WO2012114620A1 - Dispositif de génération d'informations d'amélioration de la localisation, récepteur gnss, système d'amélioration de la localisation et procédé d'amélioration de la localisation - Google Patents

Dispositif de génération d'informations d'amélioration de la localisation, récepteur gnss, système d'amélioration de la localisation et procédé d'amélioration de la localisation Download PDF

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Publication number
WO2012114620A1
WO2012114620A1 PCT/JP2011/079213 JP2011079213W WO2012114620A1 WO 2012114620 A1 WO2012114620 A1 WO 2012114620A1 JP 2011079213 W JP2011079213 W JP 2011079213W WO 2012114620 A1 WO2012114620 A1 WO 2012114620A1
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Prior art keywords
error
correction amount
unit
user
information
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PCT/JP2011/079213
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English (en)
Japanese (ja)
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佐藤　友紀
雅一 宮
齋藤　雅行
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三菱電機株式会社
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Priority to AU2011360286A priority Critical patent/AU2011360286B2/en
Priority to JP2013500844A priority patent/JP5570649B2/ja
Publication of WO2012114620A1 publication Critical patent/WO2012114620A1/fr

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    • 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

Definitions

  • the present invention relates to a positioning reinforcement information generating device, a GNSS receiver, and a positioning reinforcement used for estimating an error included in a GNSS signal from a GNSS (Global Navigation Satellite Systems) such as a GPS satellite and providing it to a user as a correction amount.
  • GNSS Global Navigation Satellite Systems
  • the present invention relates to a system and a positioning reinforcement method.
  • Radio waves from GNSS include errors caused by satellites such as satellite clock errors, errors caused by atmospheric conditions such as ionospheric delays, and errors caused by receivers such as multipaths. It is. Due to the influence of these errors, the positioning accuracy is about 10 m.
  • a known point SBAS receiver that receives SBAS reinforcement data and calculates an error of the reinforcement data, and error information of the reinforcement data calculated by the known point SBAS receiver is received and the reinforcement data is corrected and corrected.
  • a satellite navigation reinforcement system including an unknown point SBAS receiver that performs positioning using reinforcement data has been proposed (see, for example, Patent Document 1).
  • the amount of correction at an unknown point in the network is estimated using an observation amount of an electronic reference point network formed by combining a plurality of electronic reference points whose positions are known, and the estimation error of A positioning reinforcement system that simultaneously outputs information (URA: User Range Accuracy) has been proposed (see Non-Patent Document 2, for example).
  • examples of conventional techniques related to the present invention include those shown in Patent Document 2 and Non-Patent Documents 3 and 4, for example.
  • the known point calculated based on the known point SBAS receiver and the pseudo distance between the satellite and the known position coordinates calculated based on the reinforcement data and the navigation data.
  • the error of the reinforcement data is calculated from the difference in the true distance between the SBAS receiver and the satellite. For this reason, the information on the error of the reinforcement data is local, and its effectiveness depends on the distance from the known point SBAS receiver.
  • the correction amount is calculated based on the navigation data and the known position coordinates of the electronic reference point. For this reason, the correction amount to be estimated and the information correction amount of the estimation error are local, and the effectiveness depends on the distance from the electronic reference point.
  • Non-Patent Document 2 Furthermore, in the positioning reinforcement system as shown in Non-Patent Document 2, observation amounts of a plurality of electronic reference points are used. For this reason, it is possible to obtain information on the correction amount estimation error regardless of the location. However, this positioning reinforcement system has a problem that an error due to compression of the correction amount is not taken into consideration.
  • the present invention has been made to solve the above problems, and can provide the user with error information by compressing the correction amount, and the error information regardless of the location. It is an object of the present invention to obtain a positioning reinforcement information generating device, a GNSS receiver, a positioning reinforcement system, and a positioning reinforcement method that can be uniformly effective in a wide area.
  • the positioning reinforcement information generating device includes a correction amount generating unit that generates a correction amount from a GNSS observation amount of an electronic reference point network formed by combining a plurality of electronic reference points, and a correction amount generated by the correction amount generating unit. Is used on the user side due to compression and transmission delay using the correction amount compression unit that compresses the correction amount, the correction amount generated by the correction amount generation unit, and the correction amount compressed by the correction amount compression unit A correction amount error calculating unit that calculates a correction amount error that is an error of the correction amount with respect to the true correction amount, generates information related to the error, and provides the information to the user;
  • the GNSS receiver of the present invention receives the compressed correction amount and the information regarding the error of the correction amount distributed from the positioning reinforcement information generation device via the same communication line, and performs positioning calculation.
  • the positioning reinforcement system of the present invention is configured by arranging the positioning reinforcement information generating apparatus of the present invention on the service providing side and the GNSS receiver of the present invention on the user side.
  • the positioning reinforcing method of the present invention includes a correction amount generation step for generating a correction amount from a GNSS observation amount of an electronic reference point network formed by combining a plurality of electronic reference points, and a correction amount generated by the correction amount generation step.
