JP2000241523A - Positioning system by radio wave from moving body - Google Patents
Positioning system by radio wave from moving bodyInfo
- Publication number
- JP2000241523A JP2000241523A JP11046114A JP4611499A JP2000241523A JP 2000241523 A JP2000241523 A JP 2000241523A JP 11046114 A JP11046114 A JP 11046114A JP 4611499 A JP4611499 A JP 4611499A JP 2000241523 A JP2000241523 A JP 2000241523A
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- Prior art keywords
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- positioning signal
- mobile
- relay
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- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 239000005437 stratosphere Substances 0.000 description 1
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、既知の位置の地上
局と上空に位置する飛翔体からの送信及び中継電波を用
いて、移動体端末の位置を割り出す移動体電波測位シス
テムに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile radio wave positioning system for determining the position of a mobile terminal using transmission and relay radio waves from a ground station at a known position and a flying object located above. .
【０００２】[0002]
【従来の技術】現在、移動体電波測位システムとして
は、カーナビゲーション等で用いられるＧＰＳ電波測位
システムがある。これは、米国の周回衛星であるＧＰＳ
衛星を利用したもので、複数のＧＰＳ衛星からの到来電
波から、未知の位置を算出するシステムである。その他
に、成層圏（高度約１０ｋｍ〜５０ｋｍ）に滞留させた
飛行船や気球などの飛翔体を用いて無線通信を行う成層
圏無線プラットフォームによる移動体電波測位システム
が提案されている（特開平10−253741号公報）。2. Description of the Related Art At present, there is a GPS radio positioning system used in car navigation and the like as a mobile radio positioning system. This is the US orbiting satellite GPS
This is a system that uses satellites and calculates unknown positions from radio waves arriving from a plurality of GPS satellites. In addition, a mobile radio positioning system using a stratospheric wireless platform that performs wireless communication using a flying object such as an airship or a balloon held in the stratosphere (altitude of about 10 km to 50 km) has been proposed (Japanese Patent Laid-Open No. 10-253741). Gazette).
【０００３】これには、複数の飛翔体との間で電波によ
る送受信を行い、その往復時間から求めた複数の飛翔体
との位離を基に位置を算出する手段が提案されている。
また、その他に、複数の飛翔体から送られてくる時刻情
報を基に伝播時間を算出し、それから位置を求める手段
が提案されている。For this purpose, there has been proposed a means for transmitting and receiving radio waves to and from a plurality of flying objects and calculating a position based on the distance from the plurality of flying objects obtained from the round trip time.
In addition, another means has been proposed in which a propagation time is calculated based on time information sent from a plurality of flying objects, and a position is obtained from the calculated propagation time.
【０００４】[0004]
【発明が解決しようとする課題】ＧＰＳ衛星システムは
時刻情報を送信するために各衛星に搭載された時計は精
密なだけでなく、互いに同期している必要がある。ま
た、周回衛星であるため、静止している中継局としての
利用は出来ず、その高度から地上との距離も比較的長
く、その分の伝播損失があり、高感度な送受信機が必要
である。また、利用するＧＰＳ衛星システムは米国所有
のものであり、その管理や精度等が米国に依存したもの
となっている。In the GPS satellite system, in order to transmit time information, clocks mounted on each satellite need to be not only precise but also synchronized with each other. In addition, since it is an orbiting satellite, it cannot be used as a stationary relay station, its distance to the ground is relatively long due to its altitude, there is a corresponding propagation loss, and a highly sensitive transceiver is required. . The GPS satellite system to be used is owned by the United States, and its management, accuracy, and the like depend on the United States.
【０００５】特開平10−253741号公報では、複数の飛翔
体との送受信を行なうため複数からなる飛翔体が必要に
なるという欠点がある。また、端末との往復時間を求め
る方法では端末に測位のための送信する機能が必要であ
る他、飛翔体も端末が測位信号を送信する毎に再送信し
なければならない。また複数の飛翔体から測位（測距）
信号を送信する方法では、飛翔体に搭載の時刻時計が同
期していることが必要となる。Japanese Patent Laid-Open Publication No. Hei 10-253741 has a disadvantage that a plurality of flying objects are required for transmitting and receiving with a plurality of flying objects. In addition, the method of determining the round trip time with the terminal requires a function of transmitting the terminal to the terminal for positioning, and also requires that the flying object be retransmitted every time the terminal transmits the positioning signal. Positioning (ranging) from multiple flying objects
The method of transmitting signals requires that the time clock mounted on the flying object be synchronized.
