JP4237581B2 - Positioning device - Google Patents

Description

  The present invention relates to a technique for receiving a signal from a positioning satellite and performing a positioning calculation of a mobile object, and more particularly to a technique that enables highly accurate positioning even when the number of positioning satellites is insufficient.

  As a conventional technique for performing positioning calculation using a positioning satellite, for example, there is a technique described in pages 81 to 88 of “Basics of Revised GPS Survey” issued by the Japan Surveying Association. As a method for improving positioning accuracy using correction information, there is a technique described on pages 109 to 112 of the same book. A configuration for performing positioning calculation using a positioning satellite is shown in FIG. In FIG. 2, the satellite positioning receiver 42 receives a signal from the positioning satellite 41, calculates the satellite distance to the positioning satellite 41 for the plurality of positioning satellites 41, and further, from the satellite positioning correction information transmitter 44. The satellite positioning correction signal 30 is received as the satellite positioning correction information 29 via the satellite positioning correction information receiver 7, and the location of the own aircraft is determined using the satellite distance and the satellite positioning correction information calculated for each positioning satellite. Positioning is in progress.

  In the above prior art, since the positioning calculation is performed using such a method, four or more observation satellites are required to calculate the X, Y, Z directions and time. Also, in urban areas, the arrangement of surrounding buildings is complex, and the observation conditions of positioning satellites frequently change as the satellite positioning receiver moves, making it difficult to continue stable positioning calculations. . In other words, it is difficult to perform highly accurate positioning calculation unless the environment is capable of constantly observing the number of positioning satellites necessary for positioning calculation.

  Further, as a technique for performing positioning calculation using equipment other than the positioning satellite, there is a “position measuring device” described in JP-A-8-29192.

According to Japanese Patent Laid-Open No. 8-29192, the position measuring device has a first reflection target and a first GPS receiver installed at a first point K1 whose coordinate value is known. A second reflection target is installed at the second point K2 whose coordinate value is known. The unknown point P is set on the work ship, and a total station and a second GPS receiver are installed on the ship. A digital information receiver that receives satellite signal information transmitted from the digital information signal transmitter and an arithmetic processing unit are installed on the ship, and the second GPS receiver and the digital information receiver measure the position. Connected to the device. In the position measurement device, at the start of measurement, the coordinate value of the measurement start unknown point is obtained from the distance measurement value between the first and second points, and the unknown point coordinate value after the measurement start is received in the first and second GPS. Obtained based on the satellite signal information of the aircraft.
JP-A-8-29192 Published by Japan Survey Association “Basics of Revised GPS Survey” p. 81-88, p. 109-112

  As described above, with positioning methods using positioning satellites, a sufficient number of positioning satellites may not be observed in urban areas where the observation conditions of positioning satellites frequently change. It is difficult to realize the calculation. Further, the “position measuring device” described in Japanese Patent Application Laid-Open No. 8-29192 is not a technique that enables highly accurate positioning calculation when the number of positioning satellites is insufficient.

  The main object of the present invention is to solve such problems, and an object of the present invention is to realize a device capable of highly accurate positioning calculation even when the number of observable positioning satellites is insufficient. And

The positioning device according to the present invention is
In a positioning device that can measure the location of its own device and display the positioning coordinates that are the positioning results,
The first signal distributed from the positioning satellite and the second signal different from the first signal distributed from the ground device can be received. In a predetermined case, the first signal is received, and the first signal The position of the positioning device is measured using the signal, and based on the positioning result, the first signal using positioning coordinate information indicating the positioning coordinate when using the first signal is generated, and the first signal using the positioning signal is generated. A positioning processing unit for generating positioning quality information when using the first signal indicating positioning quality;
It is determined whether or not the positioning quality at the time of using the first signal indicated in the positioning signal quality information at the time of using the first signal generated by the positioning processing unit is equal to or higher than a predetermined level, and positioning at the time of using the first signal When the quality is equal to or higher than a predetermined level, the positioning coordinates indicated in the positioning coordinate information when using the first signal are displayed, and when the positioning quality when using the first signal is lower than the predetermined level, the second signal is A control unit that instructs the positioning processing unit to receive and perform positioning,
The positioning processing unit
When there is an instruction from the control unit, the second signal is received, the location of the positioning device is measured using the second signal, and the positioning when the second signal is used based on the positioning result Generating second-signal positioning coordinate information indicating coordinates and generating second-signal positioning quality information indicating positioning quality when using the second signal;
The controller is
It is determined whether or not the positioning quality at the time of using the second signal indicated in the positioning signal quality information at the time of using the second signal generated by the positioning processing unit is a predetermined level or more, and positioning at the time of using the second signal When the quality is equal to or higher than a predetermined level, the positioning coordinates indicated in the positioning coordinate information when using the second signal are displayed.

  The positioning device according to the present invention uses the second signal from the ground device even when the positioning quality at the time of positioning using the first signal from the positioning satellite is less than the predetermined level. Positioning calculation with high positioning quality.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a configuration example of a system according to the present embodiment. In particular, FIG. 1 is a diagram illustrating a relative relationship between the mobile positioning terminal device 1, the positioning satellite 41, and the target 43 in the present embodiment.

  The mobile positioning terminal device 1 can receive a satellite ranging signal from the positioning satellite 41, measures the satellite distance between the own device and each positioning satellite 41 based on the satellite ranging signal, and the location of the own device. The position can be measured. In addition, when the location of the own device is measured, the positioning coordinates as the positioning result can be displayed. In addition, the mobile positioning terminal device 1 can receive a target ranging signal from the target 43 in a predetermined case, and the distance measurement between itself and each target 43 based on the target ranging signal. It is possible to determine the location of the device by measuring the distance. The mobile positioning terminal device 1 corresponds to an example of a positioning device.

  The positioning satellite 41 is, for example, a GPS (Global Positioning System) satellite. In this specification, the positioning satellite 41 includes an artificial satellite and a ground device that distributes a ranging signal in the same format as a GPS satellite or the like. One of the positioning satellites 41 may be a quasi-zenith satellite. The satellite ranging signal distributed from the positioning satellite 41 corresponds to an example of the first signal.

  The target 43 is a ground device that distributes a ranging signal (target ranging signal) different from the satellite ranging signal from the positioning satellite 41, and corresponds to an example of a ground device. Note that the target ranging signal distributed from the target 43 corresponds to an example of the second signal.

  The satellite positioning correction information transmitter 44 transmits a satellite positioning correction signal 30 for correcting a positioning error when the mobile positioning terminal device 1 performs positioning based on the satellite ranging signal from the positioning satellite 41. 1 to provide. When the satellite positioning correction information transmitter 44 transmits the satellite positioning correction signal 30, the charging processing facility 46 can perform a charging process according to the transmission amount. The satellite positioning correction information transmitter 44 may be a quasi-zenith satellite.

  The quasi-zenith satellite orbits once a day according to the rotation of the earth so as to have an inclination angle of about 45 degrees from the equator plane. Note that the inclination angle from the equator plane may be arbitrarily set depending on the design. In addition, as an example, three aircraft are arranged so as to be 120 degrees apart at the ascending intersection eclipse (intersection with the equator plane). The trajectory of the quasi-zenith satellite orbit projected onto the ground surface is such that the quasi-zenith satellite draws an “eight-shape” or “tears pattern” that intersects the equator when the ground is fixed. It is going around. The three quasi-zenith satellites have different orbital planes, but they change over every 8 hours (meetings), so they are located above Japan without a break. Also, when considering the region in Japan, there will always be a quasi-zenith satellite with an elevation angle of 70 degrees or more. Because it is located above Japan without a break, there is always a quasi-zenith satellite with an elevation angle of 70 degrees or more, and when a receiver receives a radio wave from the quasi-zenith satellite on the ground, it is less likely to be blocked in the valleys of the building. .

