JP2004286494A - Position setting device and position specifying method using pseudo satellite - Google Patents

Abstract

The present invention relates to a positioning system using a pseudo satellite, and provides a position specifying device and a position setting method for specifying an initial position at high speed.
A positioning signal receiving apparatus receives a positioning signal transmitted from a pseudo satellite and detects a phase of a carrier of the positioning signal.
A position information acquisition device that receives a signal transmitted from the position information providing device,
Positioning using a pseudo satellite, comprising: a positioning signal, a phase of a carrier of the positioning signal, and an arithmetic unit that calculates an initial position of the position specifying device based on position information of the position information providing device. Solved by the device.
[Selection diagram] Fig. 1

Description

【００２５】
ステップ２０３：演算装置１２は、記憶装置１３に記憶されているリピータＲの処理時間ｔｒ、リピータＲと擬似衛星Ｐをつなぐ電線における長さあたりの電送遅延時間ｔｗ、リピータＲと擬似衛星Ｐをつなぐ電線の長さＬｒｐをもとに式２を用いて、各ＧＰＳ信号に関する擬似衛星Ｐの受信時刻Ｔｐを計算する。
【００２６】
【数２】

【００２７】
ステップ２０４：演算装置１２は、各ＧＰＳ信号ごとに、ＧＰＳ信号受信装置１１で測定した受信時刻Ｔｐ’と各ＧＰＳ信号をもとに計算した受信時刻Ｔｐの差ｔｅを式３を用いて計算する。この計算をＣ／Ａコードごと（１ｍ秒）あるいはナビゲーションデータごと（２０ｍ秒）ごとに行い、この差の平均を時刻補正量３０４とする。
【００２８】
【数３】

【００２９】
但し、時刻補正量３０４がクロックよりも大きい場合、時計装置１４の時刻を修正し、また、時刻補正量３０４も時計装置１４の時刻を修正した分小さくする。ステップ２０５：演算装置１２は、計算した情報、記憶装置１３に記憶されている情報と時計装置１４の時刻情報をもとに図３に示す測位信号を作成し、測位信号を測位信号送信装置１５に送る。図３に示す測位信号はＧＰＳ信号のサブフレームの形式にのっとっており、コードの始まりを表わす情報３０１（８ビット（図３では、ビットをｂにて略記する））、週の始まりを０としたときの送信時刻３０２（１７ビット、分解能６秒、サブフレームの送信間隔が６秒であるため）、１９８０年１月６日からの週の番号３０３（１０ビット）、時刻補正量３０４（２０ビット）、擬似衛星Ｐの経度３０５（３２ビット：図３ではデータ形式に則って経度の３２ビットを２４ｂと８ｂに分けて表示。）、擬似衛星Ｐの緯度３０６（３１ビット：図３ではデータ形式に則って緯度の３１ビットを１６ｂと１５ｂに分けて表示。）、擬似衛星Ｐの高度３０７（２０ビット）、また、１０箇所に設けたパリティ３０８（６ビット 但し、パリティの値は、各々のパリティの関る情報に依存するので、必ずしも同じ値となる訳ではない。）からなる（全体で、３００ビットを一つの単位とする。この単位で繰り返し）。時刻補正量３０４は２の−３１乗を掛け合わせ、ＧＰＳ信号の時刻情報と同じオーダの０．５ｎ秒の分解能を表わしている。擬似衛星Ｐの位置情報は分解能１ｃｍを表わしている。
ステップ２０６：測位信号送信装置１５は擬似雑音符号で信号を拡散変調し、測位信号を送信する。
【００３０】
上記測位信号を受信することで、例えば、屋内等のＧＰＳ信号が受信出来ない場所であっても、上記測位信号に基づき、測位可能となる。
【００３１】
図１に示す本発明の位置特定システムの一実施例の位置特定装置Ｕにおける初期位置設定の動作手順を図４を用いて説明する。
ステップ４０１：タグ読取装置２２は、タグＴの電力となる電波を送信する。タグＴは電力となる電波を受信し、その電力でＩＣを駆動して、タグＴの位置情報を送信する。タグ読取装置２２は、タグＴから送信されたタグＴの位置情報を受信し、タグＴの位置情報を演算装置２３に送る。
ステップ４０２：測位信号受信装置２１は、各擬似衛星Ｐ１〜Ｐ４から送信された測位信号を受信する。測位信号受信装置２１の直交検波回路で搬送波の位相を求め、演算装置２３に各擬似衛星Ｐの測位信号と搬送波の位相を送る。
ステップ４０３：演算装置２３は、各擬似衛星Ｐからの測位信号に含まれている擬似衛星Ｐの位置情報とタグＴの位置情報をもとにタグＴと各擬似衛星Ｐとの距離Ｌを計算する。
ステップ４０４：位相から求めた擬似距離ρは式４のようになる。ここで、ｋは擬似衛星Ｐの番号（図１では、１〜４）、λは電波の波長、Ｎは擬似衛星Ｐから位置特定装置Ｕまでの電波の波の数、φは受信した搬送波の位相である。
【００３２】
【数４】

【００３３】
位相から求めた擬似距離ρが距離Ｌに最も近い波の数Ｎを求める。図５において位置特定装置Ｕの位置の候補５０１〜５０４の中から点５０２を選び、擬似衛星Ｐから点５０２までの波の数を求めることになる。これにより擬似距離ρを求めることができる。
ステップ４０５：位相から求めた擬似距離ρｋと、各擬似衛星Ｐの位置（Ｘｋ、Ｙｋ、Ｚｋ）と位置特定装置Ｕの位置（Ｘｕ、Ｙｕ、Ｚｕ）の関係は式５で表わすことができる。
【００３４】
【数５】

【００３５】
そこで、未知数である位置特定装置Ｕの位置を下記に示す繰り返し計算により求める。搬送波の位相から求めた擬似距離ρｋと、各擬似衛星Ｐと位置特定装置Ｕとの距離の差が小さくなるように、式１２のνがある閾値よりも小さくなるまで、式５〜式１５を繰り返し計算して、位置特定装置Ｕの初期位置を求める。ここで、δρｋは位相から求めた擬似距離ρｋと、各擬似衛星Ｐと位置特定装置Ｕの位置から求めた擬似距離との差である。擬似衛星Ｐの数が４以上の場合αとδρの行が増える。
【００３６】
【数６】

