JP2001235532A - Gps position measuring method - Google Patents
Gps position measuring methodInfo
- Publication number
- JP2001235532A JP2001235532A JP2000043321A JP2000043321A JP2001235532A JP 2001235532 A JP2001235532 A JP 2001235532A JP 2000043321 A JP2000043321 A JP 2000043321A JP 2000043321 A JP2000043321 A JP 2000043321A JP 2001235532 A JP2001235532 A JP 2001235532A
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- gps
- satellite
- station
- information
- radio waves
- Prior art date
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- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、ＧＰＳ衛星の電波
が直接受信できない場所でもＧＰＳ位置計測が可能なＧ
ＰＳ位置計測設備に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a GPS which can measure a GPS position even in a place where GPS satellite radio waves cannot be directly received.
It relates to PS position measurement equipment.
【０００２】[0002]
【従来の技術】従来、ＧＰＳ衛星の電波が直接受信でき
ない場所ではＧＰＳ位置計測ができなかった。代わりに
トランシットなどを用いて位置計測する方法もあるが、
様々な利点の多いＧＰＳを利用したいという要望があっ
た。2. Description of the Related Art Conventionally, GPS locations cannot be measured in places where radio waves from GPS satellites cannot be directly received. Instead, there is a method to measure the position using transit, etc.,
There has been a demand to use GPS which has many advantages.
【０００３】上記要望に対し、「ＧＰＳ擬似衛星（Pseu
dolite）」という技術が特開平１１−７２５４８号公報
等で開示されている。このＧＰＳ擬似衛星は、実際のＧ
ＰＳ衛星から発信された時刻情報を受信して補正・再発
信するものである。このようなＧＰＳ擬似衛星を利用す
ることで、実際のＧＰＳ衛星の電波が直接受信できない
場所でもＧＰＳ位置計測が可能となった。[0003] In response to the above request, a GPS pseudo satellite (Pseu
dolite) "is disclosed in Japanese Patent Application Laid-Open No. H11-72548. This GPS pseudolite is a real G
The time information transmitted from the PS satellite is received, corrected and retransmitted. By using such a GPS pseudo satellite, it is possible to measure the GPS position even in a place where the actual radio wave of the GPS satellite cannot be directly received.
【０００４】[0004]
【発明が解決しようとする課題】しかしＧＰＳ擬似衛星
は、実際のＧＰＳ衛星からの電波が直接届く位置（既知
点）であり、かつ補正・再発信する電波を位置計測点に
対して直接電波送信できる位置に配置しなければならな
い。従って、複雑に入り組んだ場所、例えば建物の中や
トンネル内などでＧＰＳ位置計測を行うことは、従来の
ＧＰＳ擬似衛星を利用したとしても不可能である。However, the GPS pseudo satellite is a position (known point) where radio waves from an actual GPS satellite directly reach, and transmits radio waves to be corrected and retransmitted directly to a position measurement point. Must be placed where possible. Therefore, it is impossible to measure the GPS position in a complicated place, for example, in a building or a tunnel, even if a conventional GPS pseudo satellite is used.
【０００５】そこで本発明は上記事情に鑑み、例えば建
物の中やトンネル内などのように複雑に入り組んだ場所
でもＧＰＳ位置計測を行うことができるＧＰＳ位置計測
設備を提供することを目的とする。SUMMARY OF THE INVENTION In view of the above circumstances, an object of the present invention is to provide a GPS position measuring device capable of measuring a GPS position even in a complicated place such as a building or a tunnel.
【０００６】[0006]
【課題を解決するための手段】上記課題を解決する本発
明のうち請求項１の発明は、ＧＰＳ衛星（６０）からの
直接の電波が該ＧＰＳ衛星との間で障害物（４０、４
６、７０）により遮断される計測点（Ｐ）に計測局（１
０）を配置し、該計測局に対して見通しのきく位置であ
り、かつ位置情報が既知なる既知点（Ｋ）にＧＰＳ擬似
衛星局（３０）を配置し、前記ＧＰＳ衛星からの衛星情
報（ＴＪ）を前記ＧＰＳ擬似衛星局から擬似衛星情報
（ＧＪ）として電波発信し、前記計測局において、前記
電波発信された擬似衛星情報を受信すると共に、該受信
した擬似衛星情報に基づいて前記計測点の位置情報（Ｐ
Ｘ）を演算するＧＰＳ位置計測方法において、前記既知
点では、前記ＧＰＳ衛星からの直接の電波が該ＧＰＳ衛
星との間で障害物により遮断される場合に、前記ＧＰＳ
衛星からの電波が直接届く位置に少なくとも１つの電波
中継局（２０）を配置しておき、前記ＧＰＳ衛星からの
電波による衛星情報を前記電波中継局を介して電波中継
することにより、該電波による衛星情報を、前記障害物
を回り込ませて前記ＧＰＳ擬似衛星局まで伝達するよう
にして構成した。According to a first aspect of the present invention for solving the above-mentioned problems, a direct radio wave from a GPS satellite (60) transmits an obstacle (40, 4, 4) to the GPS satellite.
