WO2019138985A1 - Système de communication - Google Patents

Système de communication Download PDF

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Publication number
WO2019138985A1
WO2019138985A1 PCT/JP2019/000162 JP2019000162W WO2019138985A1 WO 2019138985 A1 WO2019138985 A1 WO 2019138985A1 JP 2019000162 W JP2019000162 W JP 2019000162W WO 2019138985 A1 WO2019138985 A1 WO 2019138985A1
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WIPO (PCT)
Prior art keywords
information
time
communication system
correspondence
gps
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PCT/JP2019/000162
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English (en)
Japanese (ja)
Inventor
誠 藤波
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日本電気株式会社
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Publication date
Application filed by 日本電気株式会社 filed Critical 日本電気株式会社
Priority to JP2019564681A priority Critical patent/JP6923003B2/ja
Publication of WO2019138985A1 publication Critical patent/WO2019138985A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • 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
    • G01S19/09—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing processing capability normally carried out by the receiver
    • 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude

Definitions

  • the present invention relates to a system for locating.
  • GPS Global Positioning System
  • GNSS global navigation satellite system
  • the error factors are, for example, ionosphere, radio wave delay due to troposphere, clock error of satellite, clock error of receiver, error due to multi-path in radio wave from satellite, and the like.
  • Non-Patent Document 1 discloses a method of correcting an error caused by the above factor.
  • the method geometrically calculates the reflected wave from the three-dimensional building and its reflection point by the ray tracing method after deriving the distance including the error at each point, and this allows the inside of the GPS receiver to be calculated. It is intended to correct the generated error.
  • FIG. 1 is a conceptual diagram showing a configuration of a GPS receiver 800 disclosed in Non-Patent Document 1. As shown in FIG. 1
  • the GPS receiver 800 includes a GPS reception unit 801, a pseudo distance calculation unit 806, a multipath error correction unit 811 and a position calculation unit 816.
  • the GPS reception unit 801 converts each of GPS radio waves transmitted from a plurality of satellites into an electric signal, and sends the electric signal to the pseudo distance calculation unit 806.
  • the pseudo distance calculation unit 806 corresponds to the satellite ID related to the electric signal, the reception time of the electric signal, and the electric signal included in the electric signal for the plurality of electric signals sent from the GPS reception unit 801. Specify the transmission time of the radio wave to be transmitted.
  • the satellite ID is a GPS satellite ID (Identifier).
  • the reception time is the time when the GPS reception unit 801 converts the GPS radio wave into the electric signal.
  • the pseudo distance calculation unit 806 derives a pseudo distance between the GPS receiver 800 and the GPS satellite for the GPS radio wave from the reception time and the transmission time.
  • simulation distance includes what was derived
  • the pseudo distance calculation unit 806 derives, for each GPS radio wave received by the GPS reception unit 801, a combination of the satellite ID of the GPS satellite of the transmission source of the GPS radio wave and the pseudo distance derived from the GPS radio wave. Send to the error correction unit 811.
  • the multipath error correction unit 811 selects one to be used for deriving the position of the GPS receiver 800 from the combination of the satellite ID and the pseudo distance sent from the pseudo distance calculation unit 806.
  • the multipass error correction unit 811 sends the combination of the selected satellite ID and the pseudorange to the position calculation unit 816.
  • the position calculation unit 816 derives the position of the GPS receiver 800 from the combination sent from the multipath error correction unit 811 and the position information of each satellite.
  • Patent Document 1 discloses a positioning device that inputs pseudo distance correction data in DGPS and pseudo distance data of a positioning target device, and corrects the pseudo distance data based on the pseudo distance correction data.
  • the positioning device measures the position of the positioning target device based on the corrected pseudo distance data.
  • DGPS is an abbreviation for Differential Global Positioning System.
  • Patent Document 2 transmits positioning information obtained by radio waves from a positioning satellite to a server, receives position information of the own station obtained from the positioning information from the server, and receives the position itself between the transmission and the reception.
  • a communication terminal apparatus is disclosed that corrects an error that occurs in the position information due to the movement of a station.
  • Non-Patent Document 2 discloses fingerprinting described later.
  • Patent Document 1 In order to perform accurate positioning in an urban area or the like, it is necessary to provide a GPS receiver with a three-dimensional map or the like for the following reason.
  • GPS radio waves may be blocked by a shield or the like, and direct radio waves that directly reach the GPS receiver may not reach the GPS receiver. Even in that case, the reflected radio wave which is the GPS radio wave reflected by the structure may reach the GPS receiver. In that case, if the GPS receiver uses the distance to the satellite derived from the reflected radio wave for position calculation, an error occurs in the calculation result. Therefore, in order to measure the position accurately, the GPS receiver needs to use radio waves that arrive directly without being reflected in the position calculation. Then, in order to identify whether the radio wave that has reached the GPS receiver is a direct radio wave or a reflected radio wave, the above-described three-dimensional map or the like is required.
  • the three-dimensional map or the like may change with the passage of time due to the generation or disappearance of an artificial structure such as a building or a tunnel. Therefore, the method has a problem that the GPS receiver needs updating of map information and the like. In addition, the method has a problem that it requires a large amount of computational resources for the determination based on a three-dimensional map or the like.
  • the method further needs to identify satellites that can be seen from the own position in order to identify a building reflected wave that generates an error when used for positioning calculation. Therefore, in the method, it is necessary for the GPS receiver to know its own position correctly. In order to do so, in the method, the GPS receiver needs to repeat position correction many times, requiring a lot of computational resources.
