JPS61108982A - Position measuring system of mobile station - Google Patents
Position measuring system of mobile stationInfo
- Publication number
- JPS61108982A JPS61108982A JP59231775A JP23177584A JPS61108982A JP S61108982 A JPS61108982 A JP S61108982A JP 59231775 A JP59231775 A JP 59231775A JP 23177584 A JP23177584 A JP 23177584A JP S61108982 A JPS61108982 A JP S61108982A
- Authority
- JP
- Japan
- Prior art keywords
- mobile station
- distance data
- satellite
- fixed station
- receiving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
- G01S19/071—DGPS corrections
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
【発明の詳細な説明】
（ａ）技術分野
この発明は人工衛星が発信する電波（航法信°号）を受
信して正確な自己の位置を計測するシステムに関し、特
には固定局が移動局の位置を上記方式で計測管理するシ
ステムに関する。Detailed Description of the Invention (a) Technical field The present invention relates to a system that accurately measures its own position by receiving radio waves (navigation signals) transmitted by an artificial satellite, and in particular, it relates to a system in which a fixed station is connected to a mobile station. The present invention relates to a system for measuring and managing positions using the above method.
山）発明の背景
人工衛星が発信する電波を、船舶等が受信して自己の位
置を計測するシステムは従来は、ＮＮ５Ｓシステムがあ
った。このシステムは衛星から発信された電波の受信周
波数がドツプラー効果により変化することを利用したも
のである。その効果を高めるために人工衛星は約１）０
００ｋという人工衛星としては低軌道をとっており、現
在このシステムのための衛星は５個周回軌道上にある。BACKGROUND OF THE INVENTION Conventionally, the NN5S system was used by ships and the like to measure their own position by receiving radio waves transmitted by artificial satellites. This system utilizes the fact that the receiving frequency of radio waves transmitted from a satellite changes due to the Doppler effect. In order to increase the effect, the artificial satellite is approximately 1)0
The 00k satellite is in a low orbit, and currently there are five satellites for this system in orbit.
このシステムの欠点は約１００分に１度しか衛星を観測
できないこと、１回に観測できる時間が１０分程度と短
いこと、誤差が１００〜５００ｍ程度とやや大きいこと
等が挙げられる。The disadvantages of this system include that it can observe a satellite only about once every 100 minutes, that the observation time at each time is only about 10 minutes, and that the error is rather large, about 100 to 500 meters.
上記の欠点を解決する人工衛星を用いた測位システムが
米国で開発され、その概要は次の通りである。A positioning system using artificial satellites that solves the above drawbacks has been developed in the United States, and its outline is as follows.
このシステムはＧ Ｐ Ｓ （Ｇｌｏｂａｌ Ｐｏｓｉ
ｔｉｏｎｉｎｇ Ｓｙｓ ｔｅｎ）と呼ばれ、軌道半径
約２６０００ｋｆｆＩの３個の軌道面にそれぞれ６個の
人工衛星（ＮＤＳ：Ｎａｖｉｇａｔｉｏｎ Ｄｅｖｅｌ
ｏｐｍｅｎｔ ５ａｔｅｌｉｔｅ）を打ち上げるもので
ある。これによって、地球上のどの位置でも常時４個以
上の衛星が視野に入っているようになる。これら衛星は
常時、航法信号として正確な時刻信号と、この衛星の軌
道ズレに関するデータである軌道データを発信しており
、地上局がこの衛星の信号を受信してその時刻信号と自
己のクロックの計時時刻とのズレから電波の到達時間を
求め、それに基づいて衛星との距離データを求める。This system is GPS (Global Posi)
It is called a navigation system (NDS), and six artificial satellites (NDS) are placed in three orbital planes with an orbital radius of approximately 26,000 kffI.
5atelite) will be launched. This ensures that four or more satellites are always in view from any location on Earth. These satellites constantly transmit accurate time signals as navigation signals and orbit data, which is data on deviations in the satellite's orbit.The ground station receives these satellite signals and uses the time signals and its own clock. The arrival time of the radio waves is determined from the discrepancy with the clocked time, and based on this, the distance data to the satellite is determined.
