JP2022168511A - Information processing terminal, positioning method and positioning program - Google Patents

Abstract

To provide an information processing terminal that executes positioning with which highest possible accuracy under an environment is obtained.SOLUTION: An information processing terminal 100 comprises: a first positioning information generation unit 132 for generating first positioning information on an observation point on the basis of a positioning signal delivered from a first positioning satellite; a correction information acquisition unit 133 for acquiring correction information that is generated on the basis of the first positioning information and a positioning signal received at a first reference point the installed position of which is known in advance; a second positioning information generation unit 134 for generating second positioning information on the observation point on the basis of the first positioning information and the correction information acquired by the correction information acquisition unit; a third positioning information generation unit 136 for acquiring a positioning reinforcement signal from a second positioning satellite that is generated on the basis of a positioning signal having been received at a second reference point the installed position of which is known in advance, and generating the third positioning information on the observation point on the basis of the positioning reinforcement signal and the first positioning information; and a positioning information provision unit 138 for providing the second or third positioning information.SELECTED DRAWING: Figure 2

Description

The present invention relates to an information processing terminal, a positioning method, and a positioning program.

2. Description of the Related Art Conventionally, satellite signals from satellites are received to determine position information. In general, positioning using satellite signals from GPS (Global Positioning System) satellites is widely known. On the other hand, as positioning systems using satellites, in addition to GPS, various systems such as GLONASS (Global Navigation Satellite System), Galileo, and QZSS (Quasi-Zenith Satellites System) have been devised and implemented. These systems are sometimes collectively referred to as GNSS (Global Navigation Satellite System). Various devices have also been developed in conjunction with these positioning systems.

Patent Literature 1 discloses a technique for switching between positioning by independent positioning and positioning by network assistance. Further, Patent Literature 2 discloses a technique for switching the positioning method between indoor positioning and outdoor positioning.

Patent No. 4994192 JP 2020-153739 A

By the way, such a positioning device is required to obtain positioning results with high precision as much as possible.

Accordingly, it is an object of the present invention to provide an information processing terminal, a positioning method, and a positioning program capable of obtaining positioning results with the highest accuracy under an appropriate environment.

An information processing terminal according to an embodiment of the present invention includes a positioning signal acquisition unit that acquires a positioning signal distributed from a first positioning satellite; generated based on a first positioning information generating unit that generates information, the first positioning information generated by the first positioning information generating unit, and a positioning signal received at a first reference point whose installation position is known in advance; second positioning information of the observation point based on the correction information acquisition unit that acquires the correction information, the first positioning information generated by the first positioning information generation unit, and the correction information acquired by the correction information acquisition unit; Positioning augmentation generated in the second positioning satellite by transmitting a correction signal generated based on a positioning signal received at a second reference point whose installation position is known in advance to a second positioning information generation unit that generates Observation based on the positioning augmentation signal acquisition unit that acquires the signal from the second positioning satellite, the first positioning information generated by the first positioning information generation unit, and the positioning augmentation signal acquired by the positioning augmentation signal acquisition unit Between the third positioning information generating unit that generates the third positioning information of the point, the second positioning information generated by the second positioning information generating unit, and the third positioning information generated by the third positioning information generating unit and a positioning information providing unit for providing the positioning information switched by the positioning information switching unit.

Further, in the information processing terminal, the positioning reinforcement signal acquisition unit receives the reinforcement signal as the correction signal generated based on the positioning signal received at the electronic reference point as the second reference point, thereby obtaining the first The positioning augmentation signal generated by the second positioning satellite may be obtained from the second positioning satellite.

In the above information processing terminal, the positioning information switching unit switches the positioning information from the second positioning information to the third positioning information when the correction information acquisition unit cannot acquire the correction information, and the correction information acquisition unit corrects the positioning information. The positioning information may be switched from the third positioning information to the second positioning information when the information can be acquired.

Further, in the information processing terminal, the positioning augmentation signal acquisition unit includes satellite orbit information and a clock signal as a correction signal, which are generated based on the positioning signal received by the monitor station that monitors the positioning signal as the second reference point. By transmitting the information, the positioning augmentation signal generated by the second positioning satellite may be acquired from the second positioning satellite.

Further, in the above information processing terminal, the positioning information switching unit switches the positioning information when the position indicated by the first positioning information generated by the first positioning information generating unit comes to be included in a preset range. The first positioning information may be switched to the third positioning information.

Further, in the above information processing terminal, the positioning information switching unit switches between the first positioning information generated by the first positioning information generating unit and the third positioning information generated by the third positioning information generating unit. good.

Further, in the information processing terminal, the positioning information switching unit switches the positioning information from the third positioning information to the first positioning information when the positioning augmentation signal acquisition unit cannot acquire the positioning augmentation signal, and acquires the positioning augmentation signal. The positioning information is switched from the first positioning information to the third positioning information when the acquisition of the positioning augmentation signal becomes possible in the part.

Further, in the above information processing terminal, the positioning information switching unit switches between the first positioning information generated by the first positioning information generating unit and the second positioning information generated by the second positioning information generating unit. good.

Further, the positioning information switching unit may switch the positioning information from the first positioning information to the second positioning information when the correction information acquisition unit becomes able to acquire the correction information.

A positioning method according to an embodiment of the present invention comprises: a positioning signal acquisition step of acquiring a positioning signal distributed from a first positioning satellite; Based on a first positioning information generating step of generating one positioning information, the first positioning information generated in the first positioning information generating step, and a positioning signal received at a first reference point whose installation position is known in advance Second positioning of the observation point based on the correction information obtaining step of obtaining the generated correction information, the first positioning information generated in the first positioning information generating step, and the correction information obtained in the correction information obtaining step A second positioning information generating step for generating information; and a correction signal generated based on a positioning signal received at a second reference point whose installation position is known in advance is transmitted to the second positioning satellite. Based on the positioning augmentation signal acquisition step of acquiring the positioning augmentation signal from the second positioning satellite, the first positioning information generated in the first positioning information generation step, and the positioning augmentation signal acquired in the positioning augmentation signal acquisition step , a third positioning information generating step of generating third positioning information of an observation point, a second positioning information generated in the second positioning information generating step, and a third positioning information generated in the third positioning information generating step; and a positioning information providing step of providing the positioning information switched in the positioning information switching step.

