WO2020255796A1 - Terminal de réception, procédé de positionnement et programme - Google Patents

Terminal de réception, procédé de positionnement et programme Download PDF

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Publication number
WO2020255796A1
WO2020255796A1 PCT/JP2020/022689 JP2020022689W WO2020255796A1 WO 2020255796 A1 WO2020255796 A1 WO 2020255796A1 JP 2020022689 W JP2020022689 W JP 2020022689W WO 2020255796 A1 WO2020255796 A1 WO 2020255796A1
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WO
WIPO (PCT)
Prior art keywords
positioning
positioning result
correction
unit
receiving terminal
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PCT/JP2020/022689
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English (en)
Japanese (ja)
Inventor
誠 藤波
耕介 野上
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日本電気株式会社
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Application filed by 日本電気株式会社 filed Critical 日本電気株式会社
Priority to JP2021528117A priority Critical patent/JPWO2020255796A1/ja
Publication of WO2020255796A1 publication Critical patent/WO2020255796A1/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
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • 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
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement

Definitions

  • the present invention relates to a receiving terminal, a positioning method and a program.
  • Non-Patent Document 1 An example of a satellite positioning system called GNSS (Global Navigation Satellite System) is disclosed in Non-Patent Document 1 and Patent Document 1.
  • GNSS Global Navigation Satellite System
  • a terminal compatible with a satellite positioning system has a GNSS radio wave receiving unit that receives radio waves transmitted by satellites, a GNSS correction information receiving unit that receives GNSS correction information, and positioning that uses GNSS radio waves and correction information for positioning. It is composed of a part and.
  • a terminal (GNSS receiver) having the above configuration operates as follows.
  • the GNSS radio wave receiving unit receives radio waves from the GNSS satellite and decodes the received radio waves.
  • the GNSS radio wave receiving unit delivers the satellite orbit information and time information obtained as a result of decoding to the positioning unit.
  • the positioning unit calculates the approximate position of other GNSS satellites based on the acquired orbit information and time information. After that, the positioning unit acquires the detailed position of each GNSS satellite by using the approximate position of the GNSS satellite.
  • the positioning unit receives radio waves from each GNSS satellite and measures the reception time with the clock of its own device (GNSS receiver). The positioning unit subtracts the measured reception time from the transmission time included in the reception signal from the GNSS satellite to reach the radio wave (the time required for the radio wave to reach the GNSS receiver from the GNSS satellite). To calculate. The positioning unit calculates the distance from the GNSS satellite to the GNSS receiver by multiplying the radio wave arrival time by the speed of light.
  • the positioning unit calculates the distance (called a pseudo distance) between four or more GNSS satellites and the GNSS receiver by repeating the above distance calculation process.
  • the pseudo distance calculated by the above process includes the influence of various types of errors such as the clock error of the GNSS satellite, the orbit error of the GNSS satellite, and the ionospheric error. Therefore, the GNSS satellite also transmits information on the orbital error and the clock error among the above-mentioned various errors.
  • the GNSS correction information receiving unit receives the information related to the above error as GNSS correction information and delivers it to the positioning unit.
  • the GNSS receiver (positioning unit) corrects the pseudo distance using the acquired GNSS correction information.
  • the positioning unit identifies the position (latitude, longitude, altitude) of the GNSS receiver on the earth by using four or more of the corrected pseudo distances obtained as described above.
  • the positioning unit refers to the DOP (Dilution Of Precision) value and performs triangulation by combining satellites with as much variation in satellite arrangement as possible.
  • the DOP value is an index showing the degree of variation in satellite arrangement, and the larger the DOP value, the larger the variation in satellite arrangement.
  • the GNSS receiver calculates the pseudo distance using the reflected wave and performs the positioning calculation. Therefore, an error may occur in the calculated position.
  • the error caused by such reflected waves is referred to as "multipath error".
  • the GNSS receiver cannot correct the multipath error by using an error correction technique for clock error, ionospheric error, and the like.
  • Patent Document 1 describes a correction method different from the correction using GNSS correction information. Specifically, Patent Document 1 further includes a post-positioning correction unit, an estimated position calculation unit, and a positioning result storage unit in addition to the GNSS radio wave receiving unit, the GNSS correction information receiving unit, and the positioning unit.
  • positioning position calculation of the GNSS receiver
  • the estimated position calculation unit inside the post-positioning correction unit calculates the position independently of the positioning result by the GNSS system by using the information such as speed and acceleration calculated at the time of positioning.
  • the dead reckoning unit performs a time integration process of velocity and acceleration called dead reckoning, and calculates the position of the GNSS receiver.
  • the calculated position corrects the pseudo distance before the positioning calculation is performed.
  • the above existing positioning result correction method is not an effective correction for multipath error.
  • the DOP value is used as an index for error correction in the GNSS system, but the index only indicates the degree of variation in satellite arrangement and is not an index suitable for a multipath environment. The reason is that in an environment where there are skyscrapers in the vicinity, the number of visible satellites may decrease even if the combination of satellites has a large variation in arrangement (combination with a large DOP value).
