided at the departure point to serve as a landmark for placing the flying object 200. The task of placing the flying object 200 at the departure point may be performed by a user. Alternatively, the flying object 200 may move to the departure point according to route information acquired in advance.

[0063] Next, in step S202, the flying object 200 uses the positioning unit 23 to measure the initial position of the flying object 200 using the RTK-GNSS method.

[0064] Next, in step S203, the flying object 200 transmits information relating to the measured initial position of the flying object 200 to the position determination device 100 using the communication unit 24.

[0065] Next, in step S204, the position determination device 100 receives information about the initial position of the flying object 200 using the communication unit 9 and stores it in the storage unit 11.

[0066] Next, in step S205, the position determination device 100 uses the determination unit 3 to determine whether or not the initial position of the flying object 200 is within the predetermined range 201. A specific method for determining whether or not the initial position of the flying object 200 is within the predetermined range 201 will be described later.

[0067] Next, in step S206, the position determination device 100 outputs the determination result by the determination unit 3 using the output unit 4. The output unit 4 may output the determination result by the determination unit 3 to the display unit 13. The display unit 13 may display the determination result by the determination unit 3. Alternatively, the output unit 4 may transmit the determination result by the determination unit 3 to a terminal or the like carried by the user.

[0068] Here, the position determination device 100 may use the warning unit 7 to issue a warning if the initial position of the flying object 200 is not within the predetermined range 201. The user may receive the warning from the warning unit 7 using a terminal or the like that the user owns. With this configuration, the user can recognize that the initial position of the flying object 200 is outside the predetermined range that has been set in advance. The user who receives the warning may correct the position of the flying object 200 so that the initial position of the flying object 200 is within the predetermined range.

[0069] Next, in step S207, the flying object 200 starts flying.

[0070] In this way, the position determination device 100 can determine whether the initial position of the flying object 200 is within the predetermined range 201, and can easily determine whether the initial position of the flying object 200 at a stage before it starts navigation was located within the predetermined range 201 predefined in the flight plan. Furthermore, the position determination device 100 can verify after the fact whether the initial position of the flying object 200 was within the predetermined range 201 by storing the determination result as to whether the initial position of the flying object 200 was within the predetermined range 201 in the storage unit 11.

[0071] [Example 2] Next, a position determination device according to a second embodiment will be described. The configuration of the position determination device 100 according to the second embodiment is as shown in FIG. 1. The position determination device according to the second embodiment differs from the position determination device according to the first embodiment in that, when the initial position of the flying object 200 is not included in the predetermined range 201, the position determination device further includes a calculation unit 8 that calculates a position correction amount for bringing the initial position into the predetermined range 201, and an output unit 4 outputs the position correction amount. The other configurations of the position determination device according to the second embodiment are the same as those of the position determination device according to the first embodiment, and therefore detailed description thereof will be omitted.

[0072] 5 is a sequence diagram illustrating an operation procedure of the position determination system according to the second embodiment of the present disclosure. The operations from step S301 to step S305 are the same as the operations from step S201 to step S205 in FIG.

[0073] Next, in step S306, if the initial position of the flying object 200 is not within the predetermined range 201, the position determination device 100 uses the calculation unit 8 to calculate a position correction amount for bringing the initial position of the flying object 200 into the predetermined range 201. Furthermore, the position determination device 100 may use the output unit 4 to output the position correction amount to the flying object 200 via the communication unit 9. Alternatively, the position determination device 100 may output the position correction amount to a terminal or the like carried by the user via the communication unit 9.

[0074] Next, in step S307, the flying object 200 receives information regarding the position correction amount and corrects the initial position according to the received information regarding the position correction amount. Alternatively, if the user has received the position correction amount, the initial position of the flying object 200 may be modified according to the received information regarding the position correction amount.

[0075] Next, in step S308, if the position determination device 100 corrects the initial position, the flying body 200 returns to step S303 to again determine whether the corrected initial position is within the specified range, and transmits the initial position information to the position determination device again, and the position determination device 100 repeats steps S304 to S306.