6, 70) at the measuring point (P) interrupted by the measuring station (1).
0), and a GPS pseudo-satellite station (30) is located at a known point (K) where the position is visible to the measurement station and the position information is known. TJ) from the GPS pseudo satellite station as radio wave information as pseudo satellite information (GJ), the measuring station receives the radio wave transmitted pseudo satellite information, and the measurement point based on the received pseudo satellite information. Location information (P
X) in the GPS position measurement method for calculating X), at the known point, when the direct radio wave from the GPS satellite is interrupted by an obstacle between the GPS satellite and the GPS satellite,
At least one radio relay station (20) is arranged at a position where radio waves from a satellite directly reach, and satellite information based on radio waves from the GPS satellites is relayed by radio waves via the radio relay station, whereby the radio waves are transmitted. The satellite information is transmitted to the GPS pseudo-satellite station around the obstacle.
【０００７】また本発明のうち請求項２の発明は、前記
電波中継局と前記ＧＰＳ擬似衛星局との間で、前記電波
による衛星情報を、別の電波中継局（２０’）を介して
前記ＧＰＳ擬似衛星局まで伝達することを特徴とする。Further, according to the invention of claim 2 of the present invention, between the radio relay station and the GPS pseudo satellite station, the satellite information by the radio wave is transmitted to the radio relay station via another radio relay station (20 '). It is characterized by transmitting to a GPS pseudo satellite station.
【０００８】また本発明のうち請求項３の発明は、前記
障害物は建築物（４０）であり、前記計測点は該建築物
内にあることを特徴とする。In the invention according to a third aspect of the present invention, the obstacle is a building (40), and the measurement point is in the building.
【０００９】また本発明のうち請求項４の発明は、前記
障害物は地盤（４６）であり、前記計測点は該地盤中に
形成されたトンネル（４５）内にあることを特徴とす
る。According to a fourth aspect of the present invention, the obstacle is the ground (46), and the measurement point is in a tunnel (45) formed in the ground.
【００１０】なお、括弧内の番号等は、図面における対
応する要素を示す便宜的なものであり、従って、本記述
は図面上の記載に限定拘束されるものではない。Note that the numbers in parentheses are for convenience of indicating corresponding elements in the drawings, and therefore, the present description is not limited to the descriptions on the drawings.
【００１１】[0011]
【発明の効果】以上説明したように本発明のうち請求項
１によれば、ＧＰＳ擬似衛星局とＧＰＳ衛星との間に電
波中継局を配置し、実際のＧＰＳ衛星からの電波による
衛星情報を中継させるので、実際のＧＰＳ衛星からの電
波が直接には届かない位置にＧＰＳ擬似衛星局を配置す
ることも可能となった。従って、複雑に入り組んだ場
所、例えば建物の中やトンネル内などでのＧＰＳ位置計
測を行うことが可能となった。As described above, according to the first aspect of the present invention, a radio relay station is arranged between a GPS pseudo satellite station and a GPS satellite, and satellite information based on radio waves from an actual GPS satellite is transmitted. Because of relaying, it has become possible to arrange a GPS pseudo satellite station at a position where radio waves from actual GPS satellites do not directly reach. Therefore, it has become possible to measure the GPS position in a complicated place, for example, in a building or a tunnel.
【００１２】また本発明のうち請求項２の発明では、複
数の電波中継局で中継することにより、更に複雑に入り
組んだ場所でもＧＰＳ位置計測を行うことが可能とな
る。Further, according to the second aspect of the present invention, it is possible to measure the GPS position even in a more complicated place by relaying at a plurality of radio relay stations.
【００１３】また本発明のうち請求項３の発明では、建
築物内でのさまざまな位置計測作業がＧＰＳを利用して
行えるようになる。According to the third aspect of the present invention, various position measuring operations in a building can be performed using the GPS.
【００１４】また本発明のうち請求項４の発明では、ト
ンネル内でのさまざまな位置計測作業がＧＰＳを利用し
て行えるようになる。According to the fourth aspect of the present invention, various position measuring operations in the tunnel can be performed using the GPS.
【００１５】[0015]
【発明の実施の形態】図１はＧＰＳ位置計測設備の一例
を部分的に示した模式図である。ＧＰＳ衛星６０からの
電波を利用し、入り組んだ場所にある計測点Ｐにおいて
三次元位置ＰＸを計測しようとしている。該計測点Ｐと
ＧＰＳ衛星６０との間には建物等による障害物７０が存
在し、該ＧＰＳ衛星６０からの電波は計測点Ｐには直接
届かないようになっている。FIG. 1 is a schematic diagram partially showing an example of a GPS position measuring equipment. The radio wave from the GPS satellite 60 is used to measure the three-dimensional position PX at the measurement point P in a complicated place. An obstacle 70 such as a building exists between the measurement point P and the GPS satellite 60, and radio waves from the GPS satellite 60 do not directly reach the measurement point P.