【００３７】
【数７】

【００３８】
【数８】

【００３９】
【数９】

【００４０】
【数１０】

【００４１】
【数１１】

【００４２】
【数１２】

【００４３】
【数１３】

【００４４】
【数１４】

【００４５】
【数１５】

【００４６】
【数１６】

【００４７】
図１に示す本発明の測位特定システムの一実施例の位置特定装置Ｕにおける位置特定の動作手順を説明する。測位信号受信装置２１は擬似衛星Ｐ１〜Ｐ４からの測位信号を受信し、その搬送波の位相を求め、演算装置２３に送る。演算装置２３は、図４に示す動作手順で設定した位置特定装置Ｕの初期位置６０１から擬似距離が短いか、あるいは長い方向に移動したものとして、図６に示す二つの擬似距離６０２、６０３（位置特定装置Ｕの位置の候補６０４、６０５に各々対応）を擬似距離の候補としてあげる。このため、４つの擬似衛星Ｐがある場合、１６通り（２の４乗）の組み合わせがあり、それぞれに対して図４のステップ４０３の計算を行ない、各擬似衛星Ｐ１〜Ｐ４と位置特定装置Ｕの位置から求めた擬似距離と、位相から求めた擬似距離との差の二乗の和が最も小さいときの位置特定装置Ｕの位置を採用する。次に、前回の位相をもとに求めた位置特定装置Ｕの位置６０１及び受信した測位信号と位相から前述した手順（上記３つの文）で位置特定装置Ｕの位置を求め、この手順を繰り返すことにより、連続的に位置特定装置Ｕの位置を求め続ける。
【００４８】
従来、擬似衛星Ｐは、時刻に関して高精度に測位信号を送信する必要があり、１ＧＨｚオーダのクロックが必要である。しかし、１ＧＨｚオーダのクロックを発生させると、クロック発生に伴って、ノイズも発生し、電子回路で電磁波ノイズの問題などを解決する構成が必要となり、装置コストが高くなる。図１に示す本発明の擬似衛星Ｐの一実施例において、クロックの誤差を統計的に求めることにより高精度に時刻補正量３０４を求めることができる。そこで、時刻補正量３０４を測位信号にのせていることにより、時計装置１４のクロックよりも高い分解能の時刻情報を位置特定装置Ｕに与えることができ、位置特定で高精度な測位が実現できる。これにより、高価な時計装置１４を使わない分、装置コストを低減できる。また、前述したようなノイズの影響も小さくすることが可能となり、電子回路で電磁波ノイズの問題などを解決する構成が必ずしも必要でなくなり、装置コストが高くなるのを抑えられる。
【００４９】
図１に示す本発明の位置特定装置Ｕの一実施例において、位相を用いて位置を計算するため、計算において得られる位置の値は、搬送波の波長２０ｃｍよりも高い精度が得られる。このため、測位信号のコード情報のみで位置を計算する単独測位の精度５〜１０ｍに比べて、精度を数ｃｍまで向上させることができる。このように数ｃｍオーダの精度の位置を求めることができれば、ロボットなどの移動機械や測量に適用できる。例えば、屋内において、人間の代わりに物品を輸送したり、清掃を行う等のように作業、処理をロボット等の自分で自動的に移動する装置に実施させることが考えられる（この装置を自走装置と称しても良い）。当該装置においては、単純に壁や、障害物を回避して上記作業、処理を実施させることでも、自分で自動的に移動することが可能である。しかしながら、屋内の位置、そして、自らの位置を特定出来るようにすることで、移動出来る範囲を広げたり、移動するコースを自由に設定することが可能となる。例えば、目標位置への移動距離を最小とするコース、作業、処理をするにあたって最適のコースを演算、選択をしたり、複数の目標ポイントを順次経由して移動すること等が可能となる。これらのコースの演算、選択は、単に障害物を回避することを条件として、移動する場合には、必ずしも実現が容易とはならない。上述の様に数ｃｍオーダの精度の位置を求めることができれば、装置内に設けた建物の内部の地図等の情報を参照して、自らの位置の移動を取得しながら、上記地図等に基づいて、移動することが可能となる。
【００５０】
従来、搬送波の位相をもとに高精度に測位する装置では、擬似衛星Ｐを捕捉するには擬似衛星Ｐの何番目の波の位相であるかを特定するために装置を移動させて、搬送波の位相を変化させたデータが必要であった。一方、図１に示す本発明の位置特定装置Ｕの一実施例において、タグＴの位置情報（演算初期位置情報）をもとに擬似衛星Ｐの何番目の波の位相かを特定することを可能とするものである。従って、図１に示す本発明の位置特定装置Ｕの一実施例では、従来のように、擬似衛星Ｐを捕捉するまで移動し続けなくても済むので、初期位置の特定に要する処理を高速化できる。
【００５１】
搬送波の位相をもとに高精度に測位する装置をロボットなどの移動機械に組み込むと、初期位置を設定するために、移動機械の位置が分からない状態で移動させる必要があり、衝突や走行不能な領域への進入などの危険が発生する。一方、図１に示す本発明の位置特定装置Ｕの一実施例を移動機械に組み込むと、静止した状態で初期位置を設定できるため、従来のように移動機械の位置が分からない状態で移動させる危険を冒さなくても良くなる。
【００５２】
図１に示す本発明の位置特定システムの一実施例において、位置特定装置ＵではＧＰＳ衛星からの電波と同じ周波数・同じデータ形式であるため、測位信号受信装置２１でＧＰＳ衛星Ｇ１〜Ｇ４からのＧＰＳ信号を受信でき、演算装置２３で受信時刻とＧＰＳ信号をもとに位置特定装置Ｕの位置を求めると、擬似衛星が設置された場所だけでなく、ＧＰＳ衛星の信号を受信できる場所でも測位でき、より広範囲の領域で位置特定装置Ｕの位置を求めることができる。
【００５３】
図１に示す本発明の位置特定システムの一実施例において、タグＴ３を入口３３に設置することにより、室内に入ったときに位相を用いた高精度な測位が可能になる。これにより屋外から屋内へシームレスに測位が可能となる。また、遮蔽物などによりＧＰＳ信号が届かなくなる境界付近、若しくはＧＰＳ信号が受信し難くなる境界付に擬似衛星ＰまたはタグＴを設置することにより、屋内外問わずシームレスに測位が可能となる。
【００５４】
ここで、「シームレス」とは、ＧＰＳ衛星からの信号を受信している場合と擬似衛星からの信号を受信している場合との受信状態の違いがあっても、上記測位に関する処理が問題無く実施されることを表現するものである。上記「問題無く実施」とは、上記受信状態の違いがあっても、上記測位に関する処理が連続して処理されるもの（即ち、不連続とならない）であっても良い。しかしながら、これに限定されるものではなく、例えば、上記測位に関する処理が不連続に処理されるものであっても、その不連続の処理によって、測位出来ていない期間の時間の長さが実用上問題の無い時間の長さである、若しくは実用上問題の無い時間の長さよりも小さいものであれば良いとするものである。
【００５５】
なお、上記「測位出来ていない期間の時間の長さ」として許容される長さは、実際の実施形態に応じてその長さは変わるものであって、必ずしも一定の所定の時間の長さに特定する必要はない（勿論、或る所定値を設け、その所定値の時間を基準とするものであっても良い）。但し、傾向としては、測位するものが移動する場合において、その移動速度が大きいものと移動速度がより小さいものの各々に対応する「測位出来ていない期間の時間の長さ」を比較するならば、移動速度が大きいものの方が、移動速度の小さいものよりも、「測位出来ていない期間の時間の長さ」として許容される長さが小さくなる傾向のあるものと言える。
【００５６】
従って、上記実施例の位置特定システムにおいてシームレスに測位可能にするとして、タグや擬似衛星が例えば「境界付近」に設置される場合の「境界付近」とは、上述の様な実施形態の違い等を考慮して、位置を選択することが出来るし、または、「境界付近」として配置される位置を選択、考慮される必要がある。
【００５７】
図１に示す本発明の位置特定システムの一実施例において、擬似衛星Ｐが送信する電波の周波数と位置特定装置Ｕが受信する電波の周波数を１５７５ＭＨｚ以外に設定しても位置を特定することができる。但し、電波の周波数を２．４ＧＨｚ、５ＧＨｚに設定し、データ形式を無線ＬＡＮのデータ形式にすると、無線ＬＡＮの送受信の機能を持つ携帯電話や携帯情報端末、計算機にタグ読取装置だけを組み込むことにより、携帯電話や携帯情報端末、計算機を位置特定装置Ｕに適用できる。また、電波の周波数を１５７５ＭＨｚ以外に設定し、ＧＰＳ信号の受信装置を付け加えると、擬似衛星とＧＰＳ衛星の信号が併用して送られてくる場所で干渉などの影響による測位不能や精度の低下を防ぐことができる。
【００５８】
擬似衛星の搬送波の波長が２０ｃｍであるため、タグＴから得る位置情報は、１０ｃｍ以下の精度を要すると推定される。従って、電波で位置情報を発信する場合には、タグＴから発信される信号をロボット等が受信した時点（位置）の何処の位置が発信信号の示す位置情報であるのかを精度よく取得する必要がある。
【００５９】
何故ならば、タグＴから発信される信号は、受信可能とする範囲にある程度の広がりを持つ場合が想定される。この発信される信号、若しくは電波が、ある程度の広がりを持つのは、電波の特性に基づいて広がりを持つ場合もあるし、ロボット等がタグＴから発信される信号の受信範囲を広くする為の場合等がある。
【００６０】
しかしながら、発信される信号、若しくは電波が、ある程度の広がりを持つと、ロボット等が、受信したとしても、受信した何処の位置が発信信号の示す位置情報であるのかを判別することが出来ないという問題が生ずる。上述したが、発信信号の示す位置情報にて特定される位置が１０ｃｍ以下の精度にて、ロボット等が判別出来る必要があるので、この問題は解決する必要がある。
【００６１】
この問題を解決する手段を図７を用いて説明する。図１に示す本発明の位置特定装置Ｕの一実施例において、タグＴ付近を一定方向に移動させ、タグ信号の電波強度（相関値計算回路で計算する相関値に相当する）が最大になった位置７０１をタグＴの位置と判定させ（図７）、タグＴの中心位置を特定することにより、よりタグＴの位置を精度よく検出することができる。
【００６２】
上記タグ信号においての電波強度が最大になった位置７０１を受信する受信位置とタグ信号が示す位置情報とを精度高く近づける、若しくは一致させることが望ましい。完全に一致させることが困難としても、上記タグから送信されるタグ信号の強度分布の最大（若しくは、大きいもの）となる部分として受信、取得出来る位置情報の範囲内に、上記タグ信号の通知する位置情報が少なくとも含まれるようにする必要がある。
【００６３】
図１に示すタグＴから送信される信号の電波強度の分布を非常に狭域にすると（即ち、図７よりも電波強度の分布の変化を急峻な立上りとする）、受信位置と、タグ信号が示す位置情報がより近くなるため、タグＴの位置を精度よく検出することができる。
【００６４】
図１に示す本発明の位置特定システムの一実施例において、トンネルの内部の進行方向に対して電波を送信するようにする構成とする事が出来る。例えば、トンネルの入口、若しくは入口の上部天井に擬似衛星Ｐを設置し、トンネルの内側に向けて電波を送信すると、直線のトンネルの場合トンネルのどの位置にいても擬似衛星Ｐから送信される測位信号を受信でき、設置する擬似衛星Ｐの個数を低減できる。
【００６５】
図１に示す本発明の位置特定システムの一実施例において、タグＴをバーコード（位置情報提供装置）に代え、タグ読取装置２２をバーコード読取装置（位置情報取得装置）に代えても測位の初期位置を設定することができる。この一実施例を図８を用いて、説明する。
【００６６】
バーコードは、図８に示すようにコードの始まりを表わすコード８０１とバーコードの位置情報を表わすコード８０２からなる。このとき、コードの始まりを表わすコード８０１の先頭部をバーコードの位置８０３とする。従って、バーコード読取装置を備えた装置の移動に伴い、バーコード読取装置によって取得できたバーコードの位置８０３の先頭（コード８０１の刻印の最初の部分）がコード８０２の示す位置であると判別するように出来る。但し、バーコード読取装置が突然にバーコードに位置８０３に遭遇すると、バーコードの読取りや、その際の処理の同期引き込み処理の遅れ等から、正確にバーコードの位置８０３を取得できない可能性もある。よって、そのような問題を解決する為に、コード８０２の示す位置を上記のようなバーコード先頭の位置８０３に対応させるのではなく、コード８０２の終了位置（バーコードの刻印が無くなる終端の部分）とするものでもよい。コード８０２の終了位置を取得させるのであれば、例えば、コード８０２の長さを予め決めておくことで、前述の同期引き込み処理の遅れ等のような影響を小さくすることが可能となる。逆の見方をすれば、上述のようなバーコードの先頭、若しくは終了位置に限らず、バーコード読取装置が取得できる位置の中で所定の位置を予め決めておくことでも良い。なお、図８では、次のバーコード８０４の間にはコードを記載していない。
バーコード・リーダなどのバーコード読取装置は、バーコードを読み取り、演算装置２３にバーコードの位置情報を送る。
【００６７】
図１に示す本発明の位置特定システムの一実施例において、タグＴを磁気カード（磁気マーカ、位置情報提供装置）に代え、タグ読取装置２２を磁気カード読取装置（磁気マーカ読取装置、位置情報取得装置）に代えても、磁気カードに記載されている磁気カードの位置情報を読み取ることにより測位の初期位置を設定することができる。
【００６８】
図１に示す本発明の位置特定システムの一実施例において、タグＴを送信機と電源装置（位置情報提供装置）に代え、タグ読取装置２２を受信機（位置情報取得装置）に代えても、位置特定装置Ｕの受信機で送信機から送られる送信機の位置情報を受信し、図２のステップ４０２〜ステップ４０５（但し、タブＴを送信機に代える。）を行なうことにより測位の初期位置を設定することができる。
【００６９】
図１に示す本発明の位置特定装置Ｕの一実施例をロボットなどの移動機械に組み込むことにより、移動機械の位置を精度よく特定でき、自動制御を行なうことができる。
【００７０】
図１に示す本発明の位置特定装置Ｕの一実施例に通信機を取り付けた装置をトラックのコンテナに組み込み、擬似衛星ＰとタグＴをトンネルに設置すると、トンネル内でもコンテナの位置を特定でき、通信機から送信されるコンテナの位置情報を受信することにより、コンテナの監視ができる。
【００７１】
図１に示す本発明の位置特定装置Ｕの一実施例を自動車に組み込み、擬似衛星ＰとタグＴをトンネルに設置すると、トンネル内で自動車は、ＧＰＳ衛星からの電波が届いていなくても位置を特定できる。
【００７２】
図１に示す本発明の位置特定装置Ｕの一実施例に携帯電話などの通信機を取り付けた装置を消防士に持たせ、擬似衛星ＰとタグＴを地下街に設置することにより、通信機から送られる消防士の位置情報を受信し、地下街での消防士の位置を把握することができる。これにより、消防士が煙にまかれるなどして消防士の救出が必要な場合、消防士の位置が明確なため、消防士の位置まで救出に行く時間を短縮できる。また、消防士も自分の位置を特定出来るので、例えば、その特定した自分の位置情報とその周辺の位置情報等を元に出口へ誘導するような装置を構成することも出来る。従って、この装置を消防士が携帯することで、自らの位置を特定、確認して消火活動をしながら、迷うことなく出口へ向かうことが可能となる。
【００７３】
図９に本発明の位置特定装置Ｕの一実施例の構成を示す。測位信号受信装置２１と、タグ読取装置２２と、演算装置２３と、電源装置２５は図１に示すものと同じである。
ハードディスクやメモリなどの記憶装置２４には、少なくとも１個以上のタグＴの識別子（図９では、Ｎｏ．１、Ｎｏ．２、Ｎｏ．３…）に対応させて、当該タグＴの位置情報をテーブル９０１に記憶させている（図９参照）。
タグＴは、タグ読取装置２２等からの電力となる電波を受信し、その電力をもとに存在を知らせるだけの信号を送信する。位置特定装置Ｕは、タグＴからの存在を知らせるだけの信号を受信後、上記テーブル９０１を参照することによって、例えばタグＴ１〜Ｔ３の内で、どのタグＴであったのかを判別するように出来る。
【００７４】
図９に示す本発明の位置特定装置Ｕの一実施例のタグ読取の動作手順を図１０を用いて説明する。
ステップ１００１：タグ読取装置２２は、電力となる電波を送信する。タグＴはその電波を受信し、その電力をもとに存在を知らせる信号（Ｎｏ．１のタグＴの場合は、例えば、「１」であることを示す信号など、）を送信する。タグ読取装置２２は、当該タグ信号を受信し、演算装置２３にタグＴ（例えば、タグＴ１）を検出したという情報を送る。
ステップ１００２：測位信号受信装置２１は、各擬似衛星Ｐ１〜Ｐ４からの測位信号を受信し、受信時刻と搬送波の位相を検出し、受信時刻、搬送波の位相と測位信号を演算装置２３に送る。
ステップ１００３：演算装置２３は、各擬似衛星Ｐからの測位信号と受信時刻をもとに以下のように位置特定装置Ｕの位置を計算する。各擬似衛星Ｐと位置特定装置Ｕとの距離（擬似距離）は式１７で表わすことができる。式１７の左辺は座標を用いて、右辺は時間を用いて表わしている。ここで、Ｔｕは位置特定装置Ｕでの受信時刻、ｂは位置特定装置Ｕの時刻誤差、Ｔｔは擬似衛星Ｐでの送信時刻３０２である。この擬似衛星Ｐの送信時刻３０２は時刻補正量３０４を用いて求めたものである。
【００７５】
【数１７】