[0076] On the other hand, if the position determination device 100 did not correct the initial position, the flying object 200 starts navigation in step S309. Here, if the position determination device 100 determines that it is not necessary to correct the initial position, it may transmit information to that effect, information that the position correction amount is 0, or information instructing the flying object 200 to start navigation to the flying object 200 or a device that manages the flying object.

[0077] In this way, if the initial position of the flying object 200 is not within the specified range 201, the flying object 200 can place its initial position within the specified range 201 based on the position correction amount calculated by the calculation unit 8 of the position determination device 100, and therefore the initial position of the flying object 200 can be placed within the specified range 201 specified in the flight plan.

[0078] [Example 3] Next, a position determination device according to a third embodiment will be described. FIG. 6 shows a flowchart for explaining the operation procedure of the position determination system according to the third embodiment of the present disclosure. First, in step S401, when setting a flight plan for the flying object 200, the positioning accuracy of the placement position of the flying object 200 is selected. The positioning accuracy includes, for example, "fine accuracy" in which the difference between the area occupied by the flying object 200 and a predetermined range set in advance in the flight plan is relatively small, and "a certain degree of accuracy" in which the difference between the area occupied by the flying object 200 and a predetermined range set in advance in the flight plan is relatively large. As the positioning accuracy, the user may select whether to request "fine accuracy" or "a certain degree of accuracy" for the positioning accuracy of the position where the flying object 200 is actually placed. Specific examples of "fine accuracy" and "a certain degree of accuracy" will be described later.

[0079] Next, in step S402, the position determination device 100 determines the initial position of the flying object 200 based on the flight plan and the positioning accuracy, and displays the position to the user. For example, the position determination device 100 may display information about the initial position of the flying object 200 on a terminal or the like (not shown) carried by the user.

[0080] Next, in step S403, if the initial position of the flying object 200 is outside the predetermined range 201, the position determination device 100 displays an area indicating the predetermined range 201 using an AR (Augmented Reality) image. The display destination on which the position determination device 100 displays the area indicating the predetermined range 201 may be a user terminal. Furthermore, the display method is not limited to AR, and the area may be displayed as some kind of image or on a map. The AR image can superimpose a frame or the like indicating the predetermined range 201 on an image of the flying object 200 around the location where the flying object 200 is placed, thereby indicating the predetermined range 201 where the flying object 200 should be placed. This allows the user to easily understand the direction and amount of movement required to place the initial position of the flying object 200 within the predetermined range 201.

[0081] Next, in step S404, after the predetermined range 201 is set, its center point is aligned with the correct initial position.

[0082] By performing this process before prompting for relocation, it is ensured that the occupied range 202 of the aircraft 200 consisting of x0-y0-z0 is included in the predetermined range 201 consisting of X1-Y1-Z1, as shown in Figure 7, and the aircraft 200 is set to the correct initial position, and it is possible to calculate the amount of deviation from the correct initial position. The user can perform relocation based on the calculated correction amount.

[0083] Next, in step S405, the user repositions the flying object 200 within the predetermined range 201 while viewing the display through the AR glasses. The AR image may be displayed on the AR glasses. The AR glasses are eyeglass-type display devices that display an image tailored to the user's field of view on transparent or semi-transparent glasses, thereby giving the user the sensation that the image is positioned in real space.

[0084] In this way, if the initial position of the flying object 200 is not within the predetermined range 201 , the user can move the initial position of the flying object 200 to within the predetermined range 201 .

