JP3178938U - Satellite positioning device - Google Patents

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JP3178938U
JP3178938U JP2012004245U JP2012004245U JP3178938U JP 3178938 U JP3178938 U JP 3178938U JP 2012004245 U JP2012004245 U JP 2012004245U JP 2012004245 U JP2012004245 U JP 2012004245U JP 3178938 U JP3178938 U JP 3178938U
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positioning
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健二 井澗
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Abstract

【課題】マルチパスなどによる測位誤差を少なくした高精度測位を可能とする衛星測位装置を提供する。
【解決手段】衛星測位装置を複数の衛星測位受信機で構成し、それらの測位衛星受信アンテナ位置の平均値が測位対象点の位置となる様に測位衛星受信アンテナを配置して、それら受信機の同時刻における測位結果を算術平均処理をする。
【選択図】図１To provide a satellite positioning device that enables high-precision positioning with reduced positioning error due to multipath or the like.
A satellite positioning device is composed of a plurality of satellite positioning receivers, and the positioning satellite receiving antennas are arranged so that the average value of the positioning satellite receiving antenna positions is the position of the positioning target point. The arithmetic average processing is performed on the positioning results at the same time.
[Selection] Figure 1

Description

本考案は、衛星から受信した信号に基づいて現在位置の測位を行う衛星測位装置に関し、詳しくは同時刻の測位結果を算術平均処理してマルチパスなどによる測位誤差を少なくした高精度測位を可能とする衛星測位装置に係わるものである。  The present invention relates to a satellite positioning device that measures the current position based on a signal received from a satellite. Specifically, high-accuracy positioning with reduced positioning error due to multipath, etc. is possible by arithmetically averaging the positioning results at the same time. It relates to the satellite positioning device.

従来から衛星を利用した測位法として、１個の衛星測位受信機から得られた測位情報を利用する単独測位法が知られている。衛星測位装置の一つであるＧＰＳ測位装置の場合には単独測位方式では約１０ｍの精度で絶対位置を求めることが出来る。もしＳＢＡＳの測位誤差補正データを使うと約２ｍの精度で絶対位置を求めることが出来る。この精度改善は、誤差要因である衛星位置誤差、衛星クロック誤差、電離層伝搬誤差などの誤差修正情報をＳＢＡＳ衛星（日本ではＭＴＳＡＴ）から受信して測位誤差を除くことで実現されている。更なる精度改善は、測位点の近傍の既知点に置かれたＧＰＳ受信機で作った測位誤差補正データを使うと約１ｍの精度で絶対位置を求めることが出来る。この精度改善は、上記の誤差の補正に加えて、対流圏伝播誤差も補正出来ることによる。更に絶対位置精度を改善する為にはマルチパスと呼ばれる衛星からの直接波以外の反射波や回折波による誤差を除く必要が有る。  Conventionally, as a positioning method using a satellite, a single positioning method using positioning information obtained from one satellite positioning receiver is known. In the case of a GPS positioning device which is one of the satellite positioning devices, the absolute position can be obtained with an accuracy of about 10 m by the single positioning method. If SBAS positioning error correction data is used, the absolute position can be obtained with an accuracy of about 2 m. This improvement in accuracy is realized by receiving error correction information such as a satellite position error, a satellite clock error, and an ionospheric propagation error, which are error factors, from the SBAS satellite (MTSAT in Japan) and removing the positioning error. For further accuracy improvement, if positioning error correction data made by a GPS receiver placed at a known point near the positioning point is used, the absolute position can be obtained with an accuracy of about 1 m. This improvement in accuracy is due to the fact that the tropospheric propagation error can be corrected in addition to the above error correction. Furthermore, in order to improve the absolute position accuracy, it is necessary to eliminate errors caused by reflected waves and diffracted waves other than direct waves from the satellite called multipath.

マルチパス誤差は固定点で観測すると時間の経過とともに緩やかに変化する誤差であるが、空間的にはランダムな誤差としての性質を有する。その為、空間的に分散した場所で受信すれば、それらの受信信号で求められた位置のマルチパスによって生じる測位誤差はランダムである。この様なランダム誤差は平均処理で少なくできることが公知である。マルチパスの電波は、衛星からの直接波よりも長い経路を通るので電波到達時間の遅れが生じるために測位誤差を生じる。マルチパスの除去は、アンテナや受信回路、ファームウェアの工夫で行われており、このマルチパス除去技術は測量用のＧＰＳ受信機など高価なＧＰＳ受信機では利用されている。この様なマルチパスによる測位誤差は搬送波位相を用いて測位する衛星測位装置においても生じる。  A multipath error is an error that gradually changes with the passage of time when observed at a fixed point, but has a property as a random error spatially. For this reason, if the signals are received at spatially dispersed locations, the positioning error caused by the multipath at the position obtained from those received signals is random. It is known that such random errors can be reduced by averaging. Since multipath radio waves travel longer than direct waves from satellites, a delay in radio wave arrival time occurs, resulting in positioning errors. Multipath removal is performed by devising an antenna, a receiving circuit, and firmware. This multipath removal technique is used in expensive GPS receivers such as surveying GPS receivers. Such a positioning error due to multipath also occurs in a satellite positioning device that performs positioning using the carrier phase.