  • the correction using speed and acceleration as disclosed in Patent Document 1 is a correction for the pseudo distance before the positioning calculation, and is not effective for the positioning error caused by multipath.
  • the reason is that the influence of multipath depends on both the position of the GNSS receiver and the arrangement pattern of the satellite, and the degree of reflection also depends on the surface condition such as a building. Therefore, regarding the influence of multipath, it is difficult to create a model before positioning calculation, and it is difficult to distribute the correction information in advance in the form of pseudo-distance correction information.
  • a main object of the present invention is to provide a receiving terminal, a positioning method, and a program capable of making corrections in consideration of multipath error after GNSS positioning.
  • positioning is performed based on radio waves transmitted from a plurality of satellites, and when positioning is started, positioning calculation is repeated to generate a positioning result vector having a plurality of positioning results as elements.
  • a positioning result correction unit that corrects the positioning result at the start of positioning by using the positioning unit and the first positioning result vector obtained in the normal mode.
  • the positioning result correction unit is in the learning mode.
  • the satellite position information regarding the positions of the plurality of satellites, the second positioning result vector, and the correct answer data regarding the position of the own device acquired by a method different from the positioning by radio waves from the plurality of satellites.
  • the positioning result correction unit is provided with a receiving terminal that generates correction information based on the above and corrects the positioning result in the normal mode by using the generated correction information.
  • positioning is performed based on radio waves transmitted from a plurality of satellites, and when positioning is started, positioning calculation is repeated to generate a positioning result vector having a plurality of positioning results as elements.
  • a positioning method including generating correction information and using the generated correction information to correct the positioning result in the normal mode is provided.
  • positioning is performed based on radio waves transmitted from a plurality of satellites, and when positioning is started, positioning calculation is repeated to generate a positioning result vector having a plurality of positioning results as elements.
  • Correct answers regarding the satellite position information regarding the positions of the plurality of satellites, the second positioning result vector, and the position of the own device obtained by a method different from the positioning by radio waves from the plurality of satellites, which were obtained at times.
  • a program for executing a process of generating correction information based on the data and a process of correcting the positioning result in the normal mode by using the generated correction information is provided.
  • a receiving terminal, a positioning method, and a program capable of making corrections in consideration of multipath error after GNSS positioning are provided.
  • other effects may be produced in place of or in combination with the effect.
  • FIG. 1 is a diagram for explaining an outline of one embodiment.
  • FIG. 2 is a diagram showing an example of a processing configuration of a receiving terminal according to the first embodiment.
  • FIG. 3 is a diagram showing an example of the internal configuration of the positioning result correction unit according to the first embodiment.
  • FIG. 4 is a diagram showing an example of correction information (correction data table) generated by the generation unit.
  • FIG. 5 is a diagram showing an example of a learning operation of the receiving terminal according to the first embodiment.
  • FIG. 6 is a diagram showing an example of normal operation of the receiving terminal according to the first embodiment.
  • FIG. 7 is a diagram for explaining the operation of the receiving terminal according to the first embodiment.
  • FIG. 8 is a diagram for explaining the operation of the receiving terminal according to the first embodiment.
  • FIG. 1 is a diagram for explaining an outline of one embodiment.
  • FIG. 2 is a diagram showing an example of a processing configuration of a receiving terminal according to the first embodiment.
  • FIG. 3 is a diagram showing an example
  • FIG. 9 is a diagram showing an example of the internal configuration of the positioning result correction unit according to the second embodiment.
  • FIG. 10 is a diagram for explaining the operation of the receiving terminal according to the second embodiment.
  • FIG. 11 is a diagram showing an example of the hardware configuration of the receiving terminal.
  • the receiving terminal 100 includes a positioning unit 101 and a positioning result correction unit 102 (see FIG. 1).
  • the positioning unit 101 performs positioning based on radio waves transmitted from a plurality of satellites, and when positioning is started, the positioning calculation is repeated to generate a positioning result vector having a plurality of positioning results as elements.
  • the positioning result correction unit 102 corrects the positioning result at the start of positioning by using the first positioning result vector obtained in the normal mode.
  • the positioning result correction unit 102 has acquired satellite position information regarding the positions of each of the plurality of satellites, a second positioning result vector, and positioning by radio waves from the plurality of satellites, which are obtained in the learning mode. Corrected information is generated based on the correct answer data regarding the position of the own device.
  • the positioning result correction unit 102 corrects the positioning result in the normal mode by using the generated correction information.
  • the receiving terminal 100 stores (associates) the position information of the satellite (arrangement pattern of the satellite) with the trajectory of the positioning result (positioning result vector) at that time. Further, the receiving terminal 100 also stores the position information calculated by a means different from the radio wave from the GNSS satellite in relation to the positioning result vector and the like to generate the correction information.
  • the correction information is information in which the positioning result affected by the multipath and the position information (correct answer data) not affected by the multipath are associated with each other.
  • the influence of multipath can be assumed to be constant regardless of the time zone or the like because the position of the building or the like does not change.
  • the positioning result in the normal mode is also affected by the multipath and deviates from the true position (correct answer position).
