WO2020178984A1 - 情報処理装置および測位補強情報送信方法 - Google Patents
情報処理装置および測位補強情報送信方法 Download PDFInfo
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- WO2020178984A1 WO2020178984A1 PCT/JP2019/008658 JP2019008658W WO2020178984A1 WO 2020178984 A1 WO2020178984 A1 WO 2020178984A1 JP 2019008658 W JP2019008658 W JP 2019008658W WO 2020178984 A1 WO2020178984 A1 WO 2020178984A1
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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
- G01S19/072—Ionosphere corrections
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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
- G01S19/071—DGPS corrections
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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
- G01S19/073—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 involving a network of fixed stations
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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
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
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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
- G01S19/073—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 involving a network of fixed stations
- G01S19/074—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 involving a network of fixed stations providing integrity data, e.g. WAAS
Definitions
- the present invention relates to an information processing apparatus and a positioning reinforcement information transmitting method for generating positioning reinforcement information used for correcting a positioning error of a ground station terminal.
- CLAS centimeter-level positioning accuracy
- one of the causes of positioning error is the delay of positioning signals in the ionosphere.
- the positioning reinforcement information includes a correction value for the delay of the positioning signal in the ionosphere.
- this correction value is referred to as an ionosphere correction value.
- the ionosphere correction value is calculated for each grid point by using the pseudo distance measurement results obtained from the plurality of electronic reference points.
- Quasi-zenith satellite sequentially distributes, for each area set on the ground, a positioning augmentation signal including the corresponding ionospheric correction value for each of the plurality of grid points set in the area.
- a positioning augmentation signal including the corresponding ionospheric correction value for each of the plurality of grid points set in the area.
- there is a limit to the transmission capacity of positioning augmentation signals which is about 2 kbps (bits per second).
- Patent Document 1 describes a positioning system that reduces the amount of positioning reinforcement information and then distributes it to ground station terminals.
- This system uses methods (1) and (2) to reduce the amount of positioning reinforcement information.
- the positioning reinforcement signals to be distributed are reduced by widening the grid spacing within the service target range.
- the amount of information is reduced by approximating the ionospheric correction value with a function and delivering only the coefficient of the approximated function as a positioning reinforcement signal.
- the positioning system described in Patent Document 1 has a problem that the positioning accuracy deteriorates when the information amount of the positioning reinforcement information is reduced.
- Patent Document 1 does not consider deterioration of positioning accuracy due to ionospheric disturbance. Therefore, when ionospheric disturbance occurs and the delay amount of the positioning signal changes, there is a problem that the positioning accuracy deteriorates.
- the present invention is intended to solve the above problems, and an object thereof is to obtain an information processing device and a positioning reinforcement information transmission method that can reduce the amount of information of positioning reinforcement information while maintaining positioning accuracy even when an ionospheric disturbance occurs.
- An information processing apparatus includes a first satellite that transmits positioning reinforcement information, a second satellite that transmits positioning information, and a terminal that performs positioning using the positioning information. It is used for a positioning system in which positioning reinforcement information corresponding to grid points set on the ground is transmitted, and a terminal performs positioning by correcting positioning information using the positioning reinforcement information.
- the information processing device has a calculation unit that calculates the corresponding positioning correction information for each grid point, and a positioning unit that calculates the positioning according to the fluctuation of the index value of the ionospheric state for each area divided into a plurality of areas on the ground.
- Positioning reinforcement information including correction information is transmitted from the first satellite. Positioning reinforcement information including positioning correction information corresponding to the setting unit for setting the interval of the grid points and the grid points of the interval set by the setting unit. , A transmitting unit that performs a process of transmitting to the first satellite.
- the interval between grid points for transmitting the positioning reinforcement information from the first satellite is set according to the fluctuation of the index value of the state of the ionosphere for each area divided into a plurality of areas on the ground.
- FIG. 3 is a block diagram showing the configuration of the information processing device according to the first embodiment.
- FIG. It is a figure which shows the grid for every area set on the ground.
- 5 is a flowchart showing a positioning reinforcement information transmitting method according to the first embodiment. It is a figure explaining the setting process of the grid space
- FIG. 4 is a diagram showing an outline of a grid interval setting process according to a change in ionospheric correction value in the first embodiment.
- FIG. 7A is a block diagram showing a hardware configuration that realizes the functions of the information processing apparatus according to the first embodiment.
- FIG. 7A is a block diagram showing a hardware configuration that realizes the functions of the information processing apparatus according to the first embodiment.
- FIG. 7B is a block diagram showing a hardware configuration that executes software that implements the functions of the information processing apparatus according to the first embodiment.
- FIG. 6 is a block diagram showing a configuration of an information processing device according to a second embodiment.
- FIG. 8 is a diagram showing an outline of a grid interval setting process according to a variation in an error of an ionosphere correction value in the second embodiment.
- FIG. 9 is a block diagram showing a configuration of an information processing device according to a third embodiment.
- FIG. 9 is a diagram showing an outline of a grid interval setting process according to a change in ionospheric correction value in the third embodiment.
- FIG. 16 is a block diagram showing a configuration of an information processing device according to a fourth embodiment.
- FIG. 16 is a diagram showing an outline of a grid interval setting process according to a variation in an error of an ionosphere correction value in the fourth embodiment.
- FIG. 16 is a block diagram showing a configuration of an information processing device according to a fifth embodiment.
- FIG. 19 is a diagram showing an outline of thinning processing of grid points in the fifth embodiment.
- FIG. 16 is a block diagram showing the configuration of an information processing device according to a sixth embodiment.
- FIG. 16 is a diagram showing an outline of a grid interval setting process according to a variation in an ionospheric correction value error in the sixth embodiment.
- FIG. 16 is a block diagram showing a configuration of an information processing device according to a seventh embodiment.
- FIG. 3 is a diagram in which areas that are easily affected by ionospheric disturbances are divided by latitude.
- FIG. 1 is a diagram showing an outline of the positioning system according to the first embodiment, and shows CLAS using the quasi-zenith satellite 1.
- the positioning system shown in FIG. 1 includes, for example, a quasi-zenith satellite 1, a GNSS satellite 2, a ground station terminal 3, a main control station 4, an electronic reference point 5 and an uplink station 6.
- the quasi-zenith satellite 1 is the first satellite that transmits positioning reinforcement information a to the ground station terminal 3.
- the positioning reinforcement information a is information used for correcting the positioning information b, and includes correction values for various errors.
- the correction values included in the positioning reinforcement information a include a correction value for the propagation delay of the positioning information in the ionosphere, a correction value for the propagation delay of the positioning information in the troposphere, and an error (integrity information) between these correction values.
- the GNSS satellite 2 is a second satellite that transmits positioning information b to the ground station terminal 3.
- the GNSS satellite 2 is a GPS (Global Positioning Systems) satellite.
- the positioning information b is information used for positioning the ground station terminal 3.
- the ground station terminal 3 is a terminal that performs positioning using the positioning information b. Further, the ground station terminal 3 performs positioning by correcting the positioning information b using the positioning reinforcement information a.
- the quasi-zenith satellite 1 transmits positioning supplementary information c to the ground station terminal 3 in addition to the positioning reinforcement information a.
- the positioning complement information c is information that complements positioning using the positioning information b by the ground station terminal 3.
- the main control station 4 is an information processing device according to the first embodiment, and generates positioning reinforcement information a.
- the positioning reinforcement information a generated by the main control station 4 is output to the uplink station 6.
- the uplink station 6 transmits the positioning reinforcement information a to the quasi-zenith satellite 1.
- the quasi-zenith satellite 1 distributes the positioning reinforcement information a received from the main control station 4 via the uplink station 6 to the ground station terminal 3 as an L6 signal.
- the electronic reference point 5 is installed at a plurality of locations on the ground, receives positioning information b (GNSS signal) from the GNSS satellite 2, and receives known position information of the electronic reference point 5 and the received positioning information b. Is used to estimate the error amount included in the positioning information b, and the correction information for correcting the estimated error amount is transmitted to the main control station 4.
- GNSS signal positioning information b
- Is used to estimate the error amount included in the positioning information b, and the correction information for correcting the estimated error amount is transmitted to the main control station 4.
- electronic reference points 5 are installed at about 1300 points at intervals of about 20 km.
- ionosphere correction value For example, in Japan, grid points are set at about 350 points at intervals of about 60 km.
- the quasi-zenith satellite 1 delivers positioning reinforcement information a including the ionospheric correction value every 30 seconds.
- the ionosphere correction value is the amount of delay of positioning information in the distance from the GNSS satellite 2 to each grid point that has occurred in the ionosphere.
- the ground station terminal 3 measures the pseudo distance between the GNSS satellite and the ground station terminal 3 using the positioning information b, and uses the measured pseudo distance as the ionospheric correction value included in the positioning reinforcement information a. By correcting, a highly accurate pseudo distance can be obtained.
- the positioning augmentation information a including the ionosphere correction value is spatially compressed.
- the transmission capacity of the positioning reinforcement information a including the ionospheric correction value is defined as about 2 kbps.
- the ground station terminal 3 sets the position reinforcement information a distributed from the quasi-zenith satellite 1 to the location closest to the ground station terminal 3.
- the positioning information b can be accurately corrected by using the positioning reinforcement information a including the ionospheric correction value corresponding to the determined grid point. That is, as the grid interval is narrowed, the ground station terminal 3 can receive the ionosphere correction values corresponding to the grid points set in the vicinity, so that the positioning accuracy is improved.
- the transmission capacity of the positioning reinforcement information a is limited (about 2 kbps), and the grid interval cannot be narrowed.