  • a correction amount error which is an error of the correction amount with respect to the true correction amount, is calculated, a correction amount error calculation step for generating information related to the error and providing the information to the user, and a compression generated by the correction amount compression step.
  • the correction amount and the information about the correction amount error generated by the correction amount error calculation step are received via the same communication line, and the positioning meter And a positioning calculation step of performing.
  • the correction amount generation unit calculates the correction amount from the GNSS observation amount of the electronic reference point network including a plurality of electronic reference points.
  • the correction amount error calculation unit generates and calculates a correction amount error that is an error of the correction amount used on the user side with respect to the true correction amount due to the compression and transmission delay.
  • Information can be provided to the user, and error information can be uniformly effective in a wide range of areas regardless of location.
  • FIG. 15 is an explanatory diagram for explaining an operation of a correction amount total error calculation unit in FIG. 14. It is a block diagram which shows a GNSS receiver among the positioning reinforcement systems by Embodiment 6 of this invention. It is explanatory drawing for demonstrating operation
  • FIG. 1 is a block diagram showing a positioning reinforcement system according to Embodiment 1 of the present invention.
  • the positioning reinforcement system includes a center-side positioning reinforcement information generation device 50 and a user-side GNSS receiver 100.
  • the positioning reinforcement information generation device 50 includes a correction amount generation unit 1, a correction amount compression unit 2, and a correction amount error calculation unit 3.
  • the correction amount generation unit 1 generates a correction amount from the GNSS observation amount of the electronic reference point network composed of a plurality of electronic reference points, for example, by a method as shown in Non-Patent Document 2.
  • the correction amount compression unit 2 compresses the correction amount by performing a predetermined compression process on the correction amount generated by the correction amount generation unit 1.
  • the correction amount error calculation unit 3 is an error (hereinafter referred to as “correction amount error”) that is an ideal correction amount that does not include a correction amount error used on the GNSS receiver 100 side due to compression and transmission delay. ”) And information on the correction amount error is generated.
  • the positioning reinforcement information generation device 50 can distribute information to the GNSS receiver 100 through, for example, communication lines 4 and 8 which are satellite lines as shown in Non-Patent Document 3.
  • the communication lines 4 and 8 may use not only satellite lines but also beacon waves, telephone lines, FM multiplexed waves, and the like.
  • the communication lines 4 and 8 may be the same type or different types.
  • the positioning reinforcement information generation device 50 sends the information on the correction amount compressed by the correction amount compression unit 2 and the information on the correction amount error generated by the correction amount error calculation unit 3 to the GNSS receiver 100.
  • the GNSS receiver 100 performs positioning calculation using the compressed correction amount information, information about the correction amount error, and the received (observed) GNSS observation amount. As a result, the GNSS receiver 100 can perform positioning calculation in consideration of the correction amount error.
  • [1E] Use of a compressed correction amount, such as excluding satellites with a large correction amount error from the positioning calculation when positioning with the GNSS receiver 100 by obtaining information on the correction amount error for each GNSS satellite. / By determining non-use for each satellite, stable positioning is possible on the GNSS receiver 100 side.
  • the satellite navigation reinforcement system as shown in Patent Document 1 is configured to receive error information of reinforcement data from a known point SBAS receiver.
  • the unknown point SBAS receiver requires a communication means / communication line with the known point SBAS receiver in addition to a communication means / communication line with the SBAS satellite.
  • the same communication lines 4 and 8 can be used, and simplification can be achieved.
  • FIG. 2 is a block diagram showing a positioning reinforcement system according to Embodiment 2 of the present invention.
  • the GNSS receiver 100 and the communication lines 4 and 8 are omitted.
  • the correction amount compression unit 2 includes a temporal compression unit 2a and a spatial compression unit 2b.
  • the temporal compression unit 2a temporally compresses the correction amount generated by the correction amount generation unit 1 by a method as shown in Non-Patent Document 3, for example.
  • the spatial compression unit 2b spatially compresses the correction amount after being temporally compressed by the temporal compression unit 2a by a method as shown in Non-Patent Document 3, for example.
  • the correction amount error calculation unit 3 of the second embodiment includes a temporal compression error calculation unit 3a, a spatial compression error calculation unit 3b, a delay simulation unit 3c, and a delay error calculation unit 3d.
  • the temporal compression error calculation unit 3a calculates the temporal compression error of the correction amount using the correction amount from the correction amount generation unit 1 and the temporally compressed correction amount from the temporal compression unit 2a. .
  • the spatial compression error calculation unit 3b uses the correction amount compressed temporally from the temporal compression unit 2a and the correction amount temporally and spatially compressed from the spatial compression unit 2b, Calculate the compression error.
  • the delay simulation unit 3c gives a delay (a delay corresponding to the transmission delay to the GNSS receiver 100) to the correction amount compressed temporally and spatially from the spatial compression error calculation unit 3b, and the delay error calculation unit Send to 3d.