【００７６】
式１７で未知数Ｘｕ、Ｙｕ、Ｚｕ、ｂを図４のステップ４０５のような繰り返し計算で求める。但し、ここで求めた位置特定装置Ｕの位置は、測位信号のコードのみを使用して求めたため、精度は数十ｃｍから数ｍである。
演算装置２３は、求めた位置特定装置Ｕの位置をもとに、記憶装置２４に記憶されているタグＴの位置情報テーブル９０１から、どのタグＴであるかを特定し、その位置情報を参照する。
以上のようにして得られたタグＴの位置情報、各擬似衛星Ｐの測位信号と搬送波の位相をもとに図４のステップ４０３〜ステップ４０５を行なうことにより、数ｃｍオーダの精度を持つ位置特定装置Ｕの位置を計算する。
【００７７】
擬似衛星Ｐで時刻を１ＧＨｚのクロックで発生させようとすると、電子回路で電磁波ノイズの問題が発生する。例えば、擬似衛星Ｐからクロック１００ＭＨｚの分解能で測位信号が送信された場合、距離にすると３ｍの分解能になり、位置特定装置Ｕでは高精度な測位ができない。そこで、統計的に求められた精度の高い時刻補正量３０４で時刻情報を修正することにより高精度な位置を求めることができる。
【００７８】
図９の一実施例では、タグＴ自体は、自らがタグＴ１〜Ｔ３の何れであるかを識別できる信号を送信するだけで良い。即ち、タグＴからは、タグＴの実際の位置情報を送信しなくても良い。その代わりに、位置特定装置Ｕの内部に少なくとも１個以上のタグＴの位置情報を参照できるテーブル等を設けるものである。従って、この場合には、例えば、以下のような利点がある。
（１）タグＴは、自分の位置情報を送信しないので、必ずしも位置情報をタグＴ内部に記憶する必要がない。
（２）タグＴが自分の位置情報を送信しない分、情報信号の送信に必要とする時間を短縮化出来る。
（３）タグＴの位置が移動した場合は、位置特定装置Ｕの内部の上記テーブル等の位置情報を修正することで対応出来る。
【００７９】
なお、上記（３）における上記テーブル等の位置情報の修正は、位置特定装置Ｕが各々のタグＴの位置情報を特定した時等に修正することも出来る。しかしながら、このタイミングでのみ修正することに限定されるものでなく、位置特定装置Ｕが処理可能である場合に、適宜修正されるものであって良い。
【００８０】
図１１に本発明の位置特定装置１１１０とタグ１１２０の一実施例を示す。
【００８１】
本発明の位置特定装置１１１０の一実施例は、図１に示す位置特定装置１１１０にレーザ受光装置１１１１を追加したものである。なお、上記一実施例では、タグ読取装置２２は、必ずしも必要ではない。
レーザ受光装置１１１１は、レーザ１１３０を受光する。
【００８２】
本発明のタグ１１２０の一実施例は、レーザ照射装置１１２１と、送受信装置１１２２と、制御装置１１２３と、記憶装置１１２４と、電源装置１１２５と、リレー装置１１２６を備えている。
レーザ照射装置１１２１は、レーザ１１３０を照射する。
アンテナなどの送受信装置１１２２は、電力となる電波を受信し、電力を発生し、制御装置１１２３、記憶装置１１２４とリレー装置１１２６を駆動する。また、タグ１１２０の位置情報を電波で送信する。
ＣＰＵやＩＣなどの制御装置１１２３は、情報や装置の制御を行なう。
メモリなどの記憶装置１１２４は、タグ１１２０の位置情報を記憶している。
電源装置１１２５は、レーザ照射装置１１２１に電源を供給する。
リレーなどのリレー装置１１２６は、リレーに電流が流れると、電源装置１１２５とレーザ照射装置１１２１の間の配線をつなぐ。
【００８３】
図１１に示す本発明のタグ１１２０の一実施例の動作手順を説明する。送受信装置１１２２は、電力となる電波を受信し、制御装置１１２３、記憶装置１１２４とリレー装置１１２６を駆動する。制御装置１１２３は、記憶装置１１２４に記憶されているタグ１１２０の位置情報を送受信装置１１２２に送る。リレー装置１１２６は、電流が流れ、駆動すると、レーザ照射装置１１２１と電源装置１１２５をつなぐ。送受信装置１１２２は、タグ１１２０の位置情報を電波で送信する。レーザ照射装置１１２１は電源装置１１２５から供給された電力によりレーザ１１３０を照射する。上記送受信装置１１２２は、送信装置と受信装置を一緒の構成として説明していたが、送信装置と受信装置とを別々の装置として構成するものであっても良い。
【００８４】
図１１に示す本発明の位置特定装置１１１０の一実施例の動作手順を説明する。図４のステップ４０１においてレーザ受光装置１１１１がレーザ１１３０を受光したときのタグ信号を検出し、そのタグ１１２０の位置情報をもとにステップ４０２〜ステップ４０５を行う。
【００８５】
図１１に示す本発明の位置特定装置１１１０とタグ１１２０の一実施例において、レーザ照射装置１１２１から照射されるレーザ１１３０の示す位置は、上述した１０ｃｍと比較しても充分に小さい精度でもって位置を特定可能とするものである。更に、レーザ受光装置１１１１は当該レーザ１１３０を狭域で受光するため、位置特定装置１１１０の受光位置とタグ１１２０の送信する情報位置情報との誤差がより小さくなるため、タグ１１２０の位置を精度よく検出することができる。
【００８６】
しかしながら、上記レーザ１１３０の示す位置とタグ１１２０から送信された信号の位置情報とを一致させることが困難である場合は、その両者の差は、ＧＰＳ信号を送信する信号波長の半分以下の値（この値を所定値と称することとする）にすることが必要である。このことは、上記図７で説明した場合での電波強度の最大となる位置７０１とタグ信号が示す位置情報とを精度高く近づける、若しくは一致させよとする場合においても、上記所定値が目安にされるべきである。また、図８におけるバーコードを用いる場合も同様に所定値を目安にされてよい。
【００８７】
図１１では、レーザ１１３０によって、タグ１１２０の位置を特定可能とし、送信される位置情報は、上記送受信装置１１２２から送信するものとして説明した。しかしながら、上記レーザ１１３０のレーザ光自身の発光の仕方を変えて、例えば、レーザ光を変調して上記位置情報を重畳等して送信するようにするものであっても良い。但し、その場合には、位置特定装置１１１０の内部のレーザ受光装置１１１１は、上記変調されたレーザ光から位置情報を取得する処理も行うものとなる。
【００８８】
図１２に本発明の位置情報書込装置１２１０とタグＴの一実施例を示す。
位置情報書込装置１２１０は、図１に示す位置特定装置Ｕでタグ読取装置２２の代わりにタグ書込装置１２１１を備えた装置である。
タグライターなどのタグ書込装置１２１１は、タグＴに電波を送信し、タグＴの位置情報を送信する。
タグＴは、アンテナ１２２１と、受信装置１２２２と、制御装置１１２３と、記憶装置１１２４と、送信装置１２２３とを備えている。
アンテナ１２２１は、タグ書込装置１２１１から送信された電波をとらえる。また、送信装置１２２３から送られる信号を電波として送信する。
コイルや受信回路などから構成される受信装置１２２２は、アンテナ１２２１から送られてきた信号をもとに電磁誘導作用により電流を発生させ、その電流で受信回路を駆動し、電波の信号を検出する。
ＣＰＵやＩＣなどの制御装置１１２３は、受信したタグＴの位置情報を記憶装置１１２４に書き込む。
メモリなどの記憶装置１１２４は、タグＴの位置情報を記憶する。
送信回路などから構成される送信装置１２２３は、タグＴの位置情報をアンテナに送ることで、上記位置特定装置Ｕ等に位置情報を送信する。
【００８９】
図１２に示す位置情報書込装置１２１０の一実施例の動作手順を説明する。図１に示す本発明の測位特定システムの一実施例の位置特定装置Ｕにおける位置特定の動作手順を行い、タグＴの位置を高精度に計算する。計算したタグＴの位置情報をタグ書込装置１２１１に送り、タグ書込装置１２１１はタグＴの位置情報をタグＴに送信する。
【００９０】
図１２に示すタグＴの一実施例の動作手順を説明する。アンテナ１２２１はタグ書込装置１２１１から送信された電波をとらえる。受信装置１２２２は、アンテナ１２２１からから送られてきた信号を受信し、電磁誘導作用により電流を発生させ、制御装置１１２３、記憶装置１１２４、送信装置１２２３を駆動させる。受信装置１２２２は、タグの位置情報を表わす信号を受信し、制御装置１１２３に送る。制御装置１１２３は、受信装置１２２２から送られたタグＴの位置情報を記憶装置１１２４に送り、書換える。
【００９１】
図１２に示す位置情報書込装置１２１０の位置実施例において、高精度に測位したタグＴの位置情報をタグＴに書きこむことにより、タグＴの設置工事での設置位置の精度を高める必要がない。
【００９２】
上記の一実施例は、例えば、野球やサッカーのスタジアム等の芝を自動的に刈取るような装置の位置特定装置に用いたり、トンネルを通行する際のトラック等の位置特定をさせたり、駅ホームを通行する際の列車の位置特定をさせたり、高い建物がある市街地や山間部などのＧＰＳ衛星からの信号を受信しにくい場所での測量機やナビゲーションとして用いることに適用可能である。
【００９３】
また、上記の一実施例で上記擬似衛星は、ＧＰＳ衛星のＧＰＳ信号を受信出来ない場所では、擬似衛星から本来のＧＰＳ信号に代わる測位信号を送信するので、例えば、屋外・屋内を問わず、位置特定処理を連続して実施する事を可能とするものである。逆に言えば、上述した様にシームレスに測位出来る様に擬似衛星やタグ等を設置ものであり、これによって、測位出来ていない期間の時間の長さが、実施形態に応じて実用上問題の無い時間の長さとするものである。
【００９４】
従って、上記一実施例では、例えば、屋外で受取った荷物を輸送して、屋内に入って、ＧＰＳ衛星からのＧＰＳ信号を受信困難な状態となっても、擬似衛星からの測位信号を受信することで、そのまま輸送処理等を継続出来るようになる。
【００９５】
また、上記一実施例では、上記位置情報提供装置から位置情報を取得することによって、屋外から屋内に入っても、位置特定の初期位置を特定、計算する処理が従来よりも速く出来るようにするから、屋内に入ったからといって、位置特定に時間を要して、輸送処理等に支障を来たすような事態を回避可能とするものである。
【００９６】
なお、上述の実施例を適用した装置としては、例えば、図９に示すような装置が挙げられる。図９に示す構成を元にして、自らが自分で移動しながら、所望の作業を実施する装置（例えば、自走装置と称するものとする）を提供可能である。
【００９７】
図９に示すのは、主に位置特定装置Ｕを説明する図であるが、この図９に対して、図示していないが、自らを移動させる移動装置と、所望の作業を実施する作業装置と、上記移動装置、または作業装置を駆動する駆動力を発生、伝達する駆動力発生伝達装置とを設けることで、上述の自走装置を構成することが可能となる。
【００９８】
上記自走装置の実施例では、上記位置特定装置による位置の特定処理に基づいて、自らが、例えば無人であっても目的地へ移動することができ、所望の作業としては、荷物を移動したり、スタジアム等の芝を自動的に刈取ったり、清掃を実施したりすることが可能となるものである（この自走装置をロボットと称しても良い）。
【００９９】
また、上記実施例では、ＧＰＳ衛星からのＧＰＳ信号の信号の搬送波、データ形式等に準拠して、上記測位信号を上記擬似衛星から送信するものであるから、上記測位信号の受信、処理にあたっては、屋外・屋内を問わず、継続して実施可能である。従って、ＧＰＳ信号の受信が困難である場所と受信出来る場所との間（例えば、屋外・屋内）での移動において、上記一実施例は位置特定を従来よりも改善するものであり、その他の一実施例として、遊園地やテーマパーク等で乗客を乗せた輸送装置を屋外・屋内との間であっても所定の軌道、ルート等に基づいて、移動させるものが実施可能である。また、その他の一実施例として、工場等での生産設備、生産過程等において、作業対象物等を乗せた輸送装置（単に輸送だけでなく、輸送装置自身に上記作業対象物に対する作業装置を有するものであっても良い）を屋外・屋内との間で所定の軌道、ルート等に基づいて、移動させるものが実施可能である。この場合は、複数の生産設備があって、その何れかにＧＰＳ信号の受信困難な設備を有していても、継続して、輸送、作業を実施する事が可能となる（例えば、トラックから受渡された物品を搭載する自走式装置に対して輸送、作業を繰返す等で生産、製造して、その際も屋外、屋内の出入りを行い、倉庫の所定位置に上記物品を置く、若しくは、また輸送用トラックに積込ませる等の実施をするものであっても良い）。
【０１００】
また、上記適用形態においては、上述の実施例における初期位置の特定を従来よりも速く出来るようにするものであるから、上記適用形態において、初期位置が特定出来ないことによる問題の発生を従来よりも回避出来るようにするものであり、更に適用形態を広くすることも可能となる。
【０１０１】
なお、上記一実施例は、上述の説明した分野への適用に限定されるものではなく、擬似衛星を用いた測位をするものにおいて有効である。
【０１０２】
【発明の効果】
本発明によれば、擬似衛星を用いた測位において初期位置を特定するのに要する時間を従来に比較して短縮化を図ることが可能となる。
【０１０３】
また、従来と比較して、クロックの分解能が高い時計装置を用いずに、従来と比較して精度の高い時刻情報を提供する擬似衛星を提供することが可能となる。
【図面の簡単な説明】
【図１】本発明の位置特定システムの一実施例の構成を示す図である。
【図２】本発明の擬似衛星の一実施例の動作を示す図である。
【図３】本発明の擬似衛星の一実施例が送信する信号の構成を示す図である。
【図４】本発明の位置特定装置の一実施例の動作を示す図である。
【図５】本発明の擬似衛星が送信する搬送波を示す図である。
【図６】本発明の擬似衛星が送信する搬送波を示す図である。
【図７】本発明の位置特定装置の一実施例で測定した電波強度と位置の関係を示す図である。
【図８】本発明の位置特定システムの一実施例のバーコードの構成を示す図である。
【図９】本発明の位置特定装置とタグの一実施例の動作を示す図である。
【図１０】本発明の位置特定装置の一実施例の動作を示す図である。
【図１１】本発明の位置特定装置とタグの一実施例の動作を示す図である。
【図１２】本発明の位置情報書込装置とタグの一実施例の動作を示す図である。
【符号の説明】
Ｇ１〜Ｇ４…ＧＰＳ衛星、Ｒ…リピータ、Ｐ１〜Ｐ４…擬似衛星、Ｐ…擬似衛星、Ｕ…位置特定装置、Ｔ１〜Ｔ３…タグ、Ｔ…タグ、１１…ＧＰＳ信号受信装置、１２…演算装置、１３…記憶装置、１４…時計装置、１５…測位信号送信装置、１６…電源装置、２１…測位信号受信装置、２２…タグ読取装置、２３…演算装置、２４…記憶装置、２５…電源装置、３１…地上、３２…遮蔽空間、３３…入口、３０１…コードの始まりを表わす情報、３０２…送信時刻、３０３…週の番号、３０４…時刻補正量、３０５…擬似衛星の経度、３０６…擬似衛星の緯度、３０７…擬似衛星の高度、３０８…パリティ、５０１〜５０４…位置特定装置の位置の候補、６０１…位置特定装置の初期位置あるいは前回の位相をもとに求めた位置特定装置の位置、６０２〜６０３…擬似距離の候補、６０４〜６０５…位置特定装置の位置の候補、７０１…電波強度が最大になった位置、８０１…コードの始まりを表わすコード、８０２…バーコードの位置情報を表わすコード、８０３…バーコードの位置、８０４…次のバーコード、９０１…タグの位置情報のテーブル、１１１０…位置特定装置、１１１１…レーザ受光装置、１１２０…タグ、１１２１…レーザ照射装置、１１２２…送受信装置、１１２３…制御装置、１１２４…記憶装置、１１２５…電源装置、１１２６…リレー装置、１１３０…レーザ、１２１０…位置情報書込装置、１２１１…タグ書込装置、１２２１…アンテナ、１２２２…受信装置、１２２３…送信装置。[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a technique for specifying a position of a device based on a signal transmitted by radio waves.
[0002]
[Prior art]
The conventional position specifying device and the initial position setting method move the position specifying device to change the phase of the carrier of the positioning signal transmitted from the pseudolite, and obtain the positioning signal obtained during this time and the changing carrier. The position of the position specifying device is calculated based on the phase. (For example, see Non-Patent Document 1.)
[0003]
A conventional pseudo satellite receives a GPS signal from a GPS (Global Positioning System) satellite, calculates corrected data of a clock based on this information, corrects the clock, and generates a signal based on the corrected clock. Has been sent. (For example, refer to Patent Document 1).
[0004]
In a conventional arrangement of pseudo satellites in a tunnel, transmission antennas of the pseudo satellites are arranged to face each other so as not to be affected by multipath in a region surrounded by a radio wave reflector such as a tunnel wall surface.
[0005]
[Non-patent document 1]
Christian Almayer, "Psudolites-A Means to Enhance the Applicability of GNSS to Multiplicity Areas," Proceeding of the Annual Meeting. Institute of Navigation Vol. 55th Publication, June 28, 1999, p. 515-524
[Patent Document 1]
JP 2000-180527 A
[0006]
[Problems to be solved by the invention]
In the prior art of Non-Patent Document 1, when calculating the initial position of the position identification device only with the positioning signal transmitted from the pseudo satellite, the position identification device is used to identify the phase of the received carrier wave. And it is necessary to change the phase of the received carrier wave, and it takes time to specify the initial position of the position specifying device.
[0007]
In the prior art of Non-Patent Document 1, in order to provide highly accurate time information, it is necessary to correct the clock with high accuracy based on the clock correction data calculated using the GPS signal. For this reason, there is a problem that a clock device that transmits a clock with high resolution is required, and the device cost is increased.
[0008]
In the prior art of Patent Literature 1, since a pseudo satellite is installed facing a wall surface of a tunnel, many pseudo satellites need to be installed, and there is a problem that the installation cost of the pseudo satellite increases.
[0009]
A first object of the present invention is to provide a position specifying device and a position setting method for shortening the time required for specifying an initial position in positioning using a pseudolite compared to the related art.
[0010]
A second object of the present invention is to provide a pseudo-satellite that provides time information with higher accuracy than in the past without using a clock device having a higher clock resolution than in the past.
[0011]
A third object of the present invention is to provide a pseudo satellite capable of performing positioning in a tunnel with a smaller number of pseudo satellites than in the past.
[0012]
[Means for Solving the Problems]
The first purpose of the above is
A pseudo satellite that transmits a positioning signal including the transmission time and its own position information is installed,
In a room where a position information providing device that transmits information of its own position is installed,
A positioning signal receiving device that receives a positioning signal transmitted from a pseudolite and detects a phase of a carrier wave of the positioning signal;
A position information acquisition device that receives a signal transmitted from the position information providing device,
Positioning using a pseudo satellite, comprising: a positioning signal, a phase of a carrier of the positioning signal, and an arithmetic unit that calculates an initial position of the position specifying device based on position information of the position information providing device. Achieved by the device.