- the grid interval cannot be narrowed.
- the amount of information to be transmitted is reduced by transmitting only the coefficient when the ionosphere correction value is approximated by a function in the positioning reinforcement information a, but the positioning accuracy is centimeter level due to the approximation error. Deteriorates to a digital level.
- the delay of the positioning information b in the ionosphere strongly affected by the ionospheric disturbance is different from the delay of the positioning information b in the ionosphere weakly affected by the ionospheric disturbance. Become. This difference in delay greatly deteriorates the accuracy of the ionosphere correction value, which is the correction value for the pseudorange.
- the information processing apparatus dynamically sets the interval between the grid points for transmitting the positioning reinforcement information a from the quasi-zenith satellite 1 according to the fluctuation of the index value of the ionospheric state. To do.
- the grid spacing is set in real time according to the degree of influence of the ionospheric disturbance, so that the ground station terminal 3 can maintain the positioning accuracy even if the ionospheric disturbance occurs.
- the grid spacing is not fixed to a predetermined value (for example, 60 km), and the grid spacing can be widened in an area less affected by the ionospheric disturbance, it is possible to reduce the information amount of the positioning reinforcement information a. Is possible.
- FIG. 2 is a block diagram showing a configuration of an information processing device according to the first embodiment, and shows a device corresponding to the main control station 4 shown in FIG.
- the information processing apparatus shown in FIG. 2 is configured to include a calculation unit 41, a grid setting unit 42, and a transmission unit 43, and based on the correction information of positioning measured by each of the plurality of electronic reference points 5, a plurality of grids. Positioning reinforcement information a corresponding to each of the points is generated.
- the calculation unit 41 calculates the corresponding positioning correction information for each grid point in all areas based on the positioning correction information measured by each of the plurality of electronic reference points 5. For example, the calculation unit 41 in the first embodiment calculates the ionosphere correction value corresponding to each grid point in all areas.
- the grid setting unit 42 transmits, from the quasi-zenith satellite 1, positioning augmentation information a including the ionospheric correction value calculated by the calculation unit 41 in accordance with the fluctuation of the index value of the state of the ionosphere for each area divided into a plurality of areas on the ground.
- This is a setting unit that sets the interval between grid points. For example, in areas that are strongly affected by ionospheric disturbances in the ionosphere, there are large spatial variations in ionospheric correction values for each grid point, and in areas that were not significantly affected by ionospheric disturbances, ionospheric corrections for each grid point Spatial variation in values is small.
- the grid setting unit 42 in the first embodiment sets the intervals between grid points for transmitting the positioning reinforcement information a from the quasi-zenith satellite 1 according to the fluctuations in the ionospheric correction values corresponding to the plurality of grid points included in the area. To set.
- FIG. 3 is a diagram showing a grid for each area set on the ground.
- Japan is divided into areas (1) to (12), and a grid is set for each area.
- the grid setting unit 42 dynamically sets the intervals between grid points. Dynamic means that the interval between grid points is set every time the positioning reinforcement information a is distributed according to the index value of the ionospheric state for each area, or it is fixed such as every hour or every day. This means that the intervals between grid points are set sequentially in a cycle.
- the grid setting unit 42 sets the grid interval so that the total number of grid points corresponding to each of the positioning reinforcement information a distributed from the quasi-zenith satellite 1 is equal to or less than the specified value.
- the specified value is the total number of grid points that satisfy the limitation of the transmission capacity of the positioning reinforcement information a.
- the transmitting unit 43 performs a process of transmitting to the quasi-zenith satellite 1 the positioning reinforcement information a including the ionospheric correction values corresponding to the grid points at the intervals set by the grid setting unit 42.
- the transmission unit 43 transmits the positioning reinforcement information a to the quasi-zenith satellite 1 via the uplink station 6.
- the quasi-zenith satellite 1 delivers the positioning reinforcement information a received from the main control station 4 to the ground station terminal 3.
- FIG. 4 is a flowchart showing the positioning reinforcement information transmission method according to the first embodiment, and shows the operation of the information processing device which is the main control station 4.
- the calculation unit 41 calculates the ionosphere correction value corresponding to each grid point of the area based on the positioning correction information measured by each of the plurality of electronic reference points 5 (step ST1).
- the ionospheric correction value for each grid point calculated by the calculation unit 41 is output to the grid setting unit 42.
- the grid setting unit 42 transmits the positioning reinforcement information a including the ionospheric correction value calculated by the calculation unit 41 from the quasi-zenith satellite 1 in accordance with the spatial variation of the ionospheric correction value for each area. Is set (step ST2). For example, the grid setting unit 42 inputs the ionospheric correction value IGi for each grid point represented by the following equation (1) from the calculation unit 41.
- xGi and yGi are the latitude and longitude of the i-th grid point
- IGi is the ionospheric correction value corresponding to the i-th grid point.
- N is a natural number of 1 or more.
- the grid setting unit 42 calculates the spatial variation of the ionospheric correction value IGi for each area based on the following equation (2).
- i ⁇ h means a set of indices i of the electronic reference points 5 included in the h-th area
- var means calculating variance.
- the grid setting unit 42 calculates the spatial variation of the ionosphere correction values I Gi , which are sequentially input from the calculation unit 41, using the following formula (2).
- ⁇ h can be a measure of the degree of stability of the ionosphere.
- the prescribed value TH of the total number of grid points transmitting the positioning reinforcement information a can be expressed by the following formula (3), where M h is the number of grid points in each area.
- H is the total number of areas set on the ground.
- the number M h of the grid points, the area of the area and A h, the grid spacing When D h can be represented by the following formula (4).
- the grid setting unit 42 sets the number M h of grid points so as to increase as the spatial variation ⁇ h of the ionosphere correction value I Gi increases and decreases as the spatial variation ⁇ h increases, according to the following equation (5). That is, the grid setting unit 42 sets the grid spacing D h for each area according to the following equation (6).
- ⁇ j is the spatial variation of the ionosphere correction value I Gi in the j-th area.
- FIG. 5 is a diagram illustrating a grid interval setting process for an area that is strongly influenced by ionospheric disturbance.
- Region A shown in FIG. 5 is a region strongly affected by the ionospheric disturbance.
- the grid setting unit 42 sets the grid spacing D h for the region A that is strongly affected by the ionospheric disturbance according to the above equation (6).
- the region A is strongly affected by the ionospheric disturbance, and the spatial variation ⁇ h of the ionosphere correction value calculated by the calculation unit 41 is large. Therefore, the grid setting unit 42 determines that the positioning reinforcement information a in the area including the region A. Narrow the grid interval D h for transmitting.
- FIG. 6 is a diagram showing an outline of a grid interval setting process according to the variation of the ionosphere correction value in the first embodiment.
- the grid points are not defined in two dimensions of latitude and longitude, but in one dimension for each grid number.
- Area (1) has a large spatial variation of ionosphere correction values
- Area (3) has a small spatial variation of ionosphere correction values
- Area (2) has a spatial variation of ionosphere correction values. It is about halfway between area (1) and area (3).
- the grid setting unit 42 does not thin out the grid points in the area (1) where the spatial variation of the ionosphere correction value is large so that the grid interval D h for transmitting the positioning reinforcement information a becomes narrow.
- the ground station terminal 3 can receive the positioning reinforcement information a including the ionospheric correction value corresponding to the grid point closer to the ground station terminal 3. Become.
- the grid setting unit 42 reduces the number of grid points to 0 or less in an area where the spatial variation of the ionosphere correction value calculated by the calculation unit 41 is large.
- the grid setting unit 42 thins out the grid points so that the grid interval D h for transmitting the positioning reinforcement information a becomes medium.
- the grid setting unit 42 thins out three grid points having grid numbers g8, g10, and g12. Since the spatial variation of the ionospheric correction value is moderate in the area (2), the ground station terminal 3 has the most grid points of the three grid points of g9, g11, and g13 in the ground station terminal 3.
- the grid setting unit 42 thins out the grid points so that the grid interval D h for transmitting the positioning reinforcement information a is widened. For example, although grid points having grid numbers g14 to g19 exist in the area (3), the grid setting unit 42 thins out five grid points having grid numbers g14 to g18. Since the area (3) has a small spatial variation in the ionosphere correction value, the ground station terminal 3 uses the positioning reinforcement information a including the ionosphere correction value corresponding to the grid point whose grid number is g19, Positioning accuracy of the meter level can be realized. In this way, the grid setting unit 42 increases the number of thinning out of grid points in the area where the spatial variation of the ionospheric correction value is small.
- the transmission unit 43 performs a process of transmitting the positioning reinforcement information a of the grid interval set by the grid setting unit 42 to the quasi-zenith satellite 1 (step ST3).
- the transmission unit 43 transmits the positioning reinforcement information a including the ionospheric correction value calculated by the calculation unit 41 to the quasi-zenith satellite 1 via the uplink station 6.
- the quasi-zenith satellite 1 delivers the positioning reinforcement information a received from the main control station 4 to the ground station terminal 3.
- the ground station terminal 3 receives and receives the positioning reinforcement information a including the ionospheric correction value corresponding to the grid point closest to the ground station terminal 3 among the positioning reinforcement information a distributed from the quasi-zenith satellite 1.
- the positioning information b is corrected using the ionospheric correction value included in the positioning reinforcement information a. As a result, the ground station terminal 3 achieves centimeter-class positioning accuracy.