この距離データには自己のクロックの計時誤差によるず
れが含まれているから、４個の衛星の電波を受信し、自
己の３次元座標（ｘ、ｙ、ｚ）及び計時誤差Δｔを未知
数とする４元方程式を解けば自己の３次元座標と正確な
時刻が計測できるシステムである。測定誤差は１０ｍ〜
３０ｍ程度と非常に正確なものである。Since this distance data includes deviations due to timing errors in its own clock, it receives radio waves from four satellites, and assumes its own three-dimensional coordinates (x, y, z) and timing error Δt as unknowns. It is a system that allows you to measure your own three-dimensional coordinates and accurate time by solving a four-dimensional equation. Measurement error is 10m~
It is very accurate, about 30m.
このシステムのための人工衛星（ＮＤＳ）は昭和６５年
には打ち上げを完了し、実用に供される予定になってお
り、完成すれば船舶の他移動速度の速い航空機、移動範
囲が微少で高精度の位置測定が要求される自動車等への
利用が考えられる。The artificial satellite (NDS) for this system is scheduled to be launched in 1985 and put into practical use. It is conceivable that it could be used in automobiles, etc., which require accurate position measurement.
（Ｃ）発明の目的
この発明は上記ＧＰＳシステムを利用し、移動局の位置
を固定局で正確に算出する移動局測位システムを提供す
ることを目的とする。(C) Purpose of the Invention An object of the present invention is to provide a mobile station positioning system that uses the above GPS system to accurately calculate the position of a mobile station at a fixed station.
（ｄ）発明の構成及び効果
この発明は、上記ＧＰＳシステムを利用する測位システ
ムであって、固定局と移動局とから構成され、固定局に
は、自己の位置に対する距離データを求め自己の位置を
正確に計測する衛星測位装置と、移動局に対し現在受信
すべき衛星の符号を通知する衛星符号通知手段と、移動
局から送られてきた距離データから移動局の位置を求め
さらに前記衛星測位装置で得られる自己の位置と自己の
真の位置の差によりそれを補正する移動局位置決定手段
とを設け、移動局には、固定局から通知される衛星符号
を受信する衛星符号受信手段と、自己の位置に対する距
離データを求める距離測定装置と、固定局に対して距離
データを送信する距離データ送信手段と、を設けたこと
を特徴とする。(d) Structure and Effects of the Invention The present invention is a positioning system that utilizes the above-mentioned GPS system, and is composed of a fixed station and a mobile station. a satellite positioning device that accurately measures the satellite; a satellite code notification means that notifies the mobile station of the satellite code that it should currently receive; and a satellite positioning device that determines the position of the mobile station from distance data sent from the mobile station; The mobile station is provided with a mobile station position determining means for correcting the difference between its own position obtained by the device and its true position, and the mobile station is provided with a satellite code receiving means for receiving the satellite code notified from the fixed station. The present invention is characterized in that it includes a distance measuring device that obtains distance data regarding its own position, and distance data transmitting means that transmits distance data to a fixed station.
以上のように構成することによって、この発明は以下の
効果を奏することが出来る。By configuring as described above, the present invention can achieve the following effects.
固定局に斉精度の衛星測位装置を設置し移動局には簡略
な距離測定装置２通信器を設置し、移動局はＮＤＳの信
号電波受信によって計測した距離−データを固定局に送
信すれば、固定局で誤差を補正した正確な位置決定が行
われるため、それぞれの移動局に高精度の衛星測位装置
を設置する場合に比して低コストで、その場合と同様の
測位精度を得ることが出来る。従って、多数の移動局を
有し、それぞれの精度の高い位置決定が必要なタクシ−
２運送会社等で用いれば、自社の自動車が現在何処を走
行しているかを常に正確に把握するシステムを低コスト
で実現することが出来る。A satellite positioning device with simultaneous accuracy is installed at the fixed station, a simple distance measuring device 2 communication device is installed at the mobile station, and the mobile station transmits the distance data measured by receiving NDS signal radio waves to the fixed station. Because accurate positioning is performed at the fixed station by correcting errors, it is possible to obtain the same positioning accuracy at a lower cost than installing a high-precision satellite positioning device at each mobile station. I can do it. Therefore, taxis that have a large number of mobile stations and require highly accurate positioning of each
2. If used by a transportation company, etc., it is possible to realize a system that always accurately grasps where the company's vehicles are currently traveling at a low cost.