  The latest target database 45 (hereinafter referred to as the latest target DB 45) stores the latest information on the target for each predetermined area, and the DB is requested when there is a DB update request 37 from the mobile positioning terminal device 1. As the update control 38, the latest target information can be provided to the mobile positioning terminal device 1, and the information related to the target of the mobile positioning terminal device 1 can be updated. When the DB update control 38 is transmitted, the latest target DB 45 can perform charging processing according to the update contents and the number of transmissions in the charging processing facility 46.

  The billing processing facility 46 charges the billing process for providing the satellite positioning correction signal 30 from the satellite positioning correction information transmitter 44 to the mobile positioning terminal device 1 or the DB update control 38 from the latest target DB 45 to the mobile positioning terminal device 1. Is charged for the transmission of.

  Here, the operation according to the present embodiment will be outlined with reference to FIG.

  First, the mobile positioning terminal device 1 receives a ranging signal from the positioning satellite 41 and measures the location of the own device. Here, in an environment where the sky is open, it is often possible to observe four or more positioning satellites 41 at the same time. However, if four or more positioning satellites 41 cannot be observed, highly accurate positioning calculation cannot be performed. Therefore, in the present embodiment, the mobile positioning terminal device 1 detects the target 43 existing in the vicinity, receives the target ranging signal from the target 43 present in the vicinity, and receives the satellite from the positioning satellite 41. Using the target ranging signal together with the ranging signal, the position of the own device is determined. Even when the number of observations is four or more, if the spatial arrangement of the positioning satellite 41 or the target 43 is deteriorated or the quality of the distance measurement is deteriorated, the positioning calculation accuracy in a specific direction, that is, the positioning quality is low. May deteriorate. In this case, in order to improve the positioning quality, the observation of the target 43 that receives the target ranging signal is added and recalculated. When there are a large number of targets 43 in the vicinity, an appropriate target is selected, and a target ranging signal from the selected target is received and positioning is performed.

  Next, with reference to FIG. 3, the structural example of the mobile positioning terminal device 1 which concerns on this Embodiment is demonstrated. The mobile positioning terminal device 1 according to the present embodiment includes a ranging / positioning calculation unit 2, a target management / control unit 3, and a display / input unit 4.

  The ranging / positioning calculation unit 2 corresponds to an example of a positioning processing unit.

  In the ranging / positioning calculation unit 2, the positioning calculator 5 uses the output information from the positioning satellite receiver 6 and, in a predetermined case, the output information from the ranging calculation unit 8 to locate the mobile positioning terminal device 1. Positioning is performed, and positioning quality information 31, positioning coordinate information 32, and satellite capture number information are output to the controller 11. The positioning quality information 31 is information indicating the high positioning accuracy, the positioning coordinate information 32 is coordinate information indicating the location of the mobile positioning terminal device 1, and the satellite capture number information 50 is the positioning satellite receiver 6. Is information indicating the number of positioning satellites 41 that can be captured.

  The positioning satellite receiver 6 receives a satellite ranging signal from the positioning satellite 41, measures the satellite distance between the mobile positioning terminal device 1 and the positioning satellite 41, and receives satellite coordinate information 26, satellite quality information 27, The satellite distance information 28 is output to the positioning calculator 5. The satellite coordinate information 26 is coordinate information indicating the position of the positioning satellite 41, the satellite quality information is information indicating the accuracy of distance measurement at the time of distance measurement of the satellite distance, and the satellite distance information 28 is measured. This is information indicating the distance of the satellite.

  The ranging calculation unit 8 includes a plurality of ranging sensors 9 each corresponding to an individual ranging method. Each of the ranging sensors 9 receives a target ranging signal from the target 43 that matches the ranging method, measures the distance between the mobile positioning terminal device 1 and the target 43, and then targets the target. The coordinate information 23, the distance measurement quality information 24, and the distance measurement information 25 are output to the positioning calculator 5. The target coordinate information 23 is coordinate information indicating the position of the target 43, and the distance measurement quality information 24 is information indicating the accuracy of distance measurement at the time of distance measurement, and the distance measurement information 25. Is information indicating the measured distance.

  The satellite positioning correction information receiver 7 receives the satellite positioning correction signal 30 for correcting the observation value of the positioning satellite receiver 6 from the satellite positioning correction information transmitter 44, and receives the received satellite positioning correction signal 30 as the satellite positioning correction information 29. To the positioning calculator 5.

  The target management / control unit 3 includes a controller 11, a target database 12 (hereinafter referred to as target DB 12), and a map database 13 (hereinafter referred to as map DB 13). The controller 11 corresponds to an example of a control unit.

  The controller 11 receives the positioning quality information 31, the positioning coordinate information 32, and the satellite acquisition number information 50 from the positioning calculator 5, and determines whether or not the positioning quality indicated in the positioning quality information 31 is equal to or higher than a predetermined level. If the positioning quality is equal to or higher than a predetermined level, the input positioning coordinate information 32 is displayed, the map DB 13 is controlled, and the positioning coordinates indicated in the positioning coordinate information 32 are displayed on the display unit 15 together with the surrounding map. . On the other hand, if the positioning quality is less than the predetermined level, the necessary number of targets is specified based on the number of captured satellites indicated in the satellite captured number information 50, and the necessary number of targets are selected, and the selected target is related. Information is output from the target DB 22 to the ranging / positioning calculation unit 2 as target coordinate / quality / ranging method information 22, and the positioning control information 21 is output to the ranging / positioning calculation unit 2 The positioning calculation unit 2 is controlled. Further, when information about the target is not stored in the target DB 12, the DB update request 37 is transmitted to the latest target DB 45, the DB update control 38 is received from the latest target DB 45, and the contents of the target DB 12 Update.

  FIG. 4 shows an example of the contents stored in the latest target DB 45. In FIG. 4, the identification number indicates the identification number of each target 43. The distance measurement method indicates a distance measurement method for measuring the distance of each target 43. For example, when measuring the distance for the target with the identification number 1001, it is necessary to measure the distance according to the distance measurement method based on the propagation time. When measuring the distance for the target with the identification number 1004 It is necessary to measure the distance according to the distance measuring method based on the signal intensity. Further, the method-specific identification ID is an identification ID for specifying the subdivision of the distance measuring method when measuring the distance for each target. In the example of FIG. 4, the distance measurement method based on the propagation time can be subdivided into three methods of identification IDs 125, 126, and 127, and the subdivision of the distance measurement method is shown for each target. Each distance measuring sensor 9 of the distance measuring calculation unit 8 corresponds to one of the identification IDs for each method, and any distance measuring sensor 9 is always used regardless of the distance measuring method used by the target. A target ranging signal can be received. The distance measurement quality indicates the distance measurement accuracy when each object is measured using a target distance measurement signal from the target object, and is calculated by a DOP value calculation method described later. . The target coordinates represent coordinates indicating the location of each target. Then, the identification number, ranging method, identification ID for each method, ranging quality, and target coordinates shown in FIG. 4 are output to the ranging / positioning calculation unit 2 as target coordinate / quality / ranging method information 22. Is done. Note that the target DB 12 holds information on the target located in each area for each predetermined area. Further, the contents of the target DB 12 change corresponding to the distance measuring method of the target 43. When the target distance measurement signal from the target object 43 includes information such as target coordinates, distance measurement quality, and identification ID, it is not necessary for the target object DB 12 to include these contents. In addition, the target may not be a stationary object, for example, a moving body that changes (moves) with regularity depending on time, and in this case, the target coordinates are May be given as a function.