【００１６】ＧＰＳ位置計測設備１は、図１に示すよう
に、上記計測点Ｐに移動自在に配置された１つの計測局
１０を有している。計測局１０は、三次元位置を計測す
べき計測点Ｐに位置決め自在に設置されたＧＰＳアンテ
ナ１１を有し、該ＧＰＳアンテナ１１には、該ＧＰＳア
ンテナ１１を介して所定のＧＰＳ情報ＧＪを受信自在な
ＧＰＳ情報受信部１２が接続されている。またＧＰＳ情
報受信部１２には、該ＧＰＳ情報受信部１２により受信
したＧＰＳ情報ＧＪに基づいて三次元位置ＰＸを演算す
る三次元位置演算部１３が接続されている。なお計測局
１０は、三次元位置演算部１３により演算された三次元
位置ＰＸを表示出力自在なモニタ（或いは記憶メディア
に書込み出力自在なドライブ装置）等の図示しない出力
手段を有している。The GPS position measuring equipment 1 has one measuring station 10 movably arranged at the measuring point P as shown in FIG. The measuring station 10 has a GPS antenna 11 installed at a measurement point P where a three-dimensional position is to be measured. The GPS antenna 11 receives predetermined GPS information GJ via the GPS antenna 11. A flexible GPS information receiving unit 12 is connected. The GPS information receiving unit 12 is connected to a three-dimensional position calculating unit 13 that calculates a three-dimensional position PX based on the GPS information GJ received by the GPS information receiving unit 12. The measuring station 10 includes an output unit (not shown) such as a monitor (or a drive device capable of writing and outputting to a storage medium) capable of displaying and outputting the three-dimensional position PX calculated by the three-dimensional position calculating unit 13.
【００１７】またＧＰＳ位置計測設備１は、図１に示す
ように、前記ＧＰＳ衛星６０からの電波が直接届く適宜
な位置に配置された中継局２０を有している。中継局２
０は、前記ＧＰＳ衛星６０からの電波が直接届く位置に
ある受信アンテナ２１を有し、該受信アンテナ２１に
は、該受信アンテナ２１を介して前記ＧＰＳ衛星６０か
らの時刻情報ＴＪを受信自在な情報受信部２２が接続さ
れている。また情報受信部２２には、該情報受信部２２
により受信した時刻情報ＴＪを送信アンテナ２３を介し
て外部に電波送信自在な情報発信部２５が接続されてい
る。Further, as shown in FIG. 1, the GPS position measuring equipment 1 has a relay station 20 arranged at an appropriate position where radio waves from the GPS satellites 60 can reach directly. Relay station 2
0 has a receiving antenna 21 at a position where radio waves from the GPS satellite 60 can directly reach, and the receiving antenna 21 can freely receive time information TJ from the GPS satellite 60 via the receiving antenna 21. The information receiving unit 22 is connected. The information receiving unit 22 includes the information receiving unit 22.
The information transmitting unit 25 is connected to the time information TJ, which is capable of transmitting radio waves to the outside via the transmitting antenna 23.
【００１８】更にＧＰＳ位置計測設備１は、図１に示す
ように、前記中継局２０から送信される電波が直接届
き、かつ上記計測局１０に対して電波を直接送ることの
できる適宜な位置（見通しのきく位置）に配置された４
つの擬似衛星局３０を有している。これら擬似衛星局３
０は三次元位置が既知なる既知点Ｋにそれぞれ配置され
ている。但し図１では説明の便宜上、１つの擬似衛星局
３０のみを図示している。各擬似衛星局３０は、上記中
継局２０からの電波が直接届く位置にある受信アンテナ
３１を有し、該受信アンテナ３１には、該受信アンテナ
３１を介して上記中継局２０からの時刻情報ＴＪを受信
自在な情報受信部３２が接続されている。また擬似衛星
局３０は電波を送信自在な送信アンテナ３５を有してい
る。Further, as shown in FIG. 1, the GPS position measuring equipment 1 has an appropriate position where the radio wave transmitted from the relay station 20 can directly reach and can directly transmit the radio wave to the measuring station 10 (see FIG. 1). 4 placed in a position where the line of sight can be seen)
There are two pseudo satellite stations 30. These pseudo satellite stations 3
Numerals 0 are respectively arranged at known points K whose three-dimensional positions are known. However, in FIG. 1, only one pseudo satellite station 30 is shown for convenience of explanation. Each pseudo satellite station 30 has a receiving antenna 31 at a position where radio waves from the relay station 20 can directly reach, and the receiving antenna 31 has time information TJ from the relay station 20 via the receiving antenna 31. Is connected to the information receiving unit 32 which can freely receive the information. Further, the pseudo satellite station 30 has a transmission antenna 35 capable of transmitting radio waves.