（ｅ）実施例
各ＮＤＳは１５７５．４２ＭＨｚと１２２７．６ＭＨｚ
の極超短波周波数で航法信号（クロックの補正信号、衛
星の位置信号、メソセージ、暦）をスペクトラム拡散で
変調し発信する。このうち１５７５．４２ＭＨｚの信号
はＣ／ Ａ （（：１ｅａｒ ａｃｑｉｓｉｔｉ・・）
コードと呼ばれる擬似雑音（ＰＮ・ＰｇｄＯＮｏ１ｓｅ
）コードで変調されたものであり、これが民間ユーザ用
に使用される。従って、このシステムは１５７５． ４
２ＭＨｚを受信する。Ｃ／ｌ：ｌ−ドは各ＮＤＳに固有
の識別コードであり、約ｌ ｍｓの周期を持つ１０２３
ビツトのコードである。(e) Example Each NDS is 1575.42MHz and 1227.6MHz
It modulates and transmits navigation signals (clock correction signals, satellite position signals, messages, and almanacs) using a spread spectrum at an extremely high frequency. Of these, the 1575.42MHz signal is C/A ((:1ear acqisiti...)
Pseudo noise called code (PN/PgdONo1se
) code, which is used for civilian users. Therefore, this system is 1575. 4
Receives 2MHz. C/l:l-code is an identification code unique to each NDS, and has a period of about 1023 ms.
This is the bit code.
以下図面を参照してこの発明の詳細な説明する。The present invention will be described in detail below with reference to the drawings.
第１図はこの発明の実施例である移動局測位システムの
固定局の衛星測位装置のブロック図である。この衛星測
位装置はＮＤＳからの信号電波を受信するアンテナおよ
びアンプ部１．受信した信号電波を復調計測する受信部
Ｃｈｉ〜Ｃｈ４．演算及び装置の制御を行うマイクロコ
ンピュータ４、受信時刻の正確な計時のためのクロック
５．移動局との交信のための通信機６及び時刻測定位置
等を表示する表示器７で構成されている。FIG. 1 is a block diagram of a satellite positioning device for a fixed station in a mobile station positioning system according to an embodiment of the present invention. This satellite positioning device has an antenna and an amplifier section for receiving signal radio waves from the NDS.1. Receiving units Chi to Ch4 that demodulate and measure the received signal radio waves. A microcomputer 4 that performs calculations and controls the device; a clock 5 that accurately measures reception time; It is comprised of a communication device 6 for communicating with a mobile station and a display 7 for displaying time measurement positions and the like.
アンプ部１はＮＤＳからの１５７５． ４２ＭＨｚの信
号電波を受信して超短波周波数に周波数変換し、復調器
２と擬似ノイズ発生器３とで構成される各受信部Ｃｈｉ
〜Ｃｈ４に供給する。Amplifier section 1 receives 1575. Each receiving section Chi receives a signal radio wave of 42 MHz and converts the frequency into a very high frequency, and is composed of a demodulator 2 and a pseudo noise generator 3.
- Supply to Ch4.