[0085] [How to set the specified range] Next, a method for setting the predetermined range 201 in which the flying object 200 should be located will be described. The setting unit 2 (see FIG. 1) of the position determination device 100 can accept input of information for setting the predetermined range according to at least one of the size and state of the flying object 200, which is a moving object, each time the flying object 200 starts moving. Here, "each time the flying object 200 starts moving" includes a case in which the flying object 200 stops at one or more waypoints along the way when moving from a starting point to a destination point and then starts moving again (re-movement). In addition, at this time, it is not necessary to set a predetermined position of the flying object 200 at all waypoints where the flying object 200 will re-move, and to determine whether the flying object 200 is located within the set predetermined range. In other words, the predetermined range is set at the starting point where the flying object 200 first starts moving. However, if the flying object 200 re-moves one or more times, the predetermined range may be set at any of the one or more waypoints, or it is not necessary to set the predetermined range at all waypoints. Increasing the number of waypoints at which it is determined whether the aircraft 200 is within a predetermined range can improve the accuracy of the flight plan for the movement of the aircraft 200. On the other hand, limiting the number of waypoints at which it is determined whether the aircraft 200 is within a predetermined range to a predetermined range can shorten the overall travel time from the departure point to the destination point, and the user can select any number as needed.

[0086] Information about the size of the aircraft 200 and information about the status of the aircraft 200 may be included in information about the flight plan stored in the memory unit 11. Information about the status of the aircraft 200 may include information about whether the aircraft 200 is carrying cargo, information about the size of the aircraft 200 and the cargo, and the like. Furthermore, information about the status of the aircraft 200 may include information about the position, orientation, and attitude of the aircraft 200. There are roughly two methods for setting the predetermined range 201. The first method is a method in which the predetermined range is set by adding a predetermined length to a physical length that defines the range occupied by the aircraft 200, and the second method is a method in which the predetermined range is set by expanding the physical length that defines the range occupied by the aircraft 200 by a predetermined ratio, and the second method is a method in which the predetermined range is set by increasing the physical length that defines the range occupied by the aircraft 200 by a predetermined ratio, and the second method is a method in which the predetermined range is set by adding a predetermined length to the physical length that defines the range occupied by the aircraft 200, and the second method is a method in which the predetermined range is set by expanding ... by a predetermined ratio.

[0087] (First setting method) The first setting method is a method of setting the predetermined range by setting the range obtained by adding a predetermined length to the physical length that defines the range occupied by the aircraft 200 as the allowable range. In this case, the first setting method can be further divided into cases where "fine accuracy" is required and cases where "a certain degree of accuracy" is required, as described above. For example, when the aircraft 200 is not carrying any luggage and is flying alone, fine accuracy may be required between the predetermined range and the range occupied by the aircraft 200. On the other hand, when the aircraft 200 is carrying luggage, for example, the size of the predetermined range may be set larger than when fine accuracy is required, and a certain degree of accuracy may be required.

[0088] The setting unit 2 may set a space including the center of the flying object 200, which is a moving object, based on the received input information, and may further set a predetermined range based on the size of the space. Here, as an example, a case will be described in which the space including the center of the flying object 200 is a rectangular parallelepiped. However, the present invention is not limited to this example, and the space including the center of the flying object 200 may be set to any shape.

[0089] FIG. 7 is a perspective view showing the relationship between the occupied area of ​​an air vehicle, which is the target of position determination by an embodiment of the present disclosure, and a predetermined area, illustrating the relationship between the occupied area of ​​the air vehicle and the predetermined area when fine accuracy is required. An example will be described in which the occupied area 202 of the air vehicle 200 is a rectangular parallelepiped with dimensions x0 in the x-axis direction, y0 in the y-axis direction, and z0 in the z-axis direction. The size of this occupied area 202 may be pre-stored in the storage unit 11 of the position determination device 100. Alternatively, a user may input information regarding the size of the occupied area 202 using the input unit 12. For example, the storage unit 11 may store the identification information of the air vehicle 200 and information regarding the occupied area in association with each other, and the user may input the identification information of the air vehicle 200 into the input unit 12 to obtain information regarding the occupied area of ​​the air vehicle 200.