【００１９】また各擬似衛星局３０は、上述した既知点
Ｋの三次元位置Ｘ１を取得自在な位置情報取得部３３を
有しており、この場合の位置情報取得部３３は、具体的
には前記既知点Ｋの三次元位置Ｘ１を記憶した記憶装置
等である。更に各擬似衛星局３０は、上述した情報受信
部３２により受信した時刻情報ＴＪと、位置情報取得部
３３により取得した三次元位置Ｘ１とを、ＧＰＳ情報Ｇ
Ｊ（擬似衛星情報）として前記送信アンテナ３５を介し
外部に電波送信自在な情報発信部３６を有している。こ
のＧＰＳ情報ＧＪに含まれる時刻情報については、公知
のＧＰＳ擬似衛星に関する技術と同様の手法で時刻の遅
れ等を補正している。Each pseudo satellite station 30 has a position information acquisition unit 33 capable of freely acquiring the three-dimensional position X1 of the known point K. In this case, the position information acquisition unit 33 The storage device stores the three-dimensional position X1 of the known point K. Further, each pseudo satellite station 30 converts the time information TJ received by the information receiving unit 32 and the three-dimensional position X1 acquired by the position information acquiring unit 33 into GPS information G1.
An information transmitting unit 36 that can transmit radio waves to the outside via the transmitting antenna 35 as J (pseudo satellite information) is provided. Regarding the time information included in the GPS information GJ, a time delay or the like is corrected by a method similar to a known technique relating to a GPS pseudo satellite.
【００２０】ＧＰＳ位置計測設備１は以上のように構成
されているので、計測点Ｐでの三次元位置ＰＸの計測は
次のように行う。即ち図１に示すように、中継局２０で
は、ＧＰＳ衛星６０からの精度の高い時刻情報ＴＪを情
報受信部２２で逐次受信し、該受信した時刻情報ＴＪを
情報発信部２５により送信アンテナ２３を介して外部に
逐次電波送信している。Since the GPS position measuring equipment 1 is configured as described above, the measurement of the three-dimensional position PX at the measuring point P is performed as follows. That is, as shown in FIG. 1, in the relay station 20, highly accurate time information TJ from the GPS satellite 60 is sequentially received by the information receiving unit 22, and the received time information TJ is transmitted to the transmitting antenna 23 by the information transmitting unit 25. Via the Internet.
【００２１】各擬似衛星局３０では、中継局２０からの
時刻情報ＴＪを情報受信部３２により受信アンテナ３１
を介して逐次受信しており、情報発信部３６は、該時刻
情報ＴＪと、位置情報取得部３３により取得した三次元
位置Ｘ１とをＧＰＳ情報ＧＪとして送信アンテナ３５を
介し外部に逐次電波送信している。In each pseudo satellite station 30, the time information TJ from the relay station 20 is received by the information receiving section 32 by the receiving antenna 31.
The information transmission unit 36 sequentially transmits the time information TJ and the three-dimensional position X1 acquired by the position information acquisition unit 33 to the outside via the transmission antenna 35 as GPS information GJ. ing.
【００２２】計測局１０では、ＧＰＳ情報受信部１２が
ＧＰＳアンテナ１１を介して、４つの前記擬似衛星局３
０それぞれから送信されるＧＰＳ情報ＧＪを逐次受信し
ている。この状態で作業員が、上記ＧＰＳアンテナ１１
を位置計測すべき計測点Ｐに位置決めした後、図示しな
いキーボード等の入力手段を介して位置計測の実行命令
を入力する。該命令に基づき、三次元位置演算部１３
は、ＧＰＳ情報受信部１２で受信した４つの擬似衛星局
３０からのＧＰＳ情報ＧＪに基づいて前記計測点Ｐの三
次元位置ＰＸを演算する。In the measuring station 10, the GPS information receiving unit 12 transmits the information to the four pseudo satellite stations 3 via the GPS antenna 11.
0 sequentially receives GPS information GJ transmitted from each of them. In this state, the worker operates the GPS antenna 11
Is positioned at the measurement point P to be measured, a position measurement execution command is input through input means such as a keyboard (not shown). Based on the instruction, the three-dimensional position calculation unit 13
Calculates the three-dimensional position PX of the measurement point P based on the GPS information GJ received from the four pseudo satellite stations 30 received by the GPS information receiving unit 12.