  • the correction information stores the relationship between the deviation due to the influence of the multipath and the true position
  • the receiving terminal 100 is similar to the one collected in the past using the current positioning result (positioning result vector) as a clue. Search for positioning results. If a similar positioning result is obtained, the receiving terminal 100 can correct the positioning result with the corresponding correct answer data or the like. In this way, the receiving terminal 100 can perform correction in consideration of the multipath error after GNSS positioning.
  • Examples of the receiving terminal 10 according to the first embodiment are mobile terminal devices such as smartphones, mobile phones, game consoles, and tablets.
  • the purpose is not to limit the receiving terminal 10 to a mobile terminal device, and the receiving terminal 10 can be any device or device that requires positioning.
  • FIG. 2 is a diagram showing an example of a processing configuration (processing module) of the receiving terminal 10 according to the first embodiment.
  • the receiving terminal 10 includes a GNSS radio wave receiving unit 201, a GNSS correction information acquisition unit 202, a positioning unit 203, a positioning result correction unit 204, and a final result storage unit 205.
  • GNSS radio wave receiving unit 201 receives GNSS signals from the receiving terminal 10 and a GNSS correction information acquisition unit 202
  • a positioning unit 203 receives a positioning unit 203
  • a positioning result correction unit 204 receives a final result storage unit 205.
  • the GNSS radio wave receiving unit 201 receives radio waves from the GNSS satellite.
  • the GNSS radio wave receiving unit 201 decodes the received radio wave and extracts information such as satellite position information (satellite orbit information), transmission time, and clock correction information.
  • the GNSS radio wave receiving unit 201 delivers the extracted information to various modules such as the positioning unit 203.
  • the GNSS correction information acquisition unit 202 acquires correction information. Specifically, the GNSS correction information acquisition unit 202 acquires clock correction information and the like from the GNSS radio wave reception unit 201. Alternatively, the GNSS correction information acquisition unit 202 may acquire correction information from a server or the like on the Internet.
  • the positioning unit 203 performs positioning of its own device (reception terminal 10) based on radio waves transmitted from a plurality of satellites. Specifically, the positioning unit 203 calculates pseudo distances related to four or more satellites as described above. After that, the positioning unit 203 corrects the calculated pseudo distance with the GNSS correction information. Since the existing technique can be used for the calculation of the pseudo distance by the positioning unit 203 and the correction using the GNSS correction information, detailed description thereof will be omitted.
  • the positioning unit 203 repeats the positioning calculation for a predetermined period from the positioning start time. For example, when positioning is started, the positioning unit 203 repeats the positioning calculation at a predetermined sampling cycle to generate a positioning result vector having a plurality of positioning results as elements. It should be noted that the fact that the positioning unit 203 repeats the positioning calculation at a predetermined sampling cycle is an example, and does not mean that the positioning calculation by the positioning unit 203 is limited.
  • the positioning unit 203 may generate a positioning result vector by positioning the position a plurality of times in time.
  • the positioning unit 203 delivers the positioning start time, the calculated positioning result (positioning result vector), and the positioning time in each positioning to the positioning result correction unit 204.
  • the "vector" does not indicate a physical quantity having a direction, but indicates a set of a plurality of elements. Therefore, the positioning result vector is simply a set containing a plurality of measurement results, and the positioning result vector does not include information regarding the direction. In other words, if each element (positioning result) included in the positioning result vector is connected, the locus may be a straight line or a curved line. Since the positioning result includes at least two or more coordinate information (for example, X and Y coordinates), the positioning result itself can be regarded as a vector. In this case, the positioning result vector can be regarded as a vector group including a plurality of vectors. However, even in this case, if the positioning result including a plurality of coordinates is expanded, it can be said that the positioning result vector is a vector including a plurality of coordinates.
  • the positioning unit 203 When the positioning unit 203 starts positioning, the positioning unit 203 notifies the positioning result correction unit 204 to that effect (positioning start time). Further, the positioning unit 203 notifies the positioning result correction unit 204 to that effect when the positioning is completed.
  • the notified positioning start time and positioning end fact are shared by the internal module of the positioning result correction unit 204.
  • the positioning result correction unit 204 corrects the positioning result at the start of positioning by using the positioning result vector (positioning result vector in the normal mode described later) obtained during normal operation.
  • the positioning result correction unit 204 corrects the positioning result (positioning result at the start of positioning) calculated by the positioning unit 203, and stores the corrected result as the final result in the final result storage unit 205.
  • the positioning result correction unit 204 At the time of the correction, the positioning result correction unit 204 generates "correction information" prior to the normal operation. Specifically, the positioning result correction unit 204 generates correction information based on satellite position information regarding the positions of each of the plurality of satellites, the positioning result vector, and correct answer data including the correct coordinate position of the own device. The details will be described later, but the positioning result correction unit 204 acquires satellite orbit information, time information, etc. from the GNSS radio wave receiving unit 201, and uses the acquired orbit information, time information, etc. to position the position after positioning. Generates correction information for correcting. After that, the positioning result correction unit 204 corrects the positioning result by the positioning unit 203 using the correction information generated in advance during normal operation.