位置精度を改善する為にはマルチパスと呼ばれる衛星からの直接波以外の反射波や回折波による誤差を除く必要が有り、空間的に分散した場所で受信してそれらの測位結果を平均すれば誤差は少なく出来るが、衛星測位装置で求められる位置は測位衛星受信アンテナの位置であるため、測位衛星受信アンテナを空間的に分散して配置すると個々の測位衛星受信アンテナの位置は測位対象点の位置とは異なった結果となる。  In order to improve the position accuracy, it is necessary to eliminate errors caused by reflected waves and diffracted waves other than direct waves from satellites called multipaths. If they are received at spatially dispersed locations and their positioning results are averaged Although the error can be reduced, the position required by the satellite positioning device is the position of the positioning satellite receiving antenna. Therefore, if the positioning satellite receiving antennas are spatially distributed, the position of each positioning satellite receiving antenna is the position of the positioning target point. The result is different from the position.

本考案は、上記事情に鑑みたものであり、その目的とするところは、衛星測位装置を、複数の衛星測位受信機で構成し、それらの測位衛星受信アンテナ位置の平均値が測位対象点の位置となる様に配置することで測位対象点の位置が求められる衛星測位装置を提供することである。  The present invention has been made in view of the above circumstances, and the object of the present invention is to configure a satellite positioning device with a plurality of satellite positioning receivers, and the average value of the positioning satellite receiving antenna positions is the positioning target point. It is to provide a satellite positioning device in which the position of a positioning target point is obtained by arranging it so as to be in a position.

衛星測位装置で求められる位置は測位衛星受信アンテナの位置であるため、測位衛星受信アンテナを空間的に分散して配置すると個々の測位衛星受信アンテナ位置は測位対象点の位置からずれるが、測位衛星受信アンテナ位置と測位対象点の位置の相対位置関係を事前に測定しておけば、測位対象点の位置は求められた測位衛星受信アンテナ位置に相対位置オフセット量を加えれば求められる。  Since the position required by the satellite positioning device is the position of the positioning satellite receiving antenna, if the positioning satellite receiving antennas are spatially distributed, the position of each positioning satellite receiving antenna will deviate from the position of the positioning target point. If the relative positional relationship between the receiving antenna position and the position of the positioning target point is measured in advance, the position of the positioning target point can be obtained by adding a relative position offset amount to the obtained positioning satellite receiving antenna position.

さらには、対となる測位衛星受信アンテナ同士を測位対象点の位置を中心に点対称となる様に配置すれば、測位対象点の位置はそれらの測位衛星受信アンテナ位置の平均値で得られる。また、この様に配置した測位衛星受信アンテナ対を移動体に取り付けた場合、移動体の移動、向きにかかわらずそれらの測位衛星受信アンテナ位置の平均値が対称中心の位置となることから、移動体の高精度位置計測にも最適である。この様な測位衛星受信アンテナ対を、空間に対称中心に対して複数組配置することで、マルチパス誤差の算術平均処理による除去効果を高めた測位結果が得られる。  Furthermore, if the positioning satellite receiving antennas that are paired are arranged so as to be point-symmetric with respect to the position of the positioning target point, the position of the positioning target point can be obtained as an average value of the positioning satellite receiving antenna positions. In addition, when a positioning satellite receiving antenna pair arranged in this way is attached to a moving body, the average value of the positioning satellite receiving antenna positions is the center of symmetry regardless of the movement and orientation of the moving body. It is also ideal for high-precision body position measurement. By arranging a plurality of such positioning satellite receiving antenna pairs with respect to the center of symmetry in the space, a positioning result with an improved effect of removing multipath errors by arithmetic mean processing can be obtained.