[0090] In this case, when the predetermined range 201 is a rectangular parallelepiped with dimensions X1 in the x-axis direction, Y1 in the y-axis direction, and Z1 in the z-axis direction, the dimensions may be set so that X1 = x0 + 10 cm, Y1 = y0 + 10 cm, and Z1 = z0 + 10 cm. That is, the lengths of each side X1, Y1, and Z1 of the rectangular parallelepiped of the predetermined range 201 are set to the lengths of each side x0, y0, and z0 of the rectangular parallelepiped of the occupied range 202 of the aircraft 200 plus 10 cm. However, the difference of "10 cm" between the length of each side of the occupied range 202 of the aircraft 200 and the length of each side of the predetermined range 201 is merely an example, and the present invention is not limited to this example.

[0091] As a criterion for determining whether or not to require "fine precision," it may be selected in cases where, for example, you want to ensure that the aircraft 200 is connected to a power supply point, when safety is not fully ensured around the flight path along which the aircraft 200 will fly, when you do not want the aircraft 200 to fall on or pass over someone else's land or the airspace above it, when you want the aircraft 200 to fly from a strictly correct position to ensure that damage insurance will be applied in the event of an accident involving the aircraft 200, or when you want to precisely specify the installation location of the aircraft 200.

[0092] Meanwhile, FIG. 8 is a perspective view showing the relationship between the occupied range of an aircraft, which is the target of determination by a position determination system according to an embodiment of the present disclosure, and a second predetermined range, illustrating the relationship between the occupied range of the aircraft and the second predetermined range when a "certain degree of accuracy" is required. In FIG. 8, the aircraft 200 is shown holding a baggage 400. The setting unit 2 may set a space encompassing the aircraft 200, which is a moving object, and the baggage 400 carried by the aircraft 200, based on received input information, and further set a predetermined range based on the size of the space. In FIG. 8, because the aircraft 200 is holding the baggage 400, the range in which the initial position of the aircraft 200 is allowed may be wider than when the aircraft 200 is not holding the baggage 400, as shown in FIG. 7. The occupied range 202' occupied by the aircraft 200 is a rectangular parallelepiped with dimensions x0' in the x-axis direction, y0' in the y-axis direction, and z0' in the z-axis direction. In this case, when the second predetermined range 203 is a rectangular parallelepiped with dimensions X2 in the x-axis direction, Y2 in the y-axis direction, and Z2 in the z-axis direction, the dimensions may be set so that X2 = x0' + 100 cm, Y2 = y0' + 100 cm, and Z2 = z0' + 100 cm. That is, the lengths of each side X2, Y2, and Z2 of the rectangular parallelepiped of the second predetermined range 203 are set to the lengths of each side x0', y0', and z0' of the rectangular parallelepiped of the occupied range 202' of the aircraft 200 plus 100 cm. However, the difference of 100 cm between the length of each side of the occupied range 202 of the aircraft 200 and the length of each side of the second predetermined range 203 is merely an example and is not limited to this example.

[0093] The criterion for determining whether or not to require "a certain degree of accuracy" is, for example, whether or not it can be determined that the area is a safe area on the flight path of the aircraft 200. For example, if the user does not require the same level of strictness as when requesting "fine accuracy," the user may select "a certain degree of accuracy."

[0094] (Second setting method) The second setting method is a method of setting the predetermined range by expanding the physical length that defines the area occupied by the flying object 200 by a predetermined ratio to set the allowable range. In this case, the first setting method can be further divided into cases where "fine precision" is required and cases where "a certain degree of precision" is required.