  • the operation mode of the receiving terminal 10 includes two modes.
  • the first mode is the "learning mode”.
  • the second mode is the "normal mode”.
  • the operation of the positioning result correction unit 204 is mainly different between the learning mode and the normal mode.
  • the user of the receiving terminal 10 may input the operation mode of the receiving terminal 10 by using a GUI (Graphical User Interface) or the like.
  • the learning mode may be executed at the time of initial setting of the receiving terminal 10.
  • FIG. 3 is a diagram showing an example of the internal configuration of the positioning result correction unit 204 according to the first embodiment.
  • the positioning result correction unit 204 includes the positioning result storage unit 211, the satellite information acquisition unit 212, the correct answer data acquisition unit 213, the correction information generation unit 214, the correction information storage unit 215, and similar data. It is configured to include a search unit 216 and a position correction unit 217.
  • the positioning result storage unit 211 stores the positioning result acquired from the positioning unit 203.
  • the positioning result storage unit 211 stores the positioning start time and the positioning result (positioning result vector acquired from the positioning start time) in association with each other.
  • the satellite information acquisition unit 212 is a processing module that operates in the learning mode.
  • the satellite information acquisition unit 212 acquires information related to the satellite such as satellite orbit information and transmission time from the GNSS radio wave reception unit 201.
  • the satellite information acquisition unit 212 calculates the position of each satellite based on the acquired information about the satellites.
  • the satellite information acquisition unit 212 processes the information related to the satellite position and the like acquired from the GNSS radio wave reception unit 201 and calculates the satellite position. Specifically, the satellite information acquisition unit 212 calculates the position of the satellite at the positioning start time using the satellite orbit information. The satellite information acquisition unit 212 calculates the satellite position of all or part of the satellites (visible satellites) for which the receiving terminal 10 has been able to receive radio waves. For example, if the two satellites are close to each other, the satellite information acquisition unit 212 may calculate the position of either one of the two satellites, or may calculate the positions of both satellites. Good. That is, depending on the relative positional relationship of the satellites, the satellite information acquisition unit 212 does not have to calculate the positions of all the visible satellites. The satellite information acquisition unit 212 delivers the calculated satellite position (arrangement pattern by a plurality of satellites) to the correction information generation unit 214.
  • the correct answer data acquisition unit 213 is also a processing module that operates in the learning mode.
  • the correct answer data acquisition unit 213 sets the correct position (actual position of the receiving terminal 10) of its own device (reception terminal 10) at the time when the positioning unit 203 starts positioning (positioning start time) different from the positioning by the GNSS system. Get it with.
  • the correct answer data acquisition unit 213 acquires the position (latitude, longitude) of its own device by using the position information of the radio base station.
  • the correct answer data acquisition unit 213 delivers the acquired correct position as “correct answer data (correct answer position)” to the correction information generation unit 214.
  • the correction information generation unit 214 generates correction information using at least three pieces of information acquired in the learning mode. Specifically, the correction information generation unit 214 includes satellite position information acquired from the satellite information acquisition unit 212, a positioning result vector (second positioning result vector) obtained from the positioning calculation in the learning mode, and a correct answer data acquisition unit 213. Correction information is generated using the correct answer data obtained from.
  • the correction information generation unit 214 generates table information as shown in FIG. As shown in FIG. 4, in the first embodiment, the correction information generation unit 214 generates a correction data table including a plurality of entries as "correction information".
  • the correction information storage unit 215 stores the above-generated correction information (correction data table).
  • the correction data table includes the positioning start time, satellite position, positioning result vector, correct answer data, and correction value.
  • the positioning start time is information notified from the positioning unit 203.
  • the satellite position is information acquired from the satellite information acquisition unit 212.
  • the positioning result vector is information stored in the positioning result storage unit 211, and is a vector having a plurality of positioning results calculated within a predetermined period from the positioning start time as elements.
  • the correct answer data is information regarding the correct position of the own device (reception terminal 10) at the positioning start time.
  • the correction value is a vector (correction vector) whose elements are values for correcting the two coordinates of the latitude and longitude of the receiving terminal 10.
  • the positioning start time, satellite position, positioning result vector, correct answer data, and correction value are one entry in the correction data table. That is, the correction data table contains a plurality of entries.
  • correction data table shown in FIG. 4 is an example and does not mean to limit the configuration of the correction data table.
  • the correction value is not included in the correction data table and may be calculated sequentially as needed.
  • the correction value is information that can be calculated from the positioning result (positioning result vector) and the correct answer data.
  • the correction information generation unit 214 generates a correction value by selecting one element (positioning result) from a plurality of elements forming the positioning result vector and subtracting the selected positioning result from the correct answer data.
  • the correction value can be easily calculated from the positioning result vector and the correct answer position, so the correction value may be calculated as necessary. That is, the correction value does not necessarily have to be recorded in the correction data table (database).
  • the correction value may be sequentially calculated from the matching result of the positioning result and the positioning result acquired in real time in the normal mode.