  • the delay error calculation unit 3d uses the correction amount compressed temporally and spatially from the spatial compression error calculation unit 3b and the correction amount delayed from the delay simulation unit 3c to calculate the delay error of the correction amount. calculate. Therefore, in the second embodiment, the temporal compression error calculation unit 3a, the spatial compression error calculation unit 3b, and the delay error calculation unit 3d perform the correction amount temporal compression error, the correction amount spatial compression error, and the correction amount. Is calculated (calculated) as a correction amount error. Other configurations are the same as those in the first embodiment.
  • the correction amount compression unit 2 in the first embodiment is divided into a temporal compression unit 2a and a spatial compression unit 2b.
  • the correction amount can be compressed stepwise, and the correction amount error calculation unit 3 of Embodiment 1 can be divided into a temporal compression error calculation unit 3a and a spatial compression error calculation unit 3b.
  • the correction amount error can be obtained by dividing it into a temporal compression error, a spatial compression error, and an error due to delay. Multiple types of indicators can be included.
  • an error calculation unit calculates an error included in the reinforcement data.
  • the known point SBAS receiver / satellite calculated based on the known point SBAS receiver / satellite pseudorange calculated based on the augmentation data and the navigation data and the known position coordinates. It is the structure which calculates the error of reinforcement data from the difference with the true distance between. For this reason, in the conventional satellite navigation augmentation system as described above, the correction amount error cannot be calculated separately for a plurality of types of indicators of time error, spatial error, and error due to delay. The effects [2C] and [2D] cannot be obtained.
  • temporal compression unit 2a and the spatial compression unit 2b of FIG. 2 in Embodiment 2 may be interchanged. Even with such a configuration in which the temporal compression error calculation unit 3a and the spatial compression error calculation unit 3b are interchanged with each other, the same effect as in the second embodiment can be obtained.
  • the delay simulation unit 3c and the delay error calculation unit 3d of FIG. 2 in the second embodiment may be arranged before the temporal compression unit 2a and the spatial compression unit 2b. Even with such an arrangement, the same effect as in the second embodiment can be obtained.
  • FIG. 3 is a block diagram showing a positioning reinforcement system according to Embodiment 3 of the present invention.
  • the positioning reinforcement information generating apparatus 50 includes a threshold setting unit 5, a plurality of types of user definition units 6 (center side user definition units), and correction amount use recommendation. / It further has the non-recommendation determination part 7.
  • Threshold values for the temporal compression error, spatial compression error, and correction amount error due to delay calculated in the configuration of FIG. 2 are preset in the threshold setting unit 5. These threshold values are used to determine whether the correction amount is recommended or not recommended on the user side. By using such a threshold, on the center side, it is not recommended that the correction amount with a large correction amount error be used on the user side, and the correction amount with a small correction amount error be recommended on the user side.
  • the multiple-type user definition unit 6 stores a user-type error type table in which combinations of errors for multiple types of users are defined in advance.
  • the correction amount use recommendation / non-recommendation determination unit 7 compares each correction amount error with each threshold value from the threshold setting unit 5, and based on the user type error type table of the plural types user definition unit 6, for each user type / satellite Use recommended / unrecommended bits for each correction amount are generated.
  • the GNSS receiver 100 includes a user type selection unit 9, a correction amount use / non-use determination unit 10, a correction amount selection unit 11, and a positioning calculation unit 12.
  • the user type selection unit 9 selects a user type to which the user belongs, from a plurality of user types by a user using the GNSS receiver 100, and stores the selected user type.
  • the user type selection unit 9 automatically selects from a plurality of user types according to the distance from the pre-registered nearest spatial compression reference point and the reception method of the own GNSS receiver 100, The selected user type is stored.
  • the correction amount use / non-use determination unit 10 includes the user type stored in the user type selection unit 9 and the recommended / unrecommended bits for the correction amount for each user type and each satellite distributed via the communication line 8. Is used to output a correction amount use / non-use bit for each satellite.
  • the correction amount selection unit 11 uses the compressed correction amount distributed via the communication line 4 and the correction amount use / non-use bit for each satellite from the correction amount use / non-use determination unit 10. Select only the correction amount of the satellite to be used.
  • the positioning calculation unit 12 performs positioning calculation using the correction amount selected by the correction amount selection unit 11 and the GNSS observation amount received by the GNSS reception unit. Other configurations are the same as those in the second embodiment.
  • the correction amount generation unit 1 generates a correction amount from the GNSS observation amount from the electronic reference point network, for example, by a method as shown in Non-Patent Document 2.
  • the temporal compression unit 2a temporally compresses the correction amount output from the correction amount generation unit 1 by a method such as that described in Non-Patent Document 3, for example.
  • the spatial compression unit 2b spatially compresses the temporally compressed correction amount output from the temporal compression unit 2a by a method such as that described in Non-Patent Document 3, for example.
  • FIG. 4 is a table showing types of correction amount errors.
