Information processing device and positioning method

Abstract

Provided is an information processing device for positioning the location of a positioning terminal on the basis of: positioning information that is transmitted from the positioning terminal and based on a satellite signal; and correction information of a reference station covering the positioning terminal, said correction information being transmitted from a correction information delivery device. Said information processing device includes: a storage unit for storing the correction information during a period in which the positioning information is not transmitted from the positioning terminal; a reception unit for receiving, from the positioning terminal, the positioning information that was stored during a period in which the positioning terminal could not communicate with the information processing device; and a positioning unit that, on the basis of the received positioning information and the stored correction information, positions the location at which the positioning terminal was located during the period in which the positioning terminal could not communicate with the information processing device.

Description

Information processing device and positioning method

[0001] The present disclosure relates to an information processing device and a positioning method.

[0002] One method for determining the position of a target object, such as a moving object, with high accuracy is RTK (Real Time Kinematic) positioning. In RTK positioning, a positioning terminal performs RTK calculations based on positioning information, such as carrier phase information obtained from a satellite positioning system such as GNSS (Global Navigation Satellite System), and correction information from a reference station installed on the ground, to obtain highly accurate positioning results.

[0003] Patent Document 1 proposes a positioning system in which, in code positioning in which the positioning results are not corrected with correction information from a reference station, positioning calculations are performed on the server side, not on the terminal.

[0004] Japanese Patent Application Laid-Open No. 2006-84230

[0005] In RTK positioning, the positioning terminal may use a wireless network to receive correction information from a reference station. If the positioning terminal is located outside the area of ​​the wireless network and cannot receive correction information, the position cannot be determined.

[0006] Non-limiting examples of the present disclosure contribute to providing an information processing device and a positioning method that can locate the position of a positioning terminal even when the positioning terminal moves into a non-communication area of ​​a wireless network.

[0007] An information processing device according to one embodiment of the present disclosure is an information processing device that positions the position of a positioning terminal based on positioning information transmitted from the positioning terminal and based on satellite signals, and correction information of a reference station that covers the positioning terminal and transmitted from a correction information distribution device, and includes: a memory unit that stores the correction information while the positioning information is not transmitted from the positioning terminal; a receiving unit that receives from the positioning terminal the positioning information that was stored while the positioning terminal was unable to communicate with the information processing device; and a positioning unit that positions the position of the positioning terminal while the positioning terminal was unable to communicate with the information processing device, based on the received positioning information and the stored correction information.

[0008] A positioning method according to one embodiment of the present disclosure is a positioning method for an information processing device that positions the position of a positioning terminal based on positioning information transmitted from the positioning terminal and based on satellite signals, and correction information of a reference station that is transmitted from a correction information distribution device and covers the positioning terminal, the method storing the correction information for a period when the positioning information is not transmitted from the positioning terminal, receiving from the positioning terminal the positioning information that was stored for a period when the positioning terminal was unable to communicate with the information processing device, and locating the position of the positioning terminal for a period when the positioning terminal was unable to communicate with the information processing device based on the received positioning information and the stored correction information.

[0009] In addition, these comprehensive or specific aspects may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium, or may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium. According to an embodiment of the present disclosure, the position of a positioning terminal can be determined even when the positioning terminal moves into a non-communication area of ​​a wireless network.

[0010] Further advantages and benefits of an embodiment of the present disclosure will become apparent from the specification and drawings. Such advantages and / or benefits may be provided by some of the embodiments and features described in the specification and drawings, respectively, but not necessarily all of them may be provided to obtain one or more identical features.

[0011] FIG. 1 is a diagram showing an example of the configuration of a positioning system using a wireless network. FIG. 2 is a diagram showing an example of the configuration of a positioning system according to an embodiment of the present disclosure. Sequential diagram showing an overview of the operation of the positioning system of FIG. 2. FIG. 3 is a diagram explaining an example of a correction information area. FIG. 4 is a diagram explaining selection of a reference station. FIG. 5 is a diagram showing an example of the block configuration of a positioning terminal and an information processing device. Flowchart showing an example of the operation of a positioning terminal. Flowchart showing an example of the operation of an information processing device. Flowchart showing an example of the operation of an information processing device.

[0012] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters or redundant explanation of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following explanation and to facilitate understanding by those skilled in the art.