- the calculation unit 41 confirms whether or not the ionospheric correction value for each grid point has been calculated in all areas (step ST4). If there is an area for which the ionosphere correction value for each grid point has not been calculated (step ST4; NO), the calculation unit 41 returns to the processing of step ST1 and calculates the ionosphere correction value for each grid point in the next area. .. When the ionospheric correction value for each grid point has been calculated in all areas (step ST4; YES), the information processing apparatus according to the first embodiment ends the series of processes shown in FIG.
- the information processing apparatus includes a processing circuit for executing the processing from step ST1 to step ST4 in FIG.
- the processing circuit may be dedicated hardware, or may be a CPU (Central Processing Unit) that executes a program stored in the memory.
- CPU Central Processing Unit
- FIG. 7A is a block diagram showing a hardware configuration that realizes the functions of the information processing apparatus according to the first embodiment.
- FIG. 7B is a block diagram showing a hardware configuration that executes software that implements the functions of the information processing apparatus according to the first embodiment.
- the input interface 100 is an interface that relays the information input from the electronic reference point 5 by the calculation unit 41.
- the output interface 101 is an interface that relays information output from the transmission unit 43 to the uplink station 6.
- the processing circuit 102 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA. (Field-Programmable Gate Array), or a combination thereof is applicable.
- the functions of the calculation unit 41, the grid setting unit 42, and the transmission unit 43 may be realized by separate processing circuits, or these functions may be collectively realized by one processing circuit.
- the functions of the calculation unit 41, the grid setting unit 42, and the transmission unit 43 are realized by software, firmware, or a combination of software and firmware.
- the software or firmware is described as a program and stored in the memory 104.
- the processor 103 realizes the functions of the calculation unit 41, the grid setting unit 42, and the transmission unit 43 by reading and executing the program stored in the memory 104. That is, the information processing apparatus according to the first embodiment, when executed by the processor 103, stores a memory 104 for storing a program that results in the processing of steps ST1 to ST4 shown in FIG. Equipped with. These programs cause a computer to execute the procedures or methods of the calculation unit 41, the grid setting unit 42, and the transmission unit 43.
- the memory 104 may be a computer-readable storage medium that stores a program that causes a computer to function as the calculation unit 41, the grid setting unit 42, and the transmission unit 43.
- the memory 104 includes, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Memory), a semiconductor (non-volatile EPROM) such as an EEPROM (Electrically-volatile memory), or the like.
- RAM Random Access Memory
- ROM Read Only Memory
- flash memory an EPROM (Erasable Programmable Memory)
- semiconductor non-volatile EPROM) such as an EEPROM (Electrically-volatile memory), or the like.
- a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, etc. are applicable.
- the functions of the calculation unit 41, the grid setting unit 42, and the transmission unit 43 may be partially realized by dedicated hardware and partly realized by software or firmware.
- the transmission unit 43 its function is realized by a processing circuit as a dedicated hardware, and for the calculation unit 41 and the grid setting unit 42, the processor 103 reads and executes the program stored in the memory 104. You may realize the function with.
- the processing circuit can realize each of the above functions by hardware, software, firmware, or a combination thereof.
- the information processing apparatus is positioned from the quasi-zenith satellite 1 according to the index value (spatial variation of the ionospheric correction value) of the state of the ionosphere for each area that divides the ground into a plurality of areas. setting the grid spacing D h for transmitting reinforcing information a.
- the index value spatial variation of the ionospheric correction value
- FIG. 8 is a block diagram showing the configuration of the information processing apparatus according to the second embodiment and is an apparatus corresponding to the main control station 4 shown in FIG.
- the information processing apparatus shown in FIG. 8 includes a calculation unit 41A, a grid setting unit 42A, and a transmission unit 43, and each of the plurality of grid points is based on the positioning correction information measured by each of the plurality of electronic reference points 5.
- the positioning reinforcement information a corresponding to is generated.
- the error ⁇ of the ionospheric correction value at each grid point is large, and in the area not significantly affected by the ionospheric disturbance, the error ⁇ of the ionospheric correction value at each grid point is small. That is, the error ⁇ (integrity information) of the ionosphere correction value can be an index value of the ionization state.
- the calculation unit 41A calculates the positioning correction information corresponding to each grid point in all areas based on the positioning correction information measured by each of the plurality of electronic reference points 5. For example, the calculation unit 41A in the second embodiment calculates the error ⁇ (integrity information) of the ionospheric correction value corresponding to each grid point in all areas.
- the grid setting unit 42A receives the positioning reinforcement information a including the error ⁇ of the ionosphere correction value calculated by the calculation unit 41A according to the fluctuation of the index value of the state of the ionosphere for each area divided into a plurality of areas on the quasi-zenith satellite.
- This is a setting unit for setting the interval between grid points transmitted from 1. For example, in areas strongly affected by ionospheric disturbances in the ionosphere, there is a large spatial variation in the error ⁇ of the ionospheric correction value at each grid point, and in areas that were not significantly affected by ionospheric disturbances The spatial variation of the error ⁇ of the ionospheric correction value of is small.
- the grid setting unit 42A transmits the positioning reinforcement information a from the quasi-zenith satellite 1 according to the fluctuation of the error ⁇ of the ionospheric correction value corresponding to each of the plurality of grid points included in the area. Set the point spacing.
- the grid setting unit 42A sets the grid interval so that the total number of grid points corresponding to each of the positioning reinforcement information a distributed from the quasi-zenith satellite 1 is equal to or less than the specified value.
- the specified value is the total number of grid points that satisfy the limitation of the transmission capacity of the positioning reinforcement information a.
- the transmitting unit 43 performs a process of transmitting the positioning reinforcement information a including the error ⁇ of the ionospheric correction value corresponding to each grid point of the intervals set by the grid setting unit 42A to the quasi-zenith satellite 1.
- the transmission unit 43 transmits the positioning reinforcement information a to the quasi-zenith satellite 1 via the uplink station 6.
- the quasi-zenith satellite 1 distributes the positioning reinforcement information a received from the main control station 4 to the ground station terminal 3.
- the grid setting unit 42A inputs the error ⁇ Gi of the ionospheric correction value for each grid point represented by the following formula (7) from the calculation unit 41A.
- x Gi and y Gi are the latitude and longitude of the i-th grid point
- ⁇ Gi is the ionospheric correction value corresponding to the i-th grid point.
- N is a natural number of 1 or more.
- the grid setting unit 42A calculates the error ⁇ Gi of the ionospheric correction value based on the following equation (8).
- i ⁇ h means a set of indices i of the electronic reference points 5 included in the h-th area, and mean means to take an average.
- the grid setting unit 42A uses the error ⁇ Gi of the ionosphere correction value calculated by the calculation unit 41A to calculate a spatial average value ⁇ h of the error ⁇ Gi of the ionosphere correction value according to the following equation (8).
- ⁇ h can be a measure of the stability of the ionosphere.
- the specified value TH of the total number of grid points transmitting the positioning reinforcement information a can be expressed by the above formula (3) when the number of grid points in each area is M h. .. Further, the number M h of the grid points, the area of the area and A h, when the grid spacing and D h, can be represented by the formula (4).
- the grid setting unit 42A sets the number M h of grid points to be larger as ( ⁇ h ) ⁇ 1 is larger and smaller as it is smaller according to the following equation (9). That is, the grid setting unit 42A sets the grid spacing D h for each area from the following formula (10).
- ( ⁇ j ) ⁇ 1 is the reciprocal of the spatial average value of the error ⁇ Gi of the ionosphere correction value in the j-th area.
- FIG. 9 is a diagram showing an outline of the grid interval setting process according to the variation of the error ⁇ of the ionosphere correction value in the second embodiment.
- the grid points are not defined in two dimensions of latitude and longitude, but in one dimension for each grid number.
- the area (1) has a large spatial average value of the error ⁇ of the ionosphere correction value
- the area (3) has a small spatial average value of the error ⁇ of the ionosphere correction value
- the area (2) shows the ionosphere correction value.
- the spatial variation of the value error ⁇ is about halfway between the area (1) and the area (3).
- the grid setting unit 42A does not thin out the grid points so that the grid interval D h at which the positioning reinforcement information a should be transmitted becomes narrow in the area (1) where the spatial average value of the error ⁇ of the ionosphere correction value is large. ..
- the ground station terminal 3 receives the positioning reinforcement information a including the error ⁇ of the ionosphere correction value corresponding to the grid point close to the ground station terminal 3. Becomes possible.
- the grid setting unit 42A reduces the decimation number of grid points to 0 or less in an area where the spatial mean value of the error ⁇ of the ionospheric correction value calculated by the calculation unit 41A is large.
- the grid setting unit 42A sets the grid points so that the grid interval D h for transmitting the positioning reinforcement information a is medium. Thin out. For example, in the area (2), there are grid points having grid numbers from g8 to g13, but the grid setting unit 42A thins out three grid points having grid numbers g8, g10, and g12. In area (2), the spatial mean value of the error ⁇ of the ionospheric correction value is medium, so that the ground station terminal 3 has the ground station among the three grid points having grid numbers g9, g11, and g13.
- the grid setting unit 42 thins out the grid points so that the grid interval D h for transmitting the positioning reinforcement information a is widened. That is, the grid setting unit 42A increases the decimation number of grid points in an area in which the spatial average value of the error ⁇ of the ionosphere correction value calculated by the calculation unit 41A is small. For example, in area (3), grid points with grid numbers g14 to g19 exist, but the grid setting unit 42A thins out five grid points with grid numbers g14 to g18.
- the ground station terminal 3 Since the spatial average value of the ionospheric correction value error ⁇ is small in the area (3), the ground station terminal 3 provides the positioning reinforcement information a including the ionospheric correction value error ⁇ corresponding to the grid point having the grid number g19. It is possible to achieve centimeter-class positioning accuracy only by using it.