  The display / input unit 4 includes an input device 14 and a display device 15. The input device 14 inputs various types of information from an operator (user) of the mobile positioning terminal device 1, and outputs the information as operator input information 36 to the controller 11. Further, the display 15 displays display information from the target object management / control unit 3. Specifically, the positioning coordinates indicating the location of the mobile positioning terminal device 1, the surrounding map, etc. are displayed.

  Although not shown, the mobile positioning terminal device 1 can be realized by a computer having a CPU such as a microprocessor, a recording unit such as a semiconductor memory or a magnetic disk, and a communication unit. In the recording means, a program for realizing the function of each component included in the mobile positioning terminal device 1 is recorded, and the operation of the mobile positioning terminal device 1 is controlled by the CPU reading these programs. The function of the element can be realized.

  As described above, as a processing procedure, the positioning calculator 5 performs positioning of the location of the mobile positioning terminal device 1 using the satellite ranging information from the positioning satellite 41, and obtains the positioning quality information 31 and the positioning coordinate information 32. When output to the controller 11 and the controller 11 determines that the positioning quality does not reach a predetermined level, the positioning calculator 5 detects the target ranging signal from the target 43 and the satellite measurement from the positioning satellite 41. Positioning of the location of the mobile positioning terminal device 1 is performed using the distance signal, and positioning quality information 31 and positioning coordinate information 32 are output to the controller 11. Here, the positioning quality information 31 and the positioning coordinate information 32 generated in the first stage, that is, the positioning quality information 31 and the positioning coordinate information 32 using the satellite ranging signal (first signal) are respectively This corresponds to an example of positioning quality information when using one signal and positioning coordinate information when using a first signal, and positioning quality information 31 and positioning coordinate information 32 generated in the second stage, that is, a target ranging signal (second Positioning quality information 31 and positioning coordinate information 32 using a satellite ranging signal (first signal) are examples of positioning quality information when using the second signal and positioning coordinate information when using the second signal, respectively. Equivalent to.

  The ranging / positioning calculation unit 2 of the mobile positioning terminal device 1 calculates the positioning coordinates that are the location of the mobile positioning terminal device 1. In order to calculate the positioning coordinates, the ranging satellite receiver 6 and the ranging are calculated. The calculation unit 8 measures the distance between the positioning satellite 41 and the mobile positioning terminal device 1 (satellite distance) and the distance between the target 43 and the mobile positioning terminal device 1 (distance measurement). The distance measurement / positioning calculation unit 2 further obtains coordinate information of the positioning satellite 41 and the target 43, that is, satellite coordinates and target coordinates. The positioning calculator 5 uses these pieces of information to perform positioning calculation using a so-called triangulation method.

  Although there are several means for measuring the distance, the satellite distance to the positioning satellite 41 uses the propagation time of the received radio wave. Therefore, the accuracy of the internal clock of the positioning satellite receiver 6 inside the distance measurement / positioning calculation unit 2 greatly affects the positioning accuracy. Similarly, when the signal propagation time is also used for measuring the distance to the target 43, the accuracy of the internal clock of the distance calculation calculation unit 8 is important. Therefore, in order to calculate each variable whose positioning coordinates output by the distance measurement / positioning calculation unit 2 are three-dimensional, it is necessary to solve the internal clock variable at the same time. It is.

  The satellite coordinates and the satellite distance obtained by receiving radio waves from the positioning satellite 41 include errors due to various factors. This error can be corrected by using the satellite positioning correction information 29 generated by the satellite positioning correction information receiver 7 using the satellite positioning correction signal 30, and the accuracy of the positioning calculation is improved by the correction.

  The satellite positioning correction signal 30 may be information distributed from the quasi-zenith satellite. Of course, VICS (Road Traffic Information Communication System, Vehicle Information and Communication System), wireless LAN (Local Area Network), FM multiplexing, or the like may be used.

  As a method for estimating the positioning accuracy (positioning quality) in the satellite positioning calculation, there is a method of calculating a DOP (Division Of Precision) value that is an accuracy degradation index. If each row is a design matrix A, an unknown matrix δX, and an observation value matrix δR that are cosines of the line of sight from the observation point to each positioning satellite 41, there is a relationship of A · δX = δR. Here, “·” indicates a matrix product. The unknown number matrix δX indicating the positioning result is expressed as δX = Inv (A) · δR, where the inverse matrix of A is Inv (A). The dispersion of δX is Cov (δX) = Inv (A) · Cov (δR) · (Inv (A)) T = Inv (Trans (A) · Inv (Cov (δR)) · A). Here, Trans (A) represents the transpose matrix of A. Here, Cov (δR) is the variance of each observation value, which corresponds to the satellite quality or ranging quality of each observation value. That is, if the variance is large, this corresponds to a deterioration in satellite quality or ranging quality of each observation value. The DOP value is Sqrt (Trace (Inv (Trans (A) · Inv (Cov (δR)) · A))). Here, Trace (A) indicates the sum of the diagonal elements of A. A small DOP value indicates good positioning accuracy or positioning quality. Each diagonal element of Inv (Trans (A) · Inv (Cov (δR)) · A) corresponds to the positioning accuracy of each corresponding element axis of δX. Therefore, if a desired coordinate system is set for A and δX, an estimate of the positioning accuracy in the coordinate axis direction can be obtained.

  The positioning calculator 5 employs such a DOP value calculation method, so that the positioning quality in consideration of the satellite quality or the ranging quality of each ranging method even in the positioning calculation combining a plurality of ranging methods. An estimate can be calculated.

  When the positioning quality when using the satellite ranging signal from the positioning satellite is less than a predetermined level, the controller 11 determines the positioning quality information 31 generated by the ranging / positioning calculation unit 2, the positioning coordinate information 32, and Using the satellite acquisition number information 50 as an input, an appropriate target 43 is selected from the target DB 12, and information related to the selected target is output from the target DB 12. As shown in FIG. 4, the target DB 12 includes target coordinates, a target distance measurement method and distance measurement quality, and a target distance identification method or identification ID of the same distance measurement method. Information output from the target DB 12 is collectively illustrated as target coordinate / quality / ranging method information 22 in FIG. In addition to the target coordinate / quality / ranging method information 22, the positioning control information 21 is used to control the operation sequence of the ranging / positioning calculation unit 2. That is, the controller 11 (control unit), when the positioning quality when using the satellite ranging signal (first signal) from the positioning satellite 41 is less than a predetermined level, the controller 11 (control unit) ) Select at least one target (ground equipment) from among the above) and receive the target ranging signal (second signal) from the selected target (selected ground equipment) Instructs the positioning calculation unit 2.