[0013] The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0014] <Consideration> RTK positioning uses correction information from a reference station (reference station server) whose position is known to improve the accuracy of the positioning results of the positioning terminal. The positioning terminal may use a wireless network to receive the correction information.

[0015] 1 is a diagram showing an example of the configuration of a positioning system using a wireless network. As shown in FIG. 1, the positioning system includes a positioning terminal A1a and a reference station server A1b.

[0016] The positioning terminal A1a receives correction information from a reference station server A1b close to the positioning terminal A1a via a wireless network such as 5G, 4G, or Wi-Fi (registered trademark). The positioning terminal A1a performs RTK calculation based on the positioning information based on GNSS signals from GNSS satellites and the correction information from the reference station server A1b received via the wireless network, and determines the position of the positioning terminal A1a.

[0017] However, outside the communication area of ​​the wireless network, such as in mountainous areas, the positioning terminal A1a cannot receive correction information from the reference station server A1b. Therefore, the positioning system of Figure 1 cannot perform positioning outside the communication area of ​​the wireless network. Therefore, the present disclosure provides the positioning system described below.

[0018] 2 is a diagram illustrating an example of the configuration of a positioning system according to an embodiment of the present disclosure. As shown in FIG. 2, the positioning system includes a positioning terminal 1, an information processing device 2, and a correction information distribution server 3.

[0019] The positioning terminal 1 is a mobile terminal such as a tablet terminal, a smartphone, or a laptop computer. The positioning terminal 1 is carried by a surveyor who surveys the position or shape of land at a civil engineering or construction site, for example.

[0020] The information processing device 2 is, for example, a server such as a cloud server. The positioning terminal 1 and the information processing device 2 communicate with each other via a WWAN (Wireless Wide Area Network) such as a mobile phone network. The information processing device 2 and the correction information distribution server 3 communicate with each other via a network such as the Internet.

[0021] The positioning terminal 1 receives satellite signals, such as GNSS signals, from GNSS satellites. Based on the received satellite signals, the positioning terminal 1 obtains positioning information, such as carrier phase information, used for positioning the positioning terminal 1. The positioning terminal 1 transmits the positioning information obtained from the satellite signals to the information processing device 2, as indicated by arrow A2a in Fig. 2. The positioning terminal 1 may transmit the demodulated GNSS signals to the information processing device 2 as positioning information.

[0022] The information processing device 2 calculates a positioning solution (standalone positioning solution) indicating a position such as latitude, longitude, and altitude based on the positioning information received from the positioning terminal 1. The information processing device 2 transmits the calculated positioning solution of the positioning terminal 1 to the correction information distribution server 3 as indicated by an arrow A2b in FIG.

[0023] After obtaining the correction information of the positioning terminal 1 from the correction information distribution server 3, the information processing device 2 performs RTK calculation based on the positioning information received from the positioning terminal 1 and the correction information obtained from the correction information distribution server 3, and calculates the positioning solution of the positioning terminal 1. The information processing device 2 transmits the calculated positioning solution of the positioning terminal 1 to the correction information distribution server 3.

[0024] The correction information distribution server 3 acquires correction information from a reference station installed in a position close to the positioning solution received from the information processing device 2. That is, the correction information distribution server 3 acquires correction information from a reference station close to the position of the positioning terminal 1. The correction information distribution server 3 transmits the acquired correction information to the information processing device 2 as shown by arrow A2c in FIG. 2. The correction information is carrier phase information obtained from a satellite signal such as a GNSS signal by a reference station whose position is known. The correction information distribution server 3 may also be referred to as a correction information distribution device.

[0025] The information processing device 2 performs RTK calculation based on the correction information received from the correction information distribution server 3 and the positioning information received from the positioning terminal 1, and calculates a positioning solution for the positioning terminal 1. The information processing device 2 transmits the calculated positioning solution to the positioning terminal 1 as shown by arrow A2d in FIG.

[0026] The positioning terminal 1 displays, for example, on a display, the positioning solutions received from the information processing device 2. Hereinafter, the positioning solutions may be referred to as positioning results.