【０００６】本発明は前記の問題に対応したもので、飛
翔体と地上局を位置基準局として用いた移動体電波測位
システムで、位置基準局の時刻時計の同期が不要で、移
動端末は比較的小エリアを対象とした近くの位置基準局
から受信のみで測位出来るシステムの実現手段の提供を
目的とするものである。The present invention is directed to a mobile radio positioning system using an flying object and a ground station as a position reference station, which does not require synchronization of the time clock of the position reference station and has a relatively small mobile terminal. It is an object of the present invention to provide means for realizing a system that can perform positioning only by reception from a nearby position reference station for an area.
【０００７】[0007]
【課題を解決するための手段】本発明のシステム（方
式）は、成層圏無線プラットフォーム等における飛翔体
１機Ｓを測位信号を送信する位置基準局とすると共に、
この測位信号を複数の地上局Ｂで中継送信することによ
り、移動体端末Ｕに届く飛翔体からの測位信号と地上局
で中継送信された測位信号の到達時間差から地上局また
は飛翔体からの位置を算出し、移動体端末の位置を割り
出す移動体電波測位システムを提供する。The system (method) of the present invention uses one flying object S in a stratospheric wireless platform or the like as a position reference station for transmitting a positioning signal,
The positioning signal is relay-transmitted by a plurality of ground stations B, and the position from the ground station or the flying object is determined from the arrival time difference between the positioning signal from the flying object reaching the mobile terminal U and the positioning signal relay-transmitted by the ground station. And a mobile radio positioning system for calculating the position of the mobile terminal.
【０００８】本発明の他のシステムとして、複数の地上
局Ｂから測位信号を送信すると共に、滞空する１機の飛
翔体Ｓで前記測位信号を中継送信することにより、移動
体Ｕに届く前記地上局Ｂからの測位信号と飛翔体で中継
送信された測位信号の到達時間差から地上局または飛翔
体からの位置を算出し、移動体の位置を割り出す移動体
電波測位システムを提供する。 〔発明の詳細な説明〕In another system of the present invention, a positioning signal is transmitted from a plurality of ground stations B, and the positioning signal is relayed and transmitted by one flying object S in the air. Provided is a mobile radio wave positioning system that calculates a position from a ground station or a flying object based on an arrival time difference between a positioning signal from the station B and a positioning signal relayed and transmitted by the flying object to determine the position of the moving object. [Detailed description of the invention]
【０００９】[0009]
【発明の実施の形態】本発明の移動体電波測位システム
の一実施例について図と共に以下に説明する。図１は、
本発明の移動体電波測位システムの一実施例を説明する
図である。飛翔体ＳはエリアＡをその通信・放送サービ
スエリアとしている飛行船であり、高度ｈに滞空して、
通信・放送サービス電波を送受信する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of a mobile radio positioning system according to the present invention will be described below with reference to the drawings. FIG.
BRIEF DESCRIPTION OF THE DRAWINGS It is a figure explaining one Example of the mobile radio | wireless positioning system of this invention. Flying object S is an airship that has area A as its communication / broadcasting service area.
Transmission and reception of communication and broadcasting service radio waves.
【００１０】飛翔体Ｓは本発明の測位信号を送信してお
り、その送信信号には、同期用信号の他、飛翔体の識別
情報やその高度を含む位置情報や時刻情報、後述する複
数の地上局の位置情報や中継送信周波数等が変調されて
載せられている。The flying object S transmits the positioning signal of the present invention. The transmission signal includes, in addition to the synchronization signal, position information and time information including the identification information of the flying object and its altitude, and a plurality of signals to be described later. The position information of the ground station, the relay transmission frequency and the like are modulated and loaded.
【００１１】３つの地上局Ｂ１、Ｂ２，Ｂ３は前記飛翔
体Ｓから送信された測位用の電波を中継送信する地上位
置基準局であり、必要に応じてそれぞれ周波数変換され
た周波数で送信される。The three ground stations B1, B2, and B3 are ground position reference stations that relay the positioning radio wave transmitted from the flying object S, and are transmitted at frequencies that have been frequency-converted as necessary.