  • the positioning result is represented in two dimensions (X, Y coordinates) in FIG. 4, the positioning may be performed in three dimensions (X, Y, Z; latitude, longitude, altitude).
  • the satellite positions at the positioning start time t1 are X (t1), Y (t1), and Z (t1). Further, the positioning result vectors calculated from the positioning start time t1 are (latA, lonA), (latB, lonB), (latC, lonC), and so on.
  • the correct answer data at the positioning start time t1 is (lat_realA, lon_realA).
  • the correction value at the positioning start time t1 is (lat_realA-latA, lon_realA-lonA).
  • the positioning result (latA, lonA) of the positioning start time is selected for calculating the correction value of the positioning start time t1.
  • another result for example, the result of the time (t1 + 1)
  • the result of the time (t1 + 1) may be selected as the positioning result in the calculation of the correction value.
  • the receiving terminal 10 receives radio waves from the GNSS satellite (step S101). Specifically, the GNSS radio wave receiving unit 201 receives radio waves from the GNSS satellite. At that time, if the GNSS correction information can also be acquired from the GNSS satellite, the GNSS radio wave receiving unit 201 outputs the GNSS correction information to the GNSS correction information acquisition unit 202. Information obtained by decoding radio waves (satellite orbit information, transmission time information, etc.) and GNSS correction information are transmitted to the positioning unit 203.
  • the receiving terminal 10 performs positioning calculation using the positioning unit 203 (step S102). Specifically, the positioning unit 203 repeats positioning at predetermined intervals to generate a positioning result vector.
  • the receiving terminal 10 generates a correction data table based on satellite information, correct answer data, and the like (step S103). Specifically, the receiving terminal 10 generates a correction data table by associating the positioning result (positioning result vector) calculated by the positioning unit 203, the satellite position, the correct answer data, and the like.
  • the operation of the positioning result correction unit 204 in the normal mode will be described.
  • the similar data search unit 216 and the position correction unit 217 mainly operate.
  • the similar data search unit 216 has a second positioning result vector (second acquired in learning mode) that is most similar to the positioning result vector (first positioning result vector) acquired in the normal mode from a plurality of entries in the correction data table. Identify the entry that contains the positioning result vector). That is, the similar data search unit 216 searches the correction data table for a past positioning result vector similar to the current positioning result (positioning result vector) by the positioning unit 203.
  • the similar data search unit 216 calculates the distance between the two positioning result vectors, and identifies the entry including the past positioning result vector most similar to the current positioning result vector based on the calculated distance. More specifically, the similar data search unit 216 calculates the similarity between the positioning result vector calculated by the positioning unit 203 and each positioning result vector included in the correction data table, and the positioning result having the highest similarity is calculated. Identify the entry with the vector. The similar data search unit 216 delivers the correction value (correction vector) of the specified entry to the position correction unit 217.
  • the position correction unit 217 corrects the positioning result (positioning result at the start of positioning) in the normal mode by using the correction value generated based on the correct answer data of the specified entry. For example, as described above, when the correction value is a value obtained by subtracting the coordinates of one positioning result selected from a plurality of elements forming the positioning result vector from the coordinates of the own device included in the correct answer data. Think. In this case, the position correction unit 217 obtains the corrected positioning result (final result) by adding the correction value to the positioning result by the positioning unit 203.
  • FIG. 6 is a diagram showing an example of normal operation of the receiving terminal 10 according to the first embodiment.
  • the GNSS radio wave receiving unit 201 receives the radio wave from the GNSS satellite (step S111). At that time, if the GNSS correction information can also be acquired from the GNSS satellite, the GNSS radio wave receiving unit 201 outputs the GNSS correction information to the GNSS correction information acquisition unit 202. Information obtained by decoding radio waves (satellite orbit information, transmission time information, etc.) and GNSS correction information are transmitted to the positioning unit 203.
  • the receiving terminal 10 performs positioning calculation using the positioning unit 203 (step S112).
  • the receiving terminal 10 stores the positioning result (time series data including a plurality of positioning results; the positioning result vector) in the positioning result storage unit 211 (step S113).
  • the similar data search unit 216 searches the correction data table and identifies an entry having the positioning result vector (past positioning result vector) having the highest similarity to the positioning result (current positioning result vector) by the positioning unit 203 (the same). Step S114).
  • the similar data search unit 216 calculates the distance (for example, the Euclidean distance) between the positioning result vector of each entry stored in the correction information storage unit 215 and the positioning result vector calculated by the positioning unit 203. .. The similar data search unit 216 determines that the positioning result vector having the shortest calculated distance is the positioning result vector most similar to the positioning result obtained by the positioning unit 203.
  • the similar data search unit 216 performs threshold processing on the specified positioning result vector, and determines whether or not the specified positioning result vector has a higher degree of similarity than a predetermined threshold value (step S115).
  • step S115 If the similarity of the specified positioning result vector is equal to or less than a predetermined threshold value (step S115, No branch), the receiving terminal 10 ends the process (the positioning result of the positioning unit 203 is not corrected).
  • the similar data search unit 216 acquires a correction value (correction vector) from the entry of the specified positioning result vector (step). S116).