[0027] <Operation Sequence> Fig. 3 is a sequence diagram showing an outline of the operation of the positioning system of Fig. 2. Dotted lines A3a and A3c shown in Fig. 3 indicate the operation when the positioning terminal 1 is in a situation (or environment) where it can communicate with the information processing device 2. Dotted line line A3b shown in Fig. 3 indicates the operation when the positioning terminal 1 is in a situation where it cannot communicate with the information processing device 2, such as when it is located outside the communication area of ​​the wireless network.

[0028] The positioning terminal 1 transmits positioning information obtained from satellite signals such as GNSS signals to the information processing device 2 (S1a).

[0029] The information processing device 2 calculates a positioning solution (standalone positioning solution) based on the positioning information received from the positioning terminal 1, and transmits the calculated positioning solution to the correction information distribution server 3 (S2a).

[0030] The correction information distribution server 3 acquires correction information of a reference station close to the positioning solution received from the information processing device 2, and transmits it to the information processing device 2 (S3a).

[0031] The information processing device 2 performs RTK calculation based on the correction information received from the correction information distribution server 3 and the positioning information received from the positioning terminal 1 (positioning information transmitted in S1a), and transmits the positioning solution of the positioning terminal 1 obtained by the RTK calculation to the positioning terminal 1 (S4a).

[0032] The positioning terminal 1 transmits the positioning information to the information processing device 2 (S1b).

[0033] The information processing device 2 performs RTK calculation based on the positioning information transmitted from the positioning terminal 1 in step S1b and the correction information transmitted from the correction information distribution server 3 in step S3a, and transmits the positioning solution of the positioning terminal 1 obtained by the RTK calculation to the correction information distribution server 3 (S2b).

[0034] The correction information distribution server 3 acquires correction information of the reference station close to the positioning solution received from the information processing device 2, and transmits it to the information processing device 2 (S3b).

[0035] The information processing device 2 performs RTK calculation based on the correction information received from the correction information distribution server 3 and the positioning information received from the positioning terminal 1 (positioning information transmitted in S1b), and transmits the positioning solution of the positioning terminal 1 obtained by the RTK calculation to the positioning terminal 1 (S4b).

[0036] If the positioning terminal 1 is in a state where it can communicate with the information processing device 2, the positioning terminal 1, the information processing device 2, and the correction information distribution server 3 repeat the processes of steps S1b to S4b.

[0037] When the positioning terminal 1 is unable to communicate with the information processing device 2 (see dotted frame A3b in Figure 3), it stores positioning information obtained from satellite signals such as GNSS signals in the memory unit (S5a, S5b).

[0038] When positioning information is no longer transmitted from the positioning terminal 1, the information processing device 2 requests correction information from the correction information distribution server 3 for correction information of the reference station that covers the area (described later) in which the positioning terminal 1 can move (S6a, S6b).

[0039] The information processing device 2 requests the correction information distribution server 3 for correction information at the same time (including approximately the same time) as the time when the positioning terminal 1 stores the positioning information in the storage unit. In other words, the information processing device 2 requests the correction information distribution server 3 for correction information at the same time (including approximately the same time) as the time when the positioning terminal 1 obtains the positioning information.

[0040] The correction information distribution server 3 transmits the correction information of the reference station requested by the information processing device 2 to the information processing device 2 (S7a, S7b).

[0041] The information processing device 2 stores the correction information transmitted from the correction information distribution server 3 in the storage unit (S8a, S8b).

[0042] 3 while the positioning terminal 1 is unable to communicate with the information processing device 2. That is, the positioning terminal 1 continues to store in the storage unit the positioning information that could not be transmitted to the information processing device 2. The information processing device 2 continues to request, from the correction information distribution server 3, correction information of the reference stations that cover an area (described later) in which the positioning terminal 1 can move, and stores the information in the storage unit.

[0043] When the positioning terminal 1 returns to a state where it can communicate with the information processing device 2 (see dotted frame A3c in Figure 3), the positioning terminal 1, the information processing device 2, and the correction information distribution server 3 perform processing similar to steps S1a to S4a, S1b to S4b (S9a to S12a, S9b to S12b).