【００２３】この演算は通常のＧＰＳ位置計測と同様に
して行えばよい。即ち、各ＧＰＳ情報ＧＪが含む三次元
位置Ｘ１により各擬似衛星局３０が配置された既知点Ｋ
の三次元位置が得られ、各ＧＰＳ情報ＧＪが含む時刻情
報ＴＪにより各既知点Ｋから計測点Ｐまでの直線距離が
それぞれ演算されるので、計測点Ｐの三次元位置ＰＸが
演算されるのである。演算結果の三次元位置ＰＸは図示
しない出力手段により表示出力或いは記憶メディアに書
込み出力される。This calculation may be performed in the same manner as in normal GPS position measurement. That is, the known point K at which each pseudo satellite station 30 is located by the three-dimensional position X1 included in each GPS information GJ.
Is obtained, and the linear distance from each known point K to the measurement point P is calculated by the time information TJ included in each GPS information GJ, so that the three-dimensional position PX of the measurement point P is calculated. is there. The three-dimensional position PX of the calculation result is displayed or output to a storage medium by an output unit (not shown).
【００２４】以上のように本実施形態のＧＰＳ位置計測
設備１によると、各擬似衛星局３０とＧＰＳ衛星６０と
の間に中継局２０を配置し、実際のＧＰＳ衛星６０から
の時刻情報ＴＪを中継させるので、実際のＧＰＳ衛星か
らの電波が直接には届かない位置に擬似衛星局３０を配
置することも可能となった。従って、複雑に入り組んだ
場所、例えば建物の中やトンネル内などに計測局１０を
配置してもＧＰＳ位置計測を行うことが可能となった。As described above, according to the GPS position measuring equipment 1 of the present embodiment, the relay station 20 is arranged between each pseudo satellite station 30 and the GPS satellite 60, and the time information TJ from the actual GPS satellite 60 is transmitted. Since the relay is performed, the pseudo satellite station 30 can be arranged at a position where radio waves from an actual GPS satellite do not directly reach. Therefore, even if the measuring station 10 is arranged in a complicated place, for example, in a building or a tunnel, the GPS position can be measured.
【００２５】[0025]
【実施例】以下、本発明についての具体的な実施例を説
明する。図２は第１の実施例を示した模式図であり、建
物４０内の入り組んだ場所にある計測点Ｐで位置計測を
行っている様子を示したものである。この場合、上記実
施形態での障害物７０に相当するものが建物４０となっ
ており、該建物４０の内部に計測局１０を配置した。建
物４０の側方には、該建物４０と別個で、かつ該建物４
０より高く構築された塔４１があり、中継局２０は該塔
４１の頂上に設置した。従って、該中継局２０はＧＰＳ
衛星６０からの電波が直接届く場所に位置している。DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, specific embodiments of the present invention will be described. FIG. 2 is a schematic diagram showing the first embodiment, and shows a state where position measurement is performed at a measurement point P at a complicated place in the building 40. In this case, the building 40 corresponds to the obstacle 70 in the above embodiment, and the measuring station 10 is arranged inside the building 40. Beside the building 40 and beside the building 4
There was a tower 41 built higher than zero, and the relay station 20 was installed on top of the tower 41. Therefore, the relay station 20 has the GPS
It is located where radio waves from the satellite 60 can reach directly.
【００２６】４つの擬似衛星局３０（但し図２では１つ
だけを図示している）は、建物４０の側方近傍に配置し
た。図２では、計測局１０が建物４０の１階にあり、各
擬似衛星局３０は地表位置にあるので、計測局１０と各
擬似衛星局３０との間では、前記建物４０の出入り口
（開口部）等を介して水平方向に電波を直接やり取りで
きる（互いに見通しのきく）状態にある。また、塔４１
の頂上の中継局２０からは斜め下方にあり、電波を直接
やり取りできる状態にある。但し、各擬似衛星局３０と
ＧＰＳ衛星６０とを結ぶ直線上には上記建物４０が存在
するため電波を直接やり取りすることはできない。Four pseudo satellite stations 30 (only one is shown in FIG. 2) are arranged near the side of the building 40. In FIG. 2, since the measuring station 10 is on the first floor of the building 40 and each pseudo satellite station 30 is at the ground surface, an entrance (opening) of the building 40 is provided between the measuring station 10 and each pseudo satellite station 30. ) Can be directly exchanged with each other in the horizontal direction (they can see each other). Tower 41
Is obliquely downward from the relay station 20 at the top of the station, and is in a state where radio waves can be directly exchanged. However, since the building 40 exists on a straight line connecting each pseudo satellite station 30 and the GPS satellite 60, radio waves cannot be directly exchanged.