A positioning program according to an embodiment of the present invention includes a positioning signal acquisition function for acquiring a positioning signal distributed from a first positioning satellite, and a positioning signal acquired by the positioning signal acquisition function. Based on a first positioning information generation function that generates one positioning information, the first positioning information generated by the first positioning information generation function, and a positioning signal received at a first reference point whose installation position is known in advance Second positioning of the observation point based on the correction information acquisition function for acquiring the generated correction information, the first positioning information generated by the first positioning information generation function, and the correction information acquired by the correction information acquisition function Generated in the second positioning satellite by transmitting a second positioning information generating function that generates information and a correction signal generated based on the positioning signal received at the second reference point whose installation position is known in advance Based on the positioning augmentation signal acquisition function of acquiring the positioning augmentation signal from the second positioning satellite, the first positioning information generated by the first positioning information generation function, and the positioning augmentation signal acquired by the positioning augmentation signal acquisition function , a third positioning information generating function for generating third positioning information of an observation point, a second positioning information generated by the second positioning information generating function, and a third positioning information generated by the third positioning information generating function A positioning information switching function for switching positioning information to be provided between and a positioning information providing function for providing positioning information switched by the positioning information switching function.

An information processing terminal according to an embodiment of the present invention can perform positioning by automatically selecting a positioning method that can obtain the most accurate positioning result at any given time using an appropriate reinforcement signal.

1 is a diagram showing a configuration example of a satellite system in one embodiment of the present invention; FIG. It is a block diagram which shows the structural example of an information processing terminal. FIG. 4 is a state transition diagram showing a transition example of positioning methods in an information processing terminal; 4 is a main flowchart showing an operation example in positioning of an information processing terminal; FIG. 4 is a flowchart showing an operation example of switching operation of positioning information by a positioning information switching unit for realizing the state transition shown in FIG. 3; FIG. FIG. 6 is another example of a flow chart for obtaining the same result as the operation example shown in FIG. 5. FIG. FIG. 9 is a block diagram showing a configuration example of an information processing terminal according to Embodiment 2; FIG. 11 is a state transition diagram showing a transition example of a positioning method of the information processing terminal according to the second embodiment; 3 is an example of a flow chart showing an operation example in positioning of an information processing terminal. FIG. 11 is a block diagram showing a configuration example of an information processing terminal according to Embodiment 3; FIG. 11 is a state transition diagram showing a transition example of positioning methods of the information processing terminal according to Embodiment 3; 11 is a flow chart showing an operation example in positioning of the information processing terminal according to Embodiment 3. FIG. 4 is a flowchart showing an operation example of positioning of an information processing terminal in RTK mode;

<Embodiment 1>
An information processing terminal 100 that is an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a system diagram showing a configuration example of a positioning system according to one embodiment of the present invention. Note that the configuration example of the positioning system according to the embodiment of the present invention is not limited to the configuration example shown in FIG. The positioning system includes multiple satellites 20a, 20b.

The satellite 20a is a quasi-zenith orbit, that is, a quasi-zenith satellite that takes an orbit that stays over a specific area for a long time.

Each of the plurality of satellites 20b emits satellite signals using frequencies set therein. For example, one satellite 20b of the plurality of satellites 20b emits satellite signals at, for example, the L1 frequency (eg, 1575.42 MHz). Another satellite 20b, for example, emits satellite signals at the L2 frequency (eg, 1227.60 MHz). Another satellite 20b, for example, emits satellite signals at the L5 frequency (eg, 1176.45 MHz). Another satellite 20b, for example, emits satellite signals at the L6 frequency (eg, 1278.75 MHz). Note that each of the satellites 20b may emit a reinforcement signal in addition to the satellite signal. The augmentation signal may also be included in the satellite signal. Also, the plurality of satellites 20b may include a geostationary satellite that affirms a geostationary orbit (circular orbit at an altitude of about 35,786 km above the equator) with the same period as the earth's rotation period.

A GPS satellite, which is one of the plurality of satellites 20b, is equipped with, for example, L1 and L2 frequency band transmitters for positioning, and a plurality of cesium and rubidium atomic clocks, and has an orbital altitude of about 20000 km and an orbital period of 0.5 km. A positioning system is composed of a total of 24 satellites 20b, 4 satellites in 6 orbital planes, for 5 sidereal days.

The positioning system may also include reference points 10a, 10b, 10c fixed at predetermined locations on the ground. Reinforcement signals can be generated by receiving signals from satellites 20a and 20b at reference points 10a, 10b and 10c on the ground whose coordinates are known in advance. When the information processing terminal 100 performs positioning in various modes, the reference points 10a to 10c generate and receive correction information for correcting the positioning result, or have the satellite 20b generate it, or Used to receive predetermined correction information.

In the positioning system, information processing terminal 100 selects a positioning method that provides the highest position accuracy under various circumstances, that is, switches between a plurality of positioning methods to measure the position of information processing terminal 100 . Information processing terminal 100 performs positioning by switching positioning methods among RTK mode, CLAS mode, MADOCA mode, and Single/DGPS mode.

Each positioning mode is positioning with an error accuracy of 1 cm in RTK mode, positioning with an error accuracy of 5 to 10 cm in CLAS mode, positioning with an error accuracy of 5 to 10 cm in MADOCA mode, and an error of about 1 m in DGPS mode. Accurate positioning and single mode positioning with an error accuracy of about 5 to 10m can be achieved.

In the RTK mode, the reference point 10a, whose installation position is known in advance, receives the satellite signal from the satellite 20b and performs positioning, and corrects information based on the error between the previously known installation position and the result of positioning. , is received from the reference point 10a, and the information processing terminal 100 performs positioning by correcting the positioning based on the satellite signal received by itself from the satellite 20b. As described above, the RTK mode requires connection with a network line (mobile phone line) in order to communicate with the reference point 10a.

The CLAS mode is a method that enables positioning in an area (within Japan) observable by the quasi-zenith satellite 20a. A positioning reinforcement signal based on the error between the result of positioning by receiving the satellite signal and the known installation position is temporarily transmitted to the satellite 20b. The information processing terminal 100 receives the positioning augmentation signal from the satellite 20b together with the satellite signal, and performs positioning by correcting the positioning based on the satellite signal. In CLAS, the L6 (more precisely, L6D) frequency band is used as the frequency band for satellite signals. Also, with CLAS, it takes about one minute to perform positioning with an error accuracy of 5 to 10 cm. CLAS may mean a positioning augmentation service or may mean a vendor ID (Identifier). In CLAS, the correction information included in the reinforcement signal is information for correcting satellite clock error, inter-signal bias error, satellite orbit error, ionospheric propagation delay error, and tropospheric propagation delay error, for example. In addition, in CLAS, the correction information is not limited to these examples, and it goes without saying that even a part of these examples may include more correction information.