[0044] Furthermore, when the positioning terminal 1 returns to a state in which it can communicate with the information processing device 2, the positioning terminal 1 transmits the positioning information that it has continued to store in its storage unit to the information processing device 2. The information processing device 2 performs RTK calculation based on the positioning information that the positioning terminal 1 has continued to store in its storage unit and the correction information that the information processing device 2 has continued to store in its storage unit, and obtains positioning solutions (past positioning solutions) from the time when the positioning terminal 1 was unable to communicate with the information processing device 2. At this time, the information processing device 2 obtains past positioning solutions using correction information from the same period as the positioning information. The information processing device 2 transmits the past positioning solutions obtained by RTK calculation to the positioning terminal 1.

[0045] In this way, the positioning terminal 1 stores the positioning information in the storage unit when it is unable to communicate with the information processing device 2. The information processing device 2 requests correction information of the reference station that covers the area in which the positioning terminal 1 can move from the correction information distribution server 3, and stores the information in the storage unit.

[0046] Then, when the positioning terminal 1 returns to a state in which it can communicate with the information processing device 2, the positioning terminal 1 transmits the positioning information stored in the storage unit to the information processing device 2. The information processing device 2 performs RTK calculation based on the positioning information that the positioning terminal 1 continues to store in the storage unit and the correction information that the information processing device 2 continues to store in the storage unit, and obtains a positioning solution for the period when the positioning terminal 1 was unable to communicate with the information processing device 2.

[0047] This allows the positioning terminal 1 to obtain positioning results even in mountainous areas or other areas outside the communication area of ​​the wireless network.

[0048] <Correction Information Area> In RTK positioning, to obtain positioning results with a predetermined accuracy, it is preferable that the distance between the positioning terminal and the reference station that generates the correction information be within a predetermined distance, such as within 10 km. In other words, when the positioning terminal is located within a predetermined distance (correction information area) centered on the reference station, it can obtain positioning results with a predetermined accuracy by using the correction information of the reference station that provides the correction information area.

[0049] However, when a positioning terminal moves through a wide range of non-communication areas, one reference station may not be able to cover the correction information area for the moving positioning terminal.

[0050] Fig. 4 is a diagram illustrating an example of a correction information area. Fig. 4 shows a map showing communication areas and non-communication areas of a wireless network. The hatched areas in Fig. 4 indicate communication areas. The unhatched areas indicate non-communication areas.

[0051] Figure 4 shows reference stations A4a and A4b and a road A4c. The dotted arc A4aa in Figure 4 indicates the correction information area of ​​reference station A4a. The dotted arc A4bb in Figure 4 indicates the correction information area of ​​reference station A4b. When the positioning terminal is located within the correction information area of ​​reference station A4a shown by arc A4aa, it can obtain positioning results with a predetermined accuracy using the correction information of reference station A4a. When the positioning terminal is located within the correction information area of ​​reference station A4b shown by arc A4bb, it can obtain positioning results with a predetermined accuracy using the correction information of reference station A4b.

[0052] The positioning terminal moves from point A4d on road A4c within the communication area along road A4c within the non-communication area to point A4f on road A4c within the communication area. During this movement of the positioning terminal, if the positioning terminal moves outside of arc A4aa, the positioning terminal cannot obtain positioning results with a predetermined accuracy using the correction information from reference station A4a. For example, at point A4e on road A4c outside the communication area of ​​reference station A4a, the positioning terminal cannot obtain positioning results with a predetermined accuracy using the correction information from reference station A4a.

[0053] That is, when a positioning terminal moves through a wide non-communication area, a single reference station A4a may not be able to cover the correction information area for the moving positioning terminal. Therefore, in order for the positioning terminal to obtain positioning results with a predetermined accuracy, multiple reference stations, such as reference stations A4a and A4b, may be required.

[0054] Therefore, as will be described in the following section "Request for correction information," when the positioning terminal 1 is unable to communicate with the information processing device 2, that is, when positioning information is no longer transmitted from the positioning terminal 1, the information processing device 2 selects a reference station that covers correction information in an area where the positioning terminal 1 can move. Then, the information processing device 2 requests the correction information distribution server 3 for the correction information of the selected reference station.

[0055] <Request for correction information> Fig. 5 is a diagram for explaining the selection of a reference station. Fig. 5 shows a map showing the communication area and non-communication area of ​​a wireless network. The hatched areas in Fig. 5 indicate communication areas. The non-hatched areas indicate non-communication areas.

[0056] Reference stations A5a to A5f and a road A5g are shown in Fig. 5. Dotted circles A5aa to A5ff shown in Fig. 5 indicate the correction information areas of the reference stations A5a to A5f, respectively.