復調器２にはアンプ部１からの信号高周波及び擬似ノイ
ズ発生器３からのＰＮコードが入力されている。擬似ノ
イズ発生器３が発生するＰＮコードは、その時点で目視
可能な全てのＮＤＳから最適な４個のＮＤＳの組合せを
マイクロコンピュータ４が決定し、各受信部Ｃｈｉ〜Ｃ
ｈ４にそのコードを割り当て通知したものである。なお
、全てのＮＤＳの飛行位置はマイクロコンピュータ４に
記憶されている軌道に関するデータで略正確に計算する
ことができる。ＮＤＳの信号電波を受信すればその航法
信号中に含まれる軌道データによって飛行位置を修正し
、より正確な飛行位置を算出することができる。復調器
２はアンプ部１から入力された信号高周波を擬似ノイズ
発生器３から入力されたＰＮコードでスペクトル逆拡散
して復調するが、擬似ノイズ発生器３は出力するＰＮコ
ードの位相を徐々にずらせてスペクトル逆拡散の相関が
最大になる位相で固定する。この位相のずれとクロック
信号とで、ＮＤＳからこの信号電波が発信されてからこ
の固定局に到達するまでの到達時間（クロック誤差を含
む）を計測する。前記のようにこの受信部は４個（Ｃｈ
ｉ〜Ｃｈ４）設置されており４個のＮＤＳの信号を同時
に受信することが出来る。A high frequency signal from the amplifier section 1 and a PN code from the pseudo noise generator 3 are input to the demodulator 2 . The PN code generated by the pseudo-noise generator 3 is determined by the microcomputer 4, which determines the optimal combination of four NDSs from all visible NDSs at that time, and sends the PN code to each receiving unit Chi to C.
The code is assigned to h4 and notified. Incidentally, the flight positions of all NDSs can be calculated almost accurately using the data regarding the trajectories stored in the microcomputer 4. If the NDS signal radio waves are received, the flight position can be corrected using the orbit data included in the navigation signal, and a more accurate flight position can be calculated. The demodulator 2 demodulates the high frequency signal input from the amplifier section 1 by despreading the spectrum using the PN code input from the pseudo-noise generator 3, but the pseudo-noise generator 3 gradually changes the phase of the output PN code. It is shifted and fixed at the phase that maximizes the correlation of spectrum despreading. Using this phase shift and the clock signal, the arrival time (including clock error) from when this signal radio wave is transmitted from the NDS until it reaches this fixed station is measured. As mentioned above, there are four receiving sections (Ch
i~Ch4) is installed and can receive four NDS signals at the same time.
復調器２で復調されたＮＤＳからの航法信号及び擬似ノ
イズ発生器３．クロック５で計測された到達時間はマイ
クロコンピュータ４に入力され、このマイクロコンピュ
ータ４によって時刻誤差の要因を含む距離データが算出
され、さらに方程式を解くことにより時刻誤差の要因を
消去して得られる計測位置及びこの計測位置と既知の正
確な位置との偏差が計算される。Navigation signal from NDS demodulated by demodulator 2 and pseudo noise generator 3. The arrival time measured by the clock 5 is input to the microcomputer 4, which calculates distance data including time error factors, and then solves an equation to eliminate the time error factors and obtain a measurement. The position and the deviation between this measured position and the known exact position are calculated.
通信機６は、マイクロコンピュータ４が出力する上記最
適な４個のＮＤＳの組合せを移動局に送信するとともに
、移動局がこのＮＤＳ観測で得た距離データを受信する
。The communication device 6 transmits the above-mentioned optimal combination of four NDSs output by the microcomputer 4 to the mobile station, and the mobile station receives distance data obtained by this NDS observation.
表糸器７は時刻を表示するほか、計測された固定局、移
動局の位置等を表示する。In addition to displaying the time, the display device 7 also displays the measured positions of fixed stations and mobile stations.
第２図は上記実施例の移動局の衛星測位装置のブロック
図である。この衛星測位装置はＮＤＳからの信号電波を
受信するアンテナおよびアンプ部１′、復調器２′と擬
似ノイズ発生器３′で構成され受信した信号電波を復調
する受信部Ｒ１信号電波の受信時刻を計時するクロック
５’、ＮＤＳのＰＮコードの出力、距離データの計算等
を行うマイクロコンピュータ４′、固定局からの４個の
ＮＤＳを順次受信しマイクロコンピュータ４′が計算し
た距離データを固定局に送信する通信器６′で構成され
ている。FIG. 2 is a block diagram of the satellite positioning device for the mobile station of the above embodiment. This satellite positioning device consists of an antenna for receiving signal radio waves from NDS, an amplifier section 1', a demodulator 2', and a pseudo noise generator 3', and a receiving section R1 for demodulating the received signal radio waves. A clock 5' for timekeeping, a microcomputer 4' that outputs the NDS PN code, calculates distance data, etc., receives four NDSs from the fixed station sequentially, and sends the distance data calculated by the microcomputer 4' to the fixed station. It consists of a transmitting communicator 6'.