  • An object of the present invention is to provide a positioning system or the like that can specify the position of a GPS receiver without requiring processing based on three-dimensional map information in the GPS receiver.
  • the communication system receives radio waves from each of the satellites included in a satellite group consisting of satellites that transmit radio waves including transmission time and identification information of a transmission source, and the radio waves for each of the satellites
  • the position specified from the information group consisting of time information representing the time obtained by subtracting the transmission time from the reception time of 1, and the correspondence information representing the correspondence between the information group and the position of the first communication device is output.
  • the positioning system etc. of the present invention can locate the position of the GPS receiver without requiring processing based on three-dimensional map information in the GPS receiver.
  • the first embodiment is an embodiment relating to a localization system in which a server locates a GPS receiver.
  • FIG. 2 is a conceptual diagram showing a configuration of a position specifying system 300 which is an example of the position specifying system of the first embodiment.
  • the positioning system 300 comprises a GPS receiver 100 and a server 200.
  • the GPS receiver 100 receives GPS radio waves from each of three or more GPS satellites required for position derivation.
  • the GPS radio wave includes transmission time and identification information of a transmission source.
  • the GPS receiver 100 also generates, for each of the GPS satellites, an information group consisting of time information representing a time obtained by subtracting the transmission time from the reception time, for which the reception times of the GPS radio waves are substantially equal.
  • the time information is the propagation time of GPS radio waves from the GPS satellites to the GPS receiver 100.
  • the propagation time represents the distance between the GPS satellites and the GPS receiver 100.
  • the GPS receiver 100 wirelessly transmits the information group to the server 200 as search information for the server 200 to perform a search described later.
  • the server 200 holds in advance a correspondence table that represents the correspondence between the search information and the position of the GPS receiver 100.
  • the correspondence table is obtained by measuring the time information and associating it with the position on the map while moving the GPS receiver similar to the GPS receiver 100 on a car or the like.
  • the server 200 searches the correspondence table based on the search information sent from the GPS receiver 100, and specifies the position of the GPS receiver 100 corresponding to the search information. Then, the server 200 wirelessly transmits the position to the GPS receiver 100.
  • the GPS receiver 100 wirelessly receives and outputs position information representing the position of the GPS receiver 100 sent from the server 200.
  • the correspondence table does not necessarily have to be in the form of a table, and may be information that indicates the correspondence between the search information and the position.
  • the GPS receiver 100 When the GPS receiver 100 is stationary, the reception times of the GPS radio waves for each of the GPS satellites do not necessarily have to be approximately equal.
  • the reception time of the GPS radio wave for each of the GPS satellites may be as long as the GPS receiver 100 is stationary.
  • the GPS receiver sends to the server search information including time information representing a time obtained by subtracting the transmission time from the reception time. Then, the server searches the correspondence table stored in advance for the search information, and sends the position of the GPS receiver that hits the search information in the correspondence table to the GPS receiver. Then, the GPS receiver outputs the position of the GPS receiver sent from the server.
  • FIG. 3 is a conceptual diagram showing a configuration of a position specifying system 300 which is an example of the position specifying system of the second embodiment.
  • the positioning system 300 is a system for specifying the position of the GPS receiver 100.
  • the positioning system 300 comprises a GPS receiver 100 and a server 200.
  • the GPS receiver 100 acquires and holds, for GPS radio waves sent from each GPS satellite, the time from the transmission of the transmission source GPS satellite to the reception by the GPS receiver 100 and the time information representing the identifier of the GPS satellite.
  • the GPS receiver 100 sends, to the server 200, an information group which is a combination of the time information related to the GPS radio waves from the respective GPS satellites at the same reception time and at a predetermined timing.
  • the server 200 holds in advance correspondence information between the information group and the position of the GPS receiver 100. Then, the server 200 specifies the position of the GPS receiver 100 from the group of information received from the GPS receiver 100 and the correspondence information, and sends the position to the GPS receiver 100.
  • the GPS receiver 100 outputs the position of the GPS receiver 100 sent from the server 200.
  • the GPS receiver 100 includes a GPS receiving unit 101, a processing unit 106, a recording unit 111, a communication unit 116, and an output unit 121.
  • the server 200 includes a processing unit 201, a recording unit 211, and a communication unit 216.
  • the GPS reception unit 101 of the GPS receiver 100 receives the GPS radio wave transmitted by each GPS satellite, and specifies the reception time of the reception.
  • the GPS reception unit 101 also specifies the satellite ID (Identifier) of the GPS satellite that has transmitted the GPS radio wave and the transmission time of the GPS radio wave from the reception signal related to the reception.
  • the satellite ID and the transmission time are information carried by GPS radio waves.
  • the GPS reception unit 101 causes the recording unit 111 to record first information, which is a combination of the satellite ID, the reception time, and the transmission time, related to each GPS radio wave.
  • the first information may be assumed to include other received radio wave strength (received electric field strength) at the time of receiving each corresponding GPS radio wave.
  • the received radio wave intensity is synonymous with the received electric field strength.
  • the GPS receiver 100 performs the above operation each time it receives a GPS radio wave from each GPS satellite.
  • the processing unit 106 reads from the recording unit 111 a first information group including the first information including the latest equal (approximately equal) reception times from the recording unit 111 at a predetermined timing.