[0057] 1. Identifying the movement route of the positioning terminal 1 When the positioning terminal 1 stops transmitting positioning information, the information processing device 2 calculates (identifies) a movement route that the positioning terminal 1 may move in the non-communication area based on the positioning solutions of the positioning terminal 1 before the positioning information was no longer transmitted from the positioning terminal 1.

[0058] For example, when positioning information is no longer transmitted from the positioning terminal 1, the information processing device 2 acquires the most recent positioning solution (position) of the positioning terminal 1. When the information processing device 2 determines from the most recent position of the positioning terminal 1 that the positioning terminal 1 is located on a road, it estimates (determines) that the positioning terminal 1 will move on that road, and identifies a route to a position (for example, a certain position within a communication area) from which positioning information can be transmitted from the positioning terminal 1.

[0059] More specifically, when positioning information is no longer transmitted from the positioning terminal 1, the information processing device 2 identifies the nearest position of the positioning terminal 1 (point A5h in FIG. 5 ). Based on the identified position of the positioning terminal 1, the information processing device 2 estimates that the positioning terminal 1 will move along road A5g in the non-communication area. Then, the information processing device 2 identifies the route from point A5h to point A5I where the positioning terminal 1 re-enters the communication area as the movement route of the positioning terminal 1 in the non-communication area.

[0060] 2. Selection of Reference Station When the information processing device 2 identifies the movement route of the positioning terminal 1 in the non-communication area, it selects a reference station that covers the identified movement route. For example, in the above example, the positioning terminal 1 moves from point A5h to point A5I on road A5g. This movement route is covered by correction information from reference stations A5a, A5b, and A5c (see circles A5cc, A5aa, and A5bb in FIG. 5). Therefore, the information processing device 2 selects reference stations A5a, A5b, and A5c as reference stations that cover the movement route of the positioning terminal 1.

[0061] 3. Request for correction information When the information processing device 2 selects a reference station that covers the movement route in the non-communication area of ​​the positioning terminal 1, it requests the correction information distribution server 3 to transmit correction information of the selected reference station. For example, in the above example, the information processing device 2 requests the correction information distribution server 3 to transmit correction information of reference stations A5a, A5b, and A5c.

[0062] The information processing device 2 requests correction information of the selected reference station from the correction information distribution server 3 until positioning information is transmitted again from the positioning terminal 1. That is, the information processing device 2 requests correction information of the reference station that covers the movement route information of the positioning terminal 1 from the correction information distribution server 3. Then, the information processing device 2 stores the correction information transmitted from the correction information distribution server 3 in a storage unit.

[0063] The above process reduces the number of reference stations (correction information) that the information processing device 2 requests from the correction information distribution server 3, and the information processing device 2 can reduce the storage capacity of the storage unit that stores the correction information. In addition, the usage fee for the correction information is reduced.

[0064] The information processing device 2 stores in a storage unit map information including road information, reference station location information including the positions of the reference stations and correction information areas covered by the reference stations, and communication area information indicating the communication areas and / or non-communication areas of the wireless network. The information processing device 2 identifies a movement route that the positioning terminal 1 can move through the non-communication area based on the position (positioning solution) of the positioning terminal 1, the map information, and the communication area information. The information processing device 2 selects a reference station that covers the movement route of the positioning terminal 1 based on the identified movement route and the reference station location information.

[0065] 6 is a diagram showing an example of a block configuration of the positioning terminal 1 and the information processing device 2. The positioning terminal 1 has a GNSS signal receiving unit 11, a positioning information storage unit 12, a communication unit 13, a positioning result storage unit 14, and a positioning result display unit 15.

[0066] The GNSS signal receiving unit 11 receives a GNSS signal from a GNSS satellite.

[0067] The positioning information storage unit 12 acquires and stores positioning information such as carrier phase information based on the GNSS signal received by the GNSS signal receiving unit 11. The positioning information may be obtained by demodulating the GNSS signal.

[0068] The communication unit 13 communicates with the information processing device 2 via a wireless network. The communication unit 13 transmits the positioning information stored in the positioning information storage unit 12 to the information processing device 2. The communication unit 13 also receives the positioning results (position solutions) transmitted from the information processing device 2.