  The distance measurement calculation unit 8 uses the distance measurement sensor 9 selected corresponding to the distance measurement method and the method-specific identification ID indicated in the object coordinate / quality / ranging method information 22 to obtain the target from the target 43. A distance measurement signal is received, distance measurement, which is a distance to the target 43, is performed, and target coordinate information 23, distance measurement quality information 24, and distance measurement information 25 are output. When the target coordinate / quality / ranging method information 22 output from the controller 11 includes information on the target coordinate and the ranging quality information, the target coordinate information 23 and the ranging quality information 24 are included. May be output as When distance measurement is required for a plurality of targets 43, if distance measurement is possible at the same time, distance measurement is performed simultaneously. Even if distance measurement cannot be performed at the same time, it is possible to measure a plurality of targets 43 by performing distance measurement in order. Even when there are a plurality of targets 43 using the same distance measuring method, information for identifying individual targets 43 included in the response signal from the target 43 is detected, or individual target coordinates are detected. It is possible to identify them by comparing the approximate positioning coordinates with individual distances.

  For distance measurement with the target 43, the distance measurement sensor 9 corresponding to each distance measurement method is used. For example, the positioning satellite receiver 6 measures the satellite distance to the positioning satellite 41. It is possible to adopt the method of doing. In this case, the target 43 outputs radio waves having a format similar to that of the positioning satellite 41. If it is possible to adopt substantially the same format, it is possible to perform distance measurement on a plurality of targets 43 simultaneously as in the positioning satellite receiver 6.

  As another method, there is a method of converting the distance from the received power of the radio wave transmitted from the target 43. In this case, distance measurement is possible by grasping the relationship between received power and distance measurement in advance. The target 43 can be identified by using the frequency of radio waves, modulation data, and the like.

  Depending on the type of the target 43, there may be no appropriate distance measuring sensor 9 or distance measurement calculation method. In order to cope with such a case, a method of inputting a rough distance measurement corresponding to a specific target 43 via the operator interface 39, the input device 14 and the operator input information 36 is possible. In this case, the positioning control information 21 is controlled by including an approximate distance measurement corresponding to the specific target 43.

  Next, with reference to FIG. 8, operation | movement of the mobile positioning terminal device 1 which concerns on this Embodiment is demonstrated.

  First, the positioning satellite receiver 6 receives a satellite ranging signal from the positioning satellite 41, and outputs satellite coordinate information 26, satellite quality information 27, and satellite distance information 28 to the positioning calculator 5 (S801).

  Next, the positioning calculator 5 inputs the satellite coordinate information 26, the satellite quality information 27, and the satellite distance information 28 from the positioning satellite receiver 6, performs positioning of the location of the own device, the positioning quality information 31, the positioning coordinates. Information 32 and satellite acquisition number information 50 are generated and output to the controller 11 (S802). Here, the positioning calculator 5 may perform positioning of the location of its own device using the satellite positioning correction information 29 from the satellite positioning correction information receiver 7.

  Next, the controller 11 receives positioning quality information 31 (positioning quality information when using the first signal), positioning coordinate information 32 (positioning coordinate information when using the first signal), and satellite capture number information 50 from the positioning calculator 5. Then, it is determined whether or not the positioning quality indicated in the positioning quality information 31 is equal to or higher than a predetermined level (S803).

  If it is determined in step S803 that the positioning quality is equal to or higher than the predetermined level, the controller 11 sets the positioning coordinate information 32 input from the positioning calculator 5 as a display target (S804), and based on the positioning quality information 31. The range of the error circle is calculated, the map around the positioning coordinates is extracted from the map DB 13, and the positioning coordinates, the error circle, the surrounding map, etc. shown in the positioning coordinate information 32 to be displayed are displayed on the display 15. It is displayed (S813).

  FIG. 5 shows a display example of the display 15, the terminal position identification 47 indicates the position (positioning coordinates) of the mobile positioning terminal device 1, and the error circle 49 expresses the positioning quality. The error circle 49 is generated on the plane including the error circle 49 so that the positioning quality for each direction becomes the radius of the direction. That is, in the error circle 49, the higher the positioning quality, that is, the higher the positioning accuracy, the shorter the radius of the circle. As the positioning quality in each direction, each direction component of the accuracy degradation index DOP value described above can be used.

  On the other hand, if the positioning quality is less than the predetermined level in the determination in step S803, the controller 11 determines whether there is information on a target that can be selected in the target DB 12, and can select it. If the target information exists, the process proceeds to step S807. If the selectable target information does not exist, the process proceeds to step S806 to update the target DB. To update the target DB, the controller 11 sends a DB update request 37 to the latest target DB 45 to request the latest information on the target 43 existing around the current position of the mobile positioning terminal device 1. Then, the DB update control 38 is received as a response from the latest target DB 45 and the information content of the target DB 12 is updated.

  Next, the controller 11 refers to the information content of the target DB 12 and selects a target (S807). The target is selected, for example, based on the positioning coordinate information 32 and selected from the target 43 that is close to the current position of the mobile positioning terminal device 1. Since the direction in which the radius of the error circle is long is the direction in which the error is large, the method of selecting from the target 43 is selected from the target 43 existing in that direction. The number of targets to be selected is at least the number of observations necessary for positioning minus the number of satellite captures indicated in the satellite capture number information 50. Further, regardless of the number of captured satellites, a method may be used in which all targets located within a certain distance from the current position of the mobile positioning terminal device 1 are selected, or all targets having a certain distance measurement quality are selected. Then, the controller 11 outputs the information of the selected target as target coordinate / quality / ranging method information 22 from the target DB 12 to the distance measurement / positioning calculation unit 2 and from the selected target to the target measurement. Information for receiving a distance signal and instructing to perform positioning is output to the distance measurement / positioning calculation unit 2 as positioning control information 21.

  Next, the distance measurement / positioning calculation unit 2 performs the corresponding measurement in the distance measurement calculation unit 8 based on the positioning control information 21 from the target object management / control unit 3 and the target coordinate / quality / range measurement method information 22. The distance sensor 9 receives a target ranging signal from the target 43 selected by the controller 11, generates target coordinate information 23, ranging quality information 24, and ranging information 25, and outputs them to the positioning calculator 5. (S808).

  In parallel, the positioning satellite receiver 6 receives a satellite ranging signal from the positioning satellite 41, generates satellite coordinate information 26, satellite quality information 27, and satellite distance information 28, and outputs them to the positioning calculator 5. (S809).

  Next, the positioning calculator 5 inputs the target coordinate information 23, the ranging quality information 24, and the ranging information 25 from the ranging calculation unit 8, and the satellite coordinate information 26, the satellite quality from the positioning satellite receiver 6. The information 27 and the satellite distance information 28 are input, the location of the mobile positioning terminal device 1 is determined from the target coordinate information 23, the distance information 25, the satellite coordinate information 26, and the satellite distance information 28, and the positioning quality information 31 ( (Positioning quality information when using the second signal) is generated, and positioning coordinate information 32 (positioning coordinate information when using the second signal) is generated from the ranging quality information 24 and the satellite quality information 27, and is output to the controller 11. (S810). Here, the positioning calculator 5 may perform positioning of the location of its own device using the satellite positioning correction information 29 from the satellite positioning correction information receiver 7.

  Next, the controller 11 inputs the positioning quality information 31 and the positioning coordinate information 32 from the positioning calculator 5 and determines whether there is an unselected target (S811).