  • the processing unit 106 causes the first information group to include at least one piece of the first information related to GPS radio waves from each GPS satellite in addition to the reception time.
  • the processing unit 106 receives GPS satellites of the satellite ID contained in the first information and the GPS from the transmission time and the reception time. Deriving time information elements with the aircraft.
  • the time information element is information representing a propagation time from a GPS satellite to a GPS receiver for GPS radio waves.
  • the propagation time is a value obtained by subtracting the transmission time of the GPS radio wave on the GPS satellite from the reception time of the GPS radio wave.
  • the time information element is also information representing the distance traveled by the GPS radio wave from the corresponding GPS satellite to reach the GPS receiver 100.
  • the processing unit 106 stores, in the storage area of the recording unit 111, an information group consisting of time information obtained by combining the time information element derived from the first information group and the satellite ID related to the time information element. At this time, the processing unit 106 stores the information group in association with the reception time of the information group.
  • the information group includes, for each satellite ID, at least one piece of time information derived from GPS radio waves simultaneously (almost simultaneously) received from the satellites of each satellite ID.
  • the communication unit 116 When the communication unit 116 stores the information group generated by the processing unit 106 in the recording unit 111, the communication unit 116 reads the information group from the recording unit 111 and sends the information group to the server 200.
  • the communication unit 116 When the communication unit 116 subsequently receives, from the server 200, the transmission of position information and the like corresponding to the sent information group, the communication unit 116 causes the recording unit 111 to hold the position information and the like.
  • the position information or the like is position information indicating the position of the GPS receiver 100 or information indicating that there is no corresponding position information.
  • the communication unit 116 also sends, to the server 200, information instructed by each component of the GPS receiver 100.
  • the communication unit 116 causes the recording unit 111 to hold information other than the position information and the like sent from the server 200.
  • the output unit 121 When the communication unit 116 stores the new position information and the like in the recording unit 111, the output unit 121 outputs the position information and the like.
  • the output unit 121 is, for example, a display unit such as a display, an audio output unit, and a communication device that transmits data to an external communication device.
  • the recording unit 111 holds, in advance, programs and information necessary for each component of the GPS receiver 100 to perform the above operation.
  • the recording unit 111 also holds information instructed by each component of the GPS receiver 100.
  • the recording unit 111 also sends information indicated by each component of the GPS receiver 100 to the component designated by the component.
  • the communication unit 216 of the server 200 stores the information group sent from the communication unit 116 of the GPS receiver 100 in the recording unit 211.
  • the recording unit 211 holds in advance a correspondence information group consisting of correspondence information.
  • the corresponding information is information on the position of the GPS receiver 100 at each predetermined interval that may exist.
  • Each of the correspondence information is information combining the position information representing the position and combination information which is a combination of time information representing time information elements measured by GPS radio waves from the GPS satellites at the position. .
  • the position information is, for example, a combination of latitude and longitude representing the position.
  • the time information element is obtained, for example, by measuring each position in advance using a GPS receiver capable of deriving a time information element equivalent to the GPS receiver 100 from GPS radio waves. Further, the position information is obtained by, for example, correspondence between map information and actual topography and structures. The position information has been confirmed to sufficiently satisfy the required accuracy regarding the position.
  • the processing unit 201 determines, for the latest information group received from the GPS receiver 100 and stored by the recording unit 211, whether the correspondence information including the information group is included in the correspondence information group. Do.
  • the processing unit 201 determines that the correspondence information is included in the correspondence information group, the position information included in the correspondence information according to the determination is transmitted to the GPS receiver via the communication unit 216. Send to 100
  • the GPS receiver 100 receives, via the communication unit 216, information indicating that there is no corresponding position information. Send to
  • the communication unit 216 causes the recording unit 211 to store each piece of information sent from the GPS receiver 100, including the information group.
  • the communication unit also sends, to the GPS receiver 100, information instructed by each component of the server 200, including the position information and the like.
  • the recording unit 211 holds, in advance, programs and information necessary for each component of the server 200 to perform the above processing, in addition to the correspondence information group described above.
  • the recording unit 211 also holds information instructed by each of the configurations.
  • the recording unit 211 also sends the information instructed by the components to the instructed components.
  • the type of communication performed between the communication unit 116 and the communication unit 216 is arbitrary.
  • the position specifying system 300 may include a plurality of GPS receivers corresponding to the GPS receiver 100.
  • FIG. 4 is a conceptual diagram showing an information group 901 as an example of the above-mentioned information group and a method of deriving the information group.
  • the GPS satellites have four satellite IDs a, b, c and d.
  • Lw is the above-mentioned time information element derived for a radio wave received from a GPS satellite whose reception time Tr is w as a satellite ID.
  • the time information (w, Lw) represents that it is a combination of w and Lw.
  • the arrangement order of w and Lw in the combination is arbitrary as long as it is possible to specify which is the satellite ID and which is the time information element.
  • the time information element Lw included in the time information (w, Lw) is the propagation time tw from the GPS satellite to the GPS receiver 100 of the GPS radio wave received from the GPS satellite whose satellite ID is w at reception time Tr.
  • the constant may be the speed of light C, which is the propagation speed of radio waves.
  • FIG. 4 shows the case where the speed of light C is used as the constant.
  • the constant may be one.
  • the time information element Lw is equal to the propagation time tw.
  • the reception times of the GPS radio waves from the satellites used to derive the information group 901 do not have to exactly match each other.