- the processing circuit may be the processing circuit 102 of the dedicated hardware shown in FIG. 7A, or may be the processor 103 that executes the program stored in the memory 104 shown in FIG. 7B.
- the information processing apparatus is based on the quasi-zenith based on the index value of the state of the ionosphere (the spatial average value of the error ⁇ of the ionosphere correction value) for each area that divides the ground into a plurality of areas.
- a grid interval D h for transmitting the positioning reinforcement information a from the satellite 1 is set.
- FIG. 10 is a block diagram showing the configuration of the information processing apparatus according to the third embodiment, and is an apparatus corresponding to the main control station 4 shown in FIG.
- the information processing apparatus illustrated in FIG. 10 includes a calculation unit 41, a transmission unit 43, a selection unit 44, and a determination unit 45, and a plurality of grids are based on positioning correction information measured by each of a plurality of electronic reference points 5. Positioning reinforcement information a corresponding to each of the points is generated.
- the calculation unit 41 calculates the positioning correction information corresponding to all the grid points included in each area based on the correction information measured by each of the plurality of electronic reference points 5. For example, the calculation unit 41 calculates the ionosphere correction values corresponding to all the grid points included in each area, as in the first embodiment.
- the selection unit 44 selects the order of the approximation function that approximates the ionosphere correction value calculated by the calculation unit 41 according to the index value of the state of the ionosphere for each area. For example, the selection unit 44 increases the order of the function approximating the ionosphere correction value, because the influence of the ionosphere disturbance is considered to be strong in the area where the spatial variation of the ionosphere correction value is large, and the spatial value of the ionosphere correction value is increased. It is considered that the influence of the ionospheric disturbance is not so much affected in the area where the variation is small, so the order of the function approximating the ionospheric correction value is lowered.
- the selection unit 44 selects the order of the approximation function with which the total number of grid points corresponding to each of the positioning reinforcement information a distributed from the quasi-zenith satellite 1 is equal to or less than the specified value.
- the specified value is the total number of grid points that satisfy the limitation of the transmission capacity of the positioning reinforcement information a.
- the determination unit 45 determines the value of the coefficient of the approximation function when the ionosphere correction value is approximated by using the approximation function of the order selected by the selection unit 44.
- the transmission unit 43 performs a process of including the value of the coefficient determined by the determination unit 45 in the positioning reinforcement information a and transmitting it to the quasi-zenith satellite 1. For example, the transmission unit 43 transmits the positioning reinforcement information a to the quasi-zenith satellite 1 via the uplink station 6.
- the quasi-zenith satellite 1 delivers the positioning reinforcement information a received from the main control station 4 to the ground station terminal 3.
- the approximation error can be reduced.
- the selection unit 44 selects a quadratic approximation function represented by the following equation (11) according to the state of the ionosphere for each area.
- M is the order of the approximation function shown in the following formula (11)
- p ij is the coefficient of the approximation function shown in the following formula (11).
- the total number of coefficients of the approximation function is the order M and C M, the order corresponding to the area of the h and M (h), the total number of coefficients of the approximation function is the degree M (h) and C M (h)
- the total number of coefficients of the approximate function in which the total number of grid points is equal to or less than the specified value can be expressed by the following equation (12).
- the selection unit 44 calculates the order M(h) for each area using the spatial variation ⁇ h of the ionosphere correction value I Gi according to the following formula (13).
- the order M (h) the larger the ⁇ h , the higher the order is selected, and the smaller the ⁇ h , the lower the order is selected.
- K is a parameter set by the user.
- the determination unit 45 calculates the coefficient pij by using the least squares method for the approximate function of the following equation (13), for example.
- FIG. 11 is a diagram showing an outline of a grid interval setting process according to a change in the ionosphere correction value in the third embodiment.
- the grid points are not defined in two dimensions of latitude and longitude, but in one dimension for each grid number.
- Area (1) has a large spatial variation of ionosphere correction values
- Area (3) has a small spatial variation of ionosphere correction values
- Area (2) has a spatial variation of ionosphere correction values. It is about halfway between area (1) and area (3).
- the selection unit 44 selects a high order as the order of the approximation function that approximates the ionospheric correction value in the area (1) where the spatial variation of the ionospheric correction value is large.
- the determining unit 45 determines the value of the coefficient of the approximation function when the ionosphere correction value is approximated using the high-order approximation function selected by the selection unit 44.
- the transmitting unit 43 transmits the value of the coefficient determined by the determining unit 45 to the quasi-zenith satellite 1 by including it in the positioning reinforcement information a.
- the ground station terminal 3 receives the positioning reinforcement information a corresponding to the grid point close to the ground station terminal 3, calculates the ionosphere correction value using the order included in the positioning reinforcement information a, and calculates the calculated ionosphere correction value.
- the positioning information b is corrected using this. As a result, a centimeter-class positioning accuracy can be realized.
- the selection unit 44 sets the intermediate height between the area (1) and the area (3) as the order of the approximation function that approximates the ionosphere correction value. Select the order.
- the determination unit 45 determines the value of the coefficient of the approximation function when the ionospheric correction value is approximated using the approximation function of a medium degree selected by the selection unit 44.
- the transmitting unit 43 transmits the value of the coefficient determined by the determining unit 45 to the quasi-zenith satellite 1 by including it in the positioning reinforcement information a.
- the ground station terminal 3 receives the positioning reinforcement information a corresponding to the grid point close to the ground station terminal 3, calculates the ionosphere correction value using the order included in the positioning reinforcement information a, and calculates the calculated ionosphere correction value.
- the positioning information b is corrected using this. As a result, a centimeter-class positioning accuracy can be realized.
- the selection unit 44 selects a low order as the order of the approximation function that approximates the ionospheric correction value in the area (3) where the spatial variation of the ionospheric correction value is small.
- the determination unit 45 determines the value of the coefficient of the approximation function when the ionosphere correction value is approximated by using the low-order approximation function selected by the selection unit 44.
- the transmitting unit 43 transmits the value of the coefficient determined by the determining unit 45 to the quasi-zenith satellite 1 by including it in the positioning reinforcement information a.
- the ground station terminal 3 receives the positioning reinforcement information a corresponding to the grid point close to the ground station terminal 3, calculates the ionosphere correction value using the order included in the positioning reinforcement information a, and calculates the calculated ionosphere correction value.
- the positioning information b is corrected using this. As a result, a centimeter-class positioning accuracy can be realized.
- the functions of the calculation unit 41, the transmission unit 43, the selection unit 44, and the determination unit 45 in the information processing apparatus according to the third embodiment are realized by the processing circuit.
- the processing circuit may be the processing circuit 102 of the dedicated hardware shown in FIG. 7A, or may be the processor 103 that executes the program stored in the memory 104 shown in FIG. 7B.
- the information processing apparatus approximates the ionosphere correction value based on the index value (spatial variation of the ionosphere correction value) of the state of the ionosphere for each area that divides the ground into a plurality of areas.
- the order of the approximation function is selected, the value of the coefficient when the ionosphere correction value is approximated is determined using the approximation function of the selected order, and the value of the determined coefficient is included in the positioning augmentation information a and transmitted. ..
- the same effect as described above can be obtained by executing the positioning reinforcement information transmitting method according to the procedure described above.
- FIG. 12 is a block diagram showing the configuration of the information processing apparatus according to the fourth embodiment and is an apparatus corresponding to the main control station 4 shown in FIG.
- the information processing device illustrated in FIG. 12 includes a calculation unit 41A, a transmission unit 43, a selection unit 44A, and a determination unit 45A, and based on the positioning correction information measured by each of the plurality of electronic reference points 5, a plurality of grid points. Positioning reinforcement information a corresponding to each of the above is generated.
- the calculation unit 41A calculates the positioning correction information corresponding to all the grid points included in each area based on the correction information measured by each of the plurality of electronic reference points 5. For example, the calculation unit 41A calculates the error ⁇ (integrity information) of the ionosphere correction values corresponding to all grid points included in each area, as in the second embodiment.
- the selection unit 44A selects the order of the approximation function that approximates the error ⁇ of the ionosphere correction value calculated by the calculation unit 41 according to the index value of the state of the ionosphere for each area.
- the selection unit 44A is considered to be strongly affected by the ionospheric disturbance in an area where the spatial average of the ionospheric correction value error ⁇ is large, so that the order of the function that approximates the ionospheric correction value error ⁇ is increased.
- the selection unit 44A selects the order of the approximation function in which the total number of grid points corresponding to each of the positioning reinforcement information a delivered from the quasi-zenith satellite 1 is equal to or less than the specified value.
- the specified value is the total number of grid points that satisfy the limitation of the transmission capacity of the positioning reinforcement information a.
- the determination unit 45A determines the value of the coefficient of the approximation function when the error ⁇ of the ionosphere correction value is approximated by using the approximation function of the order selected by the selection unit 44A.
- the transmission unit 43 performs a process of including the value of the coefficient determined by the determination unit 45A in the positioning reinforcement information a and transmitting it to the quasi-zenith satellite 1. For example, the transmission unit 43 transmits the positioning reinforcement information a to the quasi-zenith satellite 1 via the uplink station 6.
- the quasi-zenith satellite 1 delivers the positioning reinforcement information a received from the main control station 4 to the ground station terminal 3.
- the approximation error can be reduced.
- the selection unit 44A is an order of an approximation function that approximates the ionospheric correction value error ⁇ calculated by the calculation unit 41A for each grid point according to the spatial average of the ionospheric correction value error ⁇ (integration information). Select.