  • the value of the inner product between the two positioning result vectors is the product of the absolute values of the sizes of the two positioning result vectors. Whether or not it is close to is used.
  • the receiving terminal 10 (position correction unit 217) corrects the positioning result by the positioning unit 203 based on the acquired correction value (step S117).
  • the past satellite arrangement, positioning result vector, and correct answer data are accumulated.
  • the positioning result vector having a plurality of positioning results as elements
  • the satellite arrangement are associated with each of the satellite arrangements 20-1 to 20-3.
  • the correction results are also accumulated for each satellite arrangement.
  • the position of the receiving terminal 10 is input as correct answer data by a method different from positioning using radio waves from the GNSS satellite.
  • the receiving terminal 10 stores the correct answer data and the positioning result vector in association with each other.
  • the correction value is calculated so as to correct the positioning result in each satellite arrangement to the correct position.
  • the receiving terminal 10 compares the positioning result (positioning result vector) in the current satellite arrangement (satellite arrangement 30 shown on the right side of FIG. 7) with the positioning result vector acquired in the learning mode. That is, the locus of the current positioning result (displacement value of the positioning result; drift pattern) and the locus of the past positioning result are compared. As a result of the comparison, the past positioning result closest to the current positioning result is identified. In the example of FIG. 7, since the positioning result vector acquired at the satellite arrangement 30 o'clock and the positioning result vector acquired at the satellite arrangement 20-3 o'clock are the closest (similar), the positioning result is the correction value at the satellite arrangement 20-3 o'clock. Is corrected by.
  • the positioning result vector in the correction data table stored in the correction information storage unit 215 can be regarded as a fluctuation pattern (positioning drift pattern) of the positioning result including an error.
  • the receiving terminal 10 compares the past fluctuation pattern (past positioning result vector) with the current fluctuation pattern (current positioning result vector), and identifies the past fluctuation pattern similar to the current fluctuation pattern.
  • the receiving terminal 10 corrects the positioning result to the correct answer data (correct answer position) at the specified fluctuation pattern.
  • the receiving terminal 10 has a large amount of data on the spatial arrangement of the past GNSS satellites, the positioning result including the multipath error at that time, and the correction result (correct answer data) at that time. Collect. These pieces of information are stored in the correction information storage unit 215.
  • the receiving terminal 10 acquires a positioning pattern (drift pattern) including the actual positioning result and the error at that time.
  • the receiving terminal 10 compares the positioning pattern in the past satellite arrangement stored in the correction information storage unit 215 with the current positioning pattern. As a result of the comparison, the receiving terminal 10 extracts the past positioning pattern closest to the current positioning pattern, and corrects the positioning result based on the correction value of the extracted positioning pattern.
  • the first embodiment is configured to record past positioning patterns including the arrangement of satellites and find similar patterns. As a result, even in an environment where multipath exists, it is possible to perform correction using a positioning pattern including an error that reflects the influence of multipath and a correction value for the positioning pattern. Therefore, it is possible to correct the error after the positioning calculation.
  • the first effect is that it is possible to correct multipath error regardless of indicators such as variations in existing satellite arrangements such as DOP.
  • the reason is that in an environment where multipath is likely to occur, the variation in satellite arrangement is rather small. That is, the smaller the DOP, the larger the number of visible satellites. Therefore, DOP is not always a good index from the viewpoint of positioning accuracy in a multipath environment.
  • the second effect is that it is also effective against positioning errors caused by multipath, which is not known in advance before positioning calculation.
  • the reason is that there are an infinite number of combinations of errors due to satellite variations and multipath due to the presence of surrounding buildings.
  • the shape of the surrounding buildings is fixed to some extent, and the satellites are arranged in the same order with a cycle of about 24 hours, so it is expected that similar positioning errors will occur in similar areas. it can. Therefore, as described in the disclosure of the present application, it is possible to detect the pattern and correct the error for each pattern by grasping and learning the pattern of the positioning result including the multipath error.
  • FIG. 9 is a diagram showing an example of the internal configuration of the positioning result correction unit 204 according to the second embodiment. Comparing FIGS. 3 and 9, the processing configuration of the positioning result correction unit 204 according to the second embodiment is the positioning result correction unit 204 according to the first embodiment, except that the similar data search unit 216 is not provided. Can be the same as.
  • the second embodiment is different from the first embodiment in that the correction information generation unit 214 generates a learning model and the correction information storage unit 215 stores the learning model.
  • the differences will be mainly described.
  • the correction information generation unit 214 generates a learning model based on satellite position information, a positioning result vector in the learning mode, and correct answer data. At that time, the correction information generation unit 214 converts the positioning result read from the positioning result storage unit 211 into the coordinates relative to the correct answer data (correct answer position).
  • the correction information generation unit 214 After that, the correction information generation unit 214 generates a positioning result converted into relative coordinates (hereinafter referred to as a positioning relative position) and a vector having the satellite arrangement of the GNSS satellite as an element (positioning result, the satellite arrangement is vectorized). To do).