[0095] FIG. 7 is a perspective view showing the relationship between the occupancy range of an aircraft, which is the target of position determination by an embodiment of the present disclosure, and a predetermined range, illustrating the relationship between the occupancy range of the aircraft and the predetermined range when "fine accuracy" is required. An example will be described in which the occupancy range 202 of the aircraft 200 is a rectangular parallelepiped with dimensions x0 in the x-axis direction, y0 in the y-axis direction, and z0 in the z-axis direction. In this case, when the predetermined range 201 is a rectangular parallelepiped with dimensions X1 in the x-axis direction, Y1 in the y-axis direction, and Z1 in the z-axis direction, the dimensions may be set such that X1 = x0 + x0 × 10 [%], Y1 = y0 + y0 × 10 [%], and Z1 = z0 + z0 × 10 [%]. In other words, the lengths of the sides X1, Y1, and Z1 of the rectangular parallelepiped of the predetermined range 201 are set to be 10% longer than the lengths of the sides x0, y0, and z0 of the rectangular parallelepiped of the occupancy range 202 of the aircraft 200. However, the value of "10%" which is the ratio of the difference between the length of each side of the occupied range 202 of the aircraft 200 and the length of each side of the specified range 201 is just an example and is not limited to such an example.

[0096] Meanwhile, FIG. 8 is a perspective view showing the relationship between the occupied area of ​​an aircraft, which is the object of determination by a position determination system according to an embodiment of the present disclosure, and a second predetermined area, illustrating the relationship between the occupied area 202' of the aircraft 200 and the second predetermined area 203 when a certain degree of accuracy is required. An example will be described in which the occupied area 202' of the aircraft 200 is a rectangular parallelepiped with dimensions x0' in the x-axis direction, y0' in the y-axis direction, and z0' in the z-axis direction. In this case, when the second predetermined area 203 is a rectangular parallelepiped with dimensions X2 in the x-axis direction, Y2 in the y-axis direction, and Z2 in the z-axis direction, the settings may be such that X2 = x0' + x0' × 100 [%], Y2 = y0' + y0' × 100 [%], and Z2 = z0' + z0' × 100 [%]. That is, the lengths of each side X2, Y2, Z2 of the rectangular parallelepiped of the second predetermined range 203 are set to be 100% longer than the lengths of each side x0', y0', z0' of the rectangular parallelepiped of the occupied range 202 of the aircraft 200. However, the value of "100%", which is the ratio of the difference between the length of each side of the occupied range 202 of the aircraft 200 and the length of each side of the second predetermined range 203, is just an example, and the present invention is not limited to this example.

[0097] The reason why the difference between the occupied range of the flying object 200 and the specified range is shown as a percentage of the length of the side of the rectangular prism that defines the occupied range, as in the second setting method, is that when the size and purpose of the flying object are the same, such as an flying object making regular patrols or an flying object with flight permission, it may be easier for the user to intuitively understand the difference between the occupied range of the flying object 200 and the specified range than if it were shown as a physical distance.

[0098] When setting a flight plan, the user may select whether to request "fine accuracy" or "a certain degree of accuracy" for the positioning accuracy of the location where the flying object 200 will actually be placed.

[0099] When the flying object 200 is actually placed, the position determination device 100 determines the position of the flying object 200 based on a pre-set flight plan (including the size of the flying object 200) and the positioning accuracy selected by the user, and displays the position to the user.

[0100] If the actual position of the drone is outside the allowable range, the server displays an AR image of the area indicating the allowable range so that the user can reposition the drone within the allowable range. The user can then reposition the drone while viewing this image using AR glasses, etc.

[0101] (Third setting method) The third setting method is a method in which the user defines a predetermined range 201 space within an allowable range based on the initial position of the flying object 200.

[0102] First, the user sets an initial position where the flying object 200 (e.g., a drone) should be placed. The initial position may be set by inputting specific position information (such as latitude and longitude information), or the user may place an arbitrary positioning device in an arbitrary location and set the positioning result output by the positioning device as the initial position.

[0103] Next, the user defines a predetermined range 201 space within an allowable range, with the initial position of the flying object 200 set by the user as the reference (center).

[0104] Next, the user places the flying object 200 in its initial position.

[0105] Next, the positioning unit 23 of the placed flying object 200 measures its own position, and the position determination device 100 determines whether the coordinates of the positioning result are within the predetermined range 201 defined above.