【００２７】以上のように第１の実施例により、各擬似
衛星局３０とＧＰＳ衛星６０との間に中継局２０を配置
し、すでに説明した実施形態と同様にして、実際のＧＰ
Ｓ衛星６０からの時刻情報ＴＪを、建物４０にあたらな
いよう回り込ませて中継させるので、実際のＧＰＳ衛星
からの電波が直接には届かない建物４０内の入り組んだ
場所にある計測点ＰでＧＰＳ位置計測が可能となった。As described above, according to the first embodiment, the relay station 20 is arranged between each pseudo satellite station 30 and the GPS satellite 60, and the actual GP is executed in the same manner as in the above-described embodiment.
Since the time information TJ from the S-satellite 60 is routed and relayed so as not to hit the building 40, the GPS at the measurement point P in the complicated place in the building 40 where the radio wave from the actual GPS satellite does not directly reach. Position measurement became possible.
【００２８】本発明についての別の実施例を説明する。
図３は第２の実施例を示した模式図であり、トンネル４
５の奥の入り組んだ場所にある計測点Ｐで位置計測を行
っている様子を示したものである。トンネル４５は、地
上開口部４５ａを形成する形で構築された立坑部４５ｓ
と、該立坑部４５ｓの底部から水平方向に構築された水
平坑部４５ｔとからなる。上記実施形態での障害物７０
に相当するものがトンネル４５の覆工体及び地盤４６等
となっている。計測局１０は水平坑部４５ｔの奥の計測
点Ｐに配置した。該トンネル４５の地上開口部４５ａ付
近に中継局２０を設置した。従って、地上開口部４５ａ
の周囲には建物などの障害物がなく、該中継局２０はＧ
ＰＳ衛星６０からの電波が直接届く場所に位置してい
る。Another embodiment of the present invention will be described.
FIG. 3 is a schematic diagram showing the second embodiment, and shows a tunnel 4
5 shows a state in which position measurement is being performed at a measurement point P in a complicated place at the back of No. 5. The tunnel 45 is a shaft 45 s constructed in such a manner as to form a ground opening 45 a.
And a horizontal shaft 45t constructed horizontally from the bottom of the shaft 45s. Obstacle 70 in the above embodiment
Are the lining body of the tunnel 45 and the ground 46 and the like. The measurement station 10 was arranged at the measurement point P at the back of the horizontal shaft 45t. The relay station 20 was installed near the ground opening 45a of the tunnel 45. Therefore, the ground opening 45a
There are no obstacles such as buildings around the station.
It is located where radio waves from the PS satellite 60 can reach directly.
【００２９】４つの擬似衛星局３０（但し図３では１つ
だけを図示している）は、水平坑部４５ｔ内の計測点Ｐ
よりは立坑部４５ｓ寄りの位置に配置した。更に水平坑
部４５ｔと立坑部４５ｓとの接続箇所付近には別の中継
局２０’を配置した。但し、中継局２０’の構造は中継
局２０と略同じである。図３では、計測局１０と各擬似
衛星局３０とは共に水平坑部４５ｔ内にあるので、これ
らの間では水平方向に電波を直接やり取りできる状態に
ある。中継局２０’と各擬似衛星局３０とは共に水平坑
部４５ｔ内にあるので、これらの間では水平方向に電波
を直接やり取りできる状態にある。但し、中継局２０’
と計測局１０との間では水平坑部４５ｔが左右にカーブ
している（図示せず）などの理由により水平方向に電波
を直接やり取りできない状態にある。また、地上の中継
局２０と中継局２０’との間では、立坑部４５ｓを介し
て上下方向に電波を直接やり取りできる状態にある。な
お、各擬似衛星局３０および中継局２０’と、ＧＰＳ衛
星６０とを結ぶ直線上には地盤４６等があり、電波を直
接やり取りすることはできない。The four pseudo satellite stations 30 (only one is shown in FIG. 3) are connected to the measurement points P in the horizontal pit 45t.
It was arranged at a position closer to the shaft 45 s. Further, another relay station 20 'was arranged near the connection point between the horizontal shaft 45t and the vertical shaft 45s. However, the structure of the relay station 20 'is substantially the same as that of the relay station 20. In FIG. 3, since the measuring station 10 and each pseudo satellite station 30 are both located in the horizontal pit 45t, the radio waves can be directly exchanged between them in the horizontal direction. Since the relay station 20 'and the pseudo satellite stations 30 are both located in the horizontal pit 45t, they are in a state where they can directly exchange radio waves in the horizontal direction. However, the relay station 20 '
The radio wave cannot be directly exchanged in the horizontal direction because the horizontal shaft 45t is curved left and right (not shown) between the mobile station and the measurement station 10. Also, between the relay station 20 and the relay station 20 ′ on the ground, radio waves can be directly exchanged in the vertical direction via the shaft section 45s. The ground 46 and the like are on a straight line connecting each pseudo satellite station 30 and the relay station 20 'to the GPS satellite 60, and radio waves cannot be directly exchanged.