なお、平面の位置を測位する場合には測位衛星受信アンテナを垂直に配置すれば、いずれの測位衛星受信アンテナも同じ水平位置となり、それらの測位衛星受信アンテナ位置の平均値が測位対象点の位置となるので対称性を考慮する必要は無い。また、対となる測位衛星受信アンテナの測位を共通な衛星だけを使って行なうことにすれば、衛星の違いによる測位誤差も除去することが出来る。  When positioning the position of the plane, if the positioning satellite receiving antennas are arranged vertically, all the positioning satellite receiving antennas have the same horizontal position, and the average value of the positioning satellite receiving antenna positions is the position of the positioning target point. Therefore, it is not necessary to consider symmetry. In addition, if the positioning satellite receiving antennas to be paired are positioned using only a common satellite, a positioning error due to a difference in the satellites can be eliminated.

この様に衛星測位装置を複数の衛星測位受信機で構成し、それらの測位衛星受信アンテナ位置の平均値が測位対象点の位置となる様に配置して、それら受信機の同時刻における測位結果を算術平均処理すればマルチパスなどによる測位誤差を少なくした高精度測位が可能となる。  In this way, the satellite positioning device is composed of a plurality of satellite positioning receivers, arranged so that the average value of the positioning satellite receiving antenna positions is the position of the positioning target point, and the positioning results of these receivers at the same time If arithmetic average processing is performed, high-accuracy positioning with reduced positioning error due to multipath or the like becomes possible.

本考案の一実施形態に係る衛星測位装置の全体構成を表した構成図である。  It is a block diagram showing the whole structure of the satellite positioning apparatus which concerns on one Embodiment of this invention. 本考案の一実施形態に係る衛星測位装置の測位衛星受信アンテナの設置例を模式的に示す説明図である。  It is explanatory drawing which shows typically the installation example of the positioning satellite receiving antenna of the satellite positioning apparatus which concerns on one Embodiment of this invention. 本考案の一実施形態に係る衛星測位装置の処理手順を示すフローチャートである。  It is a flowchart which shows the process sequence of the satellite positioning apparatus which concerns on one Embodiment of this invention.

本実施形態に係る衛星測位装置１は例えば図１に示すように測位衛星２と、測位衛星受信アンテナ３１，４１，５１，６１と、衛星測位受信機３２，４２，５２，６２と、平均処理装置７と、操作表示装置８とから構成されている。このうちの測位衛星２は地球上空の衛星軌道上にあり、測位衛星受信アンテナ３１，４１，５１，６１は図２に示すように乗用車のルーフの中央を対称点として測位衛星受信アンテナ３１と測位衛星受信アンテナ４１とが点対称になるよう配置されており、測位衛星受信アンテナ５１と測位衛星受信アンテナ６１とが点対称になるよう配置されている。この様に測位衛星受信アンテナを設置すれば乗用車のルーフの中央が測位対象点の位置となる。  For example, as shown in FIG. 1, the satellite positioning device 1 according to the present embodiment includes a positioning satellite 2, positioning satellite receiving antennas 31, 41, 51, 61, satellite positioning receivers 32, 42, 52, 62, and an average process. The apparatus 7 and the operation display apparatus 8 are comprised. Among them, the positioning satellite 2 is in a satellite orbit over the earth, and the positioning satellite receiving antennas 31, 41, 51 and 61 are positioned with the positioning satellite receiving antenna 31 with the center of the roof of the passenger car as a symmetric point as shown in FIG. The satellite receiving antenna 41 is arranged so as to be point symmetric, and the positioning satellite receiving antenna 51 and the positioning satellite receiving antenna 61 are arranged so as to be point symmetric. If the positioning satellite receiving antenna is installed in this way, the center of the roof of the passenger car becomes the position of the positioning target point.

衛星測位受信機３２，４２，５２，６２はそれぞれ、測位衛星受信アンテナ３１，４１，５１，６１で受信した測位衛星２からの受信信号を使ってそれぞれの測位衛星受信アンテナ位置を計算し、それらの測位衛星受信アンテナ位置が平均処理装置７に送られて算術平均処理されて乗用車のルーフの中央の位置が求められ、その乗用車のルーフの中央の位置の測位結果が操作表示装置８に表示される。  The satellite positioning receivers 32, 42, 52, and 62 calculate the positioning satellite reception antenna positions using the received signals from the positioning satellites 2 received by the positioning satellite reception antennas 31, 41, 51, and 61, respectively. The positioning satellite receiving antenna position is sent to the averaging processor 7 and subjected to arithmetic averaging processing to determine the center position of the passenger car roof, and the positioning result of the center position of the passenger car roof is displayed on the operation display device 8. The

図３は本実施形態に係る衛星測位装置１の処理手順を示すフローチャートである。以下、図３を用いて本実施形態に係る衛星測位装置１の処理の流れと原理を説明する。  FIG. 3 is a flowchart showing a processing procedure of the satellite positioning apparatus 1 according to the present embodiment. Hereinafter, the processing flow and principle of the satellite positioning apparatus 1 according to the present embodiment will be described with reference to FIG.