各部の動作は固定局の対応する各部の動作と略同様であ
るが、移動局においてはこの装置を軽量廉価に構成する
ために、受信部は１チヤネルとし４個のＮＤＳを順次受
信するようにしているほか、マイクロコンピュータ４′
は受信した信号電波をから距離データを計算するまでの
演算にとどまり、この距離データは通信機６′で固定局
に送信され、この移動局の位置計算は固定局のマイクロ
コンピュータ４で行われる。The operation of each part is almost the same as that of the corresponding part of a fixed station, but in order to make this device lightweight and inexpensive, the receiving part of the mobile station has one channel and receives four NDSs sequentially. In addition to the microcomputer 4'
The calculation is limited to calculating distance data from the received signal radio waves, and this distance data is transmitted to the fixed station by the communication device 6', and the position calculation of this mobile station is performed by the microcomputer 4 of the fixed station.
第３図（Ａ）は上記固定局のマイクロコンピュータ４の
動作を示すフローチャートである。ステップｎｌ（以下
、ステップｎｉを単にｎｉと呼ぶ。）では現在視界にあ
るＮＤＳから測位に最適な４個のＮＤＳの組合せを決定
する。Ｒ２ではｎｌで決定した４個のＮＤＳの組合せを
移動局に送信し、Ｒ３では各受信部の擬似ノイズ発生器
３に受信すべきＮＤＳのＣ／Ａコードを出力する。Ｒ４
ではＮＤＳからの信号電波を受信復調し、Ｒ５で距離デ
ータを計算する。ｎ６では距離データ、航法信号に含ま
れているＮＤＳの軌道データ等から固定局の計測位置を
決定し、すでに計測されている正確な固定局の位置との
偏差を算出する（ｎ７）。次にｎ８で移動局からの距離
データの受信があるまで待機し、受信があればその距離
データにｎ７で算出した測定位置の偏差を考慮して移動
局の位置を決定しくｎ９）、その位置を表示器７に表示
して（ｎｌＯ）終了する。この後再びｎ１以下の実行を
繰り返す。FIG. 3(A) is a flowchart showing the operation of the microcomputer 4 of the fixed station. In step nl (hereinafter, step ni will be simply referred to as ni), a combination of four NDSs optimal for positioning is determined from the NDSs currently in view. In R2, the combination of four NDS determined by nl is transmitted to the mobile station, and in R3, the C/A code of the NDS to be received is output to the pseudo noise generator 3 of each receiving section. R4
Then, the signal radio waves from the NDS are received and demodulated, and distance data is calculated by R5. At n6, the measured position of the fixed station is determined from the distance data, the NDS trajectory data included in the navigation signal, etc., and the deviation from the already measured accurate position of the fixed station is calculated (n7). Next, in step n8, wait until distance data is received from the mobile station, and if received, determine the location of the mobile station by taking into account the distance data and the deviation of the measured position calculated in step n7.n9). is displayed on the display 7 (nlO) and the process ends. After this, the execution of n1 and subsequent steps is repeated again.
第３図（Ｂ）は上記移動局のマイクロコンビエータ４′
の動作を示すフローチャートである。ｎ１）で固定局か
らの４個のＮＤＳの組合せを受信するまで待機する。受
信すれば、擬似ノイズ発生器３′に４個のＰＮコードを
順次出力して（ｎ１２）、４個のＮＤＳの信号電波を順
次受信する（ｎ１３’）。この信号電波から距離データ
を計測しくｎ １４） 、この距離データを固定局に送
信して（ｎ １５）終了する。この後再びｎｉ１ｎ１以
下行を繰り返す。FIG. 3(B) shows the micro combinator 4' of the mobile station.