  • the correction information generation unit 214 performs learning by a neural network using the vector. Specifically, the correction information generation unit 214 weights the neural network by comparing the result obtained by inputting the vectorized satellite arrangement and the relative positioning position into the neural network with the correct answer data which is the teacher data. To determine. The learning model obtained in this way is stored in the correction information storage unit 215.
  • the position correction unit 217 vectorizes the positioning relative position of the own device (reception terminal 10) and the GNSS satellite position, etc., and expresses the fluctuation pattern of the positioning result, as in the learning mode. Input the vector into the training model. The output of the learning model (neural network weighted by learning) is the corrected positioning result. That is, the position correction unit 217 corrects the positioning result in the normal mode by inputting the positioning result (relative position to the correct answer) obtained in the normal mode into the learning model.
  • the time, the positioning relative position, etc. are input to the neural network, and the weight is determined by comparing the output with the correct answer data (correct answer relative position).
  • the time, relative positioning position, etc. are input to the neural network, and the output result is the corrected positioning result.
  • the satellite orbit information obtained from the GNSS radio wave receiving unit 201 is converted into a satellite arrangement (satellite pattern) by preprocessing by the satellite information acquisition unit 212 during both learning and prediction.
  • the relationship between the positioning pattern including the influence of the multipath error and the correct answer data is learned by using machine learning.
  • the accurate position of the receiving terminal 10 can be obtained by inputting the positioning pattern into the learning model obtained by the learning.
  • FIG. 11 is a diagram showing an example of the hardware configuration of the receiving terminal 10.
  • the receiving terminal 10 has the configuration illustrated in FIG.
  • the receiving terminal 10 includes a processor 311, a memory 312, an input / output interface 313, a communication interface 314, and the like.
  • the components such as the processor 311 are connected by an internal bus or the like so that they can communicate with each other.
  • the configuration shown in FIG. 11 does not mean to limit the hardware configuration of the receiving terminal 10.
  • the receiving terminal 10 may include hardware (not shown), or may not include an input / output interface 313 if necessary.
  • the number of processors 311 and the like included in the receiving terminal 10 is not limited to the example of FIG. 11, and for example, a plurality of processors 311 may be included in the receiving terminal 10.
  • the processor 311 is a programmable device such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or a DSP (Digital Signal Processor). Alternatively, the processor 311 may be a device such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). The processor 311 executes various programs including an operating system (OS; Operating System).
  • OS Operating System
  • the memory 312 is a RAM (RandomAccessMemory), a ROM (ReadOnlyMemory), an HDD (HardDiskDrive), an SSD (SolidStateDrive), or the like.
  • the memory 312 stores an OS program, an application program, and various data.
  • the input / output interface 313 is an interface of a display device or an input device (not shown).
  • the display device is, for example, a liquid crystal display or the like.
  • the input device is, for example, a device that accepts user operations such as a keyboard and a mouse.
  • the communication interface 314 is a circuit, module, or the like that communicates with another device.
  • the communication interface 314 includes an RF (Radio Frequency) circuit and the like.
  • the function of the receiving terminal 10 is realized by various processing modules.
  • the processing module is realized, for example, by the processor 311 executing a program stored in the memory 312.
  • the program can also be recorded on a computer-readable storage medium.
  • the storage medium may be a non-transitory such as a semiconductor memory, a hard disk, a magnetic recording medium, or an optical recording medium. That is, the present invention can also be embodied as a computer program product.
  • the program can be downloaded via a network or updated using a storage medium in which the program is stored.
  • the processing module may be realized by a semiconductor chip.
  • the configuration, operation, and the like of the receiving terminal 10 described in the above embodiment are examples, and are not intended to limit the configuration and the like of the receiving terminal 10.
  • the correction information storage unit 215 may be installed outside the receiving terminal 10, and the receiving terminal 10 may access the external correction information storage unit 215.
  • the storage unit (database) externally in this way, the correction information (correction data table, learning model) generated by the other receiving terminal 10 can be used by another receiving terminal 10.
  • the configuration in which the correction information generation unit 214 and the position correction unit 217 are included in one receiving terminal 10 has been described, but these functions may be separated and implemented in different receiving terminals 10. .. Specifically, the terminal for accumulating correction information and the terminal for performing positioning may be different. In this case, the terminal for accumulating the correction information performs the operation of the learning mode described above, and the terminal for performing positioning performs the operation of the normal mode described above.
  • the position correction unit 217 corrects the positioning result using the correction information, but the receiving terminal 10 may treat the correct answer data of the entry specified by the similar data search unit 216 as the positioning result as it is. ..
  • the similarity data search unit 216 calculates the similarity with respect to the positioning result vector, but a vector that integrates the satellite arrangement pattern and the positioning result vector may be used as the calculation target of the similarity.
  • the present invention provides positioning results in places where there are no roads where the map matching function cannot be used or where multipath is large in urban areas. It can be suitably applied to applications such as correction of.
  • Positioning units (101, 203) that perform positioning based on radio waves transmitted from multiple satellites and generate positioning result vectors with multiple positioning results as elements by repeating positioning calculation when positioning is started.