  • the reception time of the GPS radio wave from each satellite may be within the error range of the acceptable reception time Tr.
  • the number of pieces of time information included in the information group is not necessarily equal to the number of GPS satellites as long as it is three or more necessary for specifying the position of the GPS receiver 100.
  • FIG. 5 is a conceptual diagram showing an information group 902 which is an example of an information group including more time information than the number of GPS satellites.
  • the information group 902 includes time information including the satellite ID of a (a, La-1) and (a, La-2), in addition to including time information including each of satellite IDs a to d. Including two.
  • La-1 is the first time information element of the GPS radio wave from the satellite whose satellite ID is a.
  • La-2 is a second time information element about GPS radio waves from the satellite whose satellite ID is a.
  • the time information element La-1 is, for example, a time information element derived from a GPS radio wave that is directly reached without being reflected from the GPS satellite of satellite ID a to the GPS receiver 100.
  • the time information element La-2 is, for example, a time information element derived from a GPS radio wave that has been reflected by a structure and reached the GPS receiver 100 from the GPS satellite whose satellite ID is a.
  • both of the time information elements La-1 and La-2 are time information elements derived from GPS radio waves that are reflected by the structure and reach the GPS receiver 100 from the GPS satellite whose satellite ID is a. Can also be envisaged.
  • the information group of the embodiment may include a plurality of pieces of time information including the satellite ID of any one of b to d. Furthermore, the number of pieces of time information including one satellite ID included in the information group of the embodiment is arbitrary.
  • the determination accuracy of the position information in the server 200 may be improved.
  • FIG. 6 is a conceptual diagram showing a correspondence information group 921 which is a first example of the correspondence information group.
  • the correspondence information group 921 includes a plurality of pieces of correspondence information including correspondence information 9211 to 921 n which are n pieces of correspondence information.
  • the correspondence information 921 n (n is 1 or more) includes combination information 911 n and position information 931 n.
  • the combination information 911 n includes four pieces of time information: (a, Lan), (b, Lbn), (c, Lcn), and (d, Ldn). That is, the combination information 911 n includes one piece of time information including each satellite ID.
  • the position information 931 n includes a latitude In and a longitude Kn that represent the position of the GPS receiver 100.
  • the number of pieces of time information including the same satellite ID included in the combination information included in each correspondence information included in the correspondence information group of the embodiment may be plural.
  • FIG. 7 is a conceptual diagram showing a correspondence information group 922 which is a second example of the correspondence information group.
  • the combination information 912 n includes two pieces of time information including the satellite IDs a to d.
  • the number of pieces of time information including a certain satellite ID included in the combination information may be different between certain correspondence information and other correspondence information included in the correspondence information group of the embodiment.
  • FIG. 8 is a conceptual diagram showing a correspondence information group 923 which is a third example of the correspondence information group.
  • the time information including the satellite ID of a included in the combination information 913m included in the correspondence information 923m is two pieces of (a, Lam-1) and (a, Lam-2).
  • the time information including the satellite ID of a included in the combination information 913 n included in the correspondence information 923 n is one of (a, Lan).
  • the time information including the satellite ID of b included in the combination information 913m included in the correspondence information 923m is one of (b, Lbm).
  • the time information including the satellite ID of b included in the combination information 913n included in the correspondence information 923n is two, (b, Lbn-1) and (b, Lbn-2).
  • the number of time information pieces of the same satellite ID included in the combination information of correspondence information included in the correspondence information group of the embodiment is arbitrary.
  • FIG. 9 is a conceptual diagram showing a correspondence information group 924 which is a fourth example of the correspondence information group.
  • FIG. 10 is a conceptual diagram showing an example of a processing flow of processing performed by the processing unit 106 of the GPS receiver 100 shown in FIG.
  • the processing unit 106 starts the processing shown in FIG. 10, for example, by the input of the start information from the outside.
  • the processing unit 106 determines whether the GPS reception unit 101 shown in FIG. 3 has received a GPS radio wave as the processing of S101.
  • the processing unit 106 performs the process of S102 if the determination result of the process of S101 is yes.
  • the processing unit 106 performs the process of S101 again.
  • the processing unit 106 When performing the process of S102, the processing unit 106 causes the recording unit 111 to store the first information in the storage area as the same process.
  • the first information is a combination of a satellite ID of a GPS satellite that has transmitted the received GPS radio wave, a reception time of the GPS radio wave, and a transmission time of the GPS radio wave.
  • the storage area is an area prepared in advance for storing time information of the recording unit 111 shown in FIG.
  • step S103 the processing unit 106 determines whether it is time to derive position information.
  • the processing unit 106 performs the determination, for example, by determining the presence or absence of timing notification information sent or generated by a timer (not shown).
  • the processing unit 106 performs the process of S104 if the determination result of the process of S103 is yes.
  • the processing unit 106 performs the process of S101 again.
  • the processing unit 106 When performing the process of S104, the processing unit 106 generates an information group to be sent to the server as the same process.
  • the processing unit 106 generates the first information group described above from the first information stored in the storage area, and derives time information from each first information of the first information group. To do.
  • the method of deriving time information from the first information is as described with reference to FIG.
  • the processing unit 106 When the processing unit 106 generates the information group 901 shown in FIG. 4, for example, among the time information including the satellite ID of each of a to d, one having an equal (approximately equal) reception time related to each satellite ID is used. , Each satellite ID is stored in the information group one by one. The reception time is, for example, the latest one.