測位衛星２としてＧＰＳを例にとると、ＧＰＳ衛星は地上２万Ｋｍの円軌道上に３０機あまりが打ち上げられており、地上の何処からでもそのうちの４機以上からの測位用電波信号が受信出来るように運用されている。測位衛星受信アンテナ３１，４１，５１，６１では、４機以上の測位衛星２から送信されている電波を受信する。この電波には測位衛星の現在位置を計算する為のデータが変調されており、そのデータの信号先頭は決められた時刻に同期している。衛星測位受信機３２，４２，５２，６２では受信電波から測位衛星の現在位置を計算する為のデータを復調して衛星位置を求め、データの信号先頭を受信した受信機時刻との差に電波伝搬速度を掛けて測位衛星までの距離を求める。この様にして得られた４機以上の衛星の位置と衛星までの距離から測位衛星受信アンテナの位置を計算する（ステップＳ３）。測位衛星受信アンテナの位置を計算するのに４機以上の衛星の位置と衛星までの距離が必要な理由は位置の未知数が３次元分と受信機時刻の狂いの合計４次元分の未知数を解く必要があることによる。  Taking GPS as an example of the positioning satellite 2, about 30 GPS satellites have been launched in a circular orbit of 20,000km above the ground, and positioning radio signals from four or more of them are received from anywhere on the ground. It is operated as possible. The positioning satellite receiving antennas 31, 41, 51, 61 receive radio waves transmitted from four or more positioning satellites 2. This radio wave modulates data for calculating the current position of the positioning satellite, and the head of the signal of the data is synchronized with a predetermined time. The satellite positioning receivers 32, 42, 52, 62 demodulate the data for calculating the current position of the positioning satellite from the received radio wave to obtain the satellite position, and the radio wave differs from the receiver time at which the head of the data signal is received. Multiply the propagation speed to find the distance to the positioning satellite. The position of the positioning satellite receiving antenna is calculated from the positions of the four or more satellites thus obtained and the distance to the satellite (step S3). The reason why the position of four or more satellites and the distance to the satellite is necessary to calculate the position of the positioning satellite receiving antenna is to solve the unknowns for the total of four dimensions, that is, the unknown number of positions for three dimensions and the receiver time deviation. Depending on the need.

ここで、計算によって求まった測位衛星受信アンテナｎの位置Ｒｎの値にはマルチパスなどによる誤差Ｅｎが含まれている。従って、測位対象点の位置Ｐは、測位衛星受信アンテナ設置点からの位置差をＤｎとすると、

Figure 0003178938
で表される。測位衛星受信アンテナ３１，４１，５１，６１のそれぞれの測位結果Ｒ３１、Ｒ４１、Ｒ５１、Ｒ６１の平均値Ａは、
Figure 0003178938
で得られる。Ｒｎの代わりにＰを使って表現すると、
Figure 0003178938
となる。ここで測位衛星受信アンテナ３１と測位衛星受信アンテナ４１とは測位対象点の位置Ｐに対して点対称になるよう配置されており、測位衛星受信アンテナ５１と測位衛星受信アンテナ６１とは測位対象点の位置Ｐに対して点対称になるよう配置されているため、
Figure 0003178938
Figure 0003178938
であるので、数３は
Figure 0003178938
となり、整理すると
Figure 0003178938
すなわち、測位対象点の位置Ｐは
Figure 0003178938
で表される。Here, an error En due to multipath or the like is included in the value of the position Rn of the positioning satellite receiving antenna n obtained by calculation. Therefore, the position P of the positioning target point is Dn, where the positional difference from the positioning satellite receiving antenna installation point is Dn.
Figure 0003178938
 It is represented by The average value A of the positioning results R31, R41, R51, R61 of the positioning satellite receiving antennas 31, 41, 51, 61 is
Figure 0003178938
 It is obtained by. Expressed using P instead of Rn,
Figure 0003178938
 It becomes. Here, the positioning satellite receiving antenna 31 and the positioning satellite receiving antenna 41 are arranged so as to be point symmetric with respect to the position P of the positioning target point, and the positioning satellite receiving antenna 51 and the positioning satellite receiving antenna 61 are positioned at the positioning target point. Is arranged so as to be point-symmetric with respect to the position P of
Figure 0003178938
Figure 0003178938
 Therefore, the number 3 is
Figure 0003178938
 Become
Figure 0003178938
 That is, the position P of the positioning target point is
Figure 0003178938
 It is represented by