  • the positioning result correction unit (102, 204) that corrects the positioning result at the start of positioning, and
  • the positioning result correction units (102, 204) were obtained in the learning mode, respectively. Correction based on satellite position information regarding the positions of each of the plurality of satellites, the second positioning result vector, and correct answer data regarding the position of the own device acquired by a method different from positioning by radio waves from the plurality of satellites.
  • the positioning result correction unit (102, 204) A receiving terminal (10, 100) that corrects the positioning result in the normal mode by using the generated correction information.
  • the positioning result correction unit (102, 204) was acquired in the learning mode.
  • a generation unit (214) that generates a correction data table having the satellite position information, the second positioning result vector, and the correct answer data as one entry.
  • a storage unit (215) that stores the generated correction data table, and The receiving terminal (10, 100) according to Appendix 1.
  • the positioning result correction unit (102, 204) A similar data search unit (216) that identifies an entry including the second positioning result vector that is most similar to the first positioning result vector from a plurality of entries included in the correction data table.
  • a position correction unit (217) that corrects the positioning result in the normal mode using the correction value generated based on the correct answer data of the specified entry, and The receiving terminal (10, 100) according to Appendix 2, further comprising.
  • the correction value is a value obtained by subtracting the coordinates of one positioning result selected from a plurality of elements forming the second positioning result vector from the coordinates of the own device included in the correct answer data.
  • the similar data search unit (216) calculates the distance between the first and second positioning result vectors, and based on the calculated distance, the second positioning that is most similar to the first positioning result vector.
  • the positioning result correction unit (102, 204) was acquired in the learning mode.
  • a generation unit (214) that generates a learning model based on the satellite position information, the second positioning result vector, and the correct answer data.
  • a storage unit (215) that stores the generated learning model, The receiving terminal (10, 100) according to Appendix 1.
  • the positioning result correction unit (102, 204) The receiving terminal (10, 100) according to Appendix 6, further comprising a position correction unit (217) that corrects the positioning result in the normal mode by using the learning model.
  • [Appendix 8] The reception according to Appendix 6 or 7, wherein the generation unit (214) uses the satellite position information and the relative position of the positioning result with respect to the coordinates of the own device included in the correct answer data to generate the learning model.
  • [Appendix 9] The generator (214) vectorizes the satellite position information and the relative position of the positioning result with respect to the coordinates of the own device included in the correct answer data, and inputs the vectorized data to the neural network.
  • the receiving terminal (10, 100) according to.
  • [Appendix 10] The receiving terminal (10, 100) according to Appendix 9, wherein the generation unit (214) determines the weight of the neural network based on the correct answer data.
  • Positioning units (101, 203) that perform positioning based on radio waves transmitted from multiple satellites, and when positioning is started, generate positioning result vectors with multiple positioning results as elements by repeating positioning calculations.
  • the positioning result correction unit (102, 204) that corrects the positioning result at the start of positioning, and
  • the receiving terminal (10, 100) provided with The position of the own device acquired by a method different from the satellite position information regarding the positions of the plurality of satellites, the second positioning result vector, and the positioning by the radio waves from the plurality of satellites, which are obtained in the learning mode.
  • Positioning units (101, 203) that perform positioning based on radio waves transmitted from multiple satellites, and when positioning is started, generate positioning result vectors with multiple positioning results as elements by repeating positioning calculations.
  • the positioning result correction unit (102, 204) that corrects the positioning result at the start of positioning, and
  • On the computer (311) mounted on the receiving terminal (10, 100) provided with The position of the own device acquired by a method different from the satellite position information regarding the positions of the plurality of satellites, the second positioning result vector, and the positioning by the radio waves from the plurality of satellites, which are obtained in the learning mode.

Landscapes

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

Abstract

Le problème décrit par la présente invention est de fournir un terminal de réception capable d'effectuer une correction de positionnement post-GNSS en tenant compte d'erreurs de trajets multiples. La solution selon l'invention est un terminal de réception qui comprend une unité de positionnement et une unité de correction de résultat de positionnement. L'unité de positionnement effectue un positionnement sur la base d'ondes radio émises par une pluralité de satellites et, dès que le positionnement commence, génère un vecteur de résultat de positionnement comprenant une pluralité de résultats de positionnement en répétant un calcul de positionnement. L'unité de correction de résultat de positionnement corrige le résultat de positionnement au début du positionnement à l'aide d'un premier vecteur de résultat de positionnement obtenu pendant un mode normal. L'unité de correction de résultat de positionnement génère des informations de correction sur la base des éléments suivants obtenus pendant un mode d'apprentissage: des informations de position de satellite relatives aux positions des satellites respectifs, un second vecteur de résultat de positionnement, et des données correctes relatives à une position du terminal de réception obtenue par un procédé différent du positionnement effectué à l'aide d'ondes radio provenant de la pluralité de satellites. L'unité de correction de résultat de positionnement corrige le résultat de positionnement du mode normal à l'aide des informations de correction générées.
PCT/JP2020/022689 2019-06-18 2020-06-09 Terminal de réception, procédé de positionnement et programme WO2020255796A1 (fr)

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