Positioning device and positioning method

Abstract

A positioning device disclosed herein comprises: a first calculation unit that executes a first positioning calculation using a signal from a first satellite and outputs a first positioning result; a second calculation unit that executes a second positioning calculation using a signal from a second satellite and outputs a second positioning result; and an output unit that outputs a weighted average of the first positioning result and the second positioning result as a positioning result. The output unit determines the weight of the weighted average on the basis of the quality of the first positioning result and the quality of the second positioning result.

Description

Positioning device and positioning method

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

[0002] Patent Document 1 proposes a positioning method that selectively outputs a positioning result based on RTK (Real Time Kinematic) positioning or a positioning result based on CLAS (Centimeter Level Augmentation Service) positioning. The positioning method of Patent Document 1 outputs the RTK positioning result when the positioning device is located within a mobile phone line, and outputs the CLAS positioning result when the positioning device is located outside the mobile phone line.

[0003] Japanese Patent Application Laid-Open No. 2022-168511

[0004] For example, a difference (offset amount) may occur between the RTK positioning result and the CLAS positioning result due to a difference in positioning accuracy between the RTK positioning and the CLAS positioning or a difference between the current coordinate and the epoch coordinate. In Patent Document 1, since one of the RTK positioning result and the CLAS positioning result is simply switched and output, when the output of the RTK positioning result and the CLAS positioning result is switched, the positioning result may differ greatly before and after the output is switched.

[0005] Non-limiting embodiments of the present disclosure contribute to providing a positioning device and a positioning method that can output positioning results that change smoothly.

[0006] A positioning device according to one embodiment of the present disclosure includes a first calculation unit that performs a first positioning calculation using a signal from a first satellite and outputs the first positioning result, a second calculation unit that performs a second positioning calculation using a signal from a second satellite and outputs the second positioning result, and an output unit that outputs a weighted average of the first positioning result and the second positioning result as the positioning result, and the output unit determines a weight for the weighted average based on the quality of the first positioning result and the quality of the second positioning result.

[0007] A positioning method according to one embodiment of the present disclosure performs a first positioning calculation using a signal from a first satellite, outputs the first positioning result, performs a second positioning calculation using a signal from a second satellite, outputs the second positioning result, and outputs a weighted average of the first positioning result and the second positioning result as the positioning result, and determines a weight for the weighted average based on the quality of the first positioning result and the quality of the second positioning result.

[0008] 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.

[0009] According to an embodiment of the present disclosure, the positioning result can be output so as to change smoothly.

[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 positioning device according to the present disclosure. FIG. 1 illustrates CLAS positioning. FIG. 2 illustrates an example of an RTK positioning result and a CLAS positioning result when a stationary antenna is used. FIG. 3 illustrates an example of output of a positioning result by weighted averaging. FIG. 4 illustrates asymptotic processing. FIG. 5 illustrates offset processing. FIG. 6 shows an example of the block configuration of a positioning device. Flowchart showing an example of operation of a positioning device. Flowchart showing an example of operation of a positioning device in the CLAS positioning calculation of FIG. 8. Flowchart showing an example of operation of a positioning device in the RTK positioning calculation of FIG. 8. Flowchart showing an example of operation of a positioning device in the offset processing of FIG. 8. Flowchart showing an example of operation of a positioning device in the weighted average processing of FIG. 8. Flowchart showing an example of operation of a positioning device in the asymptotic processing of FIG. 8.

[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] <Positioning System> Fig. 1 is a diagram showing an example configuration of a positioning system using a positioning device 1 according to the present disclosure. As shown in Fig. 1, the positioning system includes the positioning device 1, a correction information server 2, satellites 3a, 3b, and 3c, and satellites 4a, 4b, and 4c.

[0015] The positioning device 1 is a mobile terminal such as a smartphone, tablet, or laptop computer. The positioning device 1 is carried by a surveyor who conducts surveys of the position or shape of land at civil engineering or construction sites, for example. The positioning device 1 performs two types of positioning: RTK positioning and CLAS positioning.

[0016] The correction information server 2 provides correction information (correction signals) for correcting the positioning results of RTK positioning, such as carrier phase information, to the positioning device 1. The correction information is provided to the positioning device 1 via a wireless network, such as 5G, 4G, or WiFi (registered trademark).

[0017] The satellites 3a, 3b, and 3c are, for example, satellites of the Global Navigation Satellite System (GNSS). Hereinafter, when there is no need to distinguish between the satellites 3a, 3b, and 3c, they may be simply referred to as satellites 3. There may be four or more satellites 3.

[0018] The satellites 4a, 4b, and 4c are, for example, satellites of the QZSS (Quasi-Zenith Satellite System). Hereinafter, when there is no need to distinguish between the satellites 4a, 4b, and 4c, they may be simply referred to as satellites 4. There may be four or more satellites 4.

[0019] QZSS is also known as "Michibiki" (registered trademark). "Michibiki" is a Japanese satellite positioning system. CLAS (CLAS Positioning) is a location information provision system that uses "Michibiki."

[0020] (1) RTK Positioning The positioning device 1 receives satellite signals such as GNSS signals from satellites 3. Based on the received satellite signals, the positioning device 1 obtains positioning information used for positioning the positioning device 1, such as carrier phase information.