The basic idea of the MADOCA mode is that, like CLAS, a positioning augmentation signal is received from the satellite 20b, and the information processing terminal 100 performs positioning by correcting the positioning based on the satellite signal. It is not limited to a predetermined area (within Japan), and positioning in other areas is also possible. However, unlike CLAS, the MADOCA mode requires about 30 minutes to perform positioning with an error accuracy of 5 to 10 cm due to differences in positioning algorithms. Also, in MADOCA, the L6 (more precisely, L6E) frequency band is used as the frequency band for satellite signals. Also, MADOCA may mean a positioning augmentation system or may mean the augmentation signal itself. In MADOCA, the correction information included in the reinforcement signal is, for example, information for correcting satellite clock errors and satellite orbit errors. In MADOCA, the correction information is not limited to these examples. information, satellite code bias information, URA information, high-speed time correction information, carrier wave phase bias information, etc.) may be included.

The Single/DGPS mode performs positioning by conventional GNSS (including GPS), the Single mode is a method of performing positioning using only satellite signals from the satellite 20b, and the DGPS mode performs positioning from the satellite 20b. and a differential signal from a ground station (for example, reference point 10c).

Note that FIG. 1 shows a smartphone as an example of the information processing terminal 100, but the information processing terminal 100 is not limited to a smartphone as long as it performs positioning. It may be a navigation system or the like. Also, although one each of the reference points 10a, 10b, and 10c is shown, there are a plurality of these.

FIG. 2 is a block diagram showing a configuration example of the information processing terminal 100. As shown in FIG.

As shown in FIG. 2, the information processing terminal 100 includes a communication unit 120, a control unit 130, a storage unit 140, and an output unit 150, and each unit is communicably connected by a connection line 110. good.

The communication unit 120 is a communication interface for communicating with an external device. The communication unit 120 receives a satellite signal (which may include a positioning augmentation signal) from the satellite 20b and transmits it to the control unit 130 . Also, the communication unit 120 communicates with the reference point 10 a to receive correction information and transmit it to the control unit 130 . Also, the communication unit 120 communicates with the reference point 10 c to receive differential signals and transmit them to the control unit 130 .

Control unit 130 is a processor that controls each unit of information processing terminal 100 , and measures position information of information processing terminal 100 in the present embodiment.

The control unit 130 includes, as functions realized as the control unit 130, a positioning signal acquisition unit 131, a first positioning information generation unit 132, a correction information acquisition unit 133, a second positioning information generation unit 134, and a positioning augmentation signal acquisition unit. It includes a section 135 , a third positioning information generating section 136 , a positioning information switching section 137 and a positioning information providing section 138 .

The positioning signal acquisition unit 131 acquires a satellite signal distributed from the satellite 20b (first positioning satellite) via the communication unit 120, that is, a positioning signal.

The first positioning information generation unit 132 functions as a Single/DGPS positioning unit and performs positioning in Single mode or DGPS mode. The first positioning information generation unit 132 generates the first positioning information of the observation point, that is, the information processing terminal 100 based on the positioning signal acquired by the positioning signal acquisition unit 131 .

The correction information acquisition unit 133 acquires, via the communication unit 120, correction information generated by the reference point 10a based on the positioning signal received at the reference point 10a whose installation position is known in advance.

The second positioning information generating section 134 functions as an RTK positioning section. The second positioning information generator 134 generates second positioning information in which the first positioning information is corrected, based on the first positioning information and the correction information obtained by the correction information obtaining section 133 .

The positioning augmentation signal acquisition unit 135 transmits a correction signal generated based on the positioning signal received at the reference point 10b whose installation position is known in advance to the satellite 20b, and then receives the positioning augmentation signal transmitted from the satellite 20b. A signal is acquired via the communication unit 120 .

Third positioning information generating section 136 functions as CLAS positioning section 1361 and MADOCA positioning section 1362, and performs positioning in CLAS mode and MADOCA mode, respectively. The third positioning information generation unit 136, based on the first positioning information and the positioning augmentation signal acquired by the positioning augmentation signal acquisition unit 135,

The positioning information switching unit 137 switches the positioning result to be provided among the RTK mode positioning result, the CLAS mode positioning result, the MADOCA mode positioning result, and the Single/DGPS mode positioning result. Positioning information switching section 137 selects, from among the four positioning results, the positioning result that is considered to be most accurate under the environment (condition) in which information processing terminal 100 is placed.

The positioning information providing unit 138 provides the positioning result (positioning information) switched by the positioning information switching unit 137 . The positioning information providing unit 138 provides the positioning result via the output unit 150 or the communication unit 120 in the form of, for example, images, characters, voice, and data.

The storage unit 140 is a storage medium that stores various programs and data required for the information processing terminal 100 to operate. The storage unit 140 may be realized by, for example, a HDD (Hard Disc Drive), an SSD (Solid State Drive), a flash memory, or the like, but is not limited to these. The programs stored in the storage unit 140 may include programs for performing positioning in each mode.

The output unit 150 outputs a positioning result obtained by positioning by the control unit 130 . The positioning result output by the output unit 150 may be realized in the form of an image, text, voice, or transmission to an external device via the communication unit 120 . When outputting by image or text, the output unit 150 outputs image (including text) information indicating the positioning result to a monitor provided in the information processing terminal 100 or a monitor connected to the information processing terminal 100, and outputs the information by voice. When outputting, the output unit 150 outputs audio information indicating the positioning result to a speaker installed in the information processing terminal 100 or a connected speaker. The output positioning result may be latitude and longitude information, or may be a place name or address corresponding to the latitude and longitude information.

FIG. 3 is a state transition diagram showing transition of the positioning method in information processing terminal 100. As shown in FIG.

As described above, positioning accuracy decreases in the order of positioning by RTK, positioning by CLAS, positioning by MADOCA, and positioning by Single/DGPS. Therefore, in the information processing terminal 100, the positioning priority is set in this order, and the positioning method is selected (switches the positioning result to be provided) so that the positioning is performed with higher accuracy. .

That is, in the information processing terminal 100, if the positioning by RTK is basically executable, the positioning result by the RTK mode is basically executed. is not executable, the positioning result by the MADOCA mode is selected as the positioning method, and when the positioning result by the MADOCA mode is not executable, the positioning result by the Single/DGPS mode is selected as the positioning method.

In the state transition diagram shown in FIG. 3, when the network (communication) between the information processing terminal 100 and the reference point 10a is disconnected for some reason from the state in which the positioning by the RTK mode is realized, the CLAS mode transition to In the CLAS mode, when the network (communication) between the information processing terminal 100 and the reference point 10a is restored, the mode returns to the RTK mode.

