JP2002365356A - GPS system that can be used underground or in building structures - Google Patents

Abstract

(57) [Summary] [Problem] A GP capable of receiving a GPS radio wave and measuring a position in an underground or a building structure as well as on the ground.
Obtain the S method. SOLUTION: GPS emitted from a plurality of GPS satellites
A GPS receiver for receiving a signal is provided at a GPS ground station. Further, a re-radiator for re-radiating the GPS signal is distributed and installed on a ceiling or an upper part of a space in a basement or a building structure, and the re-radiator and the GPS receiver are connected by a signal cable. The GPS signal emitted from the re-radiator is one GPS signal selected from a plurality of GPS signals received by a GPS receiver on the ground, and is a GPS receiver at a positioning point in an underground or in a building structure. , The re-radiators are distributed so that a plurality of different GPS signals can be received substantially equally.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a GPS (Global P
ositioning System: Global Positioning System (GP) in underground or in building structures where radio waves do not reach
GPS that can measure position by receiving S radio wave
It is about the method.

[0002]

2. Description of the Related Art GPS, which was developed for military purposes in the United States in the early 1970's, began to operate all 24 GPS satellites in 1995, tracking orbits of artificial satellites and rockets, ships and fishing boats. It is used in many fields, such as navigation of trains, operation management of trains and automobiles, survey of topography and disasters, car navigation, and portable navigation carried by people.

[0003] The positioning accuracy in the above-mentioned single positioning of the GPS is generally about several tens to 100 m.
By using (Differential GPS), positioning accuracy of several meters can be obtained. The DGP
S is to improve the positioning accuracy by correcting the error at the positioning point by using the position data of the reference station which is a reference point whose exact position is known in advance.

[0004]

SUMMARY OF THE INVENTION However, GPS
Positioning L1 charged wave (1575.42MHz) launched from satellite
And L2 charged waves (1227.6MHz) are microwaves,
There is a problem that it cannot be reached underground or inside a building structure. For this reason, the use range of the GPS has been limited to the earth space, the ground, and the sea as described above.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is possible to measure the position by receiving GPS radio waves in the underground or in a building structure as well as on the ground. It is intended to provide a simple GPS system.

[0006]

SUMMARY OF THE INVENTION In order to solve the above problems, a GPS usable in an underground or building structure according to the present invention.
In the system, GPs launched from multiple GPS satellites
A GPS receiver for receiving an S signal is provided at a GPS ground station. Further, a re-radiator for re-radiating the GPS signal is distributed and installed on a ceiling or an upper part of a space in a basement or a building structure, and the re-radiator and the GPS receiver are connected by a signal cable.

[0007] The GPS signal emitted from the re-radiator is one GPS signal selected from a plurality of GPS signals received by a GPS receiver on the ground, and is located at a positioning point underground or in a building structure. In the GPS receiver, the re-radiators are distributed so that a plurality of different GPS signals can be received almost equally.

In order to improve the positioning accuracy, D
A reference station for positioning by GPS is installed in the basement or in the building structure.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram for constructing a GPS system usable in an underground or building structure according to the present invention;
GPS launched from multiple GPS satellites 1, 2, 3, 4
GPS receiver 6 for receiving signals
It is installed at the ground station 5. At present, there are 24 GPS
When a satellite is in flight, and in GPS independent positioning, simultaneously receive GPS signals from four or more GPS satellites and analyze the three-dimensional coordinates of the position of the GPS receiver and the error of the GPS receiver from the clock. Is used for positioning. Therefore, also in FIG. 1, four GPS satellites 1, 2, 3,
4 is displayed. In addition, when the height is not required only in the latitude and longitude, four or less may be used.

[0010] Further, a re-radiator 1 for re-radiating the GPS signal to a ceiling or an upper part of a space in an underground or a building structure
1,12,13,14 are distributed and the re-radiators 11,
12, 13, 14 and the GPS receiver 6 are individually connected by a signal cable 36. The signal cable 36
When the distance between the GPS receiver 6 of the PS ground station 5 and the underground underground ceiling 9 is relatively shallow or in a small-scale building structure, a metal cable such as a coaxial cable may be used. It is preferable to use an optical fiber cable in the structure to reduce errors due to the delay of the GPS signal.