  • the processing unit 106 may select the pseudo information to be stored in the information group from those whose received radio wave intensity exceeds a predetermined level.
  • the GPS reception unit 101 shown in FIG. 3 acquires the received radio wave intensity (received electric field strength) related to the GPS radio wave when receiving the GPS radio wave.
  • the processing unit 106 causes the communication unit 116 illustrated in FIG. 3 to send the information group generated in the process of S104 to the server 200 illustrated in FIG. 3 as the process of S105.
  • the processing unit 106 determines whether the communication unit 116 has received from the server 200 shown in FIG. 3 the transmission of the position information and the like corresponding to the information group sent in the processing of S105 as the processing of S106.
  • the position information and the like are information indicating that there is no position information or the corresponding position information as described above.
  • the processing unit 106 performs the process of S107.
  • the processing unit 106 performs the process of S106 again.
  • the processing unit 106 When performing the process of S107, the processing unit 106 causes the output unit 121 to output the position information and the like received from the server 200 shown in FIG. 3 as the process.
  • the processing unit 106 deletes all the time information stored in the storage area as the processing of S108.
  • the processing unit 106 determines whether to end the process illustrated in FIG.
  • the processing unit 106 performs the determination, for example, by determining the presence / absence of input of end information from the outside.
  • the processing unit 106 performs the process of S101 again.
  • FIG. 11 is a conceptual diagram illustrating an example of a processing flow of processing performed by the processing unit 201 of the server 200 illustrated in FIG. 3.
  • the processing unit 201 starts the processing shown in FIG. 11, for example, by the input of start information from the outside.
  • the processing unit 201 determines whether the communication unit 216 has received the transmission of the information group from the GPS receiver 100 shown in FIG.
  • the processing unit 201 performs the process of S202.
  • the processing unit 201 performs the process of S201 again.
  • the processing unit 201 When the processing unit 201 performs the processing of step S202, the processing unit 201 performs, as the processing, the correspondence information including the pseudo information group determined to be received by the processing of step S201, which is stored in the recording unit 211 illustrated in FIG. A determination is made as to whether it is stored in the correspondence information group.
  • the processing unit 201 performs the process of S202.
  • the processing unit 201 performs the process of S201 again.
  • the processing unit 201 When the processing unit 201 performs the process of S203, as the process, the communication unit illustrated in FIG. 3 sends the position information included in the correspondence information determined to include the information group in the process of S202 to the GPS receiver. Make it to 216. Then, the processing unit 201 performs the process of S205.
  • the processing unit 201 When performing the process of S204, the processing unit 201 causes the communication unit 216 illustrated in FIG. 3 to send information indicating that there is no corresponding position information to the GPS receiver as the process. Then, the processing unit 201 performs the process of S205.
  • the processing unit 201 determines whether to end the processing illustrated in FIG.
  • the processing unit 201 performs the determination, for example, by determining the presence / absence of input of end information from the outside.
  • the processing unit 201 performs the process of S201 again.
  • the processing flow example performed by the processing unit 201 may be one obtained by replacing the processing of S202 to S204 shown in FIG. 11 with the processing shown in FIG.
  • FIG. 12 is a conceptual diagram showing a process of replacing the processes of S202 to S204.
  • the processing unit 201 performs the processing of S202-2 when the determination result by the processing of S201 shown in FIG. 11 is yes.
  • the processing unit 201 performs the processing of S202-2, as the processing, the correspondence information including any one of the combinations including one time information including each satellite ID extracted from the information group corresponds to the correspondence information group Determine if it is.
  • the processing unit 201 performs the process of S203-2.
  • the processing unit 201 performs the process of S204-2.
  • the communication illustrated in FIG. 3 includes, as the process of S202-2, the position information included in the correspondence information that is determined to include any of the combinations.
  • the unit 216 causes the GPS receiver 100 to send it. Then, the processing unit 201 performs the processing of S205 shown in FIG.
  • the processing unit 201 When performing the process of S204-2, the processing unit 201 causes the communication unit 216 to send information indicating that there is no corresponding position information to the GPS receiver 100 as the process. Then, the processing unit 201 performs the processing of S205 shown in FIG.
  • the processing flow example performed by the processing unit 201 may be one obtained by replacing the processing of S202 to S204 shown in FIG. 11 with the processing shown in FIG.
  • FIG. 13 is a conceptual diagram showing a process of replacing the processes of S202 to S204.
  • the processing unit 201 performs the process of S202-3.
  • correspondence information including any of combinations including a predetermined number of time information including satellite IDs extracted from the information group is included in the correspondence information group. Determine if there is.
  • the processing unit 201 performs the process of S203-3.
  • the processing unit 201 performs the process of S204-3.
  • the communication illustrated in FIG. 3 includes, as the process of S202-3, the position information included in the correspondence information in which it is determined that any one of the combinations is included.
  • the unit 216 causes the GPS receiver 100 to send it. Then, the processing unit 201 performs the processing of S205 shown in FIG.
  • the processing unit 201 When performing the processing of S204-3, the processing unit 201 causes the communication unit 216 to send information indicating that there is no corresponding position information to the GPS receiver 100 as the processing. Then, the processing unit 201 performs the processing of S205 shown in FIG.
  • FIG. 14 is a conceptual diagram showing an operation example based on the above process flow example performed by the position specification system 300 shown in FIG.