【００１２】移動体Ｕには、前記のように飛翔体Ｓから
直接に届く測位用電波と地上局で中継された測位用電波
が届き、以下で説明するようにこれらの測位用電波の到
達時間差から移動体Ｕの位置情報を算出する。図２は、
飛翔体Ｓからの測位用電波と地上局Ｂで中継された測位
用電波の移動体Ｕへの到達時間差で距離を知ることが出
来ることを、最も単純な例で説明をしたものである。The moving object U receives the positioning radio wave directly from the flying object S and the positioning radio wave relayed by the ground station as described above, and the arrival time difference between these positioning radio waves as described below. Is calculated from the position information of the moving object U. FIG.
The simplest example explains that the distance can be known from the arrival time difference between the positioning radio wave from the flying object S and the positioning radio wave relayed by the ground station B to the mobile unit U.
【００１３】図２は、移動体Ｕが飛翔体Ｓの真下Ｏを通
る線上を移動した場合を示している。高度ｈにある飛翔
体Ｓからの電波が直接移動体Ｕに届く到達時間をｔ0、
飛翔体Ｓからの測位信号が地上局Ｂで中継されて移動体
Ｕに届く時間をｔ1とすると、ｔ0とｔ1の時間差（ｔ1−
ｔ0）の値は移動体Ｕの位置によって変化する。FIG. 2 shows a case where the moving body U moves on a line passing right below the flying body S. The arrival time at which the radio wave from the flying object S at the altitude h reaches the moving object U directly is t0,
Assuming that the time when the positioning signal from the flying object S is relayed by the ground station B and reaches the moving object U is t1, the time difference between t0 and t1 (t1−
The value of t0) changes depending on the position of the moving object U.
【００１４】その様子を図３に示す。図３は、飛翔体Ｓ
の高度ｈ＝２０ｋｍとし、飛翔体Ｓの真下の位置座標を
χ＝０とし、地上局Ｂの位置ｄ＝１０ｋｍ、移動体Ｕの
位置をχuとして、ｔ0とｔ1、及び（ｔ1−ｔ0）をそれ
ぞれ求めたものである。図３においては、横軸が地上局
Ｂからの距離χ（単位はｋｍ）を、縦軸が時間（時間
差）ｔ（単位はマイクロ秒）をそれぞれ示す。よって、
この図３より、時間差（ｔ1−ｔ0）の値から移動体Ｕが
地上局Ｂからどれだけ離れた距離（位置）にあるかを知
ることが出来る。FIG. 3 shows this state. FIG. 3 shows the flying object S
Altitude h = 20 km, the position coordinates just below the flying object S is χ = 0, the position of the ground station B is d = 10 km, and the position of the moving object U is χu, and t0, t1, and (t1−t0) are calculated. It is what we sought. In FIG. 3, the horizontal axis represents the distance 地上 (unit: km) from the ground station B, and the vertical axis represents time (time difference) t (unit: microsecond). Therefore,
From FIG. 3, it is possible to know how far the mobile unit U is from the ground station B (position) from the value of the time difference (t1−t0).
【００１５】図４は、図１の３つの地上局Ｂ1、Ｂ2，Ｂ
3の場合を示したものである。図４は、図１の３つの地
上局Ｂ1、Ｂ2，Ｂ3を高度ｈ＝２０ｋｍにある飛翔体Ｓ
の真下Ｏからそれぞれ２０ｋｍの地点に配置した場合に
おいて、地上で時間差（ｔ1−ｔ0）が一定になる軌跡を
描いた図を示しており、等高線上に記した数値は到達時
間差（単位はマイクロ秒）である。この図に示すよう
に、時間差（ｔ1−ｔ0）の値によって、移動体Ｕが図４
に示す線上のどこかに存在していることになる。FIG. 4 shows the three ground stations B1, B2, B of FIG.
This shows the case of 3. FIG. 4 shows the three ground stations B1, B2, and B3 of FIG. 1 flying object S at altitude h = 20 km.
The figure shows a trajectory in which the time difference (t1-t0) is constant on the ground when each of them is arranged at a point 20 km from O just below O, and the numerical value described on the contour line is the arrival time difference (unit: microsecond ). As shown in this figure, the moving object U is moved according to the value of the time difference (t1−t0).
Will exist somewhere on the line shown in.