[0069] The positioning result storage unit 14 stores the positioning result received from the information processing device 2 via the communication unit 13 .

[0070] The positioning result display unit 15 displays the positioning results stored in the positioning result storage unit 14 on a display (not shown).

[0071] The information processing device 2 has a communication unit 21, a positioning information storage unit 22, an RTK positioning calculation unit 23, a correction information storage unit 24, a positioning result storage unit 25, and a request unit 26.

[0072] The communication unit 21 communicates with the positioning terminal 1 via a wireless network. The communication unit 21 receives positioning information transmitted from the positioning terminal 1. The communication unit 21 also transmits the positioning results stored in the positioning result storage unit 25 to the positioning terminal 1.

[0073] The positioning information storage unit 22 stores the positioning information received from the positioning terminal 1 via the communication unit 13 .

[0074] The RTK positioning calculation unit 23 performs RTK calculation based on the positioning information stored in the positioning information storage unit 22 and the correction information stored in the correction information storage unit 24, and calculates the positioning result of the positioning terminal 1.

[0075] The correction information storage unit 24 stores the correction information transmitted from the correction information distribution server 3 .

[0076] The positioning result storage unit 25 stores the positioning result calculated by the RTK positioning calculation unit 23.

[0077] The request unit 26 requests correction information from the correction information distribution server 3 using the positioning result stored in the positioning result storage unit 25. Furthermore, when the positioning information is no longer transmitted from the positioning terminal 1, the request unit 26 identifies a possible movement route of the positioning terminal 1 using the positioning result (position) of the positioning terminal 1 before the positioning information was no longer transmitted from the positioning terminal 1, map information A6a, and communication area information A6b. The request unit 26 selects a reference station that covers the possible movement route of the positioning terminal 1 using the identified movement route of the positioning terminal 1 and reference station arrangement information A6c, and requests correction information of the selected reference station from the correction information distribution server 3.

[0078] <Operation Flow> Operation Flow of Positioning Terminal FIG. 7 is a flowchart showing an example of the operation of the positioning terminal 1. As shown in FIG.

[0079] The positioning terminal 1 receives a GNSS signal from a GNSS satellite (S1).

[0080] The positioning terminal 1 acquires positioning information from the GNSS signal and stores it in the storage unit (S2).

[0081] The positioning terminal 1 determines whether or not communication with the information processing device 2 is continuing (S3).

[0082] If the positioning terminal 1 is not continuing communication with the information processing device 2 (N in S3), the process proceeds to step S1. That is, while the positioning terminal 1 is not communicating with the information processing device 2, the positioning terminal 1 stores the positioning information in the storage unit.

[0083] On the other hand, if communication with the information processing device 2 continues (Y at S3), the positioning terminal 1 transmits the positioning information stored in the storage unit at step S2 to the information processing device 2 (S4).

[0084] The positioning terminal 1 receives the positioning result from the information processing device 2 (S5).

[0085] The positioning terminal 1 stores the positioning result received in step S5 in the storage unit (S6).

[0086] The positioning terminal 1 displays the positioning result stored in the storage unit in step S6 on the display (S7).

[0087] Operational Flow of Information Processing Device Figures 8A and 8B are flowcharts showing an example of the operation of the information processing device 2. In the flowcharts shown in Figures 8A and 8B, processing continues at circled points A and B.

[0088] The information processing device 2 receives the positioning information from the positioning terminal 1 (S11).

[0089] The information processing device 2 calculates a standalone solution based on the positioning information received in step S11 (S12).

[0090] The information processing device 2 stores the standalone solution calculated in step S12 in the storage unit (S13).

[0091] The information processing device 2 requests correction information from the correction information distribution server 3 using the coordinates of the standalone positioning solution calculated in step S12 (S14). That is, the information processing device 2 requests correction information of the reference station that covers the positioning terminal 1 from the correction information distribution server 3.

[0092] The information processing device 2 receives the correction information from the correction information distribution server 3 (S15).

[0093] The information processing device 2 performs RTK calculation based on the positioning information received in step S11 and the correction information received in step S15, and calculates a solution (S16).

[0094] The information processing device 2 stores the solutions calculated in step S16 in the storage unit (S17).