  • the GPS receiver 100 first generates the above-mentioned information group as the operation of A101 (processing of S101 to S104 in FIG. 10).
  • the GPS receiver 100 sends the information group generated by the operation of A101 to the server 200 (processing of S105).
  • the server 200 In response to the delivery, the server 200 generates the above-described position information and the like from the information group as the operation of A103 (processing of S201 to S204 in FIG. 11).
  • the server 200 transmits the generated position information and the like to the GPS receiver 100 as the operation of A104 (processing of S203 and S204).
  • the GPS receiver 100 receives the transmission and outputs the transmitted position information and the like (processing of S107). [effect] In the positioning system of the present embodiment, the GPS receiver sends the information group to the server. The server receives the sending and sends the position derived from the sent information group and the correspondence data between the information group and the position of the GPS receiver held in advance to the GPS receiver. The GPS receiver does not derive the position of the GPS receiver from GPS radio waves.
  • the positioning system enables the GPS receiver not to hold a three-dimensional map or the like and to omit calculation using the three-dimensional map or the like.
  • Third Embodiment is an embodiment relating to a positioning system in which the GPS receiver and the server share the process of specifying the position of the GPS receiver. [Configuration and operation]
  • the configuration example of the positioning system of the third embodiment is the same as the positioning system 300 shown in FIG.
  • position specifying system 300 of the third embodiment differs from the description of the position specifying system 300 of the second embodiment as follows.
  • the recording unit 111 of the third embodiment shown in FIG. 3 holds, in advance, non-reflection assumed range information indicating a position range where it is confirmed that reflection of GPS radio waves from some structure is not assumed.
  • the non-reflection assumed range information is not information having a large amount of information such as a three-dimensional map or the like, but is information having a smaller amount of information more roughly.
  • the non-reflection assumed range information may be information representing sea, inland water surface, field, ranch, plaza, wasteland, and the like. Further, the non-reflection assumed range information may represent a position range where it is confirmed that there is no reflection using a three-dimensional map or the like.
  • the processing unit 106 of the third embodiment shown in FIG. 3 When the processing unit 106 of the third embodiment shown in FIG. 3 generates the information group by the method described in the first embodiment, the processing unit 106 derives the position of the GPS receiver 100 using the information group.
  • the position may or may not be adopted as a position by subsequent processing. Therefore, in the embodiment, the position is referred to as a "provisional position".
  • the processing unit 106 determines whether there are a plurality of GPS radio waves having the same (approximately the same) reception time for the same satellite ID. For example, when there are a plurality of GPS radio waves having the same (approximately the same) reception time for the same satellite ID, for example, the processing unit 106 The temporary position is derived using the first information.
  • the method of deriving said temporary position is well known as mentioned in the background section.
  • the temporary position may be both a position that includes an error and a position that is a correct position.
  • the processing unit 106 determines whether the derived temporary position is included in the non-reflection assumed range.
  • the non-reflection range has a margin so that it can be determined that it is non-reflective when the temporary position is included. It shall be set.
  • the processing unit 106 determines the temporary position as the correct position of the GPS receiver 100.
  • the processing unit 106 causes the output unit 121 illustrated in FIG. 3 to output position information indicating the determined position.
  • the processing unit 106 determines that the temporary position is not included in the non-reflection assumed range, the processing unit 106 sends the derived propagation distance information group to the server 200 shown in FIG. Wait for the delivery of the location information.
  • the processing unit 106 When the processing unit 106 sends the position information and the like from the server 200 illustrated in FIG. 3, the processing unit 106 causes the output unit 121 to output the position information and the like.
  • the operations performed by the components of the position specifying system 300 of the third embodiment shown in FIG. 3 are the same as the operations performed by the components of the position specifying system 300 of the first embodiment except for the above.
  • Processing flow The processing flow example of the processing performed by the processing unit 106 of the third embodiment shown in FIG. 3 is obtained by adding the processing shown in FIG. 15 between the processing of yes in S103 and S104 and S106 shown in FIG.
  • FIG. 15 is a conceptual diagram showing a process to be added between the processes of yes of S103, and S104 and S106.
  • the processing unit 106 determines that it is the timing of position information derivation by the processing of S103, the processing unit 106 performs the processing of S103a.
  • the processing unit 106 When the processing unit 106 performs the processing of S103a, the processing unit 106 derives the above-described temporary position as the same processing.
  • the description of the method of deriving the temporary position is as described above.
  • the processing unit 106 determines whether the temporary position derived by the process of S103a is included in the above described non-reflection assumed range held by the recording unit 111 shown in FIG.
  • the processing unit 106 performs the process of S104 illustrated in FIG. 10 when the determination result of the process of S103 b is yes.
  • the processing unit 106 When performing the process of S103c, the processing unit 106 generates positional information in which the temporary position derived by the process of S103a is the position as the process.
  • the processing unit 106 performs the process of S106 shown in FIG.
  • the processing unit 106 When performing the process of S107, the processing unit 106 outputs, as the process, either position information received from the server 200 shown in FIG. 3 or any of position information generated by the process of S103 c. Make it output.
  • the processing shown in FIG. 16 may be added between the processing of S103a, S103b and S104 shown in FIG.
  • FIG. 16 is a conceptual diagram showing a second process to be added between the processes of S103a, S103b and S104.
  • the processing unit 106 performs the process of S103 d after the process of S103 a shown in FIG.