【００３０】以上の構成により第２の実施例では計測点
Ｐでの三次元位置ＰＸの計測を次のように行う。即ち中
継局２０では、既に実施形態で説明したようにＧＰＳ衛
星６０からの時刻情報ＴＪを情報受信部２２で逐次受信
し、該受信した時刻情報ＴＪを情報発信部２５により送
信アンテナ２３を介して外部に逐次電波送信している。
更に中継局２０’では、上記中継局２０からの時刻情報
ＴＪを情報受信部２２で逐次受信し、該受信した時刻情
報ＴＪを情報発信部２５により送信アンテナ２３を介し
て外部に逐次電波送信している。With the above configuration, in the second embodiment, measurement of the three-dimensional position PX at the measurement point P is performed as follows. That is, in the relay station 20, as described in the embodiment, the time information TJ from the GPS satellite 60 is sequentially received by the information receiving unit 22, and the received time information TJ is received by the information transmitting unit 25 via the transmitting antenna 23. Radio waves are being transmitted sequentially to the outside.
Further, in the relay station 20 ', the time information TJ from the relay station 20 is sequentially received by the information receiving unit 22, and the received time information TJ is sequentially transmitted to the outside by the information transmitting unit 25 via the transmitting antenna 23. ing.
【００３１】各擬似衛星局３０では、中継局２０’から
の時刻情報ＴＪを情報受信部３２により受信アンテナ３
１を介して逐次受信しており、情報発信部３６は、該時
刻情報ＴＪと、位置情報取得部３３により取得した三次
元位置Ｘ１とをＧＰＳ情報ＧＪとして送信アンテナ３５
を介し外部に逐次電波送信している。計測局１０では、
上述した実施形態と同様に４つの擬似衛星局３０からの
ＧＰＳ情報ＧＪに基づいて前記計測点Ｐの三次元位置Ｐ
Ｘを演算する。In each pseudo satellite station 30, the time information TJ from the relay station 20 'is received by the information receiving section 32 by the receiving antenna 3.
1, the information transmitting unit 36 uses the time information TJ and the three-dimensional position X1 acquired by the position information acquiring unit 33 as the GPS information GJ as the transmitting antenna 35.
Is sequentially transmitted to the outside via the. At the measuring station 10,
The three-dimensional position P of the measurement point P based on the GPS information GJ from the four pseudo satellite stations 30 as in the above-described embodiment.
Calculate X.
【００３２】以上のように第２の実施例により、各擬似
衛星局３０とＧＰＳ衛星６０との間に中継局２０及び中
継局２０’を配置して、実際のＧＰＳ衛星６０からの時
刻情報ＴＪを中継させるので、実際のＧＰＳ衛星からの
電波が直接には届かないトンネル４５内の入り組んだ場
所にある計測点ＰでＧＰＳ位置計測が可能となった。As described above, according to the second embodiment, the relay station 20 and the relay station 20 'are arranged between each pseudo satellite station 30 and the GPS satellite 60, and the time information TJ from the actual GPS satellite 60 is provided. , The GPS position can be measured at a measurement point P at a complicated place in the tunnel 45 where radio waves from actual GPS satellites do not directly reach.
【００３３】なお上述した例では、ＧＰＳ位置計測設備
１が１つの中継局２０だけをもつ場合と、中継局２０と
擬似衛星局３０との間に更に別の中継局２０’をもつ場
合とを示した。しかしながら、中継局２０と擬似衛星局
３０との間に２つ以上の複数の中継局を配置し、更に入
り組んだ位置でのＧＰＳ位置計測を行うことも可能であ
る。In the example described above, the case where the GPS position measuring equipment 1 has only one relay station 20 and the case where the GPS position measuring equipment 1 further has another relay station 20 ′ between the relay station 20 and the pseudo satellite station 30. Indicated. However, it is also possible to arrange two or more relay stations between the relay station 20 and the pseudo satellite station 30, and to measure the GPS position at a more complicated position.
【００３４】また、既知局及び移動局で位置計測を行う
方式を採用することも可能である。この場合、上記計測
局１０を移動局とし、該計測局１０とは別個に既知局を
設ければよい。なお、既知局を擬似衛星局３０の１つと
同じ既知点に配置することも可能である。It is also possible to adopt a method of performing position measurement at a known station and a mobile station. In this case, the measuring station 10 may be a mobile station, and a known station may be provided separately from the measuring station 10. The known station can be arranged at the same known point as one of the pseudo satellite stations 30.
【図１】本発明によるＧＰＳ位置計測方法を説明する模
式図。FIG. 1 is a schematic diagram illustrating a GPS position measuring method according to the present invention.
【図２】建物の内部におけるＧＰＳ位置計測を説明する
模式図。FIG. 2 is a schematic diagram illustrating GPS position measurement inside a building.
【図３】トンネルの内部におけるＧＰＳ位置計測を説明
する模式図。FIG. 3 is a schematic diagram illustrating GPS position measurement inside a tunnel.