  If Yes in step S811, that is, if there is an unselected target, the process returns to step S803, and the positioning quality indicated in the positioning quality information 31 input from the positioning calculator 5 is equal to or higher than a predetermined level. (S803), if the positioning quality is equal to or higher than a predetermined level, the controller 11 sets the positioning coordinate information 32 input from the positioning calculator 5 as a display target (S804), and determines the positioning coordinates and error circle. The surrounding map or the like is displayed on the display 15 (S813). On the other hand, if the positioning quality is less than the predetermined level, the processes in and after S805 are repeated.

  In the case of No in step S811, that is, when all of the targets have already been selected, the positioning coordinate information corresponding to the positioning quality information with the highest positioning quality among the positioning quality information input so far is obtained. It selects and makes it a display object (S812), and displays a positioning coordinate, an error circle, a surrounding map, etc. on the indicator 15 (S813).

  In the above, when the positioning quality when using the satellite ranging signal is less than the predetermined level, the positioning of the location of the mobile positioning terminal device is determined using both the target ranging signal and the satellite ranging signal. However, positioning may be performed using only the target distance measurement signal.

  As described above, according to the mobile positioning terminal device according to the present embodiment, even when the number of observable positioning satellites is insufficient, the distance measurement between the distance measurement target existing around is used together. Thus, there is an effect that positioning calculation is possible. Moreover, there is an effect of improving the positioning quality by using the distance measurement with the target.

Embodiment 2. FIG.
FIG. 7 is a diagram illustrating a configuration example of the mobile positioning terminal device 1 according to the present embodiment. In FIG. 7, an inertial positioning calculator 10 is added to the configuration shown in FIG.

  The inertial positioning calculator 10 has a built-in sensor for detecting the speed and acceleration of each axis, and uses the positioning coordinate information 32 and the positioning quality information 31 that are outputs of the positioning calculator 5 to autonomously calculate the coordinates every moment. Calculate and output as inertial positioning quality information 33 and inertial positioning coordinate information 34. When the number of observable positioning satellites 41 or targets 43 is insufficient, the positioning calculator 5 outputs inertial positioning quality information 33 and inertial positioning coordinate information 34 that are independently calculated from previous calculation results. Can be used. As a result, positioning calculation can be maintained even in an area where normal positioning calculation is impossible.

  Thus, according to the mobile positioning terminal device according to the present embodiment, it is possible to use an inertial positioning calculator that can perform autonomous positioning calculation even when the distanceable target is insufficient. The positioning calculation can be maintained.

Embodiment 3 FIG.
In the mobile positioning terminal apparatus shown in the first embodiment, the controller 11 selects a predetermined number of targets, the target ranging signal from the selected target is received by the ranging calculation unit 8, and the positioning calculation is performed. In the present embodiment, the controller 11 selects all the targets having information in the target DB 12, and the ranging calculation unit 8 selects all the targets. A case where target ranging information is received from will be described. The configuration of the mobile positioning terminal device 1 is the same as that shown in FIG. 3 or FIG.

  FIG. 9 is a flowchart showing an operation example of the mobile positioning terminal apparatus according to the present embodiment. Hereinafter, with reference to FIG. 9, the operation of the mobile positioning terminal apparatus according to the present embodiment will be described.

  The mobile positioning terminal device according to the present embodiment first performs the same operation as steps S801 to S805 (or S806) in FIG. In the mobile positioning terminal device according to the present embodiment, the ranging / positioning calculation unit 2 uses the satellite ranging signal to measure the location of its own device, and the controller 11 has a positioning quality of less than a predetermined level. The operation after the determination is different from the mobile positioning terminal device according to the first embodiment.

  After the processing of step S805 or S806 is performed (S901), the controller 11 selects all targets having information in the target DB 12 (S902), and sets information on all targets as target coordinates / quality. The positioning control information 21 is information that is output from the target DB 12 to the distance measurement / positioning calculation unit 2 as the distance measurement method information 22 and that receives the target distance measurement signals from all the targets and performs positioning. Output to the distance measurement / positioning calculation unit 2.

  Next, the distance measurement / positioning calculation unit 2 uses the distance measurement sensor in the distance measurement calculation unit 8 based on the position control information 21 from the target object management / control unit 3 and the object coordinate / quality / range measurement method information 22. 9 receives target ranging signals from all the targets 43, generates target coordinate information 23, ranging quality information 24, and ranging information 25, and outputs them to the positioning calculator 5 (S903).

  In parallel, the positioning satellite receiver 6 receives a satellite ranging signal from the positioning satellite 41, generates satellite coordinate information 26, satellite quality information 27, and satellite distance information 28, and outputs them to the positioning calculator 5. (S904).

  Next, the positioning calculator 5 inputs the target coordinate information 23, the ranging quality information 24, and the ranging information 25 from the ranging calculation unit 8, and the satellite coordinate information 26, the satellite quality from the positioning satellite receiver 6. Information 27 and satellite distance information 28 are input. Here, the positioning calculator 5 groups the targets for each number of targets necessary for positioning (for example, the number obtained by subtracting the number of captured satellites from the total number of observations necessary for positioning). For example, if the total number of observations required for positioning is 4, the number of satellite acquisitions is 2, and the number of selected targets is 10, then each group will have 5 groups consisting of 2 targets. Set. Further, grouping may be performed so that all combinations of targets are realized. In the case of the above example, since there are 45 combinations, 45 groups are set. For each group, positioning coordinate information 32 (positioning coordinate information when using the second signal) using the target coordinate information 23, distance measurement information 25, satellite coordinate information 26, and satellite distance information 28 of the target constituting the group. In addition, for each group, the positioning quality information 31 (positioning quality information when using the second signal) is generated using the ranging quality information 24 and the satellite quality information 27 of the target objects constituting the group (S905). . Here, the positioning calculator 5 may perform positioning of the location of its own device using the satellite positioning correction information 29 from the satellite positioning correction information receiver 7.

  Then, the positioning calculator 5 selects the positioning quality information 31 indicating the best positioning quality from the positioning quality information 31 generated for each group, and selects the positioning coordinate information 32 corresponding to the selected positioning quality information 31. Then, the selected positioning quality information 31 and positioning coordinate information are output to the controller 11 (S906).

  Next, the controller 11 inputs the positioning quality information 31 and the positioning coordinate information 32 from the positioning calculator 5 and determines whether or not the positioning quality indicated in the positioning quality information 31 is equal to or higher than a predetermined level. (S907) If the positioning quality is equal to or higher than a predetermined level, the input positioning coordinate information is set as a display target (S908), and the positioning coordinates, error circle, surrounding map, etc. are displayed on the display 15 (S910).

  On the other hand, if the positioning quality is less than the predetermined level in step S907, the positioning quality when using the satellite (the positioning quality indicated in the positioning quality information generated in step S802) and the positioning quality information selected in step S906 are used. Compared with the indicated positioning quality, the positioning coordinate information associated with the positioning quality information with good positioning quality is set as a display target (S909), and the positioning coordinates, error circle, peripheral map, etc. are displayed on the display 15 ( S910).

  In the above description, the controller 11 selects all targets having information in the target DB 12, but the feature of the mobile positioning terminal device according to the present embodiment is the target necessary for positioning. It is to select a target more than the number of objects and perform the positioning calculation for the selected target collectively, and it is not always necessary to select all the targets. For example, a target located at a certain distance or more from the location of the mobile positioning terminal device or a target other than a target that does not satisfy a certain distance measurement quality may be selected.