- the selection unit 44A selects the order M(h) for each area according to the following formula (14).
- Order M (h) is the inverse of the spatial average value of the error sigma Gi ionospheric correction value in the area of the h ( ⁇ h) selecting a higher order -1 is large, (xi] h) -1 The smaller is, the lower the order is selected.
- K is a parameter set by the user.
- the determination unit 45A calculates the coefficient pij by using the least squares method for the approximate function of the following equation (14), for example.
- FIG. 13 is a diagram showing an outline of a grid interval setting process according to the variation of the error ⁇ of the ionosphere correction value in the fourth embodiment.
- the grid points are not defined in two dimensions of latitude and longitude, but in one dimension for each grid number.
- the area (1) has a large spatial average value of the error ⁇ of the ionosphere correction value
- the area (3) has a small spatial average value of the error ⁇ of the ionosphere correction value
- the area (2) shows the ionosphere correction value.
- the spatial average value of the value error ⁇ is about the middle of the area (1) and the area (3).
- the selection unit 44A selects a high order as the order of the approximation function that approximates the error ⁇ of the ionosphere correction value.
- the determination unit 45A determines the value of the coefficient of the approximation function when the error ⁇ of the ionosphere correction value is approximated by using the high-order approximation function selected by the selection unit 44A.
- the transmission unit 43 transmits the value of the coefficient determined by the determination unit 45A to the quasi-zenith satellite 1 by including it in the positioning reinforcement information a.
- the ground station terminal 3 receives the positioning reinforcement information a corresponding to the grid point close to the ground station terminal 3, calculates the error ⁇ of the ionosphere correction value by using the order included in the positioning reinforcement information a, and calculates it.
- the positioning information b is corrected using the error ⁇ of the ionosphere correction value. As a result, a centimeter-class positioning accuracy can be realized.
- the selection unit 44A determines the area (1) and the area (3) as the order of the approximation function that approximates the error ⁇ of the ionosphere correction value. ) Choose the middle height order.
- the determination unit 45A determines the value of the coefficient of the approximation function when the error ⁇ of the ionospheric correction value is approximated by using the approximation function of a medium degree selected by the selection unit 44A.
- the transmission unit 43 transmits the value of the coefficient determined by the determination unit 45A to the quasi-zenith satellite 1 by including it in the positioning reinforcement information a.
- the ground station terminal 3 receives the positioning reinforcement information a corresponding to the grid point close to the ground station terminal 3, calculates the error ⁇ of the ionosphere correction value by using the order included in the positioning reinforcement information a, and calculates it.
- the positioning information b is corrected using the error ⁇ of the ionosphere correction value. As a result, a centimeter-class positioning accuracy can be realized.
- the selecting unit 44A selects a low order as the order of the approximation function that approximates the error ⁇ of the ionosphere correction value in the area (3) where the spatial average value of the error ⁇ of the ionosphere correction value is small.
- the determining unit 45A determines the coefficient value of the approximation function when the error ⁇ of the ionosphere correction value is approximated by using the low-order approximation function selected by the selecting unit 44A.
- the transmission unit 43 transmits the value of the coefficient determined by the determination unit 45A to the quasi-zenith satellite 1 by including it in the positioning reinforcement information a.
- the ground station terminal 3 receives the positioning reinforcement information a corresponding to the grid point close to the ground station terminal 3, calculates the error ⁇ of the ionosphere correction value using the order included in the positioning reinforcement information a, and calculates the ionosphere.
- the positioning information b is corrected using the error ⁇ of the correction value. As a result, a centimeter-class positioning accuracy can be realized.
- the functions of the calculation unit 41A, the transmission unit 43, the selection unit 44A, and the determination unit 45A in the information processing apparatus according to the fourth embodiment are realized by the processing circuit.
- the processing circuit may be the processing circuit 102 of the dedicated hardware shown in FIG. 7A, or may be the processor 103 that executes the program stored in the memory 104 shown in FIG. 7B.
- the information processing apparatus corrects the ionosphere based on the index value (the spatial average value of the error ⁇ of the ionosphere correction values) of the state of the ionosphere for each area that divides the ground into a plurality of areas. Select the order of the approximation function that approximates the value error ⁇ , determine the coefficient value when the error ⁇ of the ionosphere correction value is approximated using the selected order approximation function, and then determine the value of the determined coefficient Is included in the positioning reinforcement information a and transmitted. As a result, even if ionospheric disturbance occurs, it is possible to reduce the amount of positioning reinforcement information while maintaining positioning accuracy. In addition, the same effect as described above can be obtained by executing the positioning reinforcement information transmitting method according to the procedure described above.
- FIG. 14 is a block diagram showing the configuration of the information processing apparatus according to the fifth embodiment, and shows the apparatus corresponding to the main control station 4 shown in FIG.
- the information processing device illustrated in FIG. 14 includes a calculation unit 41, a grid setting unit 42B, and a transmission unit 43, and each of the plurality of grid points is based on the positioning correction information measured by each of the plurality of electronic reference points 5.
- the positioning reinforcement information a corresponding to is generated.
- the calculation unit 41 calculates positioning correction information corresponding to all grid points included in each area, based on the correction information measured by each of the plurality of electronic reference points 5. For example, the calculation unit 41 calculates the ionosphere correction values corresponding to all the grid points included in each area, as in the first embodiment.
- the grid setting unit 42B corresponds to the ionospheric correction value corresponding to the grid point of interest and two grid points in which the transmission order in which the positioning reinforcement information a is transmitted from the quasi-zenith satellite 1 to the grid point of interest is changed. Calculate the difference between the ionosphere correction value and the average value. Then, the grid setting unit 42B transmits the positioning reinforcement information a to the grid point of interest corresponding to the smallest difference among the plurality of differences calculated by sequentially changing the grid point of interest in the transmission order of the positioning reinforcement information a. The processing to thin out the grid points is performed.
- the grid setting unit 42B repeats this thinning-out process until the total number of grid points corresponding to each of the positioning reinforcement information a distributed from the quasi-zenith satellite 1 becomes equal to or less than the specified value.
- the specified value is the total number of grid points that satisfy the limitation of the transmission capacity of the positioning reinforcement information a.
- the transmitting unit 43 performs a process of transmitting the positioning reinforcement information a including the ionospheric correction values corresponding to the grid points at the intervals set by the grid setting unit 42B to the quasi-zenith satellite.
- the transmission unit 43 transmits the positioning reinforcement information a to the quasi-zenith satellite 1 via the uplink station 6.
- the quasi-zenith satellite 1 delivers the positioning reinforcement information a received from the main control station 4 to the ground station terminal 3.
- FIG. 15 is a diagram showing an outline of the grid point thinning-out process according to the fifth embodiment.
- the upper and lower graphs show grid numbers of grid points in the transmission order in which the positioning reinforcement information a is transmitted from the quasi-zenith satellite 1. And the ionospheric correction value corresponding to each grid point.
- the grid setting unit 42B selects the grid point corresponding to the grid number a3 as the grid point of interest, and the transmission order of the positioning reinforcement information a is forward or backward with respect to this grid point. Then, the grid point corresponding to the grid number a2 and the grid point corresponding to the grid number a4 are specified.
- the grid setting unit 42B connects the two specified grid points with a line segment b1 to perform linear interpolation.
- Linear interpolation is a process of calculating an average value of positioning correction information of grid points connected by line segments. That is, the grid setting unit 42B calculates the average value of the ionospheric correction values corresponding to the two grid points connected by the line segment b1. This average value is called the ionospheric disturbance interpolation value. Subsequently, the grid setting unit 42B calculates a difference (residual error) e1 between the ionosphere correction value and the ionosphere disturbance interpolation value corresponding to the grid point of the grid number a3.
- the grid setting unit 42B sequentially changes the grid point of interest in the order of transmitting the ionospheric correction value, and sequentially calculates a plurality of differences according to the procedure described above.
- the grid setting unit 42B thins out the grid point of interest corresponding to the smallest difference from the calculated plurality of differences from the grid points transmitting the positioning reinforcement information a.
- the grid setting unit 42B sets the grid point of grid number a2, which is the transmission order before the thinned out grid points, as the grid point of interest, and the transmission order in which the positioning reinforcement information a is transmitted to this grid point.
- the grid point corresponding to the grid number a1 and the grid point corresponding to the grid number a4 are specified before and after.
- the grid setting unit 42B connects the two specified grid points with a line segment b2 to perform linear interpolation, and calculates an average value of ionospheric correction values corresponding to the two grid points connected with the line segment b2. .. Subsequently, the grid setting unit 42B calculates a difference e2 between the ionosphere correction value and the ionosphere disturbance interpolation value corresponding to the grid point of the grid number a2.
- the grid setting unit 42B uses the grid point with the grid number a4, which is the transmission order after the thinned grid points, as the grid point of interest, and the positioning reinforcement information a is transmitted to this grid point.
- the grid point corresponding to the grid number a2 and the grid point corresponding to the grid number a5 are specified in which the transmission order is changed.
- the grid setting unit 42B connects the two specified grid points with a line segment b3 to perform linear interpolation, and calculates an average value of ionospheric correction values corresponding to the two grid points connected with the line segment b3. ..
- the grid setting unit 42B calculates a difference e3 between the ionosphere correction value and the ionosphere disturbance interpolation value corresponding to the grid point of the grid number a4.
- the grid setting unit 42B thins out the grid points of interest corresponding to the smaller difference between the difference e2 and the difference e3 from the grid points for transmitting the positioning reinforcement information a.
- the grid setting unit 42B thins out the grid points with the grid number a2 from the grid points that transmit the positioning reinforcement information a.