In the CLAS mode, when the information processing terminal 100 moves out of the CLAS area, it transitions to the MADOCA mode. Regarding whether or not the terminal has moved outside the CLAS area, the information processing terminal 100 stores information on the area (longitude and latitude range) where the CLAS service can be received in advance in the storage unit 140, and uses the information processing terminal 100 obtained immediately before. It can be determined by whether the positioning information of the terminal 100 is out of the range. Further, when the L6 (L6D) signal from the satellite 20b necessary for positioning cannot be received in the CLAS mode, the mode is changed to the Single/DGPS mode.

In the MADOCA mode, when the network (communication) between the information processing terminal 100 and the reference point 10a is recovered, the mode returns to the RTK mode. Also, in the MADOCA mode, when the information processing terminal 100 moves into the CLAS area, the mode transitions to the CLAS mode. Then, in the MADOCA mode, when the L6 (L6E) signal from the satellite 20b cannot be received, the mode is changed to the Single/DGPS mode.

In the Single/DGPS mode, when the network (communication) between the information processing terminal 100 and the reference point 10a is restored, the mode returns to the RTK mode. In the Single/DGPS mode, when the L6 signal can be received and the positioning result in the Single/DGPS mode is within the CLAS area, the CLAS mode is restored. In the Single/DGPS mode, when the L6 signal can be received and the positioning result in the Single/DGPS mode is outside the CLAS area, the MADOCA mode is restored.

In this way, in the environment in which information processing terminal 100 is placed, positioning results to be output are switched so that highly accurate positioning results can be obtained from time to time.

Next, the operation of the information processing terminal 100 for realizing the switching of the positioning method (switching of the positioning result to be output) shown in FIG. 3 will be described with reference to FIGS. 4 and 5. FIG. FIG. 4 is a main flowchart showing an operation example of the information processing terminal 100. As shown in FIG.

As shown in FIG. 4, each of the first positioning information generating section 132, the second positioning information generating section 134, and the third positioning information generating section 136 of the information processing terminal 100 performs positioning.

The first positioning information generation unit 132 performs positioning by Single/DGPS mode, the second positioning information generation unit 134 performs positioning by RTK, and the CLAS positioning unit 1361 of the third positioning information generation unit 136 is by CLAS Positioning is performed, and the MADOCA positioning unit 1362 of the third positioning information generation unit 136 performs positioning by MADOCA (step S401). Each positioning information generation unit is continuously engaged in performing positioning as long as necessary information is available. This is mainly because it takes 30 minutes for positioning results to converge to the extent that positioning by MADOCA is accurate. Therefore, by always operating the CLAS positioning unit 1361, it is possible to always provide highly accurate position information in the CLAS mode.

The positioning information switching unit 137 switches the positioning information to be output under the environment in which the information processing terminal 100 is placed, that is, based on the positioning conditions (step S402). The positioning conditions here may include whether the information processing terminal 100 is connected as a network, is within the CLAS area, is receiving an L6 signal, and the like.

Then, the positioning information providing unit 138 provides the positioning information switched by the positioning information switching unit 137 as the position information of the information processing terminal 100 (step S403), and ends the process. Note that the processing shown in FIG. 4 may be repeatedly executed.

FIG. 5 is a flowchart showing an operation example of the positioning information switching unit 137 of the information processing terminal 100 for realizing the state transition of the positioning method shown in FIG. 4 is a flowchart showing details of processing;

As shown in FIG. 5, in the initial state, the positioning information switching unit 137 selects (switches) positioning results so as to provide positioning results in the RTK mode (step S501).

The positioning information switching unit 137 determines whether or not the network is disconnected (step S502). That is, it is determined whether or not a communication connection has been established between the communication unit 120 and the reference point 10a. If the network is not disconnected (NO in step S502), the process returns to step S501 to continue selection of positioning results in the RTK mode. On the other hand, if the network is disconnected (YES in step S502), the positioning information switching unit 137 switches to provide positioning results in the CLAS mode (step S503).

Here, when the network is recovered, that is, when the communication connection between the communication unit 120 and the reference point 10a is re-established (YES in step S504), the positioning information switching unit 137 returns to step S501 and returns to RTK. Switch to select the positioning result by mode.

When the network is not restored, the positioning information switching unit 137 determines whether or not the control unit 130 receives the L6 signal (step S505). When the positioning information switching unit 137 receives the L6 signal (NO in step S505), the positioning information switching unit 137 determines whether or not the position information obtained by positioning in the CLAS mode is outside the CLAS area (step S506). If it is not outside the CLAS area (NO in step S506), that is, if the information processing terminal 100 is located within the CLAS area, the positioning information switching unit 137 returns to step S503 and provides the CLAS mode positioning result. switch to

If it is located outside the CLAS area (YES in step S506), the positioning information switching unit 137 switches to provide positioning results in the MADOCA mode (step S507).

Here, when the network is restored, that is, when the communication connection between the communication unit 120 and the reference point 10a is re-established (YES in step S508), the positioning information switching unit 137 returns to step S501 and Switch to select the positioning result by mode.

If the network has not recovered (NO in step S508), the positioning information switching unit 137 determines whether the communication unit 120 has received the L6 signal from the satellite 20b (step S509). If the L6 signal can be received (NO in step S509), the positioning information switching unit 137 determines whether or not the position information obtained by positioning in the MADOCA mode is included in the CLAS area (step S510). When information processing terminal 100 determines that it is in the CLAS area (YES in step S510), positioning information switching section 137 returns to the process of step S503 to provide positioning results in CLAS mode. switch to On the other hand, when information processing terminal 100 is not within the CLAS area (NO in step S510), that is, when it is outside the CLAS area, positioning information switching section 137 returns to step S507 and selects the positioning result by MADOCA mode. continue.

On the other hand, when it is determined in step S505 or step S509 that the L6 signal cannot be received (YES in step S505, YES in step S509), the positioning information switching unit 137 selects the positioning result by the Single/DGPS mode. , (step S511).

Here, the positioning information switching unit 137 determines whether the network has recovered (step S512). If the network has recovered (YES in step S512), the process returns to step S501, and the positioning information switching unit 137 switches so as to select the positioning result in the RTK mode.