【００１６】測位電波には、時刻情報やタイミング情報
の他に、飛翔体Ｓの識別情報や高度を含む位置情報、複
数の地上局Ｂの識別情報や位置情報が載せられており、
飛翔体Ｓから直接届く測位信号波の到達時間ｔ0と地上
局経由での測位信号波の到達時間ｔ1との差から到達時
間差（ｔ1−ｔ0）が算出出来、３つの到達時間差から移
動体Ｕの位置を特定することが出来る。In the positioning radio wave, in addition to the time information and the timing information, identification information of the flying object S, position information including altitude, and identification information and position information of a plurality of ground stations B are carried.
The arrival time difference (t1−t0) can be calculated from the difference between the arrival time t0 of the positioning signal wave directly reaching from the flying object S and the arrival time t1 of the positioning signal wave via the ground station, and the mobile unit U can be calculated from the three arrival time differences. The position can be specified.
【００１７】移動体Ｕでは、飛翔体から直接届く電波か
ら復号した時刻データと複数の地上局で中継されて届く
電波から復号した時刻データと、測位信号に含まれてい
るタイミング情報とから、時間差を求めることにより各
地上局Ｂ1、Ｂ2，Ｂ3Ｂからの位置を知ることが出来
る。測位電波には、前記識別情報や位置情報、時刻情報
の他に、測位信号を中継地上局で周波数変換する場合、
その各中継送信周波数、また、後述するような中継用送
受信機による遅延時間等に基づく時間差算出用の補正情
報が含まれている。In the mobile unit U, the time difference between the time data decoded from the radio waves directly arriving from the flying object, the time data decoded from the radio waves arriving at a plurality of ground stations, and the timing information included in the positioning signal is calculated. , The position from each ground station B1, B2, B3B can be known. In the positioning radio wave, in addition to the identification information, the position information, and the time information, when the positioning signal is frequency-converted by the relay ground station,
Each relay transmission frequency includes correction information for calculating a time difference based on a delay time by a relay transceiver as described later.
【００１８】本発明のシステムでは、測位信号の直接波
と中継波との到達時間差から存在位置を算出するので、
時刻情報の正確さそのものは位置精度に影響しないほ
か、時刻情報は飛翔体Ｓからの時刻情報のみに基づいて
いるので、従来のように複数の位置基準局の時計の同期
を取るといった煩わしい手続きは一切必要としない。In the system of the present invention, the location is calculated from the arrival time difference between the direct wave and the relay wave of the positioning signal.
The accuracy of the time information itself does not affect the position accuracy, and since the time information is based only on the time information from the flying object S, there is no need for complicated procedures such as synchronizing the clocks of a plurality of position reference stations as in the past. do not need.
【００１９】図５は、本発明の地上局Ｂ１,Ｂ２及び飛
翔体Ｓの無線機に関する説明図である。飛翔体Ｓからは
その識別情報や位置情報、及び時刻情報、並びに各地上
局Ｂの位置情報、中継送信周波数、その他同期用のタイ
ミング信号等の測位信号がｆ0の周波数の電波に載せて
送信される。各地上局Ｂ１,Ｂ２ではこの飛翔体Ｓから
の測位信号を中継送信する。この際、必要に応じてｆ
1、ｆ2、ｆ3に周波数変換された電波で送信される。FIG. 5 is an explanatory diagram relating to the radio equipment of the ground stations B1, B2 and the flying object S of the present invention. Positioning signals such as identification information, position information, time information, position information of each ground station B, a relay transmission frequency, and other timing signals for synchronization are transmitted from the flying object S on radio waves of the frequency f0. You. Each of the ground stations B1 and B2 relays the positioning signal from the flying object S. At this time, f
It is transmitted by radio waves whose frequencies have been converted to 1, f2, and f3.
【００２０】端末である移動体Ｕには、飛翔体Ｓからの
測位信号と３つの地上局Ｂ１，Ｂ２，Ｂ３経由の測位信
号を受信する。Ｕ内の測位器は飛翔体Ｓからの測位信号
と３つの地上局Ｂ１，Ｂ２，Ｂ３経由の測位信号の到達
時間差から移動体Ｕの位置を算出する。The mobile unit U, which is a terminal, receives a positioning signal from the flying object S and a positioning signal via the three ground stations B1, B2, and B3. The positioning device in U calculates the position of the mobile unit U from the arrival time difference between the positioning signal from the flying object S and the positioning signals via the three ground stations B1, B2, and B3.
【００２１】飛翔体Ｓの高度等の位置が変化する場合
は、飛翔体の位置情報もそれに伴った値が送信される。
中継によって生じる遅延時間が無視出来ない場合は、そ
の遅延に起因する補正値を測位用信号に含ませるように
し、これによって算出精度を高めることが出来る。When the position such as the altitude of the flying object S changes, the position information of the flying object is transmitted with a value corresponding thereto.