[0013]
In addition, the first object is to:
In a position identification device that identifies its own position,
Detect the position information transmitted from the position information providing device installed indoors,
Receives a positioning signal including the transmission time and the position information of the pseudo satellite transmitted by the pseudo satellite installed indoors, detects the phase of the carrier of the positioning signal,
This is achieved by a position setting method using a pseudo satellite, wherein the initial position of the position specifying device is calculated based on the positioning signal, the phase of the carrier of the positioning signal, and the position information of the position information providing device.
[0014]
In addition, the first object is to:
A pseudo satellite that transmits a positioning signal including the transmission time and its own position information is installed,
In a room where a position information providing device that transmits a signal notifying the presence of itself is installed,
A positioning signal receiving device that receives a positioning signal transmitted from a pseudolite and detects a reception time of the positioning signal and a phase of a carrier of the positioning signal,
A position information acquisition device that receives a signal transmitted from the position information providing device,
A storage device for storing position information of a plurality of position information providing devices,
Calculate the position of the position identification device based on the positioning signal and the reception time of the positioning signal,
Identify the position information providing device received based on the position of the position identification device,
A pseudo satellite, comprising: a positioning signal, a phase of a carrier wave of the positioning signal, and an arithmetic unit that calculates an initial position of the position specifying device based on the position information of the specified position information providing device. Achieved by a localization device.
[0015]
In addition, the first object is to:
In a position identification device that identifies its own position,
Detect the signal transmitted from the location information providing device installed indoors,
Receives a positioning signal including the transmission time transmitted by the pseudolite installed indoors and the position information of the pseudolite, detects the reception time of the positioning signal and the phase of the carrier wave,
Calculate the position of the position identification device based on the positioning signal and the reception time of the positioning signal,
Identifying the received position information providing device based on the position of the position specifying device from among the plurality of position information providing devices stored in the storage device,
This is achieved by a position setting method using a pseudo-satellite, which calculates an initial position of the position specifying device based on the positioning signal, the phase of the carrier of the positioning signal, and the position information of the specified position information providing device. You.
[0016]
Also, the second purpose is to:
A pseudo satellite having a clock device that generates a clock and outputs a time and transmits a positioning signal including information on a transmission time and its own position.
The error of the clock device is calculated based on the GPS signal transmitted from the GPS satellite,
This is achieved by a pseudo satellite characterized in that this error information is included in the positioning signal as time correction information and transmitted.
[0017]
The third purpose is to
In a pseudolite transmitting a positioning signal including transmission time and its own position information,
This is achieved by a pseudo-satellite, which is installed above a tunnel entrance and emits radio waves toward the inside of the tunnel.
[0018]
The pseudo satellite transmits a positioning signal instead of the original GPS signal from the pseudo satellite in a place where a GPS signal cannot be received. Therefore, regarding the position specification, the position specification processing can be performed based on either the GPS satellite or the pseudo satellite. This is because even when the signal from the GPS satellite is being received and the signal from the pseudo satellite is being received, the position is not determined in the execution of the processing for the position identification, assuming that there is a period during which positioning cannot be performed. However, the length of the period is made smaller than before. Therefore, this is realized by providing a position where the pseudo satellite or the position information providing device is set near a boundary where the GPS signal from the GPS satellite cannot be received or the reception becomes difficult.
[0019]
Also, by acquiring the position information from the position information providing device, the initial position of the position is specified, the calculation can be performed faster than before, or the length of the period during which the positioning cannot be performed is made longer than before. It is to make it smaller.
[0020]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 shows the configuration of an embodiment of the position specifying system of the present invention.
One embodiment of the present invention includes a repeater R, pseudo satellites P1 to P4, a position specifying device U, and tags (position information providing devices) T1 to T3.
The repeater R having an antenna, an amplifier and the like is installed on the ground 31, receives and amplifies GPS signals transmitted from the GPS satellites G1 to G4, and transmits the amplified signals to the pseudo satellites P1 to P4.
Each of the pseudo satellites P1 to P4 includes a GPS signal receiving device 11, an arithmetic device 12, a storage device 13, a clock device 14, a positioning signal transmitting device 15, and a power supply device 16, and is installed in a shielded space 32. Have been.
The GPS signal receiving device 11 including an RF (Radio Frequency), an A / D (analog / digital) converter, a quadrature detection circuit, a despreading circuit, a correlation value calculation circuit, and the like receives a GPS signal.
An arithmetic unit 12 such as a CPU (central processing unit) central processing unit (GPS) based on the GPS signal and the position information of the repeater R, the transmission speed of the radio wave, and the transmission time from the repeater R to the pseudo satellite P, The time correction amount 304 is calculated, and a positioning signal is generated.
The storage device 13 such as a hard disk or a memory includes a transmission speed of a radio wave, position information of the repeater R, a processing time of the repeater R, a transmission delay time per length in an electric wire connecting the repeater R and the pseudo satellite P, a repeater R and a pseudo satellite. The length of the electric wire connecting P and the position information of the pseudo satellite P are stored.
[0021]
In the pseudo satellite, a clock including a clock circuit for generating a reference time signal, a reference clock for performing arithmetic processing, receiving a GPS signal, transmitting a positioning signal, performing signal processing and control in the pseudo satellite, and the like. The device 14 generates a clock signal that is a time signal.
The positioning signal transmitting device 15 including an antenna, a digital / analog (D / A) converter, an amplifier, a spread modulation circuit, and the like transmits a positioning signal as a radio wave of 1575 MHz (frequency in a range of 1575.42 ± 12 MHz).
The power supply device 16 supplies power to the GPS signal receiving device 11, the arithmetic device 12, the storage device 13, the clock device 14, and the positioning signal transmitting device 15.
The position specifying device U includes a positioning signal receiving device 21, a tag reading device 22 (position information obtaining device), a computing device 23, a storage device 24, and a power supply device 25.
The positioning signal receiving device 21 including an antenna, an RF, an A / D converter, a quadrature detection circuit, a despreading circuit, and a correlation value calculation circuit receives and receives positioning signals transmitted from the pseudo satellites P1 to P4. The phase of the radio wave at the time is detected.
The tag reading device 22 such as a tag reader transmits a radio wave serving as electric power to the tag T, and receives a tag signal transmitted from the tag T.
The arithmetic unit 23 such as a CPU calculates the current position based on the positioning signal, the phase of the radio wave at the time of reception, and the tag signal (position information of the tag T, calculation initial position information).
Storage means such as a hard disk or a memory stores the wavelength of the radio wave.
The power supply device 25 supplies power to the positioning signal receiving device 21, the tag reading device 22, the arithmetic device 23, and the storage device 24.
[0022]
Tags T1 to T3 each including an antenna, an integrated circuit (IC), and the like are embedded in a floor or the like. It stores the position information of the tag T, receives radio waves serving as electric power from the tag reader, and transmits the position information (tag signal) of the tag T. The position information of the tag T is represented by 32 bits of longitude position information, 31 bits of latitude position information, and 20 bits of altitude position information. Thus, a position on the order of 1 cm can be represented. Here, the altitude represents information for 10,000 m.
[0023]
An operation procedure of the pseudo satellites P1 to P4 of the embodiment of the position specifying system of the present invention shown in FIG. 1 will be described with reference to FIG.
Step 201: The GPS signal receiving device 11 receives each GPS signal from each of the GPS satellites G1 to G4 sent from the repeater R, and obtains the reception time at that time based on the time signal from the clock device 14. Then, the GPS signals from the GPS satellites G1 to G4 and the reception time measured by the clock device 14 are sent to the arithmetic unit 12.
Step 202: The arithmetic unit 12 transmits the time Tg and the position (Xg, Yg, Zg) transmitted from the GPS satellites G1 to G4 described in each GPS signal, and the transmission speed c of the radio wave stored in the storage device 13. And the position (Xr, Yr, Zr) of the repeater R, the reception time Tr of the repeater R for each GPS signal is calculated using Expression 1. Here, k is the number (1 to 4) of the GPS satellites G1 to G4.
[0024]
(Equation 1)