[0021] The positioning device 1 receives correction information from the correction information server 2 via a wireless network such as 5G, 4G, or WiFi. The positioning device 1 corrects the positioning information (RTK calculation) using the received correction information, and obtains RTK positioning results such as the latitude, longitude, and altitude of the positioning device 1.

[0022] More specifically, the positioning device 1 transmits the positioning result (a standalone positioning solution if correction information has not been acquired, or an RTK positioning solution if correction information has already been acquired and RTK positioning is being performed) to the correction information server 2. The correction information server 2 selects a reference station (e.g., an electronic reference point deployed nationwide or a reference station established by a user, not shown in FIG. 1 ) that is close to the positioning result received from the positioning device 1, and transmits correction information such as the reference station coordinates and carrier phase information of the selected reference station to the positioning device 1. The correction information may be distributed based on a VRS (Virtual Reference Station) method.

[0023] Examples of RTK positioning results obtained by the positioning device 1 include a FIX solution (precise solution), a DR (Dead Reckoning) solution, a Float solution, and a standalone positioning solution (code positioning solution). In a DR solution, in an environment where a FIX solution cannot be obtained, the positioning result of the positioning device 1 is obtained using the last FIX solution obtained and sensor information obtained from an acceleration sensor and a gyro sensor. Therefore, the accuracy of the DR solution usually decreases over time. Environments where a FIX solution cannot be obtained include, for example, an environment where satellite signals cannot be received or an environment where correction information cannot be received.

[0024] (2) CLAS Positioning CLAS positioning is essentially the same as RTK positioning. In RTK positioning, correction information is provided via a wireless network such as 5G, 4G, or WiFi, but in CLAS positioning, information for correcting the positioning results, called augmentation information (correction signal), is provided from satellite 4 using satellite signals in the L6 signal band.

[0025] 2 is a diagram for explaining CLAS positioning. In FIG. 2, the same components as in FIG. 1 are denoted by the same reference numerals.

[0026] The control station 5 collects positional data from the GNSS CORSs 6. The control station 5 creates augmentation information based on the collected data from the GNSS CORSs 6 and transmits it to the satellite 4. The satellite 4 transmits a satellite signal in the L6 signal band including the augmentation information to the positioning device 1.

[0027] Based on the received satellite signals, the positioning device 1 obtains positioning information, such as carrier phase information, used for positioning by the positioning device 1. The positioning device 1 also obtains augmentation information from the received satellite signals. The positioning device 1 corrects the positioning information (CLAS calculation) using the augmentation information to obtain CLAS positioning results, such as the latitude, longitude, and altitude of the positioning device 1.

[0028] The augmentation information for CLAS positioning may be distributed via a network. For example, an L6 receiver that receives the QZSS L6 signal band is installed at a predetermined location. The L6 receiver distributes the augmentation information for the received L6 signal band via the network.

[0029] (3) Characteristics of CLAS Positioning As mentioned above, CLAS positioning obtains augmentation information from satellite signals. Therefore, compared to RTK positioning, CLAS positioning has the advantage of being able to obtain augmentation information even outside the communication area of ​​a wireless network.

[0030] On the other hand, CLAS positioning is roughly equivalent to RTK positioning using a distant reference station, and therefore has the disadvantage that the influence of ionospheric delays cannot be ignored in CLAS positioning compared to RTK positioning using a nearby reference station, resulting in lower accuracy of the positioning results.

[0031] 3 is a diagram illustrating an example of RTK positioning results and CLAS positioning results when a stationary antenna is used. The RTK positioning results have small drift as indicated by arrow A3a. On the other hand, the CLAS positioning results may have large drift as indicated by arrow A3b.

[0032] In addition, CLAS positioning results may differ from RTK positioning results. As mentioned above, CLAS positioning is less accurate than RTK positioning. Therefore, CLAS positioning results may contain an offset component (error) compared to RTK positioning results (highly accurate positioning results).

[0033] The fix rate for CLAS positioning is lower than that for RTK positioning, but some positioning results may not be fixed with RTK positioning but may be fixed with CLAS positioning.

[0034] From the above, the characteristics of CLAS positioning can be summarized as follows: ・Positioning is possible even outside the communication area of ​​a wireless network ・Positioning accuracy is lower than that of RTK positioning ・CLAS positioning may fix the positioning solution even when it is not fixed with RTK positioning

[0035] The positioning result, the positioning solution, and the solution may be interpreted interchangeably.

[0036] <Considerations> RTK positioning has higher positioning accuracy than CLAS positioning, but correction information cannot be obtained outside the communication area of ​​a wireless network. In Patent Document 1, when a positioning device is located within the communication area of ​​a wireless network, it outputs an RTK positioning result, and when it is located outside the communication area of ​​a mobile phone line, it outputs a CLAS positioning result. However, when the output of the positioning result is switched, the positioning result may become discontinuous.

[0037] In addition, due to the difference between the current coordinates and the epoch coordinates, an offset may occur in the positioning results between RTK positioning and CLAS positioning, which may cause the positioning results to become discontinuous when the positioning result output is switched.