１０ 計測局 ２０ 電波中継局（中継局） ３０ ＧＰＳ擬似衛星局（擬似衛星局） ４０ 建築物（建物） ４５ トンネル ４６ 地盤 ６０ ＧＰＳ衛星 ７０ 障害物 Ｐ 計測点 Ｋ 既知点 Reference Signs List 10 Measurement station 20 Radio relay station (relay station) 30 GPS pseudo satellite station (pseudo satellite station) 40 Building (building) 45 Tunnel 46 Ground 60 GPS satellite 70 Obstacle P Measurement point K Known point
───────────────────────────────────────────────────── フロントページの続き (72)発明者 佐田 達典 千葉県流山市駒木518番地１号 三井建設 株式会社技術本部技術研究所内 Ｆターム(参考） 2F029 AA02 AA07 AB07 AC03 AC06 AC16 5H180 BB04 FF05 5J062 AA01 BB08 CC07 FF01 9A001 CZ05 JJ78 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Tatsunori Sada 518-1, Komagaki, Nagareyama-shi, Chiba F-term (Reference) 2F029 AA02 AA07 AB07 AC03 AC06 AC16 5H180 BB04 FF05 5J062 AA01 BB08 CC07 FF01 9A001 CZ05 JJ78
Claims (4)
星との間で障害物により遮断される計測点に計測局を配
置し、該計測局に対して見通しのきく位置であり、かつ
位置情報が既知なる既知点にＧＰＳ擬似衛星局を配置
し、 前記ＧＰＳ衛星からの衛星情報を前記ＧＰＳ擬似衛星局
から擬似衛星情報として電波発信し、前記計測局におい
て、前記電波発信された擬似衛星情報を受信すると共
に、該受信した擬似衛星情報に基づいて前記計測点の位
置情報を演算するＧＰＳ位置計測方法において、 前記既知点では、前記ＧＰＳ衛星からの直接の電波が該
ＧＰＳ衛星との間で障害物により遮断される場合に、 前記ＧＰＳ衛星からの電波が直接届く位置に少なくとも
１つの電波中継局を配置しておき、前記ＧＰＳ衛星から
の電波による衛星情報を前記電波中継局を介して電波中
継することにより、該電波による衛星情報を、前記障害
物を回り込ませて前記ＧＰＳ擬似衛星局まで伝達するよ
うにして構成したＧＰＳ位置計測方法。1. A measuring station is arranged at a measuring point where a direct radio wave from a GPS satellite is interrupted by an obstacle between the GPS satellite and the GPS satellite. A GPS pseudo satellite station is arranged at a known point where information is known, satellite information from the GPS satellite is transmitted as radio wave from the GPS pseudo satellite station as pseudo satellite information, and the pseudo satellite information transmitted from the measurement station at the radio wave is transmitted. And a GPS position measurement method for calculating the position information of the measurement point based on the received pseudo satellite information. At the known point, a direct radio wave from the GPS satellite is transmitted to and from the GPS satellite. In the case of being blocked by an obstacle, at least one radio relay station is arranged at a position where radio waves from the GPS satellite can directly reach, and satellite information based on radio waves from the GPS satellite is transmitted. Serial by radio waves relayed via a headend, a satellite information by radio wave, GPS position measurement method configured so as to transmit to said GPS pseudolite station by Wrapping the obstacle.
の間で、前記電波による衛星情報を、別の電波中継局を
介して前記ＧＰＳ擬似衛星局まで伝達することを特徴と
する請求項１記載のＧＰＳ位置計測方法。2. The satellite information transmitted by said radio wave between said radio relay station and said GPS pseudo satellite station is transmitted to said GPS pseudo satellite station via another radio relay station. The GPS position measurement method according to 1.
該建築物内にあることを特徴とする請求項１記載のＧＰ
Ｓ位置計測方法。3. The GP according to claim 1, wherein the obstacle is a building, and the measurement point is inside the building.
S position measurement method.
地盤中に形成されたトンネル内にあることを特徴とする
請求項１記載のＧＰＳ位置計測方法。4. The GPS position measuring method according to claim 1, wherein the obstacle is the ground, and the measurement point is in a tunnel formed in the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000043321A JP2001235532A (en) | 2000-02-21 | 2000-02-21 | Gps position measuring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000043321A JP2001235532A (en) | 2000-02-21 | 2000-02-21 | Gps position measuring method |
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| Publication Number | Publication Date |
|---|---|
| JP2001235532A true JP2001235532A (en) | 2001-08-31 |
Family
ID=18566255
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000043321A Pending JP2001235532A (en) | 2000-02-21 | 2000-02-21 | Gps position measuring method |
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| Country | Link |
|---|---|
| JP (1) | JP2001235532A (en) |
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