- the functions of the calculation unit 41, the grid setting unit 42B, and the transmission unit 43 in the information processing device according to the fifth embodiment are realized by the processing circuit.
- the processing circuit may be the processing circuit 102 of the dedicated hardware shown in FIG. 7A, or may be the processor 103 that executes the program stored in the memory 104 shown in FIG. 7B.
- the information processing apparatus has the ionospheric correction value corresponding to the grid point of interest and the transmission order in which the positioning reinforcement information a is transmitted from the quasi-zenith satellite 1 to the grid point of interest.
- the smallest difference among the plurality of differences calculated by calculating the difference from the average value of the ionospheric correction values corresponding to the two grid points before and after, and sequentially changing the grid point of interest in the transmission order of the positioning reinforcement information a.
- the process of thinning out the grid points of interest corresponding to the difference from the grid points that transmit the positioning reinforcement information a is repeated, and the interval between the grid points that distribute the positioning reinforcement information a including the ionospheric correction value from the quasi-zenith satellite 1 is set.
- the amount of positioning reinforcement information can be reduced while maintaining positioning accuracy even if ionospheric disturbance occurs. ..
- the same effect as described above can be obtained by executing the positioning reinforcement information transmitting method according to the procedure described above.
- FIG. 16 is a block diagram showing the configuration of the information processing apparatus according to the sixth embodiment, and shows the apparatus corresponding to the main control station 4 shown in FIG.
- the information processing apparatus illustrated in FIG. 16 includes a calculation unit 41A, a grid setting unit 42C, and a transmission unit 43, and each of the plurality of grid points is based on the positioning correction information measured by each of the plurality of electronic reference points 5. Positioning reinforcement information a corresponding to is generated.
- the calculation unit 41A calculates the error ⁇ (integrity information) of the ionospheric correction value corresponding to all the grid points included in each area, based on the correction information measured by each of the plurality of electronic reference points 5.
- the grid setting unit 42C uses the error ⁇ of the ionospheric correction value corresponding to the grid point of interest and the two grid points in which the positioning reinforcement information a is transmitted from the quasi-zenith satellite 1 to the grid point of interest. Calculate the difference between the mean value of the error ⁇ of the ionosphere correction value corresponding to each of the above. Then, the grid setting unit 42B transmits the positioning reinforcement information a to the grid point of interest corresponding to the smallest difference among the plurality of differences calculated by sequentially changing the grid point of interest in the transmission order of the positioning reinforcement information a. The processing to thin out the grid points is performed.
- the grid setting unit 42C repeats this thinning-out process until the total number of grid points corresponding to each of the positioning reinforcement information a distributed from the quasi-zenith satellite 1 becomes equal to or less than the specified value.
- the specified value is the total number of grid points that satisfy the limitation of the transmission capacity of the positioning reinforcement information a.
- the transmitting unit 43 performs a process of transmitting the positioning reinforcement information a including the error ⁇ of the ionospheric correction value corresponding to the grid points at the intervals set by the grid setting unit 42C to the quasi-zenith satellite.
- the transmission unit 43 transmits the positioning reinforcement information a to the quasi-zenith satellite 1 via the uplink station 6.
- the quasi-zenith satellite 1 delivers the positioning reinforcement information a received from the main control station 4 to the ground station terminal 3.
- FIG. 17 is a diagram showing an outline of the grid interval setting process according to the fluctuation of the error ⁇ of the ionospheric correction value in the sixth embodiment.
- the grid setting unit 42C reduces the decimation number of grid points having a large error ⁇ of the ionosphere correction value to 0 or less, and increases the decimation number of grid points having a small error ⁇ of the ionosphere correction value. As a result, as shown in FIG. 17, grid points that do not significantly affect the positioning accuracy even if they are thinned out are selected and thinned out.
- the functions of the calculation unit 41A, the grid setting unit 42C, and the transmission unit 43 in the information processing apparatus according to the sixth embodiment are realized by the processing circuit.
- the processing circuit may be the processing circuit 102 of the dedicated hardware shown in FIG. 7A, or may be the processor 103 that executes the program stored in the memory 104 shown in FIG. 7B.
- the information processing apparatus transmits the error ⁇ of the ionospheric correction value corresponding to the grid point of interest and the positioning enhancement information a from the quasi-zenith satellite 1 to the grid point of interest.
- a plurality of grid points calculated by calculating the difference from the average value of the error ⁇ of the ionospheric correction values corresponding to the two grid points whose transmission order is forward and backward, and sequentially changing the grid point of interest in the transmission order of the positioning reinforcement information a.
- the grid point of interest corresponding to the smallest difference is repeatedly thinned from the grid point that transmits the positioning reinforcement information a, and the positioning reinforcement information a including the error ⁇ of the ionospheric correction value is obtained from the quasi-zenith satellite 1.
- the same effect as described above can be obtained by executing the positioning reinforcement information transmitting method according to the procedure described above.
- the index value of the state of the ionosphere is the ionosphere correction value or the error ⁇ (integrity information) of the ionosphere correction value is shown.
- the information is not limited to the error ⁇ of the ionosphere correction value or the ionosphere correction value, and may be information that can be an index value of the state of the ionosphere. Just do it.
- FIG. 18 is a block diagram showing the configuration of the information processing apparatus according to the seventh embodiment, and shows an apparatus corresponding to the main control station 4 shown in FIG.
- the information processing device illustrated in FIG. 18 includes a calculation unit 41, a grid setting unit 42D, and a transmission unit 43, and each of the plurality of grid points is based on the positioning correction information measured by each of the plurality of electronic reference points 5.
- the positioning reinforcement information a corresponding to is generated.
- the calculation unit 41 calculates the corresponding positioning correction information for each grid point in all areas based on the positioning correction information measured by each of the plurality of electronic reference points 5. For example, the calculation unit 41 in the seventh embodiment calculates the ionosphere correction value corresponding to each grid point in all areas.
- the information processing apparatus according to the seventh embodiment may include a calculation unit 41A instead of the calculation unit 41.
- the grid spacing is set narrow if the latitude is close to the equator, and wide if the latitude is far from the equator.
- Latitude is based on magnetic latitude or geographical latitude.
- the grid setting unit 42D Similar to the first embodiment, the grid setting unit 42D, the positioning reinforcement information a including the ionosphere correction value calculated by the calculation unit 41 according to the fluctuation of the index value of the state of the ionosphere for each area divided into a plurality of areas on the ground. To set the interval between grid points transmitted from the quasi-zenith satellite 1. At this time, the grid setting unit 42D uses the difference in latitude of the area as an index value of the state of the ionosphere for each area.
- FIG. 19 is a diagram in which the areas that are easily affected by ionospheric disturbances are divided by latitude, and show the case where the ground is divided into six areas (1a) to (6a) according to the difference in latitude. ..
- the grid setting unit 42D gradually increases the grid interval not only in two areas, an area near the equator and an area far from the equator, but also in an area divided into two or more stages with respect to the proximity to the equator, as shown in FIG. Change to.
- the grid setting unit 42D sets the grid interval so that the total number of grid points corresponding to the positioning reinforcement information a to be delivered from the quasi-zenith satellite 1 is equal to or less than the specified value.
- the specified value is the total number of grid points that satisfy the limitation of the transmission capacity of the positioning reinforcement information a.
- the transmission unit 43 performs a process of transmitting the positioning reinforcement information a including the ionospheric correction values corresponding to the grid points at the intervals set by the grid setting unit 42D to the quasi-zenith satellite. For example, the transmission unit 43 transmits the positioning reinforcement information a to the quasi-zenith satellite 1 via the uplink station 6. The quasi-zenith satellite 1 delivers the positioning reinforcement information a received from the main control station 4 to the ground station terminal 3.
- the selection unit shown in the third embodiment or the fourth embodiment selects the order of the approximate function and sets the interval of the grid points for transmitting the positioning reinforcement information a according to the difference in the latitude of the area. You may.
- the information processing apparatus sets the interval between the grid points for transmitting the positioning reinforcement information a from the quasi-zenith satellite 1 according to the difference in latitude on the ground. Therefore, even if the ionospheric disturbance occurs, it is possible to reduce the information amount of the positioning reinforcement information while maintaining the positioning accuracy.
- the information processing apparatus can reduce the amount of positioning reinforcement information while maintaining positioning accuracy even if an ionospheric disturbance occurs, and thus can be used in a positioning system represented by CLAS, for example. ..