[0038] Note that current coordinates are the coordinates at the time of positioning. Epoch coordinates are the coordinates that are obtained by adjusting the positioning results to the coordinate system of the Geodetic Results 2011, and are the coordinates that would have been obtained if the measurement had been carried out in 2011, for example. Differences between current coordinates and epoch coordinates can occur, for example, due to crustal movement. CLAS positioning is determined using current coordinates. On the other hand, RTK positioning is generally determined using epoch coordinates, although this depends on which correction information is used.

[0039] The positioning device 1 of the present disclosure outputs a weighted average of the RTK positioning result and the CLAS positioning result as the positioning result, thereby obtaining a smoothly changing positioning result.

[0040] <Types of Solution Quality> (1) RTK Positioning The quality (accuracy) of a solution in RTK positioning can be divided into, for example, a FIX solution, a DR solution, and a solution other than the FIX solution and the DR solution.

[0041] As explained in "(1) RTK Positioning" above, the quality of the DR solution deteriorates over time. Therefore, the quality of the DR solution is further divided according to the passage of time. For example, the quality of the DR solution is divided into the quality within the elapsed-time from the final fix solution and the quality after the elapsed-time from the final fix solution.

[0042] To summarize the above, the quality of solutions in RTK positioning can be categorized into the following solutions, for example: 1. FIX solution 2a. DR solution (DR solution for which a predetermined time (elapsed-time) has not passed since the last FIX) 2b. DR solution (DR solution for which a predetermined time has passed since the last FIX) 3. Solutions other than FIX and DR solutions

[0043] The quality of the solution in RTK positioning is best in the order of 1, 2a, 2b, and 3. Also, although the DR solutions are divided into two qualities based on one elapsed time, they may be divided into multiple qualities based on multiple elapsed times.

[0044] In this specification, for simplicity of explanation, the quality of a solution in RTK positioning is divided into, for example, a FIX solution, a DR solution, and a solution other than the FIX solution and the DR solution, but is not limited to this. The quality of a solution in RTK positioning may also be divided into a FIX solution, a DR solution, a Float solution, and an independent positioning solution. For example, the quality of the solution may be "FIX solution > DR solution > Float solution = independent positioning solution," "FIX solution > DR solution > Float solution > independent positioning solution," or "FIX solution > DR solution > independent positioning solution > Float solution."

[0045] (2) CLAS Positioning The quality of the solution in CLAS positioning can be categorized into the following solutions, for example: 1. FIX solution 2. Solutions other than FIX solution

[0046] The quality of the solution in CLAS positioning is best in the order of 1, 2.

[0047] In this specification, for simplicity of explanation, the quality of a solution in CLAS positioning is divided into, for example, a fixed solution and a solution other than a fixed solution, but is not limited to this. The quality of a solution in CLAS positioning may also be divided into a fixed solution, a float solution, and a standalone positioning solution. For example, the solution quality may be "fixed solution > float solution = standalone positioning solution," "fixed solution > float solution > standalone positioning solution," or "fixed solution > standalone positioning solution > float solution."

[0048] <Operation of the Positioning Device> (1) Weighted Average Processing The positioning device 1 outputs a weighted average of the RTK positioning result and the CLAS positioning result as the positioning result. The positioning device 1 changes the weight (ratio) of the weighted average based on the quality of the RTK positioning result and the quality of the CLAS positioning result.

[0049] Fig. 4 is a diagram illustrating an example of output of a positioning result based on a weighted average. The "RTK positioning result" in Fig. 4 indicates the type of solution quality in RTK positioning (see the explanation of "(1) RTK positioning" above). The "CLAS positioning result" in Fig. 4 indicates the type of solution quality in CLAS positioning (see the explanation of "(2) CLAS positioning" above). The "Result output" and "Setting example" in Fig. 4 indicate the weight of the positioning result (positioning result based on a weighted average of the RTK positioning result and the CLAS positioning result) output by the positioning device 1.

[0050] The positioning device 1 outputs the internal division point between the RTK positioning solution and the CLAS positioning solution as the positioning result. The positioning device 1 changes the weight of the calculated internal division point (positioning result) based on the quality of the RTK positioning solution and the quality of the CLAS positioning solution.

[0051] For example, if the positioning solution of RTK positioning is a fixed solution and the positioning solution of CLAS positioning is a fixed solution, the fixed solution of RTK positioning is more accurate than the fixed solution of CLAS positioning. Therefore, when a fixed solution is obtained in RTK positioning and a fixed solution is obtained in CLAS positioning, the positioning device 1 sets the ratio of the internal division points between the fixed solution of RTK positioning and the fixed solution of CLAS positioning to "1:0.01" as shown in row No. 1 in Figure 4, and outputs the positioning result.