[0106] If the result of the above determination by the position determination device 100 is that the initial position of the flying object 200 is outside the predetermined range 201 , the position determination device 100 prompts the user to relocate the flying object 200 .

[0107] As described above, the third setting method has the advantage that there is no need to define the initial x0-y0-z0 space, which is the occupied range 202 of the flying object 200, as in the first setting method, i.e., the user does not need to know the size of the flying object 200.

[0108] [Relationship between specified range and initial position] Next, a method for setting a range within which the initial position of the aircraft 200 is permitted based on the occupied range 202 and the predetermined range 201 of the aircraft 200 will be described. FIG. 9 shows a plan view illustrating a procedure for calculating the initial position of the aircraft 200 from the occupied range 202 and the second predetermined range 203 using the position determination system 1000 according to an embodiment of the present disclosure. Here, for simplicity, an arrangement on a two-dimensional plane will be described. First, the initial position of the aircraft 200 when the aircraft 200 is arranged at the departure point is set to P0. The initial position P0 may be the center of gravity of the aircraft 200, for example. However, the initial position P0 is not limited to this example and may be any point included in the occupied range 202 of the aircraft 200. The occupied range 202 occupied by the aircraft 200 at this time is a rectangle with a length of x0' in the x-axis direction and y0' in the y-axis direction.

[0109] Next, a second predetermined range 203 is set by enlarging the occupied range 202 of the flying object 200 by a predetermined length or a predetermined magnification. The second predetermined range 203 is, for example, a rectangle with a length of X2 in the x-axis direction and a length of Y2 in the y-axis direction. The four corners of the second predetermined range 203 are designated A, B, C, and D.

[0110] At corner A, occupied area 202 of flying object 200 is moved so that it overlaps with second predetermined area 203, and the occupied area at this time is designated as 202a. At this time, the initial position of flying object 200 moves from point P0 to point P1.

[0111] Similarly, when the occupied area 202 of the aircraft 200 is moved so as to overlap with corners B, C, and D of the second predetermined area 203, the occupied area of ​​the aircraft 200 is positioned as 202b, 202c, and 202d, and the initial position moves to points P2, P3, and P4.

[0112] From the above, the maximum range within which the occupied range 202 of the flying object 200 can be moved without going beyond the second predetermined range 203 is the range indicated by the allowable range 204 in Figure 9. In other words, the initial position of the flying object 200 is allowable as long as it is inside the allowable range 204.

[0113] The above explanation has been given on the relationship between the initial position of the aircraft 200 on a two-dimensional plane and the second predetermined range 203. However, Figure 10 shows the relationship between the initial position of the aircraft 200 and the second predetermined range 203 in three-dimensional space, taking into account the range in the z-axis direction.

[0114] As shown in Figure 10, when the occupied area 202 of the aircraft 200 is moved within the second predetermined area 203, coordinates P5 to P8 of the initial position of the aircraft 200 when the occupied area 202 touches the corner points E, F, G, and H of the second predetermined area 203 are calculated.

[0115] In this case, the rectangular parallelepiped area defined by points P1 to P8 becomes the allowable range 204 within which the initial position of the flying object 200 is allowed. In other words, if the coordinates of the initial position of the flying object 200 are included within the allowable range 204, it can be determined that the flying object 200 is located within the second predetermined range 203.

[0116] 11 shows a flowchart illustrating a procedure for calculating an initial position from the occupied range of an aircraft to be determined by a position determination device according to an embodiment of the present disclosure and a second predetermined range. First, in step S501, the occupied range 202 of the aircraft 200 is set.

[0117] Next, in step S502, the endpoints P1 to P8 within which the occupied range 202 of the flying object 200 can move to the maximum extent within the second predetermined range 203 are calculated.

[0118] Next, in step S503, the range surrounded by the end points P1 to P8 is set as the allowable range 204.