  • the processing unit 106 determines, as the same process, whether or not the first information of the latest equal (approximately equal) reception times includes a plurality of satellite IDs that include the same satellite ID.
  • the determination is a process performed to prevent the derived temporary position from being determined as the main position, since it is clear that there is an influence of reflection when there are a plurality of first information of the same reception time that includes the same satellite ID. .
  • the processing unit 106 performs the processing of S103b shown in FIG.
  • the positioning system of the third embodiment has a configuration included in the positioning system of the second embodiment, and has an effect exhibited by the positioning system of the second embodiment.
  • the fourth embodiment is an embodiment relating to a location system in which the server is provided with the above-mentioned non-reflection assumed range information. [Configuration and operation] The configuration example of the positioning system of the fourth embodiment is the same as the positioning system 300 shown in FIG.
  • the recording unit 211 of the fourth embodiment shown in FIG. 3 holds, in advance, non-reflection assumed range information which is a position range where it is confirmed that reflection of GPS radio waves from some structure is not assumed.
  • the description of the non-reflection assumed range information is the same as that described in the third embodiment.
  • the processing unit 201 of the fourth embodiment shown in FIG. 3 derives a temporary position using the information group.
  • the description of the temporary position is the same as that described in the third embodiment.
  • the processing unit 201 determines whether the derived temporary position is included in the non-reflection assumed range.
  • the processing unit 201 determines the temporary position as the correct position of the GPS receiver 100.
  • the processing unit 201 causes the communication unit 216 to send position information indicating the determined position to the GPS receiver 100.
  • the processing unit 106 determines that the temporary position is not included in the non-reflection assumed range
  • the second implementation is performed from the derived information group and the correspondence information group described in the second embodiment.
  • the above-described position information and the like are derived by the method described in the embodiment.
  • the operations performed by the components of the positioning system 300 according to the fourth embodiment shown in FIG. 3 are the same as the operations performed by the components of the positioning system 300 according to the second embodiment except for the above.
  • Processing flow The processing flow example of the processing performed by the processing unit 201 of the fourth embodiment shown in FIG. 3 is obtained by adding the processing shown in FIG. 17 between the processing of “yes” in S201 shown in FIG. 11 and the processing of S202 and S205.
  • FIG. 17 is a conceptual diagram showing a process to be added between the processes of “yes” in S201, and S202 and S205.
  • the processing unit 201 performs the process of S201a when the determination result of the process of S201 is yes.
  • the processing unit 201 When performing the process of S201a, the processing unit 201 derives the above-described temporary position as the same process.
  • the processing unit 201 determines whether the temporary position derived by the process of S201a is included in the above described non-reflection assumed range held by the recording unit 211 shown in FIG.
  • the processing unit 201 performs the process of S201 c when the determination result of the process of S201 b is yes.
  • the processing unit 201 performs the process of S202 shown in FIG.
  • the processing unit 201 When performing the processing of S201c, the processing unit 201 generates position information whose position is the temporary position derived in the processing of S201a as the processing and performs the GPS receiver 100 via the communication unit 216 shown in FIG. Send to
  • the processing unit 201 performs the processing of S205 shown in FIG.
  • the process shown in FIG. 18 may be added between the processes of S201 shown in FIG. 11 and S201a and S202 shown in FIG.
  • FIG. 18 is a conceptual diagram showing processing to be added between the processing of S201, S201a and S202.
  • the processing unit 201 performs the process of S201 d when the determination result by the process of S201 shown in FIG. 11 is yes.
  • the processing unit 201 determines whether the information group determined to have received the transmission in the process of S201 includes a plurality of pieces of time information including the same satellite ID, as the process of S201d.
  • the determination is a process performed to prevent the derived temporary position from being determined as the main position, since it is clear that there is an influence of reflection when the information group includes multiple pieces of time information including the same satellite ID.
  • the processing unit 201 performs the process of S202 shown in FIG.
  • the processing unit 201 performs the process of S201a shown in FIG. Even when the information group includes only one time information including the same satellite ID, the time information may be a reflected wave. Therefore, even if the determination result of S201d is no, it is necessary to perform the process of S201a.
  • the positioning system of the fourth embodiment has a configuration included in the positioning system of the second embodiment, and has an effect exhibited by the positioning system of the second embodiment.
  • the server of the positioning system of the fourth embodiment sets the temporary position as the position of the GPS receiver. Therefore, the server does not need to hold the correspondence information described in the second embodiment for the assumed reflection range. Therefore, the positioning system of the fourth embodiment can save the cost and effort required to generate the correspondence information group.
  • the GPS receiver does not have to hold the non-reflection assumed range information.
  • the non-reflection assumed range information is information that needs to be updated even if the amount of information is not as large as the three-dimensional map or the like.
  • the positioning system of the fourth embodiment makes it possible not to update the non-reflection intended area information in the GPS receiver.
  • the GPS receiver of embodiment may contain the structure with which the server of embodiment is provided. In that case, the method of information exchange between each configuration of the GPS receiver and the configuration provided by the server is arbitrary.
  • FIG. 19 is a block diagram showing the configuration of a communication system 300x that is the minimum configuration of the communication system of the embodiment.
  • the communication system 300x includes a receiving unit 101x and an output unit 126x.
  • the receiving means 101x receives radio waves from each of the satellites included in a satellite group consisting of satellites that transmit radio waves including transmission time and identification information of a transmission source.