  In the above description, the positioning calculator 5 selects the positioning quality information with the best positioning quality and the positioning coordinate information corresponding to the positioning quality information and outputs them to the controller 11. 5, all pairs of positioning quality information and positioning coordinate information are output to the controller 11, and the controller 11 selects the positioning quality information with the best positioning quality and the positioning coordinate information corresponding to the positioning quality information. Also good.

  As described above, even in the mobile positioning terminal device according to the present embodiment, even when the number of observable positioning satellites is insufficient, the distance measurement between the distance measuring target existing in the vicinity is used together. Thus, the positioning calculation can be performed. Moreover, there is an effect of improving the positioning quality by using the distance measurement with the target.

Embodiment 4 FIG.
In the mobile positioning terminal device shown in the first embodiment, the controller 11 autonomously selects the target, but in this embodiment, the target is reflected while reflecting the intention of the user of the mobile positioning terminal device. A case where selection is performed will be described. The configuration of the mobile positioning terminal device 1 is the same as that shown in FIG. 3 or FIG.

  FIG. 10 is a flowchart showing an operation example of the mobile positioning terminal apparatus according to the present embodiment. Hereinafter, the operation of the mobile positioning terminal apparatus according to the present embodiment will be described with reference to FIG.

  First, the positioning satellite receiver 6 receives a satellite ranging signal from the positioning satellite 41, and outputs satellite coordinate information 26, satellite quality information 27, and satellite distance information 28 to the positioning calculator 5 (S1001).

  Next, the positioning calculator 5 uses the satellite coordinate information 26, the satellite quality information 27, and the satellite distance information 28 from the positioning satellite receiver 6 to determine the location of the device itself, and the positioning quality information 31 and the positioning coordinates. Information 32 and satellite acquisition number information 50 are generated and output to the controller 11 (S1002). Here, the positioning calculator 5 may perform positioning of the location of its own device using the satellite positioning correction information 29 from the satellite positioning correction information receiver 7.

  Next, the controller 11 receives positioning quality information 31 (positioning quality information when using the first signal), positioning coordinate information 32 (positioning coordinate information when using the first signal), and satellite capture number information 50 from the positioning calculator 5. In addition to the input, it is determined whether or not a displayable target exists in the target DB 12 (S1003). When the displayable target does not exist in the target DB 12, the DB update request 37 is issued to update the target DB 12 (S1004).

  Next, the controller 11 calculates the range of the error circle based on the positioning quality information 31, extracts a target existing around the positioning coordinates from the target DB 12, and further displays a map around the positioning coordinates. The positioning coordinates, error circle, target, and surrounding map extracted from the map DB 13 and indicated in the positioning coordinate information 32 are displayed on the display 15 (S1005).

  FIG. 6 shows a display example of the display 15, in which the terminal position identification 47 indicates the position of the mobile positioning terminal device 1 (positioning coordinates), the target identification 48 indicates the position of the target 43, The error circle 49 represents the positioning quality. By looking at the error circle 49 expressing the positioning quality, the operator grasps the current positioning accuracy and improves the positioning quality from the target 43 indicated by the plurality of target identifications 48 on the display unit 15. A target 43 used for positioning calculation is selected. Specifically, since the direction in which the radius of the error circle 49 is long is the direction in which the error is large, the target 43 existing in that direction may be selected. In addition, when the currently displayed target 43 is insufficient, a request for updating the target DB 12 is also possible. Further, the controller 11 calculates the necessary number of target selections based on the satellite acquisition number information 50 from the positioning calculator 5, displays the calculated necessary selection number on the display unit 15, and the operator displays the display unit 15. It is also possible to select as many targets as required by referring to the number of necessary selections displayed on the screen.

  If the error circle 49 displayed on the display 15 is large and the operator determines that repositioning is necessary, the operator selects a target 43 to be used for repositioning from among the targets 43 displayed on the display 15. A re-positioning request command for selecting and requesting re-positioning is input through the operator interface 39 and the input device 14. This re-positioning request command includes information for specifying the target selected by the operator.

  In the mobile positioning terminal device 1, it is determined whether or not a repositioning request command is input by the operator within a predetermined time after display on the display unit 15 (S 1006), and if there is no repositioning request command input by the operator. The process is terminated.

  On the other hand, when the re-positioning request command is input from the operator, the controller 11 selects a target according to the information specifying the target included in the re-positioning request command (S1007). Then, the controller 11 outputs the information of the selected target as target coordinate / quality / ranging method information 22 from the target DB 12 to the distance measurement / positioning calculation unit 2 and from the selected target to the target measurement. Information for receiving a distance signal and instructing to perform positioning is output to the distance measurement / positioning calculation unit 2 as positioning control information 21.

  Next, the distance measurement / positioning calculation unit 2 performs the corresponding measurement in the distance measurement calculation unit 8 based on the positioning control information 21 from the target object management / control unit 3 and the target coordinate / quality / range measurement method information 22. The distance sensor 9 receives a target ranging signal from the target 43 selected by the controller 11, generates target coordinate information 23, ranging quality information 24, and ranging information 25, and outputs them to the positioning calculator 5. (S1008).

  In parallel, the positioning satellite receiver 6 receives a satellite ranging signal from the positioning satellite 41, generates satellite coordinate information 26, satellite quality information 27, and satellite distance information 28, and outputs them to the positioning calculator 5. (S1009).

  Next, the positioning calculator 5 inputs the target coordinate information 23, the ranging quality information 24, and the ranging information 25 from the ranging calculation unit 8, and the satellite coordinate information 26, the satellite quality from the positioning satellite receiver 6. The information 27 and the satellite distance information 28 are input, the location of the mobile positioning terminal device 1 is determined from the target coordinate information 23, the distance information 25, the satellite coordinate information 26, and the satellite distance information 28, and the positioning quality information 31 ( The second signal using positioning quality information) and the positioning coordinate information 32 (second signal using positioning coordinate information) are generated and output to the controller 11 (S1110).

  Thus, since the new positioning quality information 31 and positioning coordinate information 32 are generated, the process returns to step S1003, and the controller 11 determines the positioning coordinates, error circle, target based on the new positioning quality information 31 and positioning coordinate information 32. Objects and surrounding maps are displayed on the display 15. If the operator determines from the displayed error circle that re-positioning is not necessary, the re-positioning request command is not input, and thus the process is terminated. If the operator determines from the displayed error circle that re-positioning is necessary, a re-positioning request command is input, and the processing from step S1007 is repeated.

  In this way, positioning accuracy can be improved while reflecting the operator's intention.

  In the above description, when the user determines that re-positioning is necessary, the user himself / herself specifically selects the target to be used for re-positioning. However, the user provides an abstract instruction for selecting the target. (For example, the mobile positioning terminal device 1 is instructed to select a target located in the south direction), and the controller 11 specifically targets based on an abstract instruction from the user. May be selected. In addition, the user may simply instruct repositioning without giving an abstract instruction, and the controller 11 may autonomously select a target when instructed by the user to reposition.

  As described above, according to the mobile positioning terminal device according to the present embodiment, even when the number of observable positioning satellites is insufficient, the distance measurement between the distance measurement target existing in the surroundings is used together. By doing so, positioning calculation is possible, and positioning accuracy can be improved while reflecting the user's intention.