[0119] Next, in step S504, it is determined whether the coordinates (x, y, z) of the initial position of the flying object 200 are within the allowable range 204.

[0120] If the coordinates (x, y, z) of the initial position of the flying object 200 are within the allowable range 204, the process ends.

[0121] On the other hand, if the coordinates (x, y, z) of the initial position of the flying object 200 are not within the allowable range 204, the amount of correction for the initial position of the flying object 200 is calculated in step S505.

[0122] In the above explanation, an example was given in which the shapes of the occupied area 202, first specified area 201, and second specified area 203 of the aircraft 200 are rectangular prisms, but this is not limited to such an example and they may be any shape.

[0123] Furthermore, in the above explanation, an example was given in which the flying object 200 navigates in a three-dimensional space, but the present invention can also be applied to a moving object that moves on a two-dimensional plane such as a road.

[0124] As described above, according to the position determination device of an embodiment of the present disclosure, it is possible to easily determine whether the initial position of a moving object is located in a predetermined area. For example, according to the position determination device of an embodiment of the present disclosure, it is possible to confirm that the moving object has moved from the vicinity of a preset position.

[0125] In the above embodiment, the components of the position determination device 100 and the flying object 200 may be realized by software or by one or more pieces of hardware. When the components of the above parts are realized by software, the processing is specifically realized using hardware resources. [Explanation of symbols]

[0126] 1 Acquisition part 2. Settings 3 Judgment section 4 Output section 5 Decision Section 6 Instruction section 7 Warning part 8 Calculation section 9. Communications Department 11, 26 Storage section 10, 20 Control unit 12 Input section 13 Display section 14 Data storage section 15, 30 Internal bus 21 Route information acquisition unit 22 Movement control unit 23 Positioning unit 24 Communications Department 25 Imaging unit 27 Rotor 28 Rotor control section 29 Power supply section 100 Position determination device 200 flying objects 201 specified range 202 Occupied Area 203 Second Predetermined Range 300 Network

Claims

1. an acquisition unit that acquires positioning information by RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System) positioning related to an initial position when a moving object starts moving; a setting unit that receives input of information for setting a first predetermined range in accordance with at least one of a size and a state of the moving object each time the moving object starts moving; a determination unit that determines whether the initial position is included in the first predetermined range; an output unit that outputs a determination result by the determination unit; and the first predetermined range is defined with the initial position as a center; the setting unit sets a second predetermined range to a range obtained by enlarging the first predetermined range by a predetermined magnification, and sets a maximum range when the moving object is moved so as not to deviate from the second predetermined range to an allowable range; the determination unit determines whether the initial position is within the allowable range. A position determination system comprising:

2. an acquisition unit that acquires positioning information by RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System) positioning related to an initial position when a moving object starts moving; a setting unit that receives input of information that sets a first predetermined range expressed in three dimensions for determining whether the moving object is located within a predetermined allowable range; a determination unit that determines whether the initial position is included in the first predetermined range; an output unit that outputs a determination result by the determination unit; and the first predetermined range is defined with the initial position as a center; the setting unit sets a second predetermined range to a range obtained by enlarging the first predetermined range by a predetermined magnification, and sets a maximum range when the moving object is moved so as not to deviate from the second predetermined range to an allowable range; the determination unit determines whether the initial position is within the allowable range. A position determination system comprising:

3. The position determination system according to claim 1 , wherein the setting unit sets a space including a center of the moving body based on the received input information, and further sets the predetermined range based on a size of the space.

4. 3. The position determination system according to claim 1, further comprising a data storage unit for storing data relating to movements recorded by said mobile unit.

5. The position determination system according to claim 1 or 2, wherein the output unit further outputs data relating to movement.

6. The position determining system of claim 3 , wherein the shape of the space includes a rectangular parallelepiped.

7. 3. The position determination system according to claim 1, further comprising a warning unit that issues a warning when the initial position is not within the predetermined range.