[0025]
Step 203: The arithmetic unit 12 connects the processing time tr of the repeater R stored in the storage device 13, the transmission delay time tw per length of the electric wire connecting the repeater R and the pseudo satellite P, and connects the repeater R and the pseudo satellite P. Based on the length Lrp of the electric wire, the reception time Tp of the pseudo satellite P for each GPS signal is calculated using Expression 2.
[0026]
(Equation 2)

[0027]
Step 204: The arithmetic unit 12 calculates the difference te between the reception time Tp ′ measured by the GPS signal reception device 11 and the reception time Tp calculated based on each GPS signal using Equation 3 for each GPS signal. . This calculation is performed for each C / A code (1 msec) or for each navigation data (20 msec), and the average of the difference is used as the time correction amount 304.
[0028]
[Equation 3]

[0029]
However, when the time correction amount 304 is larger than the clock, the time of the clock device 14 is corrected, and the time correction amount 304 is also reduced by the corrected time of the clock device 14. Step 205: The arithmetic device 12 creates the positioning signal shown in FIG. 3 based on the calculated information, the information stored in the storage device 13 and the time information of the clock device 14, and transmits the positioning signal to the positioning signal transmitting device 15 Send to The positioning signal shown in FIG. 3 is in the form of a subframe of a GPS signal, and information 301 (8 bits (the bits are abbreviated as b in FIG. 3)) indicating the start of the code, and 0 as the start of the week. Time 302 (17 bits, resolution 6 seconds, subframe transmission interval is 6 seconds), week number 303 (10 bits) from January 6, 1980, time correction amount 304 (20 Bit), the longitude 305 of the pseudo satellite P (32 bits: In FIG. 3, the 32 bits of the longitude are divided into 24b and 8b according to the data format and displayed), and the latitude 306 of the pseudo satellite P (31 bits: data in FIG. 3). According to the format, the 31 bits of latitude are divided into 16b and 15b and displayed.), The altitude 307 (20 bits) of the pseudolite P, and the parity 308 (6 bits where parity is provided at 10 places) The value depends on the information about each parity, and therefore does not always have the same value.) (A total of 300 bits is one unit. This unit is repeated.) The time correction amount 304 is multiplied by 2 to the power of -31 to represent a resolution of 0.5 ns on the same order as the time information of the GPS signal. The position information of the pseudo satellite P indicates a resolution of 1 cm.
Step 206: The positioning signal transmitting device 15 spread-modulates the signal with the pseudo noise code and transmits the positioning signal.
[0030]
By receiving the positioning signal, for example, even in a place where a GPS signal cannot be received, such as indoors, positioning can be performed based on the positioning signal.
[0031]
The operation procedure of the initial position setting in the position specifying device U of the embodiment of the position specifying system of the present invention shown in FIG. 1 will be described with reference to FIG.
Step 401: The tag reading device 22 transmits a radio wave serving as the power of the tag T. The tag T receives a radio wave serving as electric power, drives the IC with the electric power, and transmits the position information of the tag T. The tag reading device 22 receives the position information of the tag T transmitted from the tag T, and sends the position information of the tag T to the arithmetic device 23.
Step 402: The positioning signal receiving device 21 receives a positioning signal transmitted from each of the pseudo satellites P1 to P4. The quadrature detection circuit of the positioning signal receiving device 21 determines the phase of the carrier wave, and sends the positioning signal of each pseudo satellite P and the phase of the carrier wave to the arithmetic device 23.
Step 403: The arithmetic unit 23 calculates the distance L between the tag T and each pseudo satellite P based on the position information of the pseudo satellite P and the position information of the tag T included in the positioning signal from each pseudo satellite P. I do.
Step 404: The pseudo distance ρ obtained from the phase is as shown in Expression 4. Here, k is the number of the pseudo satellite P (1 to 4 in FIG. 1), λ is the wavelength of the radio wave, N is the number of the radio wave from the pseudo satellite P to the position specifying device U, and φ is the received carrier wave. Phase.
[0032]
(Equation 4)

[0033]
The number N of waves whose pseudorange ρ obtained from the phase is closest to the distance L is obtained. In FIG. 5, a point 502 is selected from the position candidates 501 to 504 of the position specifying device U, and the number of waves from the pseudo satellite P to the point 502 is obtained. Thus, the pseudo distance ρ can be obtained.
Step 405: The relationship between the pseudorange ρk obtained from the phase, the position (Xk, Yk, Zk) of each pseudolite P, and the position (Xu, Yu, Zu) of the position specifying device U can be expressed by Equation 5.
[0034]
(Equation 5)

[0035]
Therefore, the position of the position specifying device U, which is an unknown number, is obtained by the following repeated calculation. Equations (5) to (15) are used until ν in Equation (12) becomes smaller than a certain threshold so that the difference between the pseudorange ρk obtained from the phase of the carrier wave and the distance between each pseudolite P and the position specifying device U becomes smaller. The initial position of the position specifying device U is obtained by repeatedly calculating. Here, δρk is the difference between the pseudorange ρk obtained from the phase and the pseudorange obtained from the positions of each pseudo satellite P and the position specifying device U. When the number of pseudo satellites P is four or more, the rows of α and δρ increase.
[0036]
(Equation 6)

[0037]
(Equation 7)

[0038]
(Equation 8)

[0039]
(Equation 9)

[0040]
(Equation 10)

[0041]
[Equation 11]

[0042]
(Equation 12)

[0043]
(Equation 13)

[0044]
[Equation 14]

[0045]
(Equation 15)

[0046]
(Equation 16)