[0052] For example, if the RTK positioning solution is a fixed solution and the CLAS positioning solution is other than the fixed solution, the fixed solution of the RTK positioning is more accurate than the fixed solution of the CLAS positioning. Therefore, when a fixed solution is obtained in the RTK positioning and a solution other than the fixed solution is obtained in the CLAS positioning, the positioning device 1 sets the ratio of the internal division points between the fixed solution of the RTK positioning and the solution other than the fixed solution of the CLAS positioning to "1:0" as shown in row No. 2 of FIG. 4, and outputs the positioning result. Note that the CLAS positioning solution (solution other than the fixed solution) in No. 2 is of lower quality than the CLAS positioning solution (fixed solution) in No. 1. Therefore, the ratio (0) of the CLAS positioning in No. 2 is set lower than the ratio (0.01) of the CLAS positioning in No. 1.

[0053] For example, if the positioning solution of RTK positioning is a DR solution (a DR solution within the elapsed time from the final FIX solution) and the positioning solution of CLAS positioning is a FIX solution, the DR solution of RTK positioning is more accurate than the FIX solution of CLAS positioning. Therefore, when a DR solution (a DR solution within the elapsed time from the final FIX solution) is obtained in RTK positioning and a FIX solution is obtained in CLAS positioning, the positioning device 1 sets the ratio of the internal division points between the DR solution of RTK positioning and the FIX solution of CLAS positioning to "1:0.01" as shown in row No. 3 of Figure 4, and outputs the positioning result. The elapsed time is set so that the DR solution within the elapsed time from the final FIX solution has higher accuracy than the FIX solution of CLAS positioning.

[0054] For example, if the positioning solution of RTK positioning is a DR solution (a DR solution within the elapsed time from the final FIX solution) and the positioning solution of CLAS positioning is other than a FIX solution, the DR solution of RTK positioning is more accurate than a solution other than the FIX solution of CLAS positioning. Therefore, when a DR solution (a DR solution within the elapsed time from the final FIX solution) is obtained in RTK positioning and a solution other than the FIX solution is obtained in CLAS positioning, the positioning device 1 sets the ratio of the internal division points between the DR solution of RTK positioning and the FIX solution of CLAS positioning to "1:0" as shown in row No. 4 of Figure 4, and outputs the positioning result.

[0055] For example, if the positioning solution of RTK positioning is a DR solution (a DR solution obtained after elapsed-time has elapsed since the final FIX solution) and the positioning solution of CLAS positioning is a FIX solution, the DR solution of RTK positioning is less accurate than the FIX solution of CLAS positioning. Therefore, when a DR solution (a DR solution obtained after elapsed-time has elapsed since the final FIX solution) is obtained in RTK positioning and a FIX solution is obtained in CLAS positioning, the positioning device 1 sets the ratio of the internal division points between the DR solution of RTK positioning and the FIX solution of CLAS positioning to "1:10" as shown in row No. 5 of FIG. 4 and outputs the positioning result. As described above, the elapsed-time is set so that the DR solution within the elapsed-time from the final FIX solution has higher accuracy than the FIX solution of CLAS positioning (in other words, the elapsed-time is set so that the FIX solution of CLAS positioning has higher accuracy than the DR solution obtained after elapsed-time has elapsed since the final FIX solution).

[0056] For example, if the positioning solution of RTK positioning is a DR solution (DR solution after elapsed-time has elapsed from the final FIX solution) and the positioning solution of CLAS positioning is a solution other than the FIX solution, the DR solution of RTK positioning and the solution other than the FIX solution of CLAS positioning can be considered to have equivalent accuracy. Therefore, when a DR solution (DR solution after elapsed-time has elapsed from the final FIX solution) is obtained in RTK positioning and a solution other than the FIX solution is obtained in CLAS positioning, the positioning device 1 sets the ratio of the internal division points between the DR solution of RTK positioning and the solution other than the FIX solution of CLAS positioning to "1:1", as shown in row No. 6 of Figure 4, and outputs the positioning result.

[0057] For example, if the RTK positioning solution is a solution other than a FIX solution or a DR solution and the CLAS positioning solution is a FIX solution, the RTK positioning solution other than the FIX solution and the DR solution has a lower accuracy than the FIX solution of the CLAS positioning. Therefore, when a solution other than a FIX solution or a DR solution is obtained in the RTK positioning and a FIX solution is obtained in the CLAS positioning, the positioning device 1 sets the ratio of the internal division points between the RTK positioning solution other than the FIX solution and the DR solution and the FIX solution of the CLAS positioning to "1:10" as shown in row No. 7 of Figure 4, and outputs the positioning result.

[0058] For example, if the positioning solution of RTK positioning is a solution other than a FIX solution and a DR solution, and the positioning solution of CLAS positioning is a solution other than a FIX solution, it can be considered that the solution other than the FIX solution and the DR solution of RTK positioning is higher than the solution other than the FIX solution of CLAS positioning. Therefore, when a solution other than the FIX solution and the DR solution is obtained in RTK positioning and a solution other than the FIX solution is obtained in CLAS positioning, the positioning device 1 sets the ratio of the internal division points between the solution other than the FIX solution and the DR solution of RTK positioning and the solution other than the FIX solution of CLAS positioning to "1:0" as shown in row No. 8 of Figure 4, and outputs the positioning result.

[0059] As described above, the positioning device 1 sets weights so that the positioning solution with higher quality is preferentially output between the RTK positioning and the CLAS positioning, and outputs the positioning result. Setting may also be interpreted as selecting or deciding.