8. a calculation unit that calculates, when the initial position is not included in the predetermined range, a position correction amount for bringing the initial position into the predetermined range; The position determination system according to claim 1 , wherein the output unit outputs the position correction amount.

9. an acquisition unit acquires positioning information by RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System) positioning related to an initial position when the moving object starts moving; a setting unit receiving an input of information for setting a first predetermined range in accordance with at least one of a size and a state of the moving object each time the moving object starts moving; a determination unit that determines whether the initial position is included in the first predetermined range; an output unit that outputs the determination result by the determination unit; the first predetermined range is defined with the initial position as a center; the setting unit sets a second predetermined range to a range obtained by enlarging the first predetermined range by a predetermined magnification, and sets a maximum range when the moving object is moved so as not to deviate from the second predetermined range to an allowable range; the determination unit determines whether the initial position is within the allowable range. A position determination method comprising:

10. Acquire positioning information by RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System) positioning regarding the initial position when the moving body starts moving, each time the moving object starts moving, an input of information for setting a first predetermined range is accepted in accordance with at least one of a size and a state of the moving object; determining whether the initial position is within the first predetermined range; outputting the judgment result by the judgment unit; the first predetermined range is defined with the initial position as a center; a second predetermined range is defined as a range obtained by enlarging the first predetermined range by a predetermined magnification, and a maximum range when the moving body is moved so as not to deviate from the second predetermined range is defined as an allowable range; the determination unit determines whether the initial position is within the allowable range. A position determination program that causes a processor to execute the above steps.

11. An acquisition unit that acquires positioning information by RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System) positioning regarding an initial position when a moving body starts moving; a setting unit that receives input of information for setting a predetermined range in accordance with at least one of a size and a state of the moving object each time the moving object starts moving; a determination unit that determines whether the initial position is included in the predetermined range; an output unit that outputs a determination result by the determination unit; and The setting unit The predetermined range is set by adding a predetermined length to a physical length that defines the range occupied by the moving object, or the predetermined range is set by expanding the physical length that defines the range occupied by the moving body by a predetermined ratio, and setting the length as the allowable range. A position determination system comprising:

12. An acquisition unit that acquires positioning information by RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System) positioning regarding an initial position when a moving body starts moving; a setting unit that receives input of information that sets a predetermined range expressed in three dimensions for determining whether the moving object is positioned within a predetermined allowable range; a determination unit that determines whether the initial position is included in the predetermined range; an output unit that outputs a determination result by the determination unit; and The setting unit The predetermined range is set by adding a predetermined length to a physical length that defines the range occupied by the moving object, or the predetermined range is set by expanding the physical length that defines the range occupied by the moving body by a predetermined ratio, and setting the length as the allowable range. A position determination system comprising:

13. An acquisition unit acquires positioning information by RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System) positioning regarding an initial position when a moving object starts moving, a setting unit receiving an input of information for setting a predetermined range in accordance with at least one of a size and a state of the moving object each time the moving object starts moving; a determination unit that determines whether the initial position is within the predetermined range; an output unit that outputs the determination result by the determination unit; The setting unit The predetermined range is set by adding a predetermined length to a physical length that defines the range occupied by the moving object, or the predetermined range is set by expanding the physical length that defines the range occupied by the moving body by a predetermined ratio, and setting the length as the allowable range. A position determination method comprising:

14. Acquiring positioning information by RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System) positioning regarding the initial position when a moving body starts moving, accepting input of information for setting a predetermined range in accordance with at least one of a size and a state of the moving object each time the moving object starts moving; determining whether the initial position is within the predetermined range; outputting the judgment result by the judgment unit; The predetermined range is set by adding a predetermined length to a physical length that defines the range occupied by the moving object, or the predetermined range is set by expanding the physical length that defines the range occupied by the moving body by a predetermined ratio, and setting the length as the allowable range. A position determination program that causes a processor to execute the above steps.

Images