  • the temporal compression error calculation unit 3a calculates two types of errors, frequency-independent terms 1-1 and frequency-dependent terms 1-2, as temporal compression errors (hereinafter referred to as “error”). Also referred to as “1-1 to 1-2”).
  • the frequency independent term 1-1 is compressed from the correction amount generation unit 1 from the frequency independent term of the temporally compressed correction amount from the temporal compression unit 2a. It is calculated by subtracting the frequency independent term of the correction amount that is not.
  • the frequency dependent term 1-2 is an uncompressed correction from the correction amount generation unit 1 from the frequency dependent term of the temporally compressed correction amount from the temporal compression unit 2a. Calculated by subtracting the frequency-dependent term of the quantity.
  • the spatial compression error calculation unit 3b includes a troposphere delay (short distance) 2-1, a troposphere delay (medium distance) 2-2, a troposphere delay (long distance) 2-3, an ionospheric delay (short distance) 2-4, and an ionosphere.
  • Six types of errors of delay (medium distance) 2-5 and ionospheric delay (long distance) 2-6 are calculated as spatial compression errors (hereinafter also referred to as “errors 2-1 to 2-6”).
  • errors 2-1 to 2-6 are calculated as spatial compression errors (hereinafter also referred to as “errors 2-1 to 2-6”).
  • a spatial compression reference point serving as a compression reference is provided, and it is assumed that the spatial compression error varies depending on the distance from the spatial compression reference point. To do.
  • Spatial compression error tropospheric delay (short distance) 2-1 is obtained from the tropospheric delay amount at the short distance point from the spatial compression reference point of the temporally and spatially compressed correction amount from the spatial compression unit 2b. It is calculated by subtracting the tropospheric delay amount at the same point from the temporally compressed correction amount from the temporal compression unit 2a.
  • Spatial compression error tropospheric delay (medium distance) 2-2 is obtained by calculating the temporal and spatially compressed correction amount from the spatial compression unit 2b from the tropospheric delay amount at the intermediate distance point from the spatial compression reference point. It is calculated by subtracting the tropospheric delay amount at the same point from the temporally compressed correction amount from the temporal compression unit 2a.
  • Spatial compression error tropospheric delay (long distance) 2-3 is obtained from the tropospheric delay amount at the long distance point from the spatial compression reference point of the temporally and spatially compressed correction amount from the spatial compression unit 2b. It is calculated by subtracting the tropospheric delay amount at the same point from the temporally compressed correction amount from the temporal compression unit 2a.
  • Spatial compression error ionospheric delay (short distance) 2-4 is obtained from the ionospheric delay amount at a short distance point from the spatial compression reference point of the temporally and spatially compressed correction amount from the spatial compression unit 2b. It is calculated by subtracting the ionospheric delay amount at the same point from the temporally compressed correction amount from the temporal compression unit 2a.
  • Spatial compression error ionospheric delay (medium distance) 2-5 is calculated from the amount of ionospheric delay at the middle distance point from the spatial compression reference point of the temporally and spatially compressed correction amount from the spatial compression unit 2b. It is calculated by subtracting the ionospheric delay amount at the same point from the temporally compressed correction amount from the temporal compression unit 2a.
  • Spatial compression error ionospheric delay (long distance) 2-6 is obtained from the ionospheric delay amount at a long distance point from the spatial compression reference point of the temporally and spatially compressed correction amount from the spatial compression unit 2b. It is calculated by subtracting the ionospheric delay amount at the same point from the temporally compressed correction amount from the temporal compression unit 2a.
  • the delay error calculation unit 3d calculates two types of delay errors, a frequency-independent term 3-1 and a frequency-dependent term 3-2 (hereinafter referred to as “errors 3-1 to 3-2”). ”).
  • the delay error frequency-independent term 3-1 is the temporal amount from the spatial compression unit 2b from the frequency-independent term of the correction amount that is compressed temporally and spatially and delayed among the correction amounts from the delay simulation unit 3c. The calculation is performed by subtracting the frequency-independent term of the correction amount that is spatially compressed.
  • the delay error frequency-dependent term 3-2 is obtained from the frequency-dependent term of the correction amount that has been compressed temporally and spatially among the correction amounts from the delay simulation unit 3c, and the temporal and spatial from the spatial compression unit 2b. It is calculated by subtracting the frequency-dependent term of the correction amount compressed automatically. Note that the processes of the temporal compression error calculation unit 3a, the spatial compression error calculation unit 3b, the delay simulation unit 3c, and the delay error calculation unit 3d are performed for each satellite that distributes the correction amount.
  • the threshold value setting unit 5 includes the error 1-1 and the error 1-2 by the temporal compression error calculation unit 3a and the error 2-1 by the spatial compression error calculation unit 3b based on the specifications and experience of the provider.
  • a threshold value is set for each of the error 2-6 and the errors 3-1 and 3-2 by the delay error calculation unit 3d.
  • the delay simulation unit 3c the time from the GNSS time corresponding to the correction amount generated by the correction amount generation unit 1 to the time when the compressed correction amount is used by the user is defined as a delay time.