[0060] (2) Asymptotic Processing When the weights of the positioning results of RTK positioning and CLAS positioning are changed, the positioning device 1 performs asymptotic processing of the positioning results. In other words, when the quality of the positioning solutions in RTK positioning changes and the weights are changed, or when the quality of the positioning solutions in CLAS positioning changes and the weights are changed, the positioning device 1 performs asymptotic processing of the positioning results.

[0061] Figure 5 is a diagram illustrating the asymptotic process. Figure 5 shows positioning results A5a, A5b, and A5c at a certain ratio (output mode 1) between the positioning results of RTK positioning and the positioning results of CLAS positioning. Figure 5 also shows positioning results A5d, A5e, and A5f when switching from a certain ratio (output mode 1) to another ratio (output mode 2). The output modes correspond, for example, to the numbers shown in Figure 4.

[0062] When the output mode is switched, the positioning device 1 performs asymptotic processing of the output results. For example, as shown in positioning results A5g, A5h, and A5i, the positioning device 1 performs asymptotic processing so that the positioning results gradually approach the positioning results A5d, A5e, and A5f of output mode 2 after the output mode is switched. Specifically, the positioning device 1 calculates an interior division point between the positioning result A5c before the output mode is switched and the positioning results A5d, A5e, and A5f after the output mode is switched. At this time, the positioning device 1 calculates the positioning results A5g, A5h, and A5i so that the weights of the positioning results A5d, A5e, and A5f gradually increase.

[0063] (3) Offset Processing The positioning device 1 executes processing (offset processing) to bring the positioning result of the CLAS positioning closer to the positioning result of the RTK positioning.

[0064] 6 is a diagram illustrating offset processing. Fig. 6 shows the RTK positioning result (fixed solution) for a certain number of epochs (M) and the CLAS positioning result (fixed solution) for a certain number of epochs (M). The number of epochs can be considered as the number of times the positioning result is obtained.

[0065] The positioning device 1 calculates the difference between the RTK positioning result and the CLAS positioning result in the most recent M epochs when both the RTK positioning result and the CLAS positioning result are FIX solutions. The positioning device 1 calculates the average of the calculated differences and sets the calculated result as the offset amount.

[0066] For example, the positioning device 1 calculates the difference between the RTK positioning result (FIX solution) of M epochs shown by arrow A6a in Fig. 6 and the CLAS positioning result (FIX solution) of M epochs shown by arrow A6b in Fig. 6. The positioning device 1 calculates the average of the calculated differences as the offset amount, as shown by arrow A6c in Fig. 6.

[0067] The positioning device 1 adjusts the CLAS positioning result using the calculated offset amount. For example, the positioning device 1 adds the offset amount to the latest CLAS positioning result to obtain the positioning result of CLAS positioning (adjusted CLAS positioning result). The positioning device 1 performs the weighted averaging process described above using the adjusted CLAS positioning result and the RTK positioning result.

[0068] When the RTK positioning result and the CLAS positioning result are obtained, the positioning device 1 executes offset processing (updates the offset amount). If either the RTK positioning result or the CLAS positioning result is not a fixed solution, the positioning device 1 adjusts the CLAS positioning result using the offset amount with which the fixed solution was last obtained.

[0069] <Block Configuration of Positioning Device> Fig. 7 is a diagram showing an example of a block configuration of the positioning device 1. As shown in Fig. 7 , the positioning device 1 includes a positioning signal receiving unit 11, a reinforcing information signal receiving unit 12, an RTK positioning calculation unit 13, a CLAS positioning calculation unit 14, a correction information acquisition unit 15, a positioning result integration output unit 16, a ratio information storage unit 17, a positioning result display unit 18, and a positioning result storage unit 19.

[0070] The positioning signal receiving unit 11 receives satellite signals such as GNSS signals from satellites such as GNSS satellites 3. The positioning signal receiving unit 11 acquires carrier phase information in RTK positioning from the received satellite signals and outputs the carrier phase information to the RTK positioning calculation unit 13.

[0071] The positioning signal receiving unit 11 receives a CLAS signal from a satellite 4 such as a QZSS satellite. The positioning signal receiving unit 11 acquires carrier phase information for CLAS positioning from the received satellite signal and outputs it to the CLAS positioning calculation unit 14.

[0072] The augmentation signal receiver 12 receives an augmentation signal (satellite signal) in the L6 signal band that includes augmentation information. The augmentation signal receiver 12 acquires augmentation information for CLAS positioning from the received augmentation signal and outputs the augmentation information to the CLAS positioning calculator 14.

[0073] The RTK positioning calculation unit 13 performs RTK calculation based on the carrier phase information in RTK positioning output from the positioning signal receiving unit 11 and the correction information output from the correction information acquisition unit 15, and calculates the RTK positioning result. The RTK positioning calculation unit 13 outputs the calculated RTK positioning result to the positioning result integration output unit 16.

[0074] The CLAS positioning calculation unit 14 performs CLAS calculation based on the carrier phase information in CLAS positioning output from the positioning signal receiving unit 11 and the reinforcement information output from the reinforcement information signal receiving unit 12, and calculates a CLAS positioning result. The CLAS positioning calculation unit 14 outputs the calculated CLAS positioning result to the positioning result integration output unit 16.