If the delay time caused by the relay cannot be ignored, a correction value due to the delay is included in the positioning signal, thereby increasing the calculation accuracy.
【００２２】図６は、３つの地上局Ｂ１，Ｂ２，Ｂ３が
同一周波数で測位信号を時分割で中継した一実施例であ
る。図６において、Ｔ1の時間において、地上局Ｂ1で中
継した測位信号が移動体に届き、その間で端末と地上局
Ｂ1を基にした測位が行なわれ、同様にＴ2においては地
上局Ｂ2を基にした測位が行なわれ、Ｔ3においては地上
局Ｂ3を基にした測位が行なわれ、それらのＴ1〜Ｔ3で
得た測位情報を基に移動体Ｕの位置を算出して決定す
る。この実施例によれば、地上局Ｂでの測位信号の中継
周波数が１種類の周波数（単一の周波数）で済み、周波
数の有効利用を図った移動体電波測位システムが可能で
ある。FIG. 6 shows an embodiment in which three ground stations B1, B2, and B3 relay positioning signals at the same frequency in a time-division manner. In FIG. 6, at the time T1, the positioning signal relayed by the ground station B1 reaches the mobile unit, during which the positioning based on the terminal and the ground station B1 is performed. Similarly, at T2, the positioning based on the ground station B2 is performed. Positioning based on the ground station B3 is performed at T3, and the position of the mobile unit U is calculated and determined based on the positioning information obtained at T1 to T3. According to this embodiment, the relay frequency of the positioning signal at the ground station B may be one type of frequency (single frequency), and a mobile radio wave positioning system that makes effective use of the frequency is possible.
【００２３】以上の説明においては、測位信号を飛翔体
Ｓから送信するようにしたが、地上局Ｂ１，Ｂ２，Ｂ３
から測位信号を送信し、中継局を飛翔体Ｓとすることも
可能で、図7において、その第２の実施例について説明
する。図７に示した移動体電波測位システムの第２の実
施例において、飛翔体ＳはエリアＡをその通信・放送サ
ービスエリアとしている飛行船である。この実施例で
は、測位信号は３つの地上局Ｂ１、Ｂ２，Ｂ３から送信
され、その送信電波には、同期用信号の他に、その地上
局の位置情報や時刻情報、飛翔体の識別情報やその位置
情報等が載せられている。In the above description, the positioning signal is transmitted from the flying object S, but the ground stations B1, B2, B3
It is also possible to transmit a positioning signal from the relay station and use the relay station as the flying object S. A second embodiment will be described with reference to FIG. In the second embodiment of the mobile radio positioning system shown in FIG. 7, the flying object S is an airship having the area A as its communication / broadcasting service area. In this embodiment, the positioning signal is transmitted from three ground stations B1, B2, and B3, and the transmitted radio waves include, in addition to the synchronization signal, position information and time information of the ground station, identification information of the flying object, and the like. The position information and the like are provided.
【００２４】地上局Ｂ１、Ｂ２，Ｂ３から送信された別
々の測位用電波は、高度ｈにある飛翔体Ｓで中継受信さ
れ、必要に応じて周波数変換された周波数で、飛翔体Ｓ
に搭載の送信機から移動体Ｕにそれぞれ送信される。移
動体Ｕには、各地上局Ｂ１、Ｂ２，Ｂ３から直接届く測
位用電波と飛翔体Ｓで中継された測位用電波が届き、こ
れらの測位信号と飛翔体Ｓで中継された測位信号との到
達時間差から移動体Ｕの位置を算出する。The separate positioning radio waves transmitted from the ground stations B1, B2, and B3 are relayed and received by the flying object S at the altitude h, and the frequency of the flying object S is converted as necessary.
Are transmitted to the mobile unit U from the transmitter mounted on the mobile terminal. The mobile unit U receives the positioning radio wave directly received from each of the ground stations B1, B2, and B3 and the positioning radio wave relayed by the flying object S, and receives the positioning signal and the positioning signal relayed by the flying object S. The position of the moving object U is calculated from the arrival time difference.