  • this delay time is assumed to be X seconds.
  • the delay simulating unit 3c has a buffer of X seconds, waits for X seconds for the temporally and spatially compressed correction amount output from the spatial compression unit 2b, and is temporally and spatially A correction amount that is compressed and delayed is generated.
  • the multiple types user definition unit 6 includes four temporal classifications of synchronous 1 Hz or higher, synchronous 0.2 Hz or lower, asynchronous 1 Hz or higher, and asynchronous 0.2 Hz or lower, one frequency short distance, and one frequency medium distance.
  • 24 types of users are defined that combine six spatial classifications of one-wavelength wavelength distance, multi-frequency short distance, multi-frequency medium distance, and multi-wavelength wavelength distance.
  • the plurality of types of user definition unit 6 is a user type error type table that defines combinations of errors of the types 1-1 to 3-2 for each type of user, that is, the presence or absence of errors as shown in FIG. Is output (or a user type error type table is stored as a database).
  • a compressed correction amount used by a user of No. 15 asynchronous 1 Hz or more and a multi-frequency short distance includes a temporal compression error frequency-independent term 1-1 as a correction amount error, a spatial compression error, a tropospheric delay (short Distance) 2-1, and delay error frequency independent term 3-1.
  • the correction amount use recommendation / non-recommendation determination unit 7 includes the errors 1-1 and 1-2 calculated by the temporal compression error calculation unit 3a, and the errors 2-1 to 2- calculated by the spatial compression error calculation unit 3b. 6 and the error 3-1 and the error 3-2 calculated by the delay error calculation unit 3 d are determined to be less than or equal to the respective error thresholds output by the threshold setting unit 5 (below the thresholds). If it is greater than the threshold, it is “0”. The determination of the correction amount use recommendation / non-recommendation determination unit 7 is performed for each type of error and for each satellite that distributes the correction amount.
  • the correction amount use recommendation / non-recommendation determination unit 7 uses the determination result to determine the error in the user type error type table for each type of user in the user type error type table output from the multiple types user definition unit 6.
  • the use recommendation / non-recommendation bit of the correction amount of the user and the satellite is set to “1”. In other cases, the use recommended / non-recommended bit of the correction amount of the user / satellite is set to “0”.
  • the correction amount use recommendation / non-recommendation determination unit 7 performs this process for all types of users and all satellites, and outputs use recommendation / non-recommendation bits of correction amounts for a plurality of types of users and satellites. . For example, when the number of satellites that distribute correction amounts is nine, the output of the correction amount use recommendation / non-recommendation determination unit 7 is 216 bits in total (24 types of users ⁇ 9 aircrafts).
  • the correction amount use / non-use determination unit 10 changes the user type from the user type selection unit 9 from the use recommendation / non-recommendation bit of the correction amount for each user / satellite distributed via the communication line 8.
  • the use recommendation / non-recommendation bit of the correction amount for each corresponding satellite is extracted, and the correction amount use / non-use bit for each satellite is generated.
  • the correction amount selection unit 11 refers to the correction amount use / nonuse bit for each satellite from the correction amount use / nonuse determination unit 10 for the compressed correction amount of each satellite distributed via the communication line 4. Only the correction amount of the satellite whose correction amount use / non-use bit is “1” is sent to the positioning calculation unit 12.
  • the correction amount selection unit 11 discards the correction amount of the satellite whose correction amount use / non-use bit is “0”.
  • the positioning calculation part 12 performs a positioning calculation by the method as shown to a nonpatent literature 4, for example using the correction amount and the observation amount which the correction amount selection part 11 outputs.
  • the temporal compression error calculation unit 3a outputs the temporal compression error by dividing it into a frequency-independent term and a frequency-dependent term. Thereby, the user of one frequency and the user of other frequencies can determine use / non-use of the compressed correction amount based on different criteria.
  • the spatial compression error calculation unit 3b outputs the spatial compression error by dividing it into a tropospheric delay and an ionospheric delay. Thereby, the user of one frequency and the user of other frequencies can determine use / non-use of the compressed correction amount based on different criteria.
  • the spatial compression error calculation unit 3b outputs the tropospheric delay of the spatial compression error separately for the troposphere delay (short distance), the troposphere delay (medium distance), and the troposphere delay (long distance). . Accordingly, users having different distances from the spatial compression reference point can determine whether to use / not use the compressed correction amount based on different criteria.
  • the spatial compression error calculation unit 3b outputs the ionospheric delay of the spatial compression error divided into an ionospheric delay (short distance), an ionospheric delay (medium distance), and an ionospheric delay (long distance). . Accordingly, users having different distances from the spatial compression reference point can determine whether to use / not use the compressed correction amount based on different criteria.
  • the delay error calculation unit 3d outputs a delay error separately from the error due to compression. Thereby, the user of the synchronous reception method and the user of the asynchronous reception method can determine use / non-use of the compressed correction amount based on different criteria.