ここで、誤差Ｅｎの主因であるマルチパス誤差は固定点で観測すると時間の経過とともに緩やかに変化する誤差であるが、空間的にはランダムな誤差としての性質を有する。この様なランダムな誤差Ｅｎの平均値（Ｅ３１＋Ｅ４１＋Ｅ５１＋Ｅ６１）／４のばらつきはＥ３１、Ｅ４１、Ｅ５１、Ｅ６１それぞれのばらつきよりも小さな値となり、その程度は、４つの値Ｅ３１、Ｅ４１、Ｅ５１、Ｅ６１に相関が無ければ理論的には１／√４すなわち、半分となる事が知られている。この様にして、測位対象点の位置Ｐを複数の測位衛星受信アンテナの位置Ｒｎの平均値Ａを使うことでマルチパスなどによる測位誤差を少なくすることができ、高精度な測位結果が求められ（ステップＳ４）、それを表示する（ステップＳ５）ことや、外部に出力することが可能となる。  Here, the multipath error, which is the main cause of the error En, is an error that gradually changes with the passage of time when observed at a fixed point, but spatially has a property as a random error. The variation of the average value (E31 + E41 + E51 + E61) / 4 of the random error En is smaller than the variations of E31, E41, E51, and E61, and the degree is correlated with the four values E31, E41, E51, and E61. If there is no, it is theoretically known to be 1 / √4, that is, half. In this way, by using the average value A of the position Rn of the plurality of positioning satellite receiving antennas for the position P of the positioning target point, positioning errors due to multipath or the like can be reduced, and a highly accurate positioning result is required. (Step S4), it can be displayed (Step S5), or output to the outside.

１ 衛星測位装置
２ 測位衛星
３１ 測位衛星受信アンテナ
３２ 衛星測位受信機
４１ 測位衛星受信アンテナ
４２ 衛星測位受信機
５１ 測位衛星受信アンテナ
５２ 衛星測位受信機
６１ 測位衛星受信アンテナ
６２ 衛星測位受信機
７ 平均処理装置
８ 操作表示装置DESCRIPTION OF SYMBOLS 1 Satellite positioning apparatus 2 Positioning satellite 31 Positioning satellite receiving antenna 32 Satellite positioning receiver 41 Positioning satellite receiving antenna 42 Satellite positioning receiver 51 Positioning satellite receiving antenna 52 Satellite positioning receiver 61 Positioning satellite receiving antenna 62 Satellite positioning receiver 7 Average processing Device 8 Operation display device

特開平１０−２４６７６４号広報Japanese Laid-Open Patent Publication No. 10-246664 特開２０１０−３２３０６号広報JP 2010-32306 PR 特開２００９−１０３５４８号広報JP 2009-103548

Claims (1)

測位衛星から受信した信号に基づいて現在位置の測位を行う衛星測位装置であって、複数の衛星測位受信機で構成し、それらの測位衛星受信アンテナ位置の平均値が測位対象点の位置となる様に測位衛星受信アンテナを配置したことを特徴とする衛星測位装置。  A satellite positioning device that measures the current position based on signals received from positioning satellites, which is composed of a plurality of satellite positioning receivers, and the average value of the positioning satellite reception antenna positions is the position of the positioning target point A satellite positioning device having a positioning satellite receiving antenna.
JP2012004245U 2012-06-25 2012-06-25 Satellite positioning device Expired - Fee Related JP3178938U (en)

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Cited By (2)

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WO2020110996A1 (en) * 2018-11-26 2020-06-04 株式会社デンソー Positioning device, speed measuring device, and program
WO2021172403A1 (en) * 2020-02-26 2021-09-02 株式会社ヨコオ Vehicle-mounted antenna device

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020110996A1 (en) * 2018-11-26 2020-06-04 株式会社デンソー Positioning device, speed measuring device, and program
JP2020085650A (en) * 2018-11-26 2020-06-04 株式会社豊田中央研究所 Positioning device, rate measuring device, and program
JP7201219B2 (en) 2018-11-26 2023-01-10 株式会社豊田中央研究所 Positioning device, velocity measuring device, and program
US12013467B2 (en) 2018-11-26 2024-06-18 Denso Corporation Positioning device, speed measuring device, and computer program product
WO2021172403A1 (en) * 2020-02-26 2021-09-02 株式会社ヨコオ Vehicle-mounted antenna device

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