【００２５】この第２の実施例では、各地上局Ｂ１，Ｂ
２，Ｂ３から別々の測位信号が送信されるが、位置算出
には直接波と中継波との到達時間差から移動体Ｕの位置
を算出するので、各地上局Ｂ１，Ｂ２，Ｂ３の時刻時計
の同期は不要である。図６のチャート図で説明した手法
と同様の手法により、各地上局Ｂ１、Ｂ２，Ｂ３からの
測位信号を時分割で送信することにより、周波数の有効
利用を図ることが可能である。In the second embodiment, each of the ground stations B1, B
2 and B3, different positioning signals are transmitted. Since the position of the mobile U is calculated from the arrival time difference between the direct wave and the relay wave in the position calculation, the time clock of each of the ground stations B1, B2, and B3 is calculated. No synchronization is required. By transmitting the positioning signals from each of the ground stations B1, B2, and B3 in a time-division manner by the same method as the method described in the chart of FIG. 6, it is possible to effectively use the frequency.
【００２６】[0026]
【発明の効果】本発明は、複数の位置基準局からの測位
信号と中継局で中継された測位信号との到達時間差か
ら、位置を算出するので、基本的に基準局の時刻の精度
は位置測定の精度に影響せず、また複数の測位信号を用
いる場合でも、複数の測位信号の時刻の同期がとれてい
なくてもよい。According to the present invention, the position is calculated from the arrival time difference between the positioning signals from a plurality of position reference stations and the positioning signals relayed by the relay station. The accuracy is not affected, and even when a plurality of positioning signals are used, the times of the plurality of positioning signals need not be synchronized.
【００２７】また、移動体は各送信局及び中継局からの
電波を受信するだけで位置算出が出来るので、測位電波
の送信は不要である。本発明では、１機だけの飛翔体で
測位システムが構成出来るという効果の他、複数の飛翔
体を位置基準局とする場合と比べて、飛翔体から移動体
までの距離が近いので、飛翔体からの送信出力は小さく
てよい。Further, since the position of the mobile body can be calculated only by receiving the radio waves from each transmitting station and the relay station, the transmission of the positioning radio waves is unnecessary. In the present invention, in addition to the effect that the positioning system can be configured with only one flying object, the distance from the flying object to the moving object is shorter than in the case where a plurality of flying objects are used as the position reference station. May have a small transmission output.
【００２８】測位用電波に載せる情報として、各地上局
の識別情報や位置情報、時刻情報、飛翔体の識別情報や
その高度含む位置情報の他、中継用送受信機による遅延
時間等が無視できない場合には、算出用補正情報を含ま
せることによって、位置算出の精度を高めることが出来
る。In the case where the information to be carried on the positioning radio wave cannot be neglected, besides the identification information of each ground station, position information, time information, the identification information of the flying object and the position information including its altitude, and the delay time by the relay transceiver. , The accuracy of position calculation can be increased by including calculation correction information.
【００２９】飛翔体や各地上局からの測位信号や中継信
号を、単一の周波数を時分割で共用して送信する方式に
するので、周波数の有効利用が図れる。Since the positioning signal and the relay signal from the flying object and each ground station are transmitted by sharing a single frequency in a time-division manner, the frequency can be effectively used.
【図１】本発明による移動体移動体電波測位システムの
第１の実施例である。FIG. 1 is a first embodiment of a radio wave positioning system for a mobile object according to the present invention.
【図２】直接波と中継波の到達時間差から位置を算出す
る原理図である。FIG. 2 is a principle diagram for calculating a position from the arrival time difference between a direct wave and a relay wave.
【図３】位置と到達時間差の関係を表わした図である。FIG. 3 is a diagram showing a relationship between a position and an arrival time difference.
【図４】３つの地上局を配置した場合の地上での位置と
到達時間差の関係を表わした図である。FIG. 4 is a diagram showing the relationship between the position on the ground and the arrival time difference when three ground stations are arranged.
【図５】地上局及び飛翔体の無線機に関する説明図であ
る。FIG. 5 is an explanatory diagram relating to a ground station and a radio of a flying object.
【図６】３つの地上局が同一周波数で測位信号を時分割
で中継した一実施例のチャート図である。FIG. 6 is a chart diagram of an embodiment in which three ground stations relay positioning signals at the same frequency in a time-division manner.
【図７】本発明による移動体移動体電波測位システムの
第２の実施例である。FIG. 7 is a second embodiment of the moving object radio wave positioning system according to the present invention.