  • the delay error calculation unit 3d outputs the delay error by dividing it into a frequency-independent term and a frequency-dependent term. Thereby, the user of one frequency and the user of other frequencies can determine use / non-use of the compressed correction amount based on different criteria.
  • the correction amount use recommendation / non-recommendation determination unit 7 performs a process (AND process) for obtaining a logical product that each error value having an error in the user type error type table is equal to or less than a threshold value. Thereby, the value of the correction amount use recommended / unrecommended bit can be output as a safe value.
  • the correction amount use recommendation / non-recommendation determination unit 7 performs a process of obtaining a logical product that each error value having an error in the user type error type table is equal to or less than a threshold value. Thereby, detailed numerical values of each error that can reflect the characteristics of the system can be kept secret from the user.
  • the validity of the error information of the reinforcement data depends on the distance from the known point SBAS receiver.
  • correction is performed by deriving errors in the case of the short distance, the middle distance, and the long distance for each of the tropospheric delay and the ionospheric delay in the spatial compression error of the correction amount.
  • the validity of the quantity error information does not depend on the position of the user.
  • the known point SBAS receiver is configured to calculate an error in the reinforcement data.
  • the correction amount error is calculated on the center side, the correction amount and the correction amount error information can be distributed on the same line and communicated with the communication line 4.
  • a communication line with a known point SBAS receiver can be made unnecessary on the user side.
  • the configuration of the positioning device of Patent Document 2 includes a reinforcement information use determination unit, and the reinforcement information use determination unit passes only the correction amount that can be used for the positioning calculation to the positioning unit. Partly in common with the third embodiment.
  • Patent Document 2 aims at saving a memory for storing a correction amount, and cannot remove a satellite having a large correction amount error as in the above-described third embodiment to stabilize the positioning performance.
  • the reinforcement information use determination unit of the positioning device of Patent Document 2 receives the orbit of the satellite and its own position, and the function is to calculate the tracking possibility. Different from Form 3.
  • the positioning reinforcement information generation apparatus 50 has a plurality of types of user definition units 6, and the correction amount use recommendation / non-use is performed using the user type error type table of the plurality of types of user definition units 6.
  • the recommendation determination unit 7 determines whether the correction amount is recommended / not recommended for each user and each satellite.
  • the GNSS receiver 100 includes a plurality of types of user definition units 14 and correction amount use / non-use determination units 15, and user type error types of the plurality of types of user definition units 14. Using the table, the correction amount use / non-use determination unit 15 determines the use / non-use of the correction amount for each satellite.
  • FIG. 11 is a block diagram showing a positioning reinforcement system according to Embodiment 4 of the present invention.
  • the positioning reinforcement information generation apparatus 50 according to the fourth embodiment includes a threshold setting unit 5 and an error evaluation unit 13 in addition to the configuration shown in FIG. 2.
  • the threshold setting unit 5 thresholds are set in advance for each of the temporal compression error, the spatial compression error, and the correction amount error due to the delay calculated in the configuration of FIG. 2.
  • the error evaluation unit 13 compares each of a plurality of types of correction amount errors with each threshold set in the threshold setting unit 5, and generates an evaluation result bit for each error type and each satellite.
  • the GNSS receiver 100 includes a user type selection unit 9, a correction amount selection unit 11, a positioning calculation unit 12, a multiple types user definition unit (receiver side user definition unit) 14, and a correction amount use / non-use.
  • a determination unit 15 is included.
  • the functions of the user type selection unit 9, the correction amount selection unit 11, and the positioning calculation unit 12 are the same as the functions of the user type selection unit 9, the correction amount selection unit 11, and the positioning calculation unit 12 of the third embodiment.
  • the multi-type user definition unit 14 is similar to the multi-type user definition unit 6 of the third embodiment, and shows combinations of errors of each type of error 1-1 to error 3-2 for each type of user, that is, as shown in FIG.
  • a user type error type table that defines the presence or absence of such an error is output (or the user type error type table is held as a database).
  • the correction amount use / non-use determination unit 15 uses the evaluation result bits for each error type / satellite type distributed via the communication line 8 and the user type error type table output from the multiple types user definition unit 14. The use type / nonuse bit of the correction amount for each satellite according to the user type output by the user type selection unit 9 is output.
  • Other configurations are the same as those of the third embodiment.
  • Correction amount generation unit 1 temporal compression unit 2a, spatial compression unit 2b, temporal compression error calculation unit 3a, spatial compression error calculation unit 3b, delay simulation unit 3c, delay error calculation unit 3d, and
  • the operations of the communication line 4, the threshold setting unit 5, the communication line 8, the user type selection unit 9, the correction amount selection unit 11, and the positioning calculation unit 12 are the same as those in the third embodiment.
  • the error evaluation unit 13 calculates the error 1-1 and the error 1-2 from the temporal compression error calculation unit 3a and the spatial compression error calculation.