  Here, the characteristics of the mobile positioning terminal device shown in the first to fourth embodiments will be described again below.

  The mobile positioning terminal apparatus shown in Embodiments 1 to 4 is a distance between positioning satellite receiving means for observing a positioning satellite signal and outputting a distance to the positioning satellite, and a target other than the positioning satellite. Ranging means for outputting, target object managing means for managing attribute information and coordinates of a plurality of objects existing in the vicinity, and an arbitrary number of targets from the target object managing means are selected, and the distance measuring means Satellite positioning reception using the selection means for functioning, the distance between the arbitrary number of positioning satellites and the positioning satellite receiving means, the distance between the arbitrary number of targets and the ranging means, and the coordinates of the arbitrary number of targets. And a positioning calculation means for calculating the coordinates of the distance measuring means and a positioning control means for controlling the positioning calculation means.

  The mobile positioning terminal device shown in the first to fourth embodiments uses the input of the operator of the mobile positioning terminal as the distance to the target in place of the output of the ranging means in the positioning control means. Then, the positioning calculation is made to function.

  The mobile positioning terminal apparatus shown in Embodiments 1 to 4 is characterized in that the target object management means can update the managed target list at an arbitrary timing.

  The mobile positioning terminal apparatus shown in Embodiments 1 to 4 is characterized in that, in the target object management means, the attribute information of the managed target object includes the distance measuring means and the distance measurement quality of the target object.

  The mobile positioning terminal apparatus shown in the first to fourth embodiments displays a surrounding map and a target on the screen in the target selecting means, and uses the displayed target from the displayed target as a positioning calculation means. A feature is that an operator selects a target.

  In the mobile positioning terminal apparatus shown in the first to fourth embodiments, the target selecting means displays an error distribution according to the calculation result of the current positioning calculating means on the screen.

  In the mobile positioning terminal device shown in the first to fourth embodiments, the mobile positioning terminal device measures the velocity and acceleration in each direction and updates the positioning coordinates of the device when the device moves. The positioning calculation means calculates coordinates using the output of the inertial positioning calculation means.

  In the mobile positioning terminal apparatus shown in the first to fourth embodiments, the positioning satellite receiving unit, the ranging unit, or the inertial positioning calculation unit adjusts the output quality when outputting the measured distance or coordinates. The positioning calculation means reflects each of the qualities in the positioning calculation, and outputs the quality of the coordinate value that is the output.

FIG. 3 is a diagram illustrating an example of a system configuration according to the first to fourth embodiments. The figure explaining a prior art. FIG. 3 shows a configuration example of a mobile positioning terminal apparatus according to Embodiment 1. The figure which shows the example of the memory content of target object DB. The figure which shows the example of a display of a display. The figure which shows the example of a display of a display. The figure which shows the structural example of the mobile positioning terminal device which concerns on Embodiment 2. FIG. FIG. 3 is a flowchart showing an operation example of the mobile positioning terminal device according to the first embodiment. The flowchart figure which shows the operation example of the mobile positioning terminal device which concerns on Embodiment 3. FIG. The flowchart figure which shows the operation example of the mobile positioning terminal device which concerns on Embodiment 4.

Explanation of symbols

1 mobile positioning terminal device, 2 ranging / positioning calculation unit, 3 target management / control unit, 4 display / input unit, 5 positioning calculator, 6 positioning satellite receiver, 7 satellite positioning correction information receiver, 8 ranging Calculation unit, 9 Distance sensor, 10 Inertial positioning calculator, 11 Controller, 12 Target database, 13 Map database, 14 Input device, 15 Display, 21 Positioning control information, 22 Target coordinate / quality / ranging system Information, 23 target coordinate information, 24 ranging quality information, 25 ranging information, 26 satellite coordinate information, 27 satellite quality information, 28 satellite distance information, 29 satellite positioning correction information, 30 satellite positioning correction signal, 31 positioning quality information 32 positioning coordinate information, 33 inertial positioning quality information, 34 inertial positioning coordinate information, 35 display information, 36 operator input information, 37 DB update request, 38 DB update control, 39 operator interface , 41 positioning satellite, 42 satellite positioning receiver, 43 target, 44 satellite positioning correction information transmitter, 45 latest target database, 46 charging processing equipment, 47 terminal position identification, 48 target identification, 49 error circle, 50 satellite Capture number information.

Claims (11)