[0047]
An operation procedure for specifying a position in the position specifying device U of the embodiment of the positioning specifying system of the present invention shown in FIG. 1 will be described. The positioning signal receiving device 21 receives the positioning signals from the pseudo satellites P1 to P4, obtains the phase of the carrier wave, and sends it to the arithmetic device 23. The arithmetic unit 23 determines that the pseudo distance has moved from the initial position 601 of the position specifying device U set in the operation procedure shown in FIG. 4 in the short or long direction, and the two pseudo distances 602 and 603 (FIG. (Candidates 604 and 605 of the position specifying device U) are given as pseudo-range candidates. Therefore, when there are four pseudo satellites P, there are 16 combinations (2 to the fourth power), and the calculation of step 403 in FIG. 4 is performed for each of them, and each of the pseudo satellites P1 to P4 and the position specifying device U And the position of the position specifying device U when the sum of the squares of the difference between the pseudorange obtained from the position and the pseudorange obtained from the phase is the smallest. Next, the position of the position specifying device U is obtained from the position 601 of the position specifying device U obtained based on the previous phase and the received positioning signal and phase by the above-described procedure (the above three sentences), and this procedure is repeated. Thus, the position of the position specifying device U is continuously obtained.
[0048]
Conventionally, the pseudo satellite P has to transmit a positioning signal with high accuracy with respect to time, and requires a clock on the order of 1 GHz. However, when a clock on the order of 1 GHz is generated, noise is also generated along with the generation of the clock, and a configuration for solving the problem of electromagnetic wave noise or the like in an electronic circuit is required, thereby increasing the apparatus cost. In the embodiment of the pseudolite P of the present invention shown in FIG. 1, the time correction amount 304 can be obtained with high accuracy by statistically obtaining the clock error. Therefore, by attaching the time correction amount 304 to the positioning signal, time information having a higher resolution than the clock of the clock device 14 can be given to the position specifying device U, and high-precision positioning can be realized by position specification. As a result, the cost of the device can be reduced because the expensive timepiece device 14 is not used. In addition, the influence of noise as described above can be reduced, and a configuration for solving the problem of electromagnetic noise in an electronic circuit is not necessarily required, and an increase in device cost can be suppressed.
[0049]
In the embodiment of the position specifying device U of the present invention shown in FIG. 1, since the position is calculated using the phase, the position value obtained in the calculation has higher accuracy than the carrier wavelength of 20 cm. For this reason, the accuracy can be improved to several centimeters as compared to the accuracy of 5 to 10 m of the single positioning that calculates the position only by the code information of the positioning signal. If a position with an accuracy on the order of several centimeters can be obtained in this way, it can be applied to a mobile machine such as a robot and surveying. For example, it is conceivable to have a device, such as a robot, that automatically moves and performs work and processing such as transporting goods or performing cleaning in place of humans indoors. Device). In this device, it is also possible to automatically move by itself by simply performing the work and processing while avoiding a wall or an obstacle. However, by being able to specify the indoor position and the own position, it is possible to widen the movable range and freely set the course to be moved. For example, it is possible to calculate and select a course that minimizes the moving distance to the target position, work, and processing, and to move sequentially through a plurality of target points. The calculation and selection of these courses are not always easy to realize when moving, provided that they simply avoid obstacles. If a position with an accuracy of the order of several centimeters can be obtained as described above, while referring to information such as a map inside a building provided in the apparatus, while acquiring the movement of its own position, based on the above map etc. Can be moved.
[0050]
Conventionally, in a device that performs high-precision positioning based on the phase of a carrier wave, in order to capture the pseudo satellite P, the device is moved to specify the order of the wave of the pseudo satellite P, and the carrier wave is The data in which the phase was changed was required. On the other hand, in one embodiment of the position specifying device U of the present invention shown in FIG. 1, it is assumed that the position of the wave of the pseudo satellite P is specified based on the position information of the tag T (operation initial position information). It is possible. Accordingly, in the embodiment of the position specifying device U of the present invention shown in FIG. 1, it is not necessary to keep moving until the pseudo satellite P is acquired unlike the related art, so that the processing required for specifying the initial position is speeded up. it can.
[0051]
If a device that performs high-precision positioning based on the phase of a carrier wave is incorporated in a mobile machine such as a robot, it is necessary to move the mobile machine without knowing its position in order to set the initial position. Danger such as entry into a safe area occurs. On the other hand, when the embodiment of the position specifying device U of the present invention shown in FIG. 1 is incorporated in a mobile machine, the initial position can be set in a stationary state, so that the mobile machine is moved in a state where the position of the mobile machine is not known as in the related art. You don't have to take risks.
[0052]
In the embodiment of the position specifying system of the present invention shown in FIG. 1, since the position specifying device U has the same frequency and the same data format as the radio waves from the GPS satellites, the positioning signal receiving device 21 transmits the signals from the GPS satellites G1 to G4. When the arithmetic unit 23 can receive the GPS signal and obtains the position of the position specifying device U based on the reception time and the GPS signal, the positioning is performed not only at the place where the pseudo satellite is installed but also at the place where the signal of the GPS satellite can be received. Thus, the position of the position specifying device U can be obtained in a wider area.
[0053]
In the embodiment of the position specifying system of the present invention shown in FIG. 1, by installing the tag T3 at the entrance 33, it is possible to perform high-accuracy positioning using a phase when entering a room. As a result, positioning can be performed seamlessly from outdoors to indoors. In addition, by installing the pseudo satellite P or the tag T near a boundary where a GPS signal cannot reach due to a shield or the like or a boundary where a GPS signal is difficult to receive, positioning can be performed seamlessly regardless of indoors and outdoors.
[0054]
Here, “seamless” means that the processing related to the positioning is performed without any problem even if there is a difference in the reception state between the case where the signal from the GPS satellite is received and the case where the signal from the pseudo satellite is received. It expresses what is being implemented. The “implemented without any problem” may mean that the processing related to the positioning is processed continuously (that is, not discontinuous) even if there is a difference in the reception state. However, the present invention is not limited to this. For example, even if the processing related to the positioning is performed discontinuously, the length of the period during which positioning cannot be performed due to the discontinuous processing is not practical. It is sufficient if the length of time has no problem or is smaller than the length of time having no problem in practical use.
[0055]
Note that the length allowed as the “length of the period during which positioning has not been performed” is variable depending on the actual embodiment, and is not necessarily a predetermined length of time. It is not necessary to specify it (of course, a predetermined value may be provided and the time of the predetermined value may be used as a reference). However, as a tendency, in the case where the positioning target moves, if comparing the “length of the period during which positioning is not possible” corresponding to each of the moving speed being higher and the moving speed being lower, It can be said that a moving speed having a higher moving speed tends to have a smaller allowable length as a “length of a period during which positioning is not performed” than a moving speed having a lower moving speed.
[0056]
Therefore, assuming that the positioning can be performed seamlessly in the position identification system of the above-described example, the "near the boundary" when the tag or the pseudo satellite is installed near the boundary, for example, is different from the above-described embodiment. In consideration of the above, the position can be selected, or the position arranged as “near the boundary” needs to be selected and considered.
[0057]
In the embodiment of the position specifying system of the present invention shown in FIG. 1, even if the frequency of the radio wave transmitted by the pseudo satellite P and the frequency of the radio wave received by the position specifying device U are set to other than 1575 MHz, the position can be specified. it can. However, if the frequency of the radio wave is set to 2.4 GHz or 5 GHz and the data format is set to the data format of wireless LAN, only the tag reading device must be incorporated into a mobile phone, a portable information terminal, or a computer that has the function of transmitting and receiving wireless LAN. Thereby, a mobile phone, a portable information terminal, and a computer can be applied to the position specifying device U. Also, if the frequency of the radio wave is set to a value other than 1575 MHz and a GPS signal receiving device is added, it will be impossible to determine the positioning or decrease the accuracy due to the influence of interference or the like in the place where the signals of the pseudo satellite and the GPS satellite are transmitted together. Can be prevented.
[0058]
Since the wavelength of the carrier wave of the pseudo satellite is 20 cm, it is estimated that the position information obtained from the tag T requires an accuracy of 10 cm or less. Therefore, when transmitting position information by radio waves, it is necessary to accurately obtain the position (position) at the time when the robot or the like receives the signal transmitted from the tag T as the position information indicated by the transmitted signal. There is.
[0059]
It is assumed that the signal transmitted from the tag T has a certain range in the receivable range. The reason why the transmitted signal or radio wave has a certain degree of spread may be based on the characteristics of the radio wave, or a robot or the like may increase the reception range of the signal transmitted from the tag T. There are cases.
[0060]
However, if the transmitted signal or radio wave has a certain extent, even if the robot or the like receives the signal, it cannot determine where the received position is the position information indicated by the transmitted signal. Problems arise. As described above, since it is necessary for the robot or the like to be able to determine the position specified by the position information indicated by the transmission signal with an accuracy of 10 cm or less, this problem needs to be solved.
[0061]
Means for solving this problem will be described with reference to FIG. In the embodiment of the position specifying device U of the present invention shown in FIG. 1, the vicinity of the tag T is moved in a fixed direction, and the radio wave intensity of the tag signal (corresponding to the correlation value calculated by the correlation value calculation circuit) is maximized. The position of the tag T is determined as the position of the tag T (FIG. 7), and the center position of the tag T is specified, so that the position of the tag T can be detected more accurately.
[0062]
It is desirable that the reception position at which the position 701 at which the radio wave intensity in the tag signal is maximized and the position information indicated by the tag signal be made to approach or match with high accuracy. Even if it is difficult to completely match the tag signal, the tag signal is notified within the range of the position information that can be received and acquired as a portion of the maximum (or large) intensity distribution of the tag signal transmitted from the tag. It is necessary to include at least location information.
[0063]
If the distribution of the radio wave intensity of the signal transmitted from the tag T shown in FIG. 1 is made extremely narrow (that is, the change in the distribution of the radio wave intensity is made steeper than in FIG. 7), the reception position and the tag signal Since the position information indicated by is closer, the position of the tag T can be accurately detected.
[0064]
In the embodiment of the position specifying system of the present invention shown in FIG. 1, a configuration may be adopted in which radio waves are transmitted in the traveling direction inside the tunnel. For example, when a pseudo satellite P is installed at the entrance of a tunnel or an upper ceiling of the entrance and a radio wave is transmitted toward the inside of the tunnel, in the case of a straight tunnel, the positioning transmitted from the pseudo satellite P at any position in the tunnel Signals can be received, and the number of pseudo satellites P to be installed can be reduced.
[0065]
In the embodiment of the position specifying system of the present invention shown in FIG. 1, even if the tag T is replaced with a barcode (position information providing device) and the tag reading device 22 is replaced with a barcode reading device (position information obtaining device), positioning is performed. The initial position of can be set. This embodiment will be described with reference to FIG.
[0066]
As shown in FIG. 8, the barcode includes a code 801 indicating the start of the code and a code 802 indicating the position information of the barcode. At this time, the head of the code 801 representing the start of the code is set as a barcode position 803. Accordingly, with the movement of the apparatus including the bar code reader, the head of the bar code position 803 obtained by the bar code reader (the first part of the mark of the code 801) is determined to be the position indicated by the code 802. You can do it. However, if the barcode reading device suddenly encounters the position 803 in the barcode, there is a possibility that the barcode position 803 cannot be accurately obtained due to a delay in the reading of the barcode or a synchronization pull-in process at that time. is there. Therefore, in order to solve such a problem, the position indicated by the code 802 is not made to correspond to the position 803 at the head of the bar code as described above, but the end position of the code 802 (the end portion where the bar code is not marked). ). If the end position of the code 802 is to be acquired, for example, by determining the length of the code 802 in advance, it is possible to reduce the influence such as the above-described delay in the synchronization pull-in process. In other words, a predetermined position may be determined in advance not only at the start or end position of the barcode as described above but also at a position that can be obtained by the barcode reader. In FIG. 8, no code is described between the next bar codes 804.
A barcode reader such as a barcode reader reads the barcode and sends the barcode position information to the arithmetic unit 23.
[0067]
In the embodiment of the position specifying system of the present invention shown in FIG. 1, the tag T is replaced with a magnetic card (magnetic marker, position information providing device) and the tag reader 22 is replaced with a magnetic card reader (magnetic marker reader, position information providing device). The initial position for positioning can be set by reading the position information of the magnetic card described on the magnetic card, instead of the acquisition device).
[0068]
In the embodiment of the position specifying system of the present invention shown in FIG. 1, the tag T may be replaced with a transmitter and a power supply (position information providing device), and the tag reader 22 may be replaced with a receiver (position information obtaining device). The receiver of the position specifying device U receives the position information of the transmitter sent from the transmitter, and performs steps 402 to 405 in FIG. 2 (however, the tab T is replaced with the transmitter) to initialize the positioning. The position can be set.
[0069]
By incorporating one embodiment of the position specifying device U of the present invention shown in FIG. 1 into a mobile machine such as a robot, the position of the mobile machine can be specified with high accuracy and automatic control can be performed.
[0070]
When a device equipped with a communication device is incorporated in a truck container in the embodiment of the position specifying device U of the present invention shown in FIG. 1 and a pseudo satellite P and a tag T are installed in a tunnel, the position of the container can be specified even in the tunnel. The container can be monitored by receiving the position information of the container transmitted from the communication device.
[0071]
When the embodiment of the position identifying device U of the present invention shown in FIG. 1 is incorporated in a car and the pseudo satellite P and the tag T are installed in the tunnel, the car can be positioned in the tunnel even if radio waves from GPS satellites do not reach. Can be specified.
[0072]
By providing a firefighter with a device equipped with a communication device such as a mobile phone in one embodiment of the position specifying device U of the present invention shown in FIG. 1 and installing a pseudo satellite P and a tag T in an underground mall, The location information of the firefighters sent can be received and the location of the firefighters in the underground shopping mall can be grasped. Thus, when the firefighter needs to be rescued by smoke or the like, since the position of the firefighter is clear, the time required to rescue the firefighter can be reduced. In addition, since the firefighter can also specify his / her own position, for example, a device that guides the user to the exit based on the specified own position information and its surrounding position information can be configured. Therefore, by carrying this device with a firefighter, it is possible to identify and confirm the position of the firefighter and extinguish the fire while heading to the exit without hesitation.
[0073]
FIG. 9 shows the configuration of one embodiment of the position specifying device U of the present invention. The positioning signal receiving device 21, the tag reading device 22, the arithmetic device 23, and the power supply device 25 are the same as those shown in FIG.
The storage device 24 such as a hard disk or a memory stores position information of the tag T in association with at least one or more tag T identifiers (No. 1, No. 2, No. 3 in FIG. 9). It is stored in a table 901 (see FIG. 9).
The tag T receives a radio wave serving as electric power from the tag reader 22 or the like, and transmits a signal for notifying the presence based on the electric power. After receiving the signal indicating the presence from the tag T, the position specifying device U refers to the table 901 to determine which tag T among the tags T1 to T3, for example. I can do it.
[0074]
An operation procedure of tag reading of the embodiment of the position specifying device U of the present invention shown in FIG. 9 will be described with reference to FIG.
Step 1001: The tag reading device 22 transmits a radio wave serving as electric power. The tag T receives the radio wave and transmits a signal (for example, a signal indicating “1” in the case of the tag T of No. 1) indicating the presence based on the electric power. The tag reading device 22 receives the tag signal and sends information indicating that the tag T (for example, the tag T1) has been detected to the arithmetic device 23.
Step 1002: The positioning signal receiving device 21 receives the positioning signals from each of the pseudo satellites P1 to P4, detects the reception time and the phase of the carrier wave, and sends the reception time, the phase of the carrier wave and the positioning signal to the arithmetic device 23.
Step 1003: The arithmetic unit 23 calculates the position of the position specifying device U as follows based on the positioning signal from each pseudolite P and the reception time. The distance (pseudo distance) between each pseudo satellite P and the position specifying device U can be expressed by Expression 17. The left side of Expression 17 is represented by using coordinates, and the right side is represented by using time. Here, Tu is the reception time at the position specifying device U, b is the time error of the position specifying device U, and Tt is the transmission time 302 at the pseudolite P. The transmission time 302 of the pseudo satellite P is obtained using the time correction amount 304.
[0075]
[Equation 17]