  • the values of the errors 2-1 to 2-6 from the unit 3b and the errors 3-1 and 3-2 from the delay error calculation unit 3d are equal to or less than the threshold values of the respective errors output from the threshold setting unit 5. (“1” if it is less than or equal to the threshold value, and “0” if it is greater than the threshold value).
  • the error evaluation unit 13 performs this determination for each error type and each satellite that distributes the correction amount, and generates an error evaluation result bit for each error type and each satellite type.
  • the correction amount use / non-use determination unit 15 refers to the user type error type table of the multiple types user definition unit 14 and extracts the presence / absence of each error according to the user type stored in the user type selection unit 9. Further, the correction amount use / non-use determination unit 15 for each satellite to which the correction amount is distributed, for each error type / satellite to be distributed via the communication line 8 of the error having an error in the user type error type table. When all the error evaluation results are “1”, the correction amount use / non-use bit is set to “1”, and in other cases, the correction amount use / non-use bit is set to “0”.
  • Embodiment 5 a specific form of a configuration in which the error evaluation result bit described as the effects [4B] and [4C] of the fourth embodiment is two bits or more will be described.
  • the positioning reinforcement information generation device 50 has a threshold setting unit 5, and the error evaluation unit 13 uses the threshold value of each error of the threshold setting unit 5. It was judged whether each error for each error type and each satellite was within the allowable range or out of the allowable range.
  • the GNSS receiver 100 includes the threshold value setting unit 19, sets a threshold value for the total error, and the correction amount use / non-use determination unit 20 sets the sum of the threshold value setting unit 19. Using the error threshold, it is determined whether the total error for each satellite is within the allowable range or not.
  • FIG. 14 is a block diagram showing a positioning reinforcement system according to Embodiment 5 of the present invention.
  • the positioning reinforcement information generation device 50 according to the fifth embodiment includes an error value leveling unit 16 and an error leveling definition unit 17 in addition to the configuration shown in FIG. 2.
  • the error leveling definition unit 17 an offset and a numerical resolution for quantizing the temporal compression error, the spatial compression error, and the correction amount error due to the delay calculated in the configuration of FIG. 2 are set in advance.
  • the error value leveling unit 16 applies each offset and numerical resolution set in the error leveling definition unit 17 to each of a plurality of types of correction amount errors, and calculates the leveled error for each error type and each satellite. Generate.
  • the GNSS receiver 100 includes a user type selection unit 9, a correction amount selection unit 11, a positioning calculation unit 12, a multiple types user definition unit (receiver side user definition unit) 14, and a correction amount total error calculation unit 18. , A threshold setting unit 19 and a correction amount use / non-use determination unit 20.
  • the functions of the user type selection unit 9, the correction amount selection unit 11, the positioning calculation unit 12, and the multiple types user definition unit (receiver side user definition unit) 14 are the same as the user type selection unit 9 and the correction amount of the fourth embodiment.
  • the functions are the same as those of the selection unit 11, the positioning calculation unit 12, and the multiple types user definition unit (receiver side user definition unit) 14.
  • the correction amount total error calculation unit 18 uses the error leveled for each error type / satellite distributed via the communication line 8 and the user type error type output by the multiple types user definition unit 14. The total error of the correction amount for each satellite according to the user type output by the user type selection unit 9 is output.
  • the correction amount use / non-use determination unit 20 uses the total error of the correction amount for each satellite output from the correction amount total error calculation unit 18 and the threshold of the total error set by the threshold setting unit 19 for each satellite. Outputs the used / unused bits of the correction amount.
  • Other configurations are the same as those in the fourth embodiment.
  • Correction amount generation unit 1 temporal compression unit 2a, spatial compression unit 2b, temporal compression error calculation unit 3a, spatial compression error calculation unit 3b, delay simulation unit 3c, delay error calculation unit 3d, and
  • the operations of the communication line 4, the communication line 8, the user type selection unit 9, the correction amount selection unit 11, the positioning calculation unit 12, and the multiple types user definition unit (receiver side user definition unit) 14 are the same as those in the fourth embodiment. It is the same.
  • the error value leveling unit 16 calculates errors 1-1 and 1-2 from the temporal compression error calculation unit 3a, errors 2-1 to 2-6 from the spatial compression error calculation unit 3b, and delay error calculation.
  • the respective values of the error 3-1 and the error 3-2 from the unit 3d are quantized using the offset value output from the error leveling definition unit 17 and the numerical resolution.
  • the correction amount total error calculation unit 18 refers to the user type error type table of the plural types of user definition unit 14 and is distributed via the communication line 8 according to the user type stored in the user type selection unit 9. Select and add each levelized error for each error type and each satellite, and output the total error for each satellite.
  • the following effects can be obtained.
  • the GNSS receiver 100 uses the error levelized error for each error type / satellite distributed via the communication line 8, the correction amount total error calculation unit 18, the correction amount use / non-correction.
  • the use determination unit 20 performs processing, and the correction amount selection unit 11 selects the correction amount based on the use / non-use bit of the correction amount for each satellite output from the correction amount use / non-use determination unit 20.