[0075] The correction information acquisition unit 15 receives correction information from the correction information server 2 via a wireless network such as 5G, 4G, or WiFi. The correction information acquisition unit 15 outputs the received correction information to the RTK positioning calculation unit 13.

[0076] The positioning result integration output unit 16 outputs a weighted average of the RTK positioning result and the CLAS positioning result as the positioning result. The positioning device 1 determines the weighting of the RTK positioning result and the CLAS positioning result by referring to the ratio information storage unit 17 based on the quality of the RTK positioning result and the quality of the CLAS positioning result. The positioning result integration output unit 16 also performs asymptotic processing and offset processing.

[0077] Weighting information according to the quality of the RTK positioning result and the quality of the CLAS positioning result is stored in the ratio information storage unit 17. For example, the ratio information storage unit 17 stores the information shown in FIG.

[0078] The positioning result display unit 18 displays the positioning results output by the positioning result integration output unit 16 on a display device.

[0079] The positioning result storage unit 19 stores the positioning results output by the positioning result integration output unit 16 .

[0080] The functions of the RTK positioning calculation unit 13, the CLAS positioning calculation unit 14, the positioning result integration output unit 16, and the positioning result display unit 18 may be realized, for example, by a processor that executes an operating system (OS) program and application programs stored in a storage unit (not shown). The ratio information storage unit 17, the positioning result storage unit 19, and the storage unit that stores the aforementioned programs may be configured with storage devices such as a hard disk drive (HDD), a solid state drive (SDD), a read only memory (ROM), a random access memory (RAM), or a flash memory.

[0081] <Operation Flow of Positioning Device> (1) Overall Operation Flow Fig. 8 is a flowchart showing an example of the operation of the positioning device 1. The positioning device 1 repeatedly executes the process of the flowchart shown in Fig. 8 at a predetermined cycle.

[0082] The positioning device 1 receives positioning signals from GNSS satellites 3 and QZSS satellites 4, and acquires carrier phase information in RTK positioning and carrier phase information in CLAS positioning (S1).

[0083] The positioning device 1 receives augmentation information signals from the QZSS satellites 4 and acquires the augmentation information (S2).

[0084] The positioning device 1 executes the CLAS positioning calculation (S3).

[0085] The positioning device 1 executes the RTK positioning calculation (S4). The order of the process of S3 and the process of S4 may be reversed.

[0086] The positioning device 1 executes the offset process (S5).

[0087] The positioning device 1 executes a weighted average process (S6).

[0088] The positioning device 1 executes the asymptotic process (S7).

[0089] (2) Operation Flow of CLAS Positioning Calculation FIG. 9 is a flowchart showing an example of the operation of the positioning device 1 in the CLAS positioning calculation (S3) of FIG.

[0090] The positioning device 1 calculates a CLAS positioning result based on the carrier phase information in the CLAS acquired in S1 of Fig. 8 and the augmentation information acquired in S2 of Fig. 8 (S11). That is, the positioning device 1 calculates positioning results such as latitude, longitude, and altitude based on the CLAS calculation of the positioning device 1.

[0091] (3) Operation Flow of RTK Positioning Calculation FIG. 10 is a flowchart showing an example of the operation of the positioning device 1 in the RTK positioning calculation (S4) of FIG.

[0092] The positioning device 1 receives correction information from the correction information server 2 via the wireless network (S21).

[0093] The positioning device 1 calculates the RTK positioning result based on the RTK carrier phase information acquired in S1 of Fig. 8 and the correction information acquired from the correction information server 2 in S21 (S22). That is, the positioning device 1 calculates the positioning result such as latitude, longitude, and altitude based on the RTK calculation of the positioning device 1.

[0094] (4) Operation Flow of Offset Processing FIG. 11 is a flowchart showing an example of the operation of the positioning device 1 in the offset processing (S5) of FIG.

[0095] The positioning device 1 checks whether the positioning quality of both the RTK positioning result and the CLAS positioning result is a FIX solution for M consecutive epochs (S31).

[0096] The positioning device 1 determines whether or not the solution is a FIX solution for M consecutive epochs (S32).

[0097] If the positioning device 1 determines that the solution is fixed for M consecutive epochs (Yes in S32), it calculates the difference between the RTK positioning results and the CLAS positioning results for the past M epochs, and calculates the average of the calculated differences (offset amount) (S33).

[0098] The positioning device 1 adjusts the CLAS positioning result calculated in S3 of Fig. 8 by the offset amount calculated in S33 (S34). For example, the positioning device 1 adds the offset amount calculated in S33 to the CLAS positioning result calculated in S3 of Fig. 8.

[0099] If the positioning device 1 determines in S32 that the fix solution has not been obtained for M consecutive epochs (No in S32), it adjusts the CLAS positioning result calculated in S3 by the offset amount when the fix solution was last obtained (S35).

[0100] (5) Operation Flow of Weighted Averaging Process FIG. 12 is a flowchart showing an example of the operation of the positioning device 1 in the weighted averaging process (S6) of FIG.