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Abstract
Description
図1は、実施の形態1に係る測位システムの概要を示す図であり、準天頂衛星1を用いたCLASを示している。図1に示す測位システムは、例えば、準天頂衛星1、GNSS衛星2、地上局端末3、主管制局4、電子基準点5およびアップリンク局6を備える。
例えば、電離層に生じた電離層擾乱の影響を強く受けたエリアでは、グリッド点ごとの電離層補正値の空間的なばらつきが大きく、電離層擾乱の影響をあまり受けなかったエリアでは、グリッド点ごとの電離層補正値の空間的なばらつきが小さい。
そこで、実施の形態1におけるグリッド設定部42は、エリアに含まれる複数のグリッド点にそれぞれ対応する電離層補正値の変動に応じて、準天頂衛星1から測位補強情報aを送信するグリッド点の間隔を設定する。
例えば、送信部43は、アップリンク局6を介して、測位補強情報aを準天頂衛星1に送信する。準天頂衛星1は、主管制局4から受信された測位補強情報aを地上局端末3に配信する。
図4は、実施の形態1に係る測位補強情報送信方法を示すフローチャートであり、主管制局4である情報処理装置の動作を示している。
計算部41が、複数の電子基準点5によってそれぞれ計測された測位の補正情報に基づいて、エリアのグリッド点ごとに対応する電離層補正値を計算する(ステップST1)。計算部41によって計算されたグリッド点ごとの電離層補正値は、グリッド設定部42に出力される。
例えば、グリッド設定部42は、下記式(1)で表されるグリッド点ごとの電離層補正値IGiを計算部41から入力する。下記式(1)において、xGiおよびyGiは、第iのグリッド点の緯度および経度であり、IGiは、第iのグリッド点に対応する電離層補正値である。Nは、1以上の自然数である。
グリッド設定部42は、電離層擾乱の影響を強く受けている領域Aについて、上記式(6)に従い、グリッド間隔Dhを設定する。領域Aは、電離層擾乱の影響を強く受け、計算部41によって計算された電離層補正値の空間的なばらつきΩhが大きいので、グリッド設定部42は、領域Aが含まれるエリアにおいて測位補強情報aを送信するグリッド間隔Dhを狭くする。
送信部43は、グリッド設定部42によって設定されたグリッド間隔の測位補強情報aを、準天頂衛星1に送信する処理を行う(ステップST3)。例えば、送信部43は、アップリンク局6を介して、計算部41によって計算された電離層補正値を含む測位補強情報aを準天頂衛星1に送信する。準天頂衛星1は、主管制局4から受信された測位補強情報aを地上局端末3に配信する。地上局端末3は、準天頂衛星1から配信された測位補強情報aのうち、当該地上局端末3に最も近いグリッド点に対応する電離層補正値を含む測位補強情報aを受信し、受信された測位補強情報aに含まれる電離層補正値を用いて測位情報bを補正する。これにより、地上局端末3において、センチメートル級の測位精度が実現される。
例えば、送信部43については、専用のハードウェアとしての処理回路でその機能を実現し、計算部41およびグリッド設定部42については、プロセッサ103がメモリ104に記憶されたプログラムを読み出して実行することでその機能を実現してもよい。このように、処理回路は、ハードウェア、ソフトウェア、ファームウェアまたはこれらの組み合わせによって、上記機能のそれぞれを実現することができる。
図8は、実施の形態2に係る情報処理装置の構成を示すブロック図であって、図1に示した主管制局4に相当する装置である。図8に示す情報処理装置は、計算部41A、グリッド設定部42Aおよび送信部43を備え、複数の電子基準点5のそれぞれによって計測された測位の補正情報に基づいて、複数のグリッド点のそれぞれに対応した測位補強情報aを生成する。
例えば、電離層に生じた電離層擾乱の影響を強く受けたエリアでは、グリッド点ごとの電離層補正値の誤差σの空間的なばらつきが大きく、電離層擾乱の影響をあまり受けなかったエリアでは、グリッド点ごとの電離層補正値の誤差σの空間的なばらつきが小さい。
そこで、実施の形態2におけるグリッド設定部42Aは、エリアに含まれる複数のグリッド点にそれぞれ対応する電離層補正値の誤差σの変動に応じて、準天頂衛星1から測位補強情報aを送信するグリッド点の間隔を設定する。
例えば、グリッド設定部42Aは、下記式(7)で表されるグリッド点ごとの電離層補正値の誤差σGiを計算部41Aから入力する。下記式(7)において、xGiおよびyGiは、第iのグリッド点の緯度および経度であり、σGiは、第iのグリッド点に対応する電離層補正値である。Nは、1以上の自然数である。
例えば、エリア(3)には、グリッド番号がg14からg19までのグリッド点が存在するが、グリッド設定部42Aは、グリッド番号がg14からg18までの5つのグリッド点を間引いている。エリア(3)は電離層補正値の誤差σの空間的な平均値が小さいので、地上局端末3は、グリッド番号がg19のグリッド点に対応する電離層補正値の誤差σを含む測位補強情報aを用いるだけで、センチメートル級の測位精度を実現することが可能である。
また、前述した手順の測位補強情報送信方法を実行することで、上記と同様の効果が得られる。
図10は、実施の形態3に係る情報処理装置の構成を示すブロック図であって、図1に示した主管制局4に相当する装置である。図10に示す情報処理装置は、計算部41、送信部43、選択部44および決定部45を備え、複数の電子基準点5のそれぞれによって計測された測位の補正情報に基づいて、複数のグリッド点のそれぞれに対応した測位補強情報aを生成する。
例えば、選択部44は、電離層補正値の空間的なばらつきが大きいエリアでは、電離層擾乱の影響が強いと考えられるので、電離層補正値を近似する関数の次数を高くし、電離層補正値の空間的なばらつきが小さいエリアでは、電離層擾乱の影響をあまり受けていないと考えられるので、電離層補正値を近似する関数の次数を低くする。
送信部43は、決定部45によって決定された係数の値を、測位補強情報aに含めて準天頂衛星1に送信する処理を行う。例えば、送信部43は、アップリンク局6を介して、測位補強情報aを準天頂衛星1に送信する。準天頂衛星1は、主管制局4から受信された測位補強情報aを地上局端末3に配信する。電離層補正値が近似関数で近似されたときの係数のみが測位補強情報aとして送信されるので、伝送すべき情報量が削減される。
また、電離層の状態に応じて近似関数の次数が選択されるので、近似誤差を低減することができる。
例えば、選択部44は、エリアごとの電離層の状態に応じて、下記式(11)で表される2次の近似関数を選択する。ただし、Mは、下記式(11)に示す近似関数の次数であり、pijは、下記式(11)に示す近似関数の係数である。
図12は、実施の形態4に係る情報処理装置の構成を示すブロック図であって、図1に示した主管制局4に相当する装置である。図12に示す情報処理装置は、計算部41A、送信部43、選択部44Aおよび決定部45Aを備え、複数の電子基準点5のそれぞれによって計測された測位補正情報に基づいて、複数のグリッド点のそれぞれに対応した測位補強情報aを生成する。
例えば、選択部44Aは、電離層補正値の誤差σの空間的な平均が大きいエリアでは、電離層擾乱の影響が強いと考えられるので、電離層補正値の誤差σを近似する関数の次数を高くし、電離層補正値の誤差σの空間的な平均が小さいエリアでは、電離層擾乱の影響をあまり受けていないと考えられるので、電離層補正値の誤差σを近似する関数の次数を低くする。
送信部43は、決定部45Aによって決定された係数の値を、測位補強情報aに含めて準天頂衛星1に送信する処理を行う。例えば、送信部43は、アップリンク局6を介して測位補強情報aを準天頂衛星1に送信する。準天頂衛星1は、主管制局4から受信された測位補強情報aを地上局端末3に配信する。電離層補正値の誤差σを近似関数で近似したときの係数のみが測位補強情報aとして送信されるので、伝送すべき情報量が削減される。また、電離層の状態に応じて近似関数の次数が選択されるので、近似誤差を低減することができる。
例えば、選択部44Aは、電離層補正値の誤差σ(インテグリティ情報)の空間的な平均に応じて、計算部41Aによってグリッド点ごとに計算された電離層補正値の誤差σを近似する近似関数の次数を選択する。例えば、選択部44Aは、下記式(14)に従い、エリアごとの次数M(h)を選択する。次数M(h)は、第hのエリアにおける電離層補正値の誤差σGiの空間的な平均値の逆数である(ξh)-1が大きいほど高い次数を選択し、(ξh)-1が小さいほど低い次数を選択する。下記式(14)において、Kは、ユーザによって設定されるパラメータである。決定部45Aは、例えば、下記式(14)の近似関数について最小二乗法を用いることによって、係数pijを算出する。
図14は、実施の形態5に係る情報処理装置の構成を示すブロック図であって、図1に示した主管制局4に相当する装置を示している。図14に示す情報処理装置は、計算部41、グリッド設定部42Bおよび送信部43を備え、複数の電子基準点5のそれぞれによって計測された測位の補正情報に基づいて、複数のグリッド点のそれぞれに対応した測位補強情報aを生成する。
例えば、送信部43は、アップリンク局6を介して、測位補強情報aを準天頂衛星1に送信する。準天頂衛星1は、主管制局4から受信された測位補強情報aを地上局端末3に配信する。
図15は、実施の形態5におけるグリッド点の間引き処理の概要を示す図であり、上段および下段のグラフは、準天頂衛星1から測位補強情報aが送信される送信順のグリッド点のグリッド番号と、各々のグリッド点に対応する電離層補正値との関係を示している。図15の上段のグラフにおいて、グリッド設定部42Bは、グリッド番号a3に対応するグリッド点を注目のグリッド点として選択し、このグリッド点に対して、測位補強情報aが送信される送信順が前後する、グリッド番号a2に対応するグリッド点とグリッド番号a4に対応するグリッド点を特定する。