[0076]
The unknowns Xu, Yu, Zu, and b are obtained by the repeated calculation as in step 405 in FIG. However, since the position of the position specifying device U obtained here is obtained using only the code of the positioning signal, the accuracy is several tens cm to several meters.
The arithmetic unit 23 specifies the tag T from the position information table 901 of the tag T stored in the storage device 24 based on the obtained position of the position specifying device U, and refers to the position information. I do.
By performing steps 403 to 405 in FIG. 4 based on the position information of the tag T obtained as described above, the positioning signal of each pseudolite P, and the phase of the carrier, a position having an accuracy of the order of several cm is obtained. The position of the specific device U is calculated.
[0077]
If the pseudo satellite P attempts to generate time with a clock of 1 GHz, a problem of electromagnetic noise occurs in the electronic circuit. For example, when the positioning signal is transmitted from the pseudo satellite P with a resolution of 100 MHz clock, the resolution becomes 3 m when the distance is set, and the positioning device U cannot perform high-precision positioning. Therefore, a highly accurate position can be obtained by correcting the time information with the highly accurate time correction amount 304 statistically obtained.
[0078]
In the embodiment of FIG. 9, the tag T only needs to transmit a signal that can identify which of the tags T1 to T3 is itself. That is, it is not necessary to transmit the actual position information of the tag T from the tag T. Instead, a table or the like that can refer to the position information of at least one or more tags T is provided inside the position specifying device U. Therefore, in this case, there are the following advantages, for example.
(1) Since the tag T does not transmit its own position information, it is not always necessary to store the position information inside the tag T.
(2) Since the tag T does not transmit its own position information, the time required for transmitting the information signal can be reduced.
(3) When the position of the tag T moves, it can be dealt with by correcting the position information of the table and the like inside the position specifying device U.
[0079]
The correction of the position information of the table and the like in the above (3) can also be performed when the position specifying device U specifies the position information of each tag T. However, the correction is not limited to this timing only, and may be appropriately corrected when the position specifying device U can process.
[0080]
FIG. 11 shows an embodiment of the position specifying device 1110 and the tag 1120 of the present invention.
[0081]
In one embodiment of the position specifying device 1110 of the present invention, a laser receiving device 1111 is added to the position specifying device 1110 shown in FIG. In the above embodiment, the tag reader 22 is not always necessary.
Laser light receiving device 1111 receives laser 1130.
[0082]
One embodiment of the tag 1120 according to the present invention includes a laser irradiation device 1121, a transmission / reception device 1122, a control device 1123, a storage device 1124, a power supply device 1125, and a relay device 1126.
The laser irradiation device 1121 irradiates a laser 1130.
A transmission / reception device 1122 such as an antenna receives a radio wave serving as power, generates power, and drives a control device 1123, a storage device 1124, and a relay device 1126. Also, the position information of the tag 1120 is transmitted by radio waves.
A control device 1123 such as a CPU or an IC controls information and devices.
A storage device 1124 such as a memory stores the position information of the tag 1120.
The power supply 1125 supplies power to the laser irradiation device 1121.
When a current flows through the relay, a relay device 1126 such as a relay connects wiring between the power supply device 1125 and the laser irradiation device 1121.
[0083]
An operation procedure of the embodiment of the tag 1120 of the present invention shown in FIG. 11 will be described. The transmission / reception device 1122 receives a radio wave serving as electric power, and drives the control device 1123, the storage device 1124, and the relay device 1126. The control device 1123 sends the position information of the tag 1120 stored in the storage device 1124 to the transmission / reception device 1122. When a current flows and the relay device 1126 is driven, the relay device 1126 connects the laser irradiation device 1121 to the power supply device 1125. The transmission / reception device 1122 transmits the position information of the tag 1120 by radio waves. The laser irradiation device 1121 irradiates the laser 1130 with power supplied from the power supply device 1125. Although the transmitting and receiving device 1122 has been described as having the transmitting device and the receiving device together, the transmitting device and the receiving device may be configured as separate devices.
[0084]
An operation procedure of the embodiment of the position specifying device 1110 of the present invention shown in FIG. 11 will be described. In step 401 of FIG. 4, a tag signal when the laser light receiving device 1111 receives the laser 1130 is detected, and steps 402 to 405 are performed based on the position information of the tag 1120.
[0085]
In the embodiment of the position identification device 1110 and the tag 1120 of the present invention shown in FIG. 11, the position indicated by the laser 1130 irradiated from the laser irradiation device 1121 is a position with sufficiently small accuracy as compared with the above-mentioned 10 cm. Can be specified. Further, since the laser light receiving device 1111 receives the laser 1130 in a narrow area, the error between the light receiving position of the position specifying device 1110 and the information position information transmitted by the tag 1120 becomes smaller, so that the position of the tag 1120 can be accurately determined. Can be detected.
[0086]
However, when it is difficult to match the position indicated by the laser 1130 with the position information of the signal transmitted from the tag 1120, the difference between the two is a value (half or less) of the signal wavelength for transmitting the GPS signal ( This value will be referred to as a predetermined value). This is because even when the position 701 at which the radio wave intensity is maximum in the case described with reference to FIG. It should be. Also, when using the barcode in FIG. 8, a predetermined value may be similarly used as a guide.
[0087]
In FIG. 11, it has been described that the position of the tag 1120 can be specified by the laser 1130, and the transmitted position information is transmitted from the transmitting / receiving device 1122. However, the method of emitting the laser beam itself of the laser 1130 may be changed, for example, the laser beam may be modulated and the position information may be superimposed and transmitted. However, in that case, the laser light receiving device 1111 inside the position specifying device 1110 also performs a process of acquiring position information from the modulated laser light.
[0088]
FIG. 12 shows an embodiment of the position information writing device 1210 and the tag T of the present invention.
The position information writing device 1210 is a device including a tag writing device 1211 instead of the tag reading device 22 in the position specifying device U shown in FIG.
A tag writing device 1211 such as a tag writer transmits radio waves to the tag T and transmits position information of the tag T.
The tag T includes an antenna 1221, a receiving device 1222, a control device 1123, a storage device 1124, and a transmitting device 1223.
The antenna 1221 catches a radio wave transmitted from the tag writing device 1211. In addition, a signal transmitted from the transmission device 1223 is transmitted as a radio wave.
A receiving device 1222 including a coil, a receiving circuit, and the like generates a current by electromagnetic induction based on a signal sent from the antenna 1221, drives the receiving circuit with the current, and detects a radio wave signal. .
The control device 1123 such as a CPU or an IC writes the received position information of the tag T to the storage device 1124.
A storage device 1124 such as a memory stores the position information of the tag T.
The transmission device 1223 including a transmission circuit transmits the position information of the tag T to the position identification device U or the like by transmitting the position information of the tag T to the antenna.
[0089]
An operation procedure of the embodiment of the position information writing device 1210 shown in FIG. 12 will be described. The position specifying operation procedure in the position specifying device U of the embodiment of the positioning specifying system of the present invention shown in FIG. 1 is performed to calculate the position of the tag T with high accuracy. The calculated position information of the tag T is transmitted to the tag writing device 1211, and the tag writing device 1211 transmits the position information of the tag T to the tag T.
[0090]
An operation procedure of the embodiment of the tag T shown in FIG. 12 will be described. The antenna 1221 catches a radio wave transmitted from the tag writing device 1211. The receiving device 1222 receives a signal transmitted from the antenna 1221, generates a current by electromagnetic induction, and drives the control device 1123, the storage device 1124, and the transmission device 1223. The receiving device 1222 receives the signal indicating the position information of the tag and sends the signal to the control device 1123. The control device 1123 sends the position information of the tag T sent from the receiving device 1222 to the storage device 1124 and rewrites it.
[0091]
In the position example of the position information writing device 1210 shown in FIG. 12, it is necessary to write the position information of the tag T measured with high precision in the tag T, thereby increasing the accuracy of the installation position in the installation work of the tag T. Absent.
[0092]
The above-described embodiment is used, for example, in a position specifying device of a device for automatically cutting grass such as a baseball or soccer stadium, or for specifying a position of a truck or the like when passing through a tunnel, The present invention can be applied to specifying the position of a train when passing through a platform, or to use as a surveying instrument or navigation in a place where a signal from a GPS satellite is difficult to receive, such as an urban area or a mountainous area where a tall building is located.
[0093]
Further, in the above-described embodiment, the pseudo satellite transmits a positioning signal instead of the original GPS signal from the pseudo satellite in a place where the GPS signal of the GPS satellite cannot be received. This makes it possible to continuously execute the position specifying process. Conversely, pseudo satellites, tags, etc. are installed so that positioning can be performed seamlessly as described above, so that the length of time during which positioning is not performed may become a practical problem depending on the embodiment. There is no length of time.
[0094]
Therefore, in the above-described embodiment, for example, even if the baggage received outdoors is transported and the user enters the room and it is difficult to receive the GPS signal from the GPS satellite, the positioning signal from the pseudo satellite is received. As a result, the transportation processing and the like can be continued as it is.
[0095]
Further, in the above-described embodiment, by acquiring the position information from the position information providing device, even when entering the room from outside, the process of specifying and calculating the initial position of the position can be performed faster than before. Therefore, it is possible to avoid a situation in which it takes time to specify the position just because the user enters the room, which may hinder the transportation processing or the like.
[0096]
As an apparatus to which the above-described embodiment is applied, for example, an apparatus as shown in FIG. Based on the configuration shown in FIG. 9, it is possible to provide a device (for example, referred to as a self-propelled device) that performs a desired operation while moving by itself.
[0097]
FIG. 9 is a diagram mainly illustrating the position identifying device U. In contrast to FIG. 9, although not shown, a moving device for moving itself and a working device for performing a desired operation And a driving force generation and transmission device for generating and transmitting the driving force for driving the moving device or the working device, the above-described self-propelled device can be configured.
[0098]
In the embodiment of the self-propelled device, on the basis of the position specifying process by the position specifying device, the user himself / herself can move to the destination even if he is unmanned, for example. It is also possible to automatically mow turf such as a stadium or to perform cleaning (this self-propelled device may be referred to as a robot).
[0099]
Further, in the above embodiment, since the positioning signal is transmitted from the pseudo satellite in accordance with the carrier wave, data format, and the like of the signal of the GPS signal from the GPS satellite, in receiving and processing the positioning signal, It can be implemented continuously, both outdoors and indoors. Therefore, in the movement between a place where it is difficult to receive the GPS signal and a place where the GPS signal can be received (for example, outdoors / indoors), the above-described embodiment improves the position identification as compared with the related art. As an example, it is possible to implement a device in which a transport device carrying passengers in an amusement park, a theme park, or the like is moved on the basis of a predetermined track, route, or the like even between an outdoor location and an indoor location. Further, as another embodiment, in a production facility or a production process in a factory or the like, a transport device carrying a work object or the like (not only transport, but also a transport device itself has a work device for the work object. May be moved between outdoor and indoor based on a predetermined trajectory, route, or the like. In this case, even if there are a plurality of production facilities and any of them has facilities that are difficult to receive a GPS signal, it is possible to continuously carry out transportation and work (for example, from a truck). For the self-propelled device equipped with the delivered goods, it is produced and manufactured by repeating the work, repeating the work, etc., at that time also going outdoors and indoors, and placing the goods at a predetermined position in the warehouse, or Further, it may be carried out such as loading on a transport truck).
[0100]
Further, in the above-mentioned application form, since the identification of the initial position in the above-described embodiment can be performed faster than in the past, in the above-mentioned application form, the problem caused by the inability to identify the initial position is reduced. Can be avoided, and the application form can be further widened.
[0101]
The above-described embodiment is not limited to the application to the above-described field, but is effective in positioning using a pseudolite.
[0102]
【The invention's effect】
According to the present invention, it is possible to reduce the time required to specify an initial position in positioning using a pseudolite compared to the related art.
[0103]
In addition, it is possible to provide a pseudo satellite that provides time information with higher accuracy than before, without using a clock device having a higher clock resolution than before.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of an embodiment of a position specifying system of the present invention.
FIG. 2 is a diagram showing the operation of an embodiment of the pseudolite of the present invention.
FIG. 3 is a diagram showing a configuration of a signal transmitted by one embodiment of the pseudolite of the present invention.
FIG. 4 is a diagram showing the operation of one embodiment of the position specifying device of the present invention.
FIG. 5 is a diagram showing a carrier wave transmitted by the pseudo satellite of the present invention.
FIG. 6 is a diagram showing a carrier wave transmitted by the pseudo satellite of the present invention.
FIG. 7 is a diagram showing a relationship between a radio field intensity and a position measured by one embodiment of the position specifying device of the present invention.
FIG. 8 is a diagram showing a configuration of a barcode of an embodiment of the position specifying system of the present invention.
FIG. 9 is a diagram showing the operation of an embodiment of the position specifying device and the tag of the present invention.
FIG. 10 is a diagram showing the operation of an embodiment of the position specifying device of the present invention.
FIG. 11 is a diagram illustrating the operation of an embodiment of the position specifying device and the tag of the present invention.
FIG. 12 is a diagram showing the operation of an embodiment of the position information writing device and the tag of the present invention.
[Explanation of symbols]
G1 to G4: GPS satellite, R: repeater, P1 to P4: pseudo satellite, P: pseudo satellite, U: position specifying device, T1 to T3: tag, T: tag, 11: GPS signal receiving device, 12: arithmetic device Reference numeral 13 storage device 14 clock device 15 positioning signal transmission device 16 power supply device 21 positioning signal reception device 22 tag reading device 23 arithmetic device 24 storage device 25 power supply device , 31 ... ground, 32 ... shielded space, 33 ... entrance, 301 ... information representing the beginning of the code, 302 ... transmission time, 303 ... week number, 304 ... time correction amount, 305 ... pseudo satellite longitude, 306 ... pseudo Latitude of the satellite, 307 altitude of the pseudo satellite, 308 parity, 501 to 504 candidate position of the position specifying device, 601 initial position of the position specifying device or the position of the position specifying device obtained based on the previous phase. Location, 602 to 603: pseudo-range candidates, 604 to 605, location candidate position candidates, 701: position at which the radio field intensity is maximized, 801: code representing the start of the code, 802 ... bar code position information 803: Barcode position, 804: Next barcode, 901: Tag position information table, 1110: Position specifying device, 1111: Laser light receiving device, 1120: Tag, 1211: Laser irradiation device, 1122 ... Transceiver device, 1123 ... Control device, 1124 ... Storage device, 1125 ... Power supply device, 1126 ... Relay device, 1130 ... Laser, 1210 ... Position information writing device, 1211 ... Tag writing device, 1221 ... Antenna, 1222 ... Reception Device, 1223 ... Transmission device.