The GPS signals emitted from the re-radiators 11, 12, 13, and 14 are one GPS signal selected from a plurality of GPS signals received by the terrestrial GPS receiver 6, and are used at a positioning point. In a user receiver 22 of a user 21 standing on a certain basement floor 10, the re-radiators 11, 12, 13, and 14 are distributed so that a plurality of different GPS signals can be received substantially equally. FIG. 3 is a diagram showing an example of the arrangement of the re-radiators. The re-radiator 11 radiating the GPS signal # 1 from the GPS satellite 1 and the G from the GPS satellite 2 are shown in FIG.
A re-radiator 12 for radiating a PS signal # 2, a re-radiator 13 for radiating a GPS signal # 3 from a GPS satellite 3, and a re-radiator 14 for radiating a GPS signal # 4 from a GPS satellite 4;
A state where the components are dispersed and arranged so as to satisfy the above condition is shown. The arrangement pattern may or may not have regularity.

FIG. 2 shows a GPS installed on the ground in the GPS system usable underground or in a building structure according to the present invention.
It is a block diagram of a structure of a PS receiver. GPS from GPS satellites 1, 2, 3, 4 received by ground receiving antenna 7
The signal is amplified by an L-band amplifier 24 and a down-converter 25 extracts a baseband signal from a carrier signal. Further, the local oscillator 26 generates a local oscillation frequency synchronized with a clock signal in the GPS signal, and
6 and the intermediate frequency amplifier 27, each GPS in the GPS signal
Extract satellite position information. Further, the satellite selector 28 selects the GPS signal # 1 of the GPS satellite 1 and the signal splitter 3
2, the signal is branched into a plurality of GPS signals # 1.
Selects the GPS signal # 2 of the GPS satellite 2, the signal splitter 33 branches into a plurality of GPS signals # 2, and the satellite selector 30 selects the GPS signal # 3 of the GPS satellite 3 and splits the signal. The signal is branched into a plurality of GPS signals # 3 by the device 34, and the GPS signal # 4 of the GPS satellite 4 is selected by the satellite selector 31.
The signal splitter 35 branches into a plurality of GPS signals # 4.

The GPS signal # 1 from the GPS satellite 1 obtained as described above is connected to the re-radiator 11 via the signal cable 36, and the GPS signal # 2 from the GPS satellite 2 is connected to the signal cable 36. The GPS signal # 3 from the GPS satellites 3 is connected to the re-radiator 13 via the signal cable 36, and is connected to the re-radiator 13 via the signal cable 36.
The GPS signal # 4 from the satellite 4 is connected to the re-radiator 14 via the signal cable 36. And re-radiator 1
The GPS signal # 1 is re-emitted from the re-radiating antenna 15 of the first re-radiator, the GPS signal # 2 is re-radiated from the re-radiating antenna 16 of the re-radiator 12, and the re-radiating antenna 17 of the re-radiator 13
, And the GPS signal # 4 is re-emitted from the re-radiating antenna 18 of the re-radiator 14.

As a result, as shown in FIG.
GPS antenna 23 of user receiver 22 owned by 1
Is the GPS signal # 1 from the GPS satellite 1 and the GPS satellite 2
, GPS signal # 3 from GPS satellite 3 and GPS signal # 4 from GPS satellite 4 can be received at the same time, and positioning by GPS becomes possible.

In order to improve positioning accuracy, DGPS
When positioning by reference is performed, if the reference station 19 is appropriately installed in the basement or the building structure, the GP of the reference station 19 can be obtained.
S antenna 20 is also a GPS signal # 1 from GPS satellite 1
, A GPS signal # 2 from the GPS satellite 2, a GPS signal # 3 from the GPS satellite 3, and a GPS signal from the GPS satellite 4.
Signal # 4 can be received at the same time, and positioning by DGPS becomes possible.

[0016]

[Principle Analysis] The principle of the GPS system that can be used in the underground or in a building structure of the present invention is analyzed using mathematical expressions. First, a relational expression shown in Expression 1 is established between the antenna of the satellite i used for positioning and the antenna of the receiver α.

[0017]

(Equation 1)

If the single difference between satellites is taken, the following equation 2 is established.

[0019]

(Equation 2)

If the single difference between the receivers is taken, the following equation 3 is established.