3 is a flowchart showing the operation of FIG. n1), it waits until it receives a combination of four NDSs from the fixed station. If received, four PN codes are sequentially output to the pseudo noise generator 3' (n12), and four NDS signal radio waves are sequentially received (n13'). Distance data is measured from this signal radio wave (n14), and this distance data is transmitted to the fixed station (n15), and the process ends. After this, the rows below ni1n1 are repeated again.
なお、この発明の距離測定装置は上記アンプ部、受信部
、マイクロコンピュータ、クロックで構成されている。Note that the distance measuring device of the present invention is comprised of the above-mentioned amplifier section, receiving section, microcomputer, and clock.
また、ｎ２及び通信機６がこの発明の衛星符号通知手段
に対応し、ｎｌｏ及びマイクロコンピュータ４．ｎｉｌ
及び通信機６′ｎ１５及び通信機６′がそれぞれ移動局
位置決定手段、衛星符号受信手段、距離データ送信手段
に対応する。Further, n2 and the communication device 6 correspond to the satellite code notification means of the present invention, and nlo and the microcomputer 4. nil
The communication device 6'n15 and the communication device 6' correspond to a mobile station position determining means, a satellite code receiving means, and a distance data transmitting means, respectively.
以上の構成の移動局測位システムを用いれば、固定局が
移動局の位置を知ることが出来、移動局の測位作業のう
ち位置決定、誤差の補正等の測定精度に関わる部分を高
精度のシステムを有する固定局が行うため、位置決定が
精度良く行えるうえ、移動局の測位装置は簡略になり、
システムのコストダウンにもつながる。なお、本実施例
では移動局の位置を固定局で表示する様にしたが、表示
データを移動局に送信する様に構成してもよい。By using the mobile station positioning system with the above configuration, the fixed station can know the location of the mobile station, and the parts related to measurement accuracy such as position determination and error correction of the mobile station positioning work can be performed using a high-precision system. Since this is done by a fixed station with
This also leads to lower system costs. In this embodiment, the position of the mobile station is displayed on the fixed station, but the display data may be transmitted to the mobile station.
この様にすると移動局自身が自己の正確な位置を知るこ
とができる。In this way, the mobile station itself can know its exact location.
第１図はこの発明の実施例である移動局測位システムの
固定局の衛星測位装置のブロック図、第２図は上記実施
例の移動局の衛星測位装置のブロック図、第３図（Ａ）
は上記固定局のマイクロコンピュータの動作を示すフロ
ーチャート、第３図（Ｂ）は上記移動局のマイクロコン
ピュータの動作を示すフローチャートである。
１．１′−アンプ部、２．２′−復調器、３．３′−擬
似ノイズ発生器、
４．４′−マイクロコンピュータ、
５．６′−クロック、６．６′−通信機、７−表示器、
Ｃｈｉ〜Ｃｈ４．Ｒ−受信部。FIG. 1 is a block diagram of a satellite positioning device of a fixed station in a mobile station positioning system according to an embodiment of the present invention, FIG. 2 is a block diagram of a satellite positioning device of a mobile station of the above embodiment, and FIG. 3(A)
is a flowchart showing the operation of the microcomputer of the fixed station, and FIG. 3(B) is a flowchart showing the operation of the microcomputer of the mobile station. 1.1'-Amplifier section, 2.2'-Demodulator, 3.3'-Pseudo noise generator, 4.4'-Microcomputer, 5.6'-Clock, 6.6'-Communication device, 7 -Display device, Chi~Ch4. R-Receiver.