If the network has not recovered (NO in step S512), the positioning information switching unit 137 determines whether it is possible to return to CLAS (step S513). That is, the positioning information switching unit 137 determines whether the communication unit 120 is receiving the L6 signal and the positioning result (position information) in the Single/DGPS mode exists within the CLAS area. When the positioning information switching unit 137 determines that the information processing terminal 100 can return to the CLAS mode (YES in step S513), the positioning information switching unit 137 returns to step S503 and switches to provide the positioning result in the CLAS mode.

When it is determined that the CLAS mode cannot be restored (NO in step S513), the positioning information switching unit 137 determines whether or not the MADOCA mode can be restored (step S514). That is, the positioning information switching unit 137 determines whether or not the communication unit 120 is receiving the L6 signal. When positioning information switching section 137 determines that information processing terminal 100 can return to MADOCA mode (YES in step S514), positioning information switching section 137 returns to step S507 and switches to provide positioning results in MADOCA mode. When it is determined that it is impossible to return to positioning by the MADOCA mode (NO in step S514), selection of positioning results by the Single/DGPS mode is continued (step S511).

In this way, the positioning information switching unit 137 can automatically switch and provide the positioning result with the highest accuracy in the environment in which the information processing terminal 100 is placed.

(Modification)
The configuration of the information processing terminal 100 according to the present invention is not limited to the above embodiment. The information processing terminal 100 can also be configured as follows, for example.

FIG. 6 is a flow chart showing another operation example of the positioning information switching unit 137 for obtaining the same result as in FIG.

As shown in FIG. 6, the positioning information switching unit 137 determines whether there is a network connection for realizing positioning in the RTK mode, that is, whether the communication unit 120 has established communication with the reference point 10a. It is determined whether or not (step S601).

If it is determined that the network connection is established (YES in step S601), the positioning information switching unit 137 switches to provide positioning results in the RTK mode (step S602).

If network connection has not been established (NO in step S601), the positioning information switching unit 137 determines whether or not the communication unit 120 has received the L6 signal (step S603). If the L6 signal has been received (YES in step S603), the positioning information switching unit 137 determines whether the information processing terminal 100 exists within the CLAS area, that is, determines whether the information processing terminal 100 exists within the CLAS area. It is determined whether or not the position information of the information processing terminal 100 located is located within the range defined as the CLAS area (step S604).

When the positioning information switching unit 137 determines that the information processing terminal 100 exists within the CLAS area (YES in step S604), the positioning information switching unit 137 switches to provide the positioning result in the CLAS mode (step S605). On the other hand, when the positioning information switching unit 137 determines that the information processing terminal 100 does not exist within the CLAS area (NO in step S604), the positioning information switching unit 137 switches to provide the positioning result in the MADOCA mode (step S606). .

On the other hand, when the communication unit 120 determines in step S603 that the L6 signal has not been received (NO in step S603), the positioning information switching unit 137 provides positioning results in Single/DGPS mode. Switch (step S607) and return to step S601.

The positioning information switching unit 137 appropriately executes the processing shown in FIG. 6 (for example, every second, but the present invention is not limited to this), and switches so as to provide the optimum positioning result each time.

<Embodiment 2>
In the first embodiment described above, as long as CLAS and MADOCA are used, the information processing terminal 100 is basically assumed to be operated near Japan. This is because CLAS can only be used in Japan and its seas, and MADOCA is currently used in the area covered by the quasi-zenith satellite 20a.

However, on the other hand, the information processing terminal 100 can also be used in locations other than the vicinity of Japan, and when positioning cannot be performed in the RTK mode, it is possible to perform CLAS or positioning with an accuracy equivalent to that of CLAS. It is desirable to have Therefore, in the second embodiment, an information processing terminal 100 capable of performing positioning with accuracy equivalent to that of CLAS or MADOCA even if it leaves the vicinity of Japan will be described. That is, the information processing terminal 100 according to the second embodiment is configured to be able to perform positioning in the Galileo HAS mode in addition to the positioning modes provided in the first embodiment. Therefore, in the second embodiment, descriptions of the functions and configurations described in the first embodiment will be omitted, and differences will be described.

FIG. 7 is a block diagram showing a configuration example of the information processing terminal 100 according to the second embodiment. As shown in FIG. 7, the information processing terminal 100 according to the second embodiment has the functions of the information processing terminal 100 shown in the first embodiment, and further, the third positioning information generation unit 136 includes the Galileo HAS positioning unit 1363. Prepare.

The Galileo HAS positioning unit 1363 performs positioning in the Galileo HAS mode when positioning is possible in an area where local correction information is maintained in an area where satellite signals from Galileo satellites can be received. Galileo HAS is a high-accuracy positioning service (HAS) that uses Galileo satellites, and the positioning accuracy in Galileo HAS mode is equal to or lower than that of CLAS. can. Galileo is the European Global Positioning Satellite System.

In addition to the functions shown in the first embodiment, the positioning information switching unit 137 identifies the environment of the terminal itself, and if it determines that the identified environment is suitable for positioning in the Galileo HAS mode, The positioning result by Galileo HAS positioning section 1363 of third positioning information generating section 136 is switched to be selected and output to output section 150 .

FIG. 8 shows a state transition diagram when a positioning function in Galileo HAS mode is added to information processing terminal 100 . As can be understood by comparing with the state transition diagram shown in FIG. 3, the Galileo HAS mode is added to the state transition diagram shown in FIG. Differences from FIG. 3 will be described below. Note that when the Galileo HAS mode is added, the priority of the positioning modes is the RTK mode, the CLAS mode, the MADOCA mode, the Galileo HAS mode, and the Single/DGPS mode in descending order.

As shown in FIG. 8, in CLAS mode, information processing terminal 100 is outside the CLAS area, outside the MADOCA area, and inside the Galileo HAS area (can receive signals from Galileo satellites and , within a region where local correction information is maintained (receivable)), the mode is changed to Galileo HAS mode. Further, in the MADOCA mode, when the information processing terminal 100 cannot receive the L6 signal of MADOCA and can receive the L6 signal of Galileo, it transitions to the Galileo HAS mode.

Further, in Galileo HAS mode, when information processing terminal 100 is located within the CLAS area, the mode is changed to CLAS mode. Also, in the Galileo HAS mode, when the L6 signal from the Galileo satellite cannot be received, the mode is changed to the Single/DGPS mode. In the Galileo HAS mode, when the information processing terminal 100 moves out of the Galileo HAS area and out of the CLAS area, the mode transitions to the MADOCA mode.

By changing the mode according to the conditions as shown in FIG. 8, the control unit 130 can select the positioning result including the Galileo HAS mode, and the positioning with the highest accuracy under the environment in which the information processing terminal 100 is placed. You can get results.