続いて、グリッド設定部42Bは、グリッド番号a3のグリッド点に対応する電離層補正値と電離層擾乱補間値との差分(残差)e1を計算する。この後、グリッド設定部42Bは、電離層補正値の送信順に注目のグリッド点を順次変更し、前述の手順で複数の差分を順次計算する。グリッド設定部42Bは、計算された複数の差分のうち、最も小さい差分に対応する注目のグリッド点を、測位補強情報aを送信するグリッド点から間引く。
また、前述した手順の測位補強情報送信方法を実行することで、上記と同様の効果が得られる。
図16は、実施の形態6に係る情報処理装置の構成を示すブロック図であって、図1に示した主管制局4に相当する装置を示している。図16に示す情報処理装置は、計算部41A、グリッド設定部42Cおよび送信部43を備え、複数の電子基準点5のそれぞれによって計測された測位の補正情報に基づいて、複数のグリッド点のそれぞれに対応した測位補強情報aを生成する。
例えば、送信部43は、アップリンク局6を介して、測位補強情報aを準天頂衛星1に送信する。準天頂衛星1は、主管制局4から受信された測位補強情報aを地上局端末3に配信する。
図17は、実施の形態6における電離層補正値の誤差σの変動に応じたグリッド間隔の設定処理の概要を示す図である。グリッド設定部42Cは、電離層補正値の誤差σが大きいグリッド点の間引き数を0か少なくし、電離層補正値の誤差σが小さいグリッド点の間引き数を増やしている。これにより、図17に示すように、間引かれても測位精度にあまり影響を与えないグリッド点が選択されて間引かれる。
また、前述した手順の測位補強情報送信方法を実行することで、上記と同様の効果が得られる。
しかしながら、実施の形態1から実施の形態6までに示した各情報処理装置では、電離層補正値または電離層補正値の誤差σに限定されるものではなく、電離層の状態の指標値となり得る情報であればよい。
図18は、実施の形態7に係る情報処理装置の構成を示すブロック図であって、図1に示した主管制局4に相当する装置を示している。図18に示す情報処理装置は、計算部41、グリッド設定部42Dおよび送信部43を備え、複数の電子基準点5のそれぞれによって計測された測位の補正情報に基づいて、複数のグリッド点のそれぞれに対応した測位補強情報aを生成する。
例えば、グリッド設定部42Dは、赤道に近いエリアと赤道から遠いエリアとの2つのエリアだけでなく、図19に示すように、赤道に対する近さに関して2段階以上に分けたエリアでグリッド間隔を徐々に変更する。なお、グリッド設定部42Dは、準天頂衛星1から配信すべき測位補強情報aに対応するグリッド点の総数が規定値以下になるようにグリッド間隔を設定する。規定値とは、測位補強情報aの伝送容量の制限を満たすグリッド点の総数である。
例えば、送信部43は、アップリンク局6を介して、測位補強情報aを準天頂衛星1に送信する。準天頂衛星1は、主管制局4から受信された測位補強情報aを地上局端末3に配信する。
Claims (14)
- 測位補強情報を送信する第1の衛星と、測位情報を送信する第2の衛星と、前記測位情報を用いて測位を行う端末とを備え、前記第1の衛星が、地上に設定されたグリッド点に対応する前記測位補強情報を送信し、前記端末が、前記測位補強情報を用いて前記測位情報を補正して測位を行う測位システムに用いられる情報処理装置であって、
グリッド点ごとにそれぞれ対応する測位補正情報を計算する計算部と、
地上に複数に分けるエリアごとの電離層の状態の指標値の変動に応じて、前記計算部によって計算された前記測位補正情報を含む前記測位補強情報を、前記第1の衛星から送信するグリッド点の間隔を設定する設定部と、
前記設定部によって設定された間隔のグリッド点にそれぞれ対応する前記測位補正情報を含む前記測位補強情報を、前記第1の衛星に送信する処理を行う送信部と、
を備えたことを特徴とする情報処理装置。 - 前記設定部は、電離層における前記測位情報の伝送遅延の補正に用いられる、前記計算部によって計算された電離層補正値の空間的な変動が大きいエリアにおける、前記第1の衛星から前記測位補強情報を送信するグリッド点の間隔を密に設定し、前記電離層補正値の空間的な変動が小さいエリアにおける、グリッド点の間隔を疎に設定すること
を特徴とする請求項1記載の情報処理装置。 - 前記設定部は、電離層における前記測位情報の伝送遅延の補正に用いられる、前記計算部によって計算された電離層補正値の誤差の空間的な変動が大きいエリアにおける、前記第1の衛星から前記測位補強情報を送信するグリッド点の間隔を密に設定し、前記電離層補正値の誤差の空間的な変動が小さいエリアにおける、グリッド点の間隔を疎に設定すること
を特徴とする請求項1記載の情報処理装置。 - 前記設定部は、電離層における前記測位情報の伝送遅延の補正に用いられる、前記計算部によって計算された電離層補正値の空間的な変動が大きいエリアにおける、前記第1の衛星から前記測位補強情報を送信するグリッド点の間引き数を0または少なくし、前記電離層補正値の空間的な変動が小さいエリアにおける、前記第1の衛星から前記測位補強情報を送信するグリッド点の間引き数を増やすこと
を特徴とする請求項1記載の情報処理装置。 - 前記設定部は、電離層における前記測位情報の伝送遅延の補正に用いられる、前記計算部によって計算された電離層補正値の誤差の空間的な変動が大きいエリアにおける、前記第1の衛星から前記測位補強情報を送信するグリッド点の間引き数を0または少なくし、前記電離層補正値の誤差の空間的な変動が小さいエリアにおける、前記第1の衛星から前記測位補強情報を送信するグリッド点の間引き数を増やすこと
を特徴とする請求項1記載の情報処理装置。 - 前記設定部は、地上の緯度の違いに応じて前記第1の衛星から前記測位補強情報を送信するグリッド点の間隔を設定すること
を特徴とする請求項1から請求項5のいずれか1項記載の情報処理装置。 - 測位補強情報を送信する第1の衛星と、測位情報を送信する第2の衛星と、前記測位情報を用いて測位を行う端末とを備え、前記第1の衛星が、地上に設定されたグリッド点に対応する前記測位補強情報を送信し、前記端末が、前記測位補強情報を用いて前記測位情報を補正して測位を行う測位システムに用いられる情報処理装置であって、
グリッド点ごとにそれぞれ対応する測位補正情報を計算する計算部と、
地上に複数に分けるエリアごとの電離層の状態を示す指標値の変動に応じて、前記計算部によって計算された前記測位補正情報を近似する近似関数の次数を選択する選択部と、
前記選択部によって選択された次数の近似関数を用いて前記測位補正情報が近似されたときの近似関数の係数の値を決定する決定部と、
前記決定部によって決定された係数の値を、前記測位補強情報に含めて前記第1の衛星に送信する処理を行う送信部と、
を備えたことを特徴とする情報処理装置。 - 前記選択部は、電離層における前記測位情報の伝送遅延の補正に用いられる、前記計算部によって計算された電離層補正値の空間的な変動に応じて、エリアごとの前記電離層補正値を近似する近似関数の次数を選択すること
を特徴とする請求項7記載の情報処理装置。 - 前記選択部は、電離層における前記測位情報の伝送遅延の補正に用いられる、前記計算部によって計算された電離層補正値の誤差の空間的な変動に応じて、エリアごとの前記電離層補正値の誤差を近似する近似関数の次数を選択すること
を特徴とする請求項7記載の情報処理装置。 - 前記選択部は、地上の緯度の違いに応じて前記第1の衛星から前記測位補強情報を送信するグリッド点の間隔を設定すること
を特徴とする請求項7から請求項9のいずれか1項記載の情報処理装置。 - 測位補強情報を送信する第1の衛星と、測位情報を送信する第2の衛星と、前記測位情報を用いて測位を行う端末とを備え、前記第1の衛星が、地上に設定されたグリッド点に対応する前記測位補強情報を送信し、前記端末が、前記測位補強情報を用いて前記測位情報を補正して測位を行う測位システムに用いられる情報処理装置であって、
グリッド点ごとにそれぞれ対応する測位補正情報を計算する計算部と、
注目のグリッド点に対応する前記測位補正情報と、前記注目のグリッド点に対して前記第1の衛星から前記測位補強情報が送信される送信順が前後する2つのグリッド点にそれぞれ対応する前記測位補正情報の平均値との差分を計算し、前記測位補強情報の送信順に前記注目のグリッド点を順次変更して計算した複数の差分のうち、最も小さい差分に対応する前記注目のグリッド点を、前記測位補強情報を送信するグリッド点から間引く処理を繰り返して、前記測位補正情報を含む前記測位補強情報を、前記第1の衛星から送信するグリッド点の間隔を設定する設定部と、
前記設定部によって設定された間隔のグリッド点にそれぞれ対応する前記測位補正情報を含む前記測位補強情報を、前記第1の衛星に送信する処理を行う送信部と、
を備えたことを特徴とする情報処理装置。 - 前記測位補正情報は、電離層における前記測位情報の伝送遅延の補正に用いられる、前記計算部によって計算された電離層補正値であること
を特徴とする請求項11記載の情報処理装置。 - 前記測位補正情報は、電離層における前記測位情報の伝送遅延の補正に用いられる、前記計算部によって計算された電離層補正値の誤差であること
を特徴とする請求項11記載の情報処理装置。 - 測位補強情報を送信する第1の衛星と、測位情報を送信する第2の衛星と、前記測位情報を用いて測位を行う端末とを備え、前記第1の衛星が、地上に設定されたグリッド点に対応する前記測位補強情報を送信し、前記端末が、前記測位補強情報を用いて前記測位情報を補正して測位を行う測位システムの測位補強情報送信方法であって、
計算部が、グリッド点ごとにそれぞれ対応する測位補正情報を計算するステップと、
設定部が、地上に複数に分けるエリアごとの電離層の状態の指標値の変動に応じて、前記計算部によって計算された前記測位補正情報を含む前記測位補強情報を、前記第1の衛星から送信するグリッド点の間隔を設定するステップと、
送信部が、前記設定部によって設定された間隔のグリッド点にそれぞれ対応する前記測位補正情報を含む前記測位補強情報を、前記第1の衛星に送信する処理を行うステップと、
を備えたことを特徴とする測位補強情報送信方法。
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