Claims (1)
電波が発信されてから受信するまでの電波伝搬時間に基
づいてそれぞれの衛星との距離データを求める距離測定
装置を備え、さらに軌道データ等に基づいてそれらの複
数の距離データから自己の位置を計測する衛星測位装置
を有するシステムであって、 固定局と移動局とから構成され、固定局には、自己の位
置に対する前記距離データを求め自己の位置を計測する
衛星測位装置と、移動局に対し現在受信すべき衛星の符
号を通知する衛星符号通知手段と、移動局から送られて
きた距離データから移動局の位置を求めさらに前記衛星
測位装置で得られる自己の位置と真の自己の位置との誤
差に基づいてそれを補正する移動局位置決定手段とを設
け、 移動局には、固定局から通知される衛星符号を受信する
衛星符号受信手段と、自己の位置に対する距離データを
求める距離測定装置と、固定局に対して距離データを送
信する距離データ送信手段と、を設けたことを特徴とす
る移動局測位システム。(1) Equipped with a distance measuring device that receives radio waves from multiple artificial satellites and obtains distance data from each satellite based on the radio wave propagation time from when each radio wave is transmitted until it is received, and further includes orbit data. A system that has a satellite positioning device that measures its own position from a plurality of distance data based on the distance data, etc., and is composed of a fixed station and a mobile station, and the fixed station has the distance data for its own position. a satellite positioning device for determining and measuring its own position; a satellite code notification means for notifying the mobile station of the satellite code to be currently received; and a satellite positioning device for determining the position of the mobile station from distance data sent from the mobile station; A mobile station position determining means is provided for correcting the error between the own position obtained by the satellite positioning device and the true own position, and the mobile station receives a satellite code notified from the fixed station. What is claimed is: 1. A mobile station positioning system comprising: a satellite code receiving means; a distance measuring device for obtaining distance data regarding its own position; and a distance data transmitting means for transmitting distance data to a fixed station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59231775A JPS61108982A (en) | 1984-11-01 | 1984-11-01 | Position measuring system of mobile station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59231775A JPS61108982A (en) | 1984-11-01 | 1984-11-01 | Position measuring system of mobile station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61108982A true JPS61108982A (en) | 1986-05-27 |
Family
ID=16928834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59231775A Pending JPS61108982A (en) | 1984-11-01 | 1984-11-01 | Position measuring system of mobile station |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61108982A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61200484A (en) * | 1985-02-28 | 1986-09-05 | Japan Radio Co Ltd | Satellite navigation apparatus |
| JPS6238378A (en) * | 1985-08-14 | 1987-02-19 | Toshiba Corp | Navigation device |
| JPH06123766A (en) * | 1992-10-09 | 1994-05-06 | Japan Aviation Electron Ind Ltd | Moving body position monitoring system |
| JPH06230101A (en) * | 1993-02-05 | 1994-08-19 | Masanari Togasaka | Detector for avalanche, landslide and the like |
| JPH06230105A (en) * | 1993-02-04 | 1994-08-19 | Masanari Togasaka | Caddie cart control system |
| JPH06236211A (en) * | 1993-02-08 | 1994-08-23 | Masanari Togasaka | Vehicle managing device |
| JPH06242210A (en) * | 1993-02-17 | 1994-09-02 | Koden Electron Co Ltd | Differential gps and parent device and child device thereof |
| JPH07146995A (en) * | 1993-11-19 | 1995-06-06 | Nippondenso Co Ltd | Mobile station position management system |
| JPH08505469A (en) * | 1992-12-02 | 1996-06-11 | ヴォクソン インターナショナル ピー・ティー・ワイ リミテッド | Improvements in the positioning system |
| JPH08166436A (en) * | 1994-12-13 | 1996-06-25 | Japan Radio Co Ltd | Satellite signal receiver |
| JPH11351887A (en) * | 1998-06-12 | 1999-12-24 | Nec Home Electron Ltd | Navigation system |
| JP2000155163A (en) * | 1998-11-20 | 2000-06-06 | Sony Computer Entertainment Inc | Positioning system, method, and device |