Claims (23)

In a pseudolite that transmits a positioning signal including information that can be used for a process of measuring a position, or a position specifying device that obtains information from a position information providing device that notifies its own position information,
A positioning signal receiving device that receives a positioning signal from the pseudo satellite,
The position information acquisition device and the positioning signal receiving device for acquiring the position information from the position information providing device, or a signal from the position information acquisition device, comprising an arithmetic device that calculates based on the information,
At least a positioning signal received by the positioning signal receiving device,
A position specifying device that calculates information on the position of the position specifying device based on the position information acquired by the position information providing device. The positioning signal transmitted from the pseudo satellite includes the position information of the pseudo satellite itself and the transmission time, and receives the positioning signal and calculates information on the position of the position specifying device. The position specifying device according to claim 1, wherein The arithmetic device, the phase of the carrier of the positioning signal received by the positioning signal receiving device,
2. The position specifying device according to claim 1, wherein information on the position of the position specifying device is calculated based on the position information acquired by the position information providing device. The position specifying device according to claim 1,
A storage device,
2. The position specifying device according to claim 1, wherein the storage device stores position information of at least one or more position information providing devices. 5. The position specifying device according to claim 4, wherein the position information of the position information providing device stored in the storage device is changed based on a process of an arithmetic device. A position information providing device that notifies its own position information,
A position information providing device, comprising: a transmitting device that transmits a signal for notifying the position information of the position information providing device itself. The position information providing device according to claim 6,
A position information providing apparatus for transmitting a transmission signal in which the position information notified by the transmission signal is included in a range of position information that can be acquired as a portion where the intensity distribution of the transmission signal of the transmission apparatus is large. The position specifying device according to claim 1,
A position information providing device, wherein the position information providing device detects as a position information range that can be obtained as a portion where the intensity distribution of the transmission signal obtained by the position information obtaining device is large includes the position information notified by the transmission signal. The position information providing device according to claim 6,
Equipped with a laser irradiation device,
A position information providing device, wherein a difference between a position indicated by a laser irradiated from the laser irradiation device and position information notified by the transmission signal is equal to or smaller than a predetermined value. The position information providing device according to claim 9,
A position information providing apparatus, wherein the magnitude of the predetermined value is equal to or less than half the signal wavelength for transmitting a Global Positioning System (hereinafter abbreviated as GPS) signal. The position specifying device according to claim 1, further comprising a laser receiving device,
A position information providing device, wherein the laser light receiving device detects a position at which a laser from the position information providing device is received as a position of position information notified by the transmission signal. The position specifying device according to claim 1,
Equipped with a barcode reader,
The predetermined position of the barcode acquired by the barcode reader is
A position information providing device, wherein the bar code reader detects the position of the position information notified by a signal acquired from the bar code. The position specifying device according to claim 12, wherein
A position information providing apparatus, wherein the predetermined position is detected as a first part of a barcode or a last part where a barcode is lost. A receiving device for receiving a signal from a GPS satellite,
An arithmetic unit that performs an arithmetic operation based on the signal received by the receiving device;
A storage device for storing at least information handled by the arithmetic device,
A clock device that generates a reference time signal to be referred to at least when the arithmetic device operates,
A positioning signal transmitting device that transmits a positioning signal obtained based on the calculation in the arithmetic device,
A pseudo satellite having at least a power supply device for supplying power to the arithmetic device,
Position information of the pseudolite itself obtained based on the calculation by the calculation device,
A pseudo satellite, wherein a positioning signal including a transmission time at which a positioning signal is transmitted from the positioning signal transmitting device is generated and transmitted from the positioning signal transmitting device. From the value of the difference between the time information obtained from the signal received from the GPS satellite and the time information obtained by calculation from the received signal, a time correction signal including an amount for correcting the time is generated by the arithmetic device, The pseudo satellite according to claim 14, wherein the time correction signal is transmitted from the pseudo satellite. In a pseudolite transmitting a positioning signal including transmission time and its own position information,
A pseudo satellite that is installed above the entrance to the tunnel and emits radio waves toward the inside of the tunnel. A pseudo satellite that transmits a positioning signal including the transmission time and its own position information is installed,
In the indoor where the position information providing device having own position information is installed,
A positioning signal receiving device that receives a positioning signal transmitted from a pseudolite and detects a phase of a carrier wave of the positioning signal;
A position information acquisition device that detects position information of the position information providing device;
Positioning using a pseudo satellite, comprising: a positioning signal, a phase of a carrier of the positioning signal, and an arithmetic unit that calculates an initial position of the position specifying device based on position information of the position information providing device. apparatus. In a position identification device that identifies its own position,
Detect the position information of the position information providing device installed indoors,
Receives a positioning signal including the transmission time and the position information of the pseudo satellite transmitted by the pseudo satellite installed indoors, detects the phase of the carrier of the positioning signal,
A position setting method using a pseudo satellite, comprising calculating an initial position of a position specifying device based on a positioning signal, a phase of a carrier of the positioning signal, and position information of a position information providing device. A pseudo satellite that transmits a positioning signal including the transmission time and its own position information is installed,
Indoors where the location information providing device is installed,
A positioning signal receiving device that receives a positioning signal transmitted from a pseudolite and detects a reception time of the positioning signal and a phase of a carrier of the positioning signal,
A position information acquisition device that detects the position information providing device,
A storage device for storing position information of a plurality of position information providing devices,
Calculate the position of the position identification device based on the positioning signal and the reception time of the positioning signal,
Identify the position information providing device detected based on the position of the position identification device,
A pseudo satellite comprising a positioning signal, a phase of a carrier of the positioning signal, and an arithmetic unit that calculates an initial position of the position specifying device based on the position information of the specified position information providing device is used. Location device. A self-propelled device provided with the position specifying device according to claim 1,
A moving device for moving itself,
A working device for performing the work,
A power supply device for supplying power to at least the position specifying device;
A driving force generating and transmitting device that generates and transmits the driving force for driving the moving device or the working device,
A self-propelled device that moves based on a position specifying process performed by the position specifying device. A position information providing device that notifies its own position information,
A position information providing device, which is installed near a boundary where a GPS signal cannot reach. In a pseudolite transmitting a positioning signal including information that can be used for a process of measuring a position,
A pseudolite installed near a boundary where GPS signals cannot reach. In a position identification device that identifies its own position,
Detects a location information providing device installed indoors,
Receives a positioning signal including the transmission time transmitted by the pseudolite installed indoors and the position information of the pseudolite, detects the reception time of the positioning signal and the phase of the carrier wave,
Calculate the position of the position identification device based on the positioning signal and the reception time of the positioning signal,
Identifying the received position information providing device based on the position of the position specifying device from among the plurality of position information providing devices stored in the storage device,
A position setting method using a pseudo satellite, comprising calculating an initial position of a position specifying device based on a positioning signal, a phase of a carrier of the positioning signal, and position information of the specified position information providing device.

Images