[0095] The information processing device 2 requests correction information from the correction information distribution server 3 using the coordinates of the positioning solution calculated in step S16 (S18). That is, the information processing device 2 requests correction information of the reference station that covers the positioning terminal 1 from the correction information distribution server 3.

[0096] The information processing device 2 determines whether or not communication with the positioning terminal 1 is continuing (S19). For example, the information processing device 2 determines whether or not communication with the positioning terminal 1 is continuing based on whether or not positioning information is being received from the positioning terminal 1.

[0097] When the information processing device 2 determines that communication with the positioning terminal 1 is continuing (Y in S19), the process proceeds to step S16.

[0098] On the other hand, if the information processing device 2 determines that communication with the positioning terminal 1 is not continuing (N in S19), it calculates a travel route that the positioning terminal 1 can take through the non-communication area based on the coordinates of the last (most recent) positioning solution, map information, and communication area information (S20).

[0099] The information processing device 2 selects a reference station that covers the movement route of the positioning terminal 1 calculated in step S20, and requests correction information from the correction information distribution server 3 using the coordinates of the selected reference station (S21). For example, the information processing device 2 selects a reference station that covers the movement route of the positioning terminal 1 using the movement route calculated in step S20 and the reference station arrangement information.

[0100] The information processing device 2 receives the correction information from the correction information distribution server 3 and stores it in the storage unit (S22).

[0101] The information processing device 2 determines whether or not communication with the positioning terminal 1 has been restored (S23).

[0102] If the information processing device 2 determines that communication with the positioning terminal 1 has not been restored (N in S23), the process proceeds to step S21.

[0103] On the other hand, if the information processing device 2 determines that communication with the positioning terminal 1 has been restored (Y in S23), the process proceeds to step S16.

[0104] When communication with the positioning terminal 1 is restored, the positioning information stored in the storage unit while the positioning terminal 1 was unable to communicate with the information processing device 2 is transmitted from the positioning terminal 1. The information processing device 2 calculates a positioning solution for the period while the positioning terminal 1 and the information processing device 2 were unable to communicate, using the positioning information stored in the storage unit of the positioning terminal 1 and the correction information stored in the storage unit of the information processing device 2.

[0105] Summary of the embodiment The information processing device 2 locates the position of the positioning terminal 1 based on positioning information transmitted from the positioning terminal 1 and based on satellite signals, and correction information of a reference station that covers the positioning terminal 1 and is transmitted from the correction information distribution server 3. The information processing device 2 stores correction information for a period when positioning information is not transmitted from the positioning terminal 1. The information processing device 2 receives, from the positioning terminal 1, positioning information that was stored for a period when the positioning terminal 1 was unable to communicate with the information processing device 2. The information processing device 2 locates the position of the positioning terminal 1 for a period when the positioning terminal 1 was unable to communicate with the information processing device 2, based on the received positioning information and the stored correction information.

[0106] By this operation, even if the positioning terminal 1 moves into a non-communication area of ​​the wireless network, the position of the positioning terminal can be determined.

[0107] <Modification 1> The reference station may be a virtual reference station (VRS). In this case, the information processing device 2 determines the coordinates of the VRS so as to cover the movement route of the positioning terminal 1, and requests correction information of the determined VRS from the correction information distribution server 3.

[0108] <Modification 2> In the above, the information processing device 2 performs the RTK calculation, but this is not limited to this. The positioning terminal 1 may also perform the RTK calculation. In this case, the positioning terminal 1 transmits the positioning result calculated by the RTK calculation to the information processing device 2. The information processing device 2 acquires correction information from the correction information distribution server 3 based on the positioning result received from the positioning terminal 1, and transmits the acquired correction information to the positioning terminal 1. The positioning terminal 1 performs RTK calculation based on the positioning information of the positioning terminal 1 and the correction information received from the information processing device 2, and determines the position of the positioning terminal 1.

[0109] Furthermore, when the positioning results are no longer transmitted from the positioning terminal 1, the information processing device 2 stores correction information for the travel route that the positioning terminal 1 may travel, using a method similar to that described in the above embodiment. When the positioning results begin to be transmitted from the positioning terminal 1, the information processing device 2 transmits the stored correction information to the positioning terminal 1. The positioning terminal 1 performs RTK calculation based on the positioning information stored in the positioning terminal 1 and the correction information stored in the information processing device 2, and calculates past positioning solutions during the period when the positioning results could not be transmitted to the information processing device 2.