[0101] The positioning device 1 acquires the positioning quality of the RTK positioning result acquired in S4 of Figure 8 and the CLAS positioning result (adjusted CLAS positioning result) in which the offset amount has been adjusted in the offset processing of S5 of Figure 8 (S41).

[0102] The positioning device 1 determines the output mode based on the positioning quality acquired in S41 (S42). For example, the positioning device 1 acquires the output mode (e.g., No. in FIG. 4) by referring to the information shown in FIG. 4 based on the quality of the RTK positioning result and the quality of the CLAS positioning result acquired in S41.

[0103] The positioning device 1 performs weighted averaging of the RTK positioning result and the CLAS positioning result according to the ratio in the output mode acquired in S42 (for example, the output result and setting example in Figure 4) (S43).

[0104] (6) Operation Flow of Asymptotic Processing FIG. 13 is a flowchart showing an example of the operation of the positioning device 1 in the asymptotic processing (S7) of FIG.

[0105] The positioning device 1 determines whether or not the output mode has been changed in the weighted average process in S6 of Fig. 8 (S51). In other words, the positioning device 1 determines whether or not the quality of the RTK positioning result acquired in S4 of Fig. 8 or the quality of the CLAS positioning result after adjusting the offset amount in the offset process in S5 of Fig. 8 has been changed.

[0106] If the positioning device 1 determines in S51 that the output mode has been changed (Yes in S51), it assigns 1 to the variable n (initial value 0) (S52). On the other hand, if the positioning device 1 determines in S51 that the output mode has not been changed (No in S51), it proceeds to S53.

[0107] The positioning device 1 determines whether or not the asymptotic process is in progress (whether or not n is greater than 0) (S53).

[0108] If the positioning device 1 determines that it is in the asymptotic process (Yes in S53), it performs weighted average processing of the RTK positioning result and the adjusted CLAS positioning result according to the ratio before the output mode change (calculates the weighted average positioning result before the mode change) (S54).

[0109] The positioning device 1 calculates the internal division point "n:(N-n+1)" between the weighted average positioning result before the mode change calculated in S54 and the weighted average processing result obtained in S6 of Figure 8, and outputs it as the positioning result (S55).

[0110] The positioning device 1 determines whether n is smaller than N (S56).

[0111] If the positioning device 1 determines that n is smaller than N (Yes in S56), it adds 1 to the variable n (S57). Then, the positioning device 1 ends the processing of the flowchart in FIG.

[0112] On the other hand, if the positioning device 1 determines that n is not smaller than N (No in S56), it assigns 0 to the variable n (S58).Then, the positioning device 1 ends the processing of the flowchart in FIG.

[0113] If it is determined in S53 that the asymptotic process is not in progress (No in S53), the positioning device 1 outputs the weighted average positioning result obtained in S6 of Fig. 8 as the positioning result (S59). Then, the positioning device 1 ends the process of the flowchart in Fig. 13.

[0114] Summary of the embodiment The positioning device 1 performs RTK positioning calculation using a signal from satellite 3 and outputs the RTK positioning result. The positioning device 1 performs CLAS positioning calculation using a signal from satellite 4 and outputs the CLAS positioning result. The positioning device 1 outputs a weighted average of the RTK positioning result and the CLAS positioning result as the positioning result. The positioning device 1 determines the weight of the weighted average based on the quality of the RTK positioning result and the quality of the CLAS positioning result.

[0115] This allows the positioning device 1 to output a positioning result that changes smoothly. For example, before and after the output mode is switched, the output positioning result may include components of both the RTK positioning result and the CLAS positioning result, so the positioning device 1 can output a positioning result that changes smoothly. Furthermore, because the weight of the weighted average is determined based on the quality of the RTK positioning result and the quality of the CLAS positioning result, the positioning device 1 can output a highly accurate positioning result.

[0116] <Modifications> Modification 1 The positioning device 1 may execute other positioning methods such as MADOCA or DGPS instead of CLAS. Furthermore, the positioning device 1 may execute at least one of the positioning methods of CLAS, MADOCA, and DGPS, and RTK.

[0117] When the output rates of the positioning results of the CLAS positioning and the RTK positioning are different, the positioning device 1 may output the positioning results at the slower output rate.

[0118] If the output rates of the positioning results for CLAS positioning and RTK positioning are different, the positioning device may output the positioning result for which a positioning result is available (the positioning result with the higher output rate) at a rate of 100% while one of the positioning results is not available.

[0119] Modification 2 The positioning device 1 may perform weighted averaging instead of asymptotic processing and offset processing. By performing weighted averaging, the positioning device 1 can output the positioning result smoothly.

[0120] The positioning device 1 may also perform either one of the asymptotic processing and the offset processing, and the weighted average processing, which also allows the positioning device 1 to output the positioning result smoothly.

[0121] When the weighted average process and either or both of the asymptotic process and offset process are performed, the positioning device 1 can output the positioning result more smoothly than when the weighted average process is performed.