In a positioning device that can measure the location of its own device and display the positioning coordinates that are the positioning results,
The first signal distributed from the positioning satellite and the second signal different from the first signal distributed from the ground device can be received. In a predetermined case, the first signal is received, and the first signal The position of the positioning device is measured using the signal, and based on the positioning result, the first signal using positioning coordinate information indicating the positioning coordinate when using the first signal is generated, and the first signal using the positioning signal is generated. A positioning processing unit for generating positioning quality information when using the first signal indicating positioning quality;
An internal database that stores information on one or more ground devices;
It is determined whether or not the positioning quality at the time of using the first signal indicated in the positioning signal quality information at the time of using the first signal generated by the positioning processing unit is equal to or higher than a predetermined level, and positioning at the time of using the first signal When the quality is higher than a predetermined level, the positioning coordinates indicated in the first signal using positioning coordinate information are to be displayed, and when the positioning quality when using the first signal is lower than the predetermined level, the positioning processing unit It is determined whether information on ground devices that can be used for positioning is stored in the internal database, and when information on ground devices that can be used for positioning by the positioning processing unit is not stored in the internal database, a plurality of information is stored. communicating with an external database that stores information of the ground system, the external the positioning processor from the database to obtain information on the ground unit available for positioning, to positioning by receiving the second signal And a control unit for instructing the serial positioning processor,
The positioning processing unit
Ri instructions there from the control unit, when the control unit has acquired the information on the ground unit from the external database, the second signal from the ground device, wherein the control unit acquires the information from the external database Receiving and measuring the location of the positioning device using the second signal, and generating second-signal-use positioning coordinate information indicating the positioning coordinates when using the second signal based on the positioning result; Generating positioning quality information when using the second signal indicating the positioning quality when using the signal 2;
The controller is
It is determined whether or not the positioning quality at the time of using the second signal indicated in the positioning signal quality information at the time of using the second signal generated by the positioning processing unit is a predetermined level or more, and positioning at the time of using the second signal A positioning device characterized in that, when the quality is equal to or higher than a predetermined level, the positioning coordinates indicated in the positioning coordinate information when using the second signal are displayed. The internal database is
Each area stores information on one or more ground devices that exist in the area,
The controller is
When the positioning quality at the time of using the first signal is less than a predetermined level, it is determined whether or not the information on the ground device in the area where the positioning device is located is stored in the internal database, and the positioning device is located. When the information on the ground device in the area is not stored in the internal database, the information on the ground device in the area where the positioning device is located is obtained from the external database by communicating with the external database. The positioning device according to claim 1. The positioning processing unit
A second signal can be received from a plurality of ground devices;
The controller is
When the positioning quality at the time of using the first signal is less than a predetermined level, at least one ground device is selected as a selected ground device from a plurality of ground devices, and the second signal is received from the selected ground device. Instructing the positioning processing unit to perform positioning,
The positioning processing unit
When there is an instruction from the control unit, the second signal from the selected ground device is received, the position of the positioning device is determined using the second signal from the selected ground device, and the positioning is performed. Based on the result, the second-signal-use positioning coordinate information indicating the positioning coordinates when the second signal from the selected ground device is used is generated, and the positioning quality when the second signal from the selected ground device is used. The positioning apparatus according to claim 1, wherein the positioning quality information is generated when the second signal is used. The positioning processing unit
When there is an instruction from the control unit, the second signal from the selected ground device is received and the first signal is received, and the first signal is received together with the second signal from the selected ground device. The positioning position of the positioning device is measured using the positioning signal, and based on the positioning result, the second signal using positioning coordinate information indicating the positioning coordinate when using the first signal and the second signal from the selected ground device is generated. The positioning apparatus according to claim 3, further comprising: second signal using positioning quality information indicating positioning quality when using the first signal and the second signal from the selected ground device. The controller is
It is determined whether or not the positioning quality at the time of using the second signal from the selected ground device indicated by the positioning quality information at the time of using the second signal generated by the positioning processing unit is a predetermined level or more, and the selection When the positioning quality at the time of using the second signal from the ground device is less than a predetermined level, the positioning processing is performed so that a new selected ground device is selected, and the second signal is received from the new selected ground device to perform positioning. After that, until the positioning quality when using the second signal becomes equal to or higher than a predetermined level, the selection of a new selected ground device, the instruction to the positioning processing unit, and the positioning quality when using the second signal are predetermined. 4. The positioning device according to claim 3, wherein the determination as to whether the level is equal to or higher is repeated. The controller is
When the positioning quality at the time of using the first signal is less than a predetermined level, more than the number of ground devices necessary for the positioning processing unit to perform positioning are selected as the selected ground device, and the second signal is output from the selected ground device. Instructing the positioning processing unit to receive and
The positioning processing unit
When there is an instruction from the control unit, the selected ground devices are grouped according to the number required for positioning, and the second signal using positioning coordinate information and the second signal using positioning quality information are generated for each group. The second signal using positioning quality information indicating a specific positioning quality is selected from the second signal using positioning quality information generated for each group, and corresponds to the selected second signal using positioning quality information. Select positioning coordinate information when using the second signal,
The controller is
It is determined whether or not the positioning quality at the time of using the second signal indicated by the positioning signal quality information at the time of using the second signal selected by the positioning processing unit is a predetermined level or more, and positioning at the time of using the second signal The positioning device according to claim 3, wherein when the quality is equal to or higher than a predetermined level, the positioning coordinate indicated in the positioning coordinate information when the second signal is used selected by the positioning processing unit is displayed. The controller is
When the positioning quality at the time of using the first signal is less than a predetermined level, more than the number of ground devices necessary for the positioning processing unit to perform positioning are selected as the selected ground device, and the second signal is output from the selected ground device. Instructing the positioning processing unit to receive and
The positioning processing unit
When there is an instruction from the control unit, the selected ground devices are grouped according to the number required for positioning, and the second signal using positioning coordinate information and the second signal using positioning quality information are generated for each group. ,
The controller is
The second signal using positioning quality information indicating a specific positioning quality is selected from the second signal using positioning quality information generated for each group by the positioning processing unit, and the selected second signal using positioning quality is selected. It is determined whether or not the positioning quality when using the second signal indicated in the information is equal to or higher than a predetermined level. If the positioning quality when using the second signal is higher than or equal to the predetermined level, the selected second signal is used. 4. The positioning apparatus according to claim 3, wherein the positioning coordinates indicated in the second signal using positioning coordinate information having a correspondence relationship with the time positioning quality information are displayed. In a positioning device that can measure the location of its own device and display the positioning coordinates that are the positioning results,
A display for displaying positioning coordinates;
The first signal distributed from the positioning satellite and the second signal different from the first signal distributed from the ground device can be received. In a predetermined case, the first signal is received, and the first signal The position of the positioning device is measured using the signal, and based on the positioning result, the first signal using positioning coordinate information indicating the positioning coordinate when using the first signal is generated, and the first signal using the positioning signal is generated. A positioning processing unit for generating positioning quality information when using the first signal indicating positioning quality;
An internal database that stores information on one or more ground devices;
Based on the first signal using positioning coordinate information and the first signal using positioning quality information generated by the positioning processing unit, the positioning coordinates when using the first signal and the positioning quality when using the first signal are obtained. Displaying on the display unit, the positioning processing unit determines whether or not information on ground devices that can be used for positioning is stored in the internal database, and information on ground devices that can be used by the positioning processing unit for positioning is When not stored in the internal database, communicate with an external database storing information on a plurality of ground devices, and acquire information on ground devices that can be used for positioning by the positioning processing unit from the external database, A control unit that instructs the positioning processing unit to receive a second signal and perform positioning when requested by a user of the positioning device;
The positioning processing unit
Ri instructions there from the control unit, when the control unit has acquired the information on the ground unit from the external database, the second signal from the ground device, wherein the control unit acquires the information from the external database Receiving and measuring the location of the positioning device using the second signal, and generating second-signal-use positioning coordinate information indicating the positioning coordinates when using the second signal based on the positioning result; Generating positioning quality information when using the second signal indicating the positioning quality when using the signal 2;
The controller is
Based on the second signal using positioning coordinate information and the second signal using positioning quality information generated by the positioning processing unit, the positioning coordinates when using the second signal and the positioning quality when using the second signal are obtained. A positioning device characterized by being displayed on a display unit. The internal database is
Each area stores information on one or more ground devices that exist in the area,
The controller is
It is determined whether information on the ground device in the area where the positioning device is located is stored in the internal database, and information on the ground device in the area where the positioning device is located is not stored in the internal database. In this case, the positioning device according to claim 8, wherein the positioning device acquires information on a ground device in an area where the positioning device is located from the external database by communicating with the external database. The positioning processing unit
A second signal can be received from a plurality of ground devices;
The controller is
Based on the first signal using positioning coordinate information and the first signal using positioning quality information generated by the positioning processing unit, the positioning coordinates when using the first signal and the positioning quality when using the first signal are obtained. In addition to displaying on the display unit, when there is a request from the user of the positioning device, at least one ground device is selected as the selected ground device from among the plurality of ground devices, and the second signal is selected from the selected ground device. Instruct the positioning processing unit to receive and position,
The positioning processing unit
When there is an instruction from the control unit, the second signal from the selected ground device is received, the position of the positioning device is determined using the second signal from the selected ground device, and the positioning is performed. Based on the result, the second-signal-use positioning coordinate information indicating the positioning coordinates when the second signal from the selected ground device is used is generated, and the positioning quality when the second signal from the selected ground device is used. To generate positioning quality information when using the second signal,
The controller is
Based on the second signal using positioning coordinate information and the second signal using positioning quality information generated by the positioning processing unit, the positioning coordinates when using the second signal from the selected ground device and the selected ground device 9. The positioning device according to claim 8, wherein positioning quality when using the second signal is displayed on the display unit. The controller is
There was a request from the user of the positioning device after displaying the positioning coordinates when using the second signal from the selected ground device and the positioning quality when using the second signal from the selected ground device on the display unit In this case, a new selected ground device is selected, the second processing signal is received from the new selected ground device, and the positioning processing unit is instructed to perform positioning. Thereafter, every time there is a request from the user of the positioning device, The selection of a new selected ground device, the instruction to the positioning processing unit, and the positioning coordinates when using the second signal and the display of the positioning quality when using the second signal are repeated. Positioning device.

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