[0110] Although the embodiments have been described above with reference to the drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims. It is understood that such modifications or alterations also fall within the technical scope of the present disclosure. Furthermore, the components in the embodiments may be combined in any manner without departing from the spirit of the present disclosure.

[0111] In the above-described embodiments, the notation "... part" used for each component may be replaced with other notations such as "... circuit," "... assembly," "... device," "... unit," or "... module."

[0112] The present disclosure can be realized by software, hardware, or software in conjunction with hardware. Each functional block used in the description of the above embodiments may be partially or entirely realized as an LSI, which is an integrated circuit, and each process described in the above embodiments may be partially or entirely controlled by a single LSI or a combination of LSIs. The LSI may be composed of individual chips, or may be composed of a single chip that includes some or all of the functional blocks. The LSI may have data input and output. Depending on the degree of integration, the LSI may also be called an IC, system LSI, super LSI, or ultra LSI.

[0113] The integrated circuit method is not limited to LSI, and may be realized by a dedicated circuit, a general-purpose processor, or a dedicated processor. Also, a field programmable gate array (FPGA) that can be programmed after LSI manufacturing, or a reconfigurable processor that can reconfigure the connections and settings of circuit cells within the LSI, may be used. The present disclosure may be realized as digital processing or analog processing.

[0114] Furthermore, if an integrated circuit technology that can replace LSI emerges due to advances in semiconductor technology or other derivative technologies, it is natural that such technology may be used to integrate functional blocks. The application of biotechnology, etc. is also a possibility.

[0115] The present disclosure is suitable for a technology for performing positioning using radio waves transmitted by satellites.

[0116] 1, A1a Positioning terminal 11 GNSS signal receiving unit 12 Positioning information storage unit 13 Communication unit 14 Positioning result storage unit 15 Positioning result display unit 2 Information processing device 21 Communication unit 22 Positioning information storage unit 23 RTK positioning calculation unit 24 Correction information storage unit 25 Positioning result storage unit 26 Request unit 3 Correction information distribution server A4a, A4b, A5a to A5f Reference station A4aa, A4bb, A5aa to A5ff Correction information area A6a Map information A6b Communication area information A6c Reference station layout information

Claims

1. An information processing device that determines the position of a positioning terminal based on positioning information transmitted from the positioning terminal and based on satellite signals, and correction information of a reference station that covers the positioning terminal and transmitted from a correction information distribution device, the information processing device having: a memory unit that stores the correction information while the positioning information is not transmitted from the positioning terminal; a receiving unit that receives from the positioning terminal the positioning information that was stored while the positioning terminal was unable to communicate with the information processing device; and a positioning unit that determines the position of the positioning terminal while the positioning terminal was unable to communicate with the information processing device, based on the received positioning information and the stored correction information.

2. The information processing device according to claim 1, further comprising a request unit that requests correction information from the correction information distribution device for a reference station that covers a possible movement route of the positioning terminal when the positioning information is no longer transmitted from the positioning terminal.

3. The information processing device according to claim 2, wherein the request unit identifies a possible route of travel of the positioning terminal based on the position of the positioning terminal before the positioning information was no longer transmitted from the positioning terminal, map information, and communication area information indicating the wireless communication area of ​​the positioning terminal.

4. The information processing device according to claim 2, wherein the request unit selects a reference station for which correction information is to be requested based on the movement route and reference station location information including information indicating the position of the reference station and the correction information area.

5. The information processing device according to claim 2, wherein the request unit requests correction information from the correction information distribution device for correction information at the same time as the time when the positioning information is stored while the positioning terminal is unable to communicate with the information processing device.

6. A positioning method for an information processing device that determines the position of a positioning terminal based on positioning information transmitted from the positioning terminal and based on satellite signals, and correction information of a reference station that covers the positioning terminal and transmitted from a correction information distribution device, the method comprising: storing the correction information for a period when the positioning information is not transmitted from the positioning terminal; receiving from the positioning terminal the positioning information that was stored for a period when the positioning terminal was unable to communicate with the information processing device; and determining the position of the positioning terminal for a period when the positioning terminal was unable to communicate with the information processing device, based on the received positioning information and the stored correction information.

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