[0021]

(Equation 3)

When the double difference between the inter-satellite receivers is obtained, the following equation 4 is established.

[0023]

(Equation 4)

Next, in the case of an underground or in a building structure, there is an equation 5 between the antenna of the satellite i, the antenna of the ground receiver S, the antenna of the re-radiator G and the antenna of the reference station U used for positioning. The following equation holds.

[0025]

(Equation 5)

When the single difference between the satellites is taken, the following equation 6 is established.

[0027]

(Equation 6)

When the single difference between the receivers is taken, the following equation 7 is established.

[0029]

(Equation 7)

When the double difference between the inter-satellite receivers is obtained, the following equation 8 is established.

[0031]

(Equation 8)

In the case of single positioning, Equations 2 and 6 are used. The distance between the satellite i and the antenna of the ground receiver S can be calculated by the ground receiver. The length of the optical fiber F may be considered to be known. Therefore, since a single difference in the distance between the antenna of the re-radiator G and the antenna of the user receiver is obtained, the three-dimensional coordinates of the user are calculated using this.

In the case of relative positioning, Equations 3 and 7 or Equations 4 and 8 are used. These equations are the same as if the satellite antenna were at the position of the reradiator G antenna.

Although the above description has been made with respect to the single positioning for measuring the range between the satellite and the receiver, that is, the so-called pseudo distance, the present invention can also be applied to the interference positioning for measuring the range between the satellite and the receiver using the phase of the carrier wave. It is.

[0035]

As described above, if the GPS system of the present invention which can be used in an underground or building structure is used in an underground or building structure where GPS radio waves do not reach, it is emitted from a re-radiator. Since GPS radio waves can be regarded as equivalent to GPS radio waves emitted from GPS satellites, GPS radio waves can be seen in underground and in building structures as well as on the ground.
It is possible to achieve a great effect that the position can be measured by receiving the radio wave.

[Brief description of the drawings]

FIG. 1 shows a G that can be used in the underground or building structure of the present invention.
FIG. 2 is a block diagram for constructing a PS system.

FIG. 2 shows a G that can be used in the underground or building structure of the present invention.
FIG. 2 is a configuration block diagram of a GPS receiver installed on the ground in the PS system.

FIG. 3 is a diagram showing an example of arrangement of re-radiators.

[Explanation of symbols]

 1-4 GPS satellite 5 GPS ground station 6 GPS receiver 7 Ground receiving antenna 8 Ground 9 Underground ceiling 10 Underground floor 11-14 Reradiator 15-18 Reradiating antenna 19 Reference station 20 GPS antenna 21 User 22 User receiver 23 GPS antenna 24 L band amplifier 25 Down converter 26 Local oscillator 27 Intermediate frequency amplifier 28-31 Satellite selector 32-35 Signal demultiplexer 36 Signal cable

Continued on the front page (72) Inventor Hiroshi Isshiki 2-17-10 Ohnodai, Osaka Sayama-shi, Osaka (72) Inventor Hiroyuki Kato 3-2-222 Nakanoshima, Kita-ku, Osaka-shi, Osaka Kansai Electric Power Company F Terms (reference) 5J062 AA01 AA08 BB05 CC07 FF02 GG02

Claims (4)

[Claims] 1. GPS emitted from a plurality of GPS satellites
A GPS receiver for receiving a signal is disposed at a GPS ground station, and a re-radiator for re-radiating the GPS signal is installed in a ceiling or a space above a basement or a building structure,
A GPS system usable underground or in a building structure, wherein the re-radiator and the GPS receiver are connected by a signal cable. 2. The GPS signal emitted from the re-emitter is:
One GPS signal selected from a plurality of GPS signals received by a terrestrial GPS receiver. A plurality of different GPS signals are almost equally received by a GPS receiver at a positioning point underground or in a building structure. The GPS system usable in an underground or building structure according to claim 1, characterized in that the re-radiators are dispersed as much as possible. 3. When the positioning accuracy is to be improved, D
The GPS system usable in an underground or a building structure according to claim 1, wherein a reference station for performing positioning by GPS is installed in the underground or the building structure. 4. The GPS system usable in an underground or in a building structure, wherein the signal cable according to claim 1 is an optical fiber cable.