| JP2000206222A (en) * | 1999-01-08 | 2000-07-28 | Japan Radio Co Ltd | Portable terminal position detecting method in inquiring search system |
| JP2004502135A (en) * | 2000-03-20 | 2004-01-22 | クゥアルコム・インコーポレイテッド | Method and apparatus for using assistance data for a satellite location system |
| JP2004170646A (en) * | 2002-11-19 | 2004-06-17 | Electronic Navigation Research Institute | Method of correction of electronic map information and monitoring system of position of mobile station |
| JP2007155695A (en) * | 2005-12-05 | 2007-06-21 | Compal Electronics Inc | Mobile communication device positioning system and method |
| JP2017168000A (en) * | 2016-03-18 | 2017-09-21 | 株式会社日立製作所 | Autonomous mobile device |
-
1984
- 1984-11-01 JP JP59231775A patent/JPS61108982A/en active Pending
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61200484A (en) * | 1985-02-28 | 1986-09-05 | Japan Radio Co Ltd | Satellite navigation apparatus |
| JPH0736035B2 (en) * | 1985-02-28 | 1995-04-19 | 日本無線株式会社 | Satellite navigation equipment |
| JPH0785107B2 (en) * | 1985-08-14 | 1995-09-13 | 株式会社東芝 | Navigation equipment |
| JPS6238378A (en) * | 1985-08-14 | 1987-02-19 | Toshiba Corp | Navigation device |
| JPH06123766A (en) * | 1992-10-09 | 1994-05-06 | Japan Aviation Electron Ind Ltd | Moving body position monitoring system |
| JPH08505469A (en) * | 1992-12-02 | 1996-06-11 | ヴォクソン インターナショナル ピー・ティー・ワイ リミテッド | Improvements in the positioning system |
| JPH06230105A (en) * | 1993-02-04 | 1994-08-19 | Masanari Togasaka | Caddie cart control system |
| JPH06230101A (en) * | 1993-02-05 | 1994-08-19 | Masanari Togasaka | Detector for avalanche, landslide and the like |
| JPH06236211A (en) * | 1993-02-08 | 1994-08-23 | Masanari Togasaka | Vehicle managing device |
| JPH06242210A (en) * | 1993-02-17 | 1994-09-02 | Koden Electron Co Ltd | Differential gps and parent device and child device thereof |
| JPH07146995A (en) * | 1993-11-19 | 1995-06-06 | Nippondenso Co Ltd | Mobile station position management system |
| JPH08166436A (en) * | 1994-12-13 | 1996-06-25 | Japan Radio Co Ltd | Satellite signal receiver |
| JPH11351887A (en) * | 1998-06-12 | 1999-12-24 | Nec Home Electron Ltd | Navigation system |
| JP2000155163A (en) * | 1998-11-20 | 2000-06-06 | Sony Computer Entertainment Inc | Positioning system, method, and device |
| JP2000206222A (en) * | 1999-01-08 | 2000-07-28 | Japan Radio Co Ltd | Portable terminal position detecting method in inquiring search system |
| JP2004502135A (en) * | 2000-03-20 | 2004-01-22 | クゥアルコム・インコーポレイテッド | Method and apparatus for using assistance data for a satellite location system |
| JP2012211907A (en) * | 2000-03-20 | 2012-11-01 | Qualcomm Inc | Methods and apparatuses for using assistance data relating to satellite position systems |
| JP2014222228A (en) * | 2000-03-20 | 2014-11-27 | クゥアルコム・インコーポレイテッドＱｕａｌｃｏｍｍ Ｉｎｃｏｒｐｏｒａｔｅｄ | Methods and apparatuses for using assistance data relating to satellite position systems |
| JP2015180874A (en) * | 2000-03-20 | 2015-10-15 | クゥアルコム・インコーポレイテッドＱｕａｌｃｏｍｍ Ｉｎｃｏｒｐｏｒａｔｅｄ | Methods and apparatuses for using assistance data relating to satellite position systems |
| JP2017003594A (en) * | 2000-03-20 | 2017-01-05 | スナップトラック・インコーポレーテッド | Methods and apparatuses for using assistance data relating to satellite position systems |
| JP2004170646A (en) * | 2002-11-19 | 2004-06-17 | Electronic Navigation Research Institute | Method of correction of electronic map information and monitoring system of position of mobile station |
| JP2007155695A (en) * | 2005-12-05 | 2007-06-21 | Compal Electronics Inc | Mobile communication device positioning system and method |
| JP2017168000A (en) * | 2016-03-18 | 2017-09-21 | 株式会社日立製作所 | Autonomous mobile device |
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