FIG. 9 is a flowchart showing the process of selecting the positioning result by which positioning mode the positioning result output by the control unit 130 according to the second embodiment is shown in a manner conforming to the flowchart shown in FIG. there is Therefore, here, differences from FIG. 6 will be described. The difference between FIG. 9 and FIG. 6 lies in the processing after step S604.

As shown in FIG. 9, in step S604, the latest positioning result obtained by the control unit 130 (most recently output positioning result), that is, the position of the information processing terminal 100 is not within the CLAS area (step S604 NO), the positioning information switching unit 137 determines whether or not the information processing terminal 100 is within the MADOCA area (step S906). When positioning information switching section 137 determines that information processing terminal 100 is in the MADOCA area (YES in step S906), positioning information switching section 137 selects the positioning result obtained by MADOCA positioning section 1362. switch to Then, the positioning information providing unit 138 causes the output unit 150 to output the positioning result by the MADOCA positioning unit 1362 as the position information of the information processing terminal 100 (step S907).

When the positioning information switching unit 137 determines that the information processing terminal 100 is not within the MADOCA area, that is, is outside the MADOCA area (NO in step S906), the positioning information switching unit 137 switches to Galileo HAS positioning. Switch to select the positioning result by the unit 1363 . Then, the positioning information providing unit 138 causes the output unit 150 to output the positioning result by the Galileo HAS positioning unit 1363 (step S908). Other processing is the same as the processing described with reference to FIG. 3, so the description is omitted.

The information processing terminal 100 shown in the second embodiment selects the positioning result output target by the Galileo HAS mode even if it is out of the range of CLAS or MADOCA. A positioning result with higher accuracy than the Single/DGPS mode can be output.

<Embodiment 3>
In Embodiments 1 and 2 above, the configuration in which positioning in the RTK mode is given top priority has been described. However, since the RTK mode uses a mobile phone communication network, communication charges may be incurred each time positioning is performed. Therefore, some users may not want to perform positioning in the RTK mode. Therefore, in the third embodiment, an example in which the RTK mode is not given top priority will be described.

FIG. 10 is a block diagram showing a configuration example of the information processing terminal 100 according to the third embodiment. The information processing terminal 100 according to Embodiment 3 further includes an input unit 1000 in addition to the configurations shown in Embodiments 1 and 2, and the control unit 130 includes a priority setting unit 139 .

The input unit 1000 is an input interface that receives input from the user of the information processing terminal 100 . The input unit 1000 may be realized by, for example, soft keys, hard keys, a touch panel, etc., but is not limited to these. The input unit 1000 may be realized by a microphone, for example, and may receive an instruction input by voice from the user. The input unit 1000 transmits input contents to the control unit 130 . For example, the input unit 1000 receives an input regarding the setting of the priority of the positioning mode during positioning, and transmits the input to the control unit 130 .

The priority setting unit 139 of the control unit 130 stores positioning priority setting information based on the positioning priority information transmitted from the input unit 1000 . Then, control section 130 performs positioning according to the priority set by priority setting section 139 . The priority setting unit 139 is basically information for setting whether or not to give priority to the RTK mode, but setting of priority of other modes (order for the user of the information processing terminal 100 in positioning) is also possible. may be included. The positioning information switching unit 137 switches so as to select the positioning result according to the priority set in the priority setting unit 139 . Note that when the RTK mode is not given priority, the second positioning information generation unit 134 basically does not perform positioning, and when none of the positioning results in the CLAS mode, the MADOCA mode, or the Galileo HAS mode can be obtained. Positioning in RTK mode is performed only when As a result, the mobile phone communication network can be configured so as not to be used as much as possible, so communication charges can be suppressed.

FIG. 11 shows a state transition diagram when giving priority to CLAS or Galileo HAS instead of RTK mode. Information processing terminal 100 according to Embodiment 3 performs positioning according to either the state transition diagram shown in FIG. 8 or the state transition diagram shown in FIG. Results are selected and printed. In the case of FIG. 11, the priority of the positioning modes is in descending order of CLAS mode, Galileo HAS mode, MADOCA mode, RTK mode, and Single/DGPS mode.

According to the state transition diagram shown in FIG. 11, information processing terminal 100 selects positioning by CLAS mode or Galileo HAS mode as long as conditions are satisfied. As described in the second embodiment, switching between the CLAS mode and the Galileo HAS mode depends on whether the terminal is within the range of each service. That is, in the CLAS mode, when it is outside the CLAS area and inside the Galileo HAS area, it transitions to the Galileo HAS mode. Also, in the Galileo HAS mode, when it enters the CLAS area, it transitions to the CLAS mode. Further, in the CLAS mode or the Galileo HAS mode, when it becomes outside the CLAS area and the Galileo HAS area, the transition is made to the MADOCA mode. On the other hand, the CLAS mode and the Galileo HAS mode do not transition to the RTK mode, and when the information processing terminal 100 exists outside the MADOCA area or the L6 signal cannot be received, the MADOCA mode transitions to the RTK mode. .

When the information processing terminal 100 becomes unable to communicate with the reference station, that is, when the network is disconnected from the RTK mode, the RTK mode transitions to the Singls/DGPS mode. Also, when entering the MADOCA, CLAS, or Galileo HAS regions from the RTK mode, the mode transitions to the MADOCA, CLAS, or Galileo HAS modes, respectively.

FIG. 12 is a state transition diagram shown in FIG. 11, that is, the priority of the RTK mode is set low, that is, the positioning result to be switched and output by the positioning information switching unit 137 is CLAS, Galileo HAS, MADOCA, RTK, and Single. 10 is a flowchart showing an operation example of the control unit 130, that is, an operation example of the positioning information switching unit 137 in the case of setting the order of /DGPS.

As shown in FIG. 12, the positioning information switching unit 137 determines whether the communication unit 120 is receiving the L6 signal (step S1201). If the L6 signal has been received (YES in step S1201), the positioning information switching unit 137 determines whether the information processing terminal 100 exists within the CLAS area, that is, determines whether the information processing terminal 100 exists in the CLAS area, that is, the last obtained It is determined whether or not the position information of the information processing terminal 100 located is located within the range defined as the CLAS area (step S1202).

If the positioning information switching unit 137 determines that the information processing terminal 100 exists within the CLAS area (YES in step S1202), the positioning information switching unit 137 switches to provide the positioning result in the CLAS mode (step S1203), and step S1201. return to the process of On the other hand, when positioning information switching section 137 determines that information processing terminal 100 does not exist within the area of CLAS (NO in step S1202), whether or not information processing terminal 100 exists within the area of Galileo HAS. (step S1204). If it is determined that it exists within the Galileo HAS area (YES in step S1204), the positioning information switching unit 137 switches to provide positioning results in the Galileo HAS mode (step S1205), and returns to the process of step S1201. . If it is determined that it does not exist within the Galileo HAS area (NO in step S1204), it switches to provide positioning results in the MADOCA mode (step S1206), and returns to step S1201.