Ａ 飛翔体Ｓの通信・放送サービスエリア Ｂ，Ｂ１，Ｂ２，Ｂ３ 地上局 Ｓ 飛翔体（飛行船） Ｔ 地上局Ｂ経由での測位期間 Ｕ 移動体 ｄ 地上局の位置 ｆｎ 周波数 ｈ 飛翔体（飛行船）Ｓの高度 ｔ0 電波が直接端末に届く到達時間 ｔｎ 測位信号が地上局Ｂｎで中継されて移動体Ｕに届
く時間 χu 移動体Ｕの位置A Communication / broadcasting service area of flying object S B, B1, B2, B3 Ground station S Flying object (airship) T Positioning period via ground station B U Mobile d Position of ground station fn frequency h Flying object (airship) Altitude of S t0 arrival time at which the radio wave reaches the terminal directly tn time at which the positioning signal reaches the mobile unit U after being relayed by the ground station Bn χu position of the mobile unit U
Claims (4)
を中継する中継局及び前記測位信号を受信する移動体か
らなる移動体電波測位システムにおいて、 滞空する飛翔体を前記測位信号の送信局として用いて、
前記送信局から直接に前記移動体へ送信される測位信号
と、複数の地上局を前記測位信号の中継局として用い
て、前記測位信号を中継する複数の地上局を経由して前
記移動体へ送信される中継測位信号との到達時間差か
ら、前記移動体の位置を決定することを特徴とする移動
体電波測位システム。A mobile radio positioning system comprising a transmitting station for transmitting a positioning signal, a relay station for relaying the positioning signal, and a mobile for receiving the positioning signal, wherein a flying object in the air is transmitted to the transmitting station for the positioning signal. Used as
A positioning signal transmitted directly to the mobile unit from the transmitting station, and a plurality of ground stations are used as relay stations for the positioning signal, to the mobile unit via a plurality of ground stations that relay the positioning signal. A mobile radio wave positioning system, wherein the position of the mobile is determined from a difference in arrival time from a transmitted relay positioning signal.
を中継する中継局及び前記測位信号を受信する移動体か
らなる移動体電波測位システムにおいて、 複数の地上局から測位信号を送信し、滞空する飛翔体を
前記測位信号の中継局として用い、前記複数の地上局か
らの直接の測位信号と、前記飛翔体で中継された中継測
位信号との到達時間差から前記移動体の位置を決定する
ことを特徴とする移動体電波測位システム。2. A mobile radio positioning system comprising a transmitting station for transmitting a positioning signal, a relay station for relaying the positioning signal, and a mobile for receiving the positioning signal, wherein a positioning signal is transmitted from a plurality of ground stations, Using the flying object in flight as a relay station of the positioning signal, determining the position of the mobile object from the arrival time difference between the direct positioning signals from the plurality of ground stations and the relay positioning signal relayed by the flying object. A mobile radio positioning system characterized by the following.
波測位システムにおいて、 前記中継する複数の地上局を経由して同一の周波数帯を
使用して時分割で測位信号を前記移動体に送信するかま
たは前記複数の地上局で同一の周波数帯を使用して時分
割で測位信号を前記飛翔体の中継局を経由して前記移動
体に送信することを特徴とする移動体電波測位システ
ム。3. The mobile radio positioning system according to claim 1, wherein the mobile station transmits the positioning signal in a time-division manner using the same frequency band via the plurality of relaying ground stations. Mobile radio wave positioning, wherein the positioning signal is transmitted to the mobile via the relay station of the flying object by time division using the same frequency band at the plurality of ground stations. system.
波測位システムにおいて、 測位信号を中継する中継局の送受信間での遅延時間に基
づく補正値を前記測位距信号に含ませることを特徴とす
る移動体電波測位システム。4. The mobile radio positioning system according to claim 1, wherein a correction value based on a delay time between transmission and reception of a relay station that relays a positioning signal is included in the positioning distance signal. Characteristic mobile radio positioning system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11046114A JP2000241523A (en) | 1999-02-24 | 1999-02-24 | Positioning system by radio wave from moving body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11046114A JP2000241523A (en) | 1999-02-24 | 1999-02-24 | Positioning system by radio wave from moving body |
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| Publication Number | Publication Date |
|---|---|
| JP2000241523A true JP2000241523A (en) | 2000-09-08 |
Family
ID=12737986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11046114A Pending JP2000241523A (en) | 1999-02-24 | 1999-02-24 | Positioning system by radio wave from moving body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2000241523A (en) |
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