[0122] 4, the positioning device 1 sets the ratio of the internal division points between the DR solution of RTK positioning and a solution other than the FIX solution of CLAS positioning at 1:1 and outputs the positioning result, but this is not limited to this. If the RTK positioning result is a DR solution a predetermined time has elapsed since the final FIX solution and the CLAS positioning result is a solution other than the FIX solution, the positioning device 1 may weight the RTK positioning result more heavily than the CLAS positioning result.

[0123] When the RTK positioning result is a DR solution, the positioning device 1 may change the weight of the RTK positioning result as time passes. For example, when the RTK positioning result is a DR solution, the positioning device 1 may decrease the weight of the RTK positioning result in proportion to the passage of time.

[0124] Variation 4: The positioning device 1 calculates the difference between the RTK positioning result and the CLAS positioning result and adds the average of the calculated differences to the CLAS positioning result, but this is not limited to this. The positioning device 1 may calculate the difference between the RTK positioning result and the CLAS positioning result and add the average of the calculated differences to the RTK positioning result. In this case, the positioning result of the positioning device 1 may include a positioning error of the CLAS positioning, but the positioning result of the current coordinates can be obtained.

[0125] 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.

[0126] 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."

[0127] 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.

[0128] 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.

[0129] 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.

[0130] The disclosures of the specification, drawings and abstract contained in Japanese Patent Application No. 2024-087967, filed on May 30, 2024, are incorporated herein by reference in their entirety.

[0131] The present disclosure is suitable for a technology for performing positioning using radio waves transmitted by satellites.

[0132] REFERENCE SIGNS LIST 1 Positioning device 2 Correction information server 3, 4 Satellite 5 Control station 6 Electronic reference point 11 Positioning signal receiver 12 Reinforcement information signal receiver 13 RTK positioning calculation unit 14 CLAS positioning calculation unit 15 Correction information acquisition unit 16 Positioning result integrated output unit 17 Ratio information storage unit 18 Positioning result display unit 19 Positioning result storage unit

Claims

1. A positioning device comprising: a first calculation unit that performs a first positioning calculation using a signal from a first satellite and outputs the first positioning result; a second calculation unit that performs a second positioning calculation using a signal from a second satellite and outputs the second positioning result; and an output unit that outputs a weighted average of the first positioning result and the second positioning result as the positioning result, wherein the output unit determines a weight for the weighted average based on the quality of the first positioning result and the quality of the second positioning result.

2. The positioning device described in claim 1, wherein the first calculation unit performs the first positioning calculation using a signal from the first satellite and correction information received via a wireless network, and the second calculation unit performs the second positioning calculation using a signal from the second satellite and augmentation information from the second satellite.

3. The positioning device according to claim 2, wherein, when the first positioning result is a FIX solution and the second positioning result is a FIX solution, the output unit weights the first positioning result greater than the weight of the second positioning result.

4. The positioning device according to claim 2, wherein, when the first positioning result is a DR (Dead Reckoning) solution for which a predetermined time has not elapsed since the last FIX solution, and the second positioning result is a FIX solution, the output unit weights the first positioning result greater than the weight of the second positioning result.

5. The positioning device according to claim 2, wherein, when the first positioning result is a DR solution that has not yet reached a predetermined time since the final FIX solution and the second positioning result is a solution other than the FIX solution, the output unit weights the first positioning result greater than the weight of the second positioning result.

6. The positioning device according to claim 2, wherein, when the first positioning result is a DR solution obtained a predetermined time after the final FIX solution and the second positioning result is a FIX solution, the output unit weights the second positioning result greater than the weight of the first positioning result.

7. The positioning device according to claim 2, wherein, when the first positioning result is a DR solution obtained a predetermined time after the final FIX solution and the second positioning result is a solution other than the FIX solution, the output unit assigns the same weight to the first positioning result and the second positioning result.

8. The positioning device according to claim 2, wherein, when the first positioning result is a DR solution obtained a predetermined time after the final FIX solution and the second positioning result is a solution other than the FIX solution, the output unit weights the first positioning result greater than the weight of the second positioning result.

9. The positioning device according to claim 2, wherein, when the first positioning result is a solution other than a FIX solution or a DR solution and the second positioning result is a solution other than a FIX solution, the output unit weights the first positioning result greater than the weight of the second positioning result.

10. The positioning device according to claim 2, wherein, when the first positioning result is a DR solution, the weight of the first positioning result is changed according to the passage of time.

11. The positioning device according to claim 1, wherein, when the weight of the weighted average is changed, the output unit performs an asymptotic process so that the positioning result before the weight is changed gradually approaches the positioning result after the weight is changed.

12. The positioning device according to claim 2, wherein the output unit calculates a difference between the first positioning result and the second positioning result, and adds an average of the differences to the second positioning result.

13. The positioning device according to claim 2, wherein the output unit calculates a difference between the first positioning result and the second positioning result, and adds an average of the differences to the first positioning result.

14. A positioning method comprising: performing a first positioning calculation using a signal from a first satellite and outputting a first positioning result; performing a second positioning calculation using a signal from a second satellite and outputting a second positioning result; outputting a weighted average of the first positioning result and the second positioning result as a positioning result; and determining a weight for the weighted average based on the quality of the first positioning result and the quality of the second positioning result.

Images