If the L6 signal cannot be received (NO in step S1201), the positioning information switching unit 137 determines whether there is a network connection for realizing positioning in the RTK mode, that is, whether the communication unit 120 is connected to the reference point 10a. It is determined whether or not communication has been established between them (step S1207). When determining that the network connection is established (YES in step S1207), the positioning information switching unit 137 switches to provide positioning results in the RTK mode (step S1208), and returns to the process of step S1201.

On the other hand, if the communication unit 120 cannot establish a network connection (NO in step S1207), the positioning information switching unit 137 switches to provide positioning results in the Single/DGPS mode (step S1209), and proceeds to step S1201. return.

According to the information processing apparatus 100 according to the third embodiment, the user can self-select whether or not to give priority to the RTK mode, thereby reducing the economic burden on the user.

In the first to third embodiments, the information processing terminal 100 may have a crustal movement confirmation function. In the RTK mode, base observations, which are observations of the reference station acquired from the network, include epoch coordinates corrected for crustal movements and current coordinates not corrected for crustal movements. Epochronal coordinates refer to base observations based on coordinate values determined with high accuracy at reference points in a certain year (usually 2011 as of 2021). Current coordinates refer to base observation values at reference points corrected for the effects of crustal movements with respect to epoch coordinates. In various places (particularly in Japan), distortion occurs due to movement of continental plates, etc., and deviations occur in coordinates determined with high accuracy at reference points. However, positioning a large number of reference points with high accuracy each time requires considerable effort and is not realistic. Therefore, without revising this survey result, correcting the effects of the existing survey results (episodic coordinates) and the distortion of crustal deformation is called crustal deformation correction (semi-dynamic correction). The coordinates obtained by adding the correction by the file to the current coordinates are called epoch coordinates. Base observations delivered by reference stations may be epoch coordinates or current coordinates. Therefore, there is a possibility that the positioning based on the epoch coordinates and the positioning based on the current coordinates may be out of sync, and the user may be confused when the results are shown.

Therefore, the information processing terminal 100 may be configured to be able to standardize the positioning using the current coordinates so as not to cause such confusion to the user. FIG. 13 is a flowchart showing an operation example of selecting which of the epoch coordinates and the current coordinates to use in the information processing terminal 100 .

The processing shown in FIG. 13 is executed only in RTK mode positioning. As shown in FIG. 13, the second positioning information generation unit 134 of the control unit 130 acquires base observation values from the reference station (step S1301).

The second positioning information generation unit 134 determines whether or not the obtained base observation value is the current period coordinate (step S1302). The base observations obtained from the reference station are determined by the information distribution service available at the reference station whether or not tectonic corrections are applied to the base observations that are distributed. Therefore, based on which information distribution service is used, the second positioning information generation unit 134 can determine whether or not the acquired base observation value is the current period coordinate.

When the second positioning information generating unit 134 determines that the base observation value is not the current term coordinates (NO in step S1302), it converts the base observation value to the current term coordinates (step S1303). That is, the obtained base observation values are corrected using the parameter file published by the Geospatial Information Authority of Japan.

The second positioning information generation unit 134 performs RTK mode positioning based on the coordinates of the current period (step S1304), outputs the obtained result as necessary, and returns to the process of step S1301. In this way, the information processing terminal 100 can standardize the positioning results in the RTK mode to those based on the coordinates of the current term, so that the obtained positioning results do not confuse the user. In addition, by unifying the obtained results based on the coordinates of the current period, it is possible to easily handle the coordinate values in various applications (eg, map applications, etc.).

Here, the coordinates are unified to the current period coordinates, but this may be unified to the epoch coordinates.

Further, in the first to third embodiments, the information processing terminal 100 does not have to have all the positioning modes, and each positioning function can be selectively installed depending on the situation in which the information processing terminal 100 is used. Alternatively, for example, the MADOCA mode may not be installed. Further, in Embodiments 1 to 3 described above, transitions between various modes are possible, but the information processing terminal 100 may not execute mode switching under predetermined conditions. For example, if the location information obtained at a certain timing is within the CLAS area, the mode may not be switched for a predetermined period of time. Further, the order of priority of each communication mode in Embodiments 1 to 3 may be changed according to need, that is, according to the purpose of communication. Further, information processing terminal 100 may be configured so that a plurality of priority orders can be set for the priority order of each communication mode. It may be configured so that it can be selected whether to execute it. The selection of the priority order may be selected based on the input by the user of the information processing terminal 100, and the selection may be, for example, the selection of criteria for what the user of the information processing terminal 100 prioritizes in communication. good. That is, in the information processing terminal 100, whether to give priority to the accuracy of the positioning information or to reduce the communication fee may be selected as a criterion. For example, when the positioning information accuracy is given priority, the RTK mode with the highest priority is selected, and when the selection is made based on the reduction of communication charges, the RTK mode with the lowest priority is selected. may

Further, in the above-described embodiment, the information processing terminal 100 is implemented by software using a CPU (Central Processing Unit). That is, the information processing terminal 100 includes a CPU that executes instructions of a program, which is software for realizing each function, and a ROM (Read Only Memory) in which the above program and various data are recorded so as to be readable by the information processing terminal (or CPU). Alternatively, it is provided with a storage device (these are referred to as a “recording medium”), a RAM (Random Access Memory) for developing the above program, and the like. The object of the present invention is achieved when the information processing terminal (or CPU) reads the program from the recording medium and executes it. Further, the program may be supplied to the information processing terminal via any transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. The invention can also be embodied in the form of a data signal embedded in a carrier wave in which the program is embodied by electronic transmission.

The program can be implemented using, for example, script languages such as ActionScript and JavaScript (registered trademark), object-oriented programming languages such as Objective-C and Java (registered trademark), markup languages such as HTML5, and the like. In addition, a mobile terminal (for example, information processing terminal 100) provided with each component for realizing each function realized by the above program, and a server provided with each component for realizing remaining functions different from the above functions Also falls within the scope of the present invention.

Further, each functional unit of the control unit 130 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like. , or a configuration in which a plurality of functional units are realized by one circuit.