  • the output means 121x represents, for each of the satellites, an information group consisting of time information representing a time obtained by subtracting the transmission time from the reception time of the radio wave, and a correspondence between the information group and the position of the first communication device. The position specified from the correspondence information is output.
  • the communication system 300x specifies the position from the information group and the correspondence information. Therefore, the first communication device does not derive the position from the information group. Therefore, the first communication device does not have to perform processing for holding and selecting a GPS radio wave used for deriving the position, for example, a three-dimensional map with a large amount of information.
  • communication system 300x may locate the GPS receiver without the need for processing based on three-dimensional map information at the GPS receiver.
  • the communication system 300x achieves the effects described in the section of [Effects of the Invention] by the above configuration.
  • the communication system 300x illustrated in FIG. 19 is, for example, the position specifying system 300 illustrated in FIG.
  • the receiving unit 101x is, for example, the GPS receiving unit 101 shown in FIG.
  • the output unit 121x is, for example, an output unit 121.
  • Non-Patent Document 2 a technique called fingerprinting is known, which comprehensively stores information in the vicinity of a terminal in a database and identifies the position from the information (see Non-Patent Document 2).
  • MAC Media Access Control
  • LTE Long Term Evolution
  • the point that the surrounding information used by the terminal is time information related to radio waves from satellites is distinctly different from the above-mentioned technology.
  • the present invention is not limited to the above-mentioned embodiment, and can carry out further modification, substitution, adjustment in the range which does not deviate from the basic technical idea of the present invention. It can be added.
  • the configuration of the elements shown in each drawing is an example to help the understanding of the present invention, and is not limited to the configuration shown in these drawings.
  • a communication system comprising (Supplementary Note 2) Appendix 1 describes that the first communication device sends the information group to the second communication device and the output, and the second communication device performs the identification and the transmission to the first communication device.
  • Appendix 1 any one of appendices 1 to 10, wherein the correspondence information is a combination of combination information including one or more of the time information corresponding to each of the satellites and position information indicating the position.
  • Communication system described in. (Supplementary Note 12) The communication system according to appendix 11, wherein the correspondence information is included in a correspondence information group.
  • the correspondence information When it is determined that the correspondence information includes any one of the combinations including one time each of the time information related to each of the satellites extracted from the information group, the correspondence information is included in the correspondence information
  • the position information included in the correspondence information is The communication system described in Supplementary note 12 or Supplementary note 13, which identifies.
  • a temporary position is derived from the information group, range information representing a position range not affected by reflection of the radio wave to the temporary position is held in advance, and it is determined that the temporary position is not included in the position range.
  • the communication system according to any one of appendices 1 to 15, wherein the temporary position is the position when it is performed.
  • Clause 16 The communication system according to clause 16, wherein the first communication device performs the derivation of the provisional position.
  • Appendix 18 24. The communication system according to appendix 16 or 17, wherein the holding is performed by the first communication device.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne, afin de permettre de déterminer la position d'un récepteur GPS sans nécessiter, dans le récepteur GPS, de traitement basé sur des informations cartographiques tridimensionnelles, un système de communication qui reçoit des ondes radio provenant de satellites respectifs inclus dans un groupe de satellites comprenant les satellites qui transmettent les ondes radio comprenant des temps de transmission et des informations d'identification de source de transmission et délivre la position d'un premier dispositif de communication, la position étant déterminée à partir : d'un groupe d'informations comprenant des informations temporelles représentant des temps obtenus pour les satellites respectifs en soustrayant les temps de transmission des temps de réception des ondes radio; et des informations de correspondance représentant une correspondance entre le groupe d'informations et la position du premier dispositif de communication.
PCT/JP2019/000162 2018-01-12 2019-01-08 Système de communication WO2019138985A1 (fr)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63109381A (ja) * 1986-10-27 1988-05-14 Pioneer Electronic Corp Ｇｐｓ受信装置のデ−タ処理方法
JP2002202356A (ja) * 2000-12-28 2002-07-19 Matsushita Electric Works Ltd Ｇｐｓ位置検出装置
JP2002214321A (ja) * 2001-01-12 2002-07-31 Clarion Co Ltd Ｇｐｓ測位システム
JP2005147758A (ja) * 2003-11-12 2005-06-09 Sanyo Electric Co Ltd ナビゲーション装置
JP2010243193A (ja) * 2009-04-01 2010-10-28 Seiko Epson Corp 衛星信号受信装置付き電子時計およびその受信制御方法
JP2011133331A (ja) * 2009-12-24 2011-07-07 Ntt Docomo Inc 測位システム及び測位方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63109381A (ja) * 1986-10-27 1988-05-14 Pioneer Electronic Corp Ｇｐｓ受信装置のデ−タ処理方法
JP2002202356A (ja) * 2000-12-28 2002-07-19 Matsushita Electric Works Ltd Ｇｐｓ位置検出装置
JP2002214321A (ja) * 2001-01-12 2002-07-31 Clarion Co Ltd Ｇｐｓ測位システム
JP2005147758A (ja) * 2003-11-12 2005-06-09 Sanyo Electric Co Ltd ナビゲーション装置
JP2010243193A (ja) * 2009-04-01 2010-10-28 Seiko Epson Corp 衛星信号受信装置付き電子時計およびその受信制御方法
JP2011133331A (ja) * 2009-12-24 2011-07-07 Ntt Docomo Inc 測位システム及び測位方法

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