  • the positioning calculation unit 12 performs positioning calculation.
  • the GNSS receiver 100 directly inputs the leveled error for each error type / satellite distributed via the communication line 8 to the positioning calculation unit 21 for positioning calculation. I do.
  • FIG. 17 is a block diagram showing the GNSS receiver 100 in the positioning reinforcement system according to the sixth embodiment of the present invention. As a corresponding positioning reinforcement information generation device, the same one as the positioning reinforcement information generation device 50 of the fifth embodiment is assumed.
  • the GNSS receiver 100 of the sixth embodiment is different from the GNSS receiver 100 of the fifth embodiment in that the correction amount selection unit 11, the correction amount total error calculation unit 18, the threshold setting unit 19, the correction amount.
  • the use / non-use determination unit 20 is not provided. Further, a positioning calculation unit 21 is provided instead of the positioning calculation unit 12.
  • the operation of the positioning reinforcement information generating device 50 that distributes the compressed correction amount and the error leveled for each error type and each satellite via the communication lines 4 and 8 to the GNSS receiver 100 of the sixth embodiment is as follows. This is the same as in the fifth embodiment.
  • the operations of the communication line 4, the communication line 8, the user type selection unit 9, and the multiple types user definition unit (receiver side user definition unit) 14 are the same as the operations in the fourth embodiment.
  • the noise matrix calculation unit 21a in the positioning calculation unit 21 uses the error leveled for each error type / satellite distributed via the communication line 8, and uses the user type error type table of the plural types user definition unit 14. , An observation noise matrix and a process noise matrix to be used in the estimator are generated according to the user type stored in the user type selection unit 9.
  • the observation amount correction or virtual reference point observation amount generation unit 21b in the positioning calculation unit 21 corrects the user observation amount by using the compressed correction amount distributed via the communication line 4, and performs the observation after correction. Output the quantity or the observed quantity at the virtual reference point.
  • the estimator 21c in the positioning calculation unit 21 includes the observation noise matrix and the process noise matrix generated by the noise matrix calculation unit 21a, and the corrected amount generated by the observation amount correction or virtual reference point observation amount generation unit 21b. Processes the observation amount or the observation amount at the virtual reference point together, and outputs the positioning result.
  • the effects of the first and second embodiments, the effects [3A] to [3F] of the third embodiment, and the effects [4C] and [4D] of the fourth embodiment are obtained.
  • 1 correction amount generation unit 2 correction amount compression unit, 2a temporal compression unit, 2b spatial compression unit, 3 correction amount error calculation unit, 3a temporal compression error calculation unit, 3b spatial compression error calculation unit, 3c delay simulation Part, 3d delay error calculation part, 4 communication line, 5 threshold setting part, 6 multiple types user definition part (center side user definition part), 7 correction amount use recommended / unrecommended decision part, 8 communication line, 9 user type selection Unit, 10 correction amount use / non-use determination unit, 11 correction amount selection unit, 12 positioning calculation unit, 13 error evaluation unit, 14 multiple types user definition unit (receiver side user definition unit), 15 correction amount use / unuse Determination unit, 16 error value leveling unit, 17 error leveling definition unit, 18 correction amount total error calculation unit, 19 threshold setting unit, 20 correction amount use / non-use determination unit, 21 positioning calculation unit, 2 a noise matrix calculating unit, 21b observables correction or virtual reference point observables generator, 21c estimator 50 positioning reinforcing information generating apparatus, 100 GNSS receiver.

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  • 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

L'invention porte sur un système d'amélioration de la localisation qui peut fournir à des utilisateurs des informations sur des erreurs provoquées par la compression de valeurs de correction et qui permet d'utiliser efficacement les informations d'erreur d'une manière uniforme sur une zone étendue indépendamment de l'emplacement. Une section de génération de valeur de correction (1) génère une valeur de correction à partir d'une valeur d'observation GNSS d'un réseau de stations de référence électroniques constitué d'une pluralité de stations de référence électroniques. Une section de compression de valeur de correction (2) compresse la valeur de correction générée par la section de génération de valeur de correction (1) par soumission de la valeur de correction à un processus de compression prédéterminé. Une section de calcul d'erreur de valeur de correction (3) calcule l'erreur par rapport à une valeur de correction vraie, qui est une valeur de correction idéale à utiliser du côté d'un récepteur GNSS (100) d'un utilisateur et ne comprenant aucune erreur de valeur de correction due à une compression, un temps de propagation, etc., et génère des informations sur ladite erreur de valeur de correction. Le récepteur GNSS (100) effectue un calcul de localisation par utilisation d'informations sur la valeur de correction compressée, des informations sur ladite erreur de valeur de correction et de la valeur d'observation GNSS reçue.
PCT/JP2011/079213 2011-02-22 2011-12-16 Dispositif de génération d'informations d'amélioration de la localisation, récepteur gnss, système d'amélioration de la localisation et procédé d'amélioration de la localisation WO2012114620A1 (fr)

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