Although the present invention has been described with reference to drawings and examples, it should be noted that those skilled in the art can easily make various modifications and modifications based on the present disclosure. Therefore, it should be noted that these variations and modifications are included in the scope of the present invention. For example, the functions included in each means, each step, etc. can be rearranged so as not to be logically inconsistent, and it is possible to combine a plurality of means, steps, etc. into one or divide them. . Further, the configurations shown in the above embodiments may be combined as appropriate.

10a, 10b, 10c reference point 20a, 20b satellite 100 information processing terminal 110 connection line 120 communication unit 130 control unit 131 positioning signal acquisition unit 132 first positioning information generation unit 133 correction information generation unit 134 second positioning information generation unit 135 positioning Reinforcement signal acquisition unit 136 Third positioning information generation unit 1361 CLAS positioning unit 1362 MADOCA positioning unit 1363 Galileo HAS positioning unit 137 Positioning information switching unit 138 Positioning information providing unit 140 Storage unit 150 Output unit

Claims (11)

a positioning signal acquisition unit that acquires a positioning signal distributed from the first positioning satellite;
a first positioning information generation unit that generates first positioning information of an observation point based on the positioning signal acquired by the positioning signal acquisition unit;
Correction information acquisition for acquiring correction information generated based on the first positioning information generated by the first positioning information generation unit and the positioning signal received at a first reference point whose installation position is known in advance Department and
Second positioning information generation for generating second positioning information of the observation point based on the first positioning information generated by the first positioning information generation unit and the correction information acquired by the correction information acquisition unit Department and
A positioning augmentation signal generated by a second positioning satellite by transmitting a correction signal generated based on the positioning signal received at a second reference point whose installation position is known in advance is transmitted from the second positioning satellite a positioning augmentation signal acquisition unit to acquire;
Third positioning for generating third positioning information of the observation point based on the first positioning information generated by the first positioning information generation unit and the positioning augmentation signal acquired by the positioning augmentation signal acquisition unit an information generator;
a positioning information switching unit that switches positioning information to be provided between the second positioning information generated by the second positioning information generating unit and the third positioning information generated by the third positioning information generating unit;
A positioning information providing unit that provides the positioning information switched by the positioning information switching unit. The positioning augmentation signal acquisition unit transmits the augmentation signal as the correction signal, which is generated based on the positioning signal received at the electronic reference point as the second reference point, in the second positioning satellite The information processing terminal according to claim 1, wherein the generated positioning augmentation signal is acquired from the second positioning satellite. The positioning information switching unit
switching the positioning information from the second positioning information to the third positioning information when the correction information cannot be obtained by the correction information obtaining unit;
3. The information processing terminal according to claim 2, wherein said positioning information is switched from said third positioning information to said second positioning information when said correction information can be obtained by said correction information obtaining unit. The positioning augmentation signal acquisition unit transmits satellite orbit information and clock information as the correction signal, which are generated based on the positioning signal received by a monitor station that monitors the positioning signal as the second reference point. 4. The information processing terminal according to any one of claims 1 to 3, wherein the positioning augmentation signal generated by the second positioning satellite is obtained from the second positioning satellite. The positioning information switching unit switches the positioning information to the first positioning information when the position indicated by the first positioning information generated by the first positioning information generating unit comes to be included in a preset range. 5. The information processing terminal according to claim 4, wherein the information is switched to the third positioning information. 6. The positioning information switching unit switches between the first positioning information generated by the first positioning information generating unit and the third positioning information generated by the third positioning information generating unit. The information processing terminal according to any one of . The positioning information switching unit
switching the positioning information from the third positioning information to the first positioning information when the positioning augmentation signal acquisition unit cannot acquire the positioning augmentation signal;
7. The information processing terminal according to claim 6, wherein said positioning information is switched from said first positioning information to said third positioning information when said positioning augmentation signal acquisition unit can acquire said positioning augmentation signal. 8. The positioning information switching unit switches between the first positioning information generated by the first positioning information generating unit and the second positioning information generated by the second positioning information generating unit. The information processing terminal according to any one of . The positioning information switching unit
9. The information processing terminal according to claim 8, wherein said positioning information is switched from said first positioning information to said second positioning information when said correction information acquisition unit becomes capable of acquiring said correction information. the computer
a positioning signal acquisition step of acquiring a positioning signal delivered from a first positioning satellite;
a first positioning information generating step of generating first positioning information of an observation point based on the positioning signal obtained in the positioning signal obtaining step;
Correction information acquisition for acquiring correction information generated based on the first positioning information generated in the first positioning information generation step and the positioning signal received at a first reference point whose installation position is known in advance a step;
second positioning information generation for generating second positioning information of the observation point based on the first positioning information generated in the first positioning information generation step and the correction information acquired in the correction information acquisition step; a step;
A positioning augmentation signal generated by a second positioning satellite by transmitting a correction signal generated based on the positioning signal received at a second reference point whose installation position is known in advance is transmitted from the second positioning satellite a positioning augmentation signal acquisition step to acquire;
Third positioning for generating third positioning information of the observation point based on the first positioning information generated in the first positioning information generating step and the positioning augmentation signal obtained in the positioning augmentation signal obtaining step an information generating step;
a positioning information switching step of switching positioning information to be provided between the second positioning information generated in the second positioning information generating step and the third positioning information generated in the third positioning information generating step;
a positioning information providing step of providing the positioning information switched in the positioning information switching step;
Positioning method to perform. to the computer,
A positioning signal acquisition function for acquiring a positioning signal delivered from the first positioning satellite;
a first positioning information generating function for generating first positioning information of an observation point based on the positioning signal obtained by the positioning signal obtaining function;
Correction information acquisition for acquiring correction information generated based on the first positioning information generated by the first positioning information generation function and the positioning signal received at the first reference point whose installation position is known in advance function and
Second positioning information generation for generating second positioning information of the observation point based on the first positioning information generated by the first positioning information generation function and the correction information acquired by the correction information acquisition function function and
A positioning augmentation signal generated by a second positioning satellite by transmitting a correction signal generated based on the positioning signal received at a second reference point whose installation position is known in advance is transmitted from the second positioning satellite A positioning augmentation signal acquisition function to be acquired;
Third positioning for generating third positioning information of the observation point based on the first positioning information generated by the first positioning information generation function and the positioning augmentation signal acquired by the positioning augmentation signal acquisition function an information generating function;
A positioning information switching function for switching positioning information to be provided between the second positioning information generated by the second positioning information generating function and the third positioning information generated by the third positioning information generating function;
a positioning information providing function for providing the positioning information switched by the positioning information switching function;
A positioning program that realizes

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