JPH08184451A - Traveling body positioning system - Google Patents

Abstract

PURPOSE: To provide an inexpensive traveling body positioning system which is not affected by an obstacle. CONSTITUTION: A traveling body positioning system is provided with a GPS receiver 13A for receiving communication waves from a GPS satellite and an FM receiver 13B for receiving broadcasting waves from a broadcasting station and a CPU 15 judges whether a signal can be received or not from the GPS satellite and calculates the traveling position of a vehicle 1 based on the positioning information from the GPS satellites when at least a specific number of GPS satellites can receive signals and at the same time obtains the phase compensation value of broadcasting waves from each broadcasting station based on the calculated traveling position. When the number of GPS satellites which can receive signals is equal to or less than a specific number, the broadcasting waves from a required number of broadcasting stations are compensated by each phase compensation value and the traveling position of the vehicle 1 is calculated along with the positioning information from the GPS satellites.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile positioning system, and more particularly to a required number of GPSs (Globs) behind a building or the like.
al Positioning System) The present invention relates to a mobile positioning system capable of knowing an accurate mobile position even when a communication wave of a satellite cannot be received.

[0002]

2. Description of the Related Art In recent years, a GPS for determining a moving position using positioning information from GPS satellites and displaying this on a map
Navigation devices are being widely installed in vehicles. This is 3 out of 24 satellites that orbit the earth in 12 hours.
By using more than one, the latitude, longitude, and altitude (when four satellites are used) of the vehicle, which is a moving body, can be accurately known by the principle of triangulation.

By the way, since communication waves from GPS satellites are greatly attenuated by obstacles, if the number of GPS signals required for positioning is high, especially when traveling in an urban area and in the shadow of a tall building or the like.
It is often the case that communication waves from satellites cannot be received.

On the other hand, as a mobile positioning system, a system using a synchronizing signal of a television broadcast wave has been proposed (for example, Japanese Patent Laid-Open No. 5-119145), which is an FM which is relatively unaffected by obstacles. It receives waves from multiple broadcasting stations and calculates the moving position based on the principle of triangulation.

[0005]

However, in the case of using broadcast waves, a fixed position monitoring station is provided to detect the absolute phase difference of the broadcasting waves from each broadcasting station, It is necessary to transfer the detected phase difference to each mobile body. Therefore, there is a problem that installation of a monitoring station and installation of a new communication device on each mobile body require a great deal of cost.

Therefore, the present invention is to solve the above problems, and to provide an inexpensive mobile positioning system that does not require the equipment of a monitoring station by utilizing the GPS positioning system that is being installed in many vehicles. With the goal.

[0007]

In the first configuration of the present invention, as shown in FIG. 7, GPS receiving means M1 for receiving communication waves from a plurality of GPS satellites 2A to 2D and a plurality of broadcasting stations 3A. ~ Broadcast wave receiving means M2 for receiving broadcast waves from 3D, determining means M3 for determining whether reception from GPS satellites is possible, and positioning from these GPS satellites when a predetermined number or more of GPS satellites are receivable First moving position calculating means M4 for calculating the moving position of the moving body 1 based on the information.
And a phase correction value calculation means M5 for obtaining a phase correction value of a broadcast wave from each broadcasting station based on the movement position calculated by the first movement position calculation means M4, and the number of receivable GPS satellites is a predetermined number or less. At the same time, a second moving position calculating means M6 for calculating the moving position of the moving body 1 together with the positioning information from the GPS satellites by correcting the required number of broadcast waves from the broadcasting stations respectively with the phase correction value. It has.

In the second configuration of the present invention, a pilot signal wave of FM radio is used as the broadcast wave.

In the third structure of the present invention, the second moving position calculating means is required to compensate for the shortage of four GPS satellites as a whole when the number of receivable GPS satellites is three or less. The moving position of the moving body is calculated by combining the broadcast waves from the broadcasting stations.

In the fourth configuration of the present invention, GPS receiving means for receiving communication waves from a plurality of GPS satellites, broadcast wave receiving means for receiving broadcast waves from a plurality of broadcasting stations, and GPS
First determining means for determining whether reception from the satellite is possible,
When more than a predetermined number of GPS satellites can be received, these GPs
First moving position calculating means for calculating the moving position of the moving body based on the positioning information from the S satellite, and the broadcast wave from each broadcasting station based on the moving position calculated by the first moving position calculating means. Phase correction value calculation means for obtaining a phase correction value, second judgment means for judging whether reception of broadcast waves is possible, and when reception from a predetermined number or more of broadcast stations is possible, broadcast waves from these broadcast stations Is calculated with the above phase correction values respectively, and when the number of receivable broadcasting stations is less than or equal to a predetermined number, the moving position of the moving body is combined with positioning information from a necessary number of GPS satellites. A second moving position calculating means for calculating is provided.

[0011]

In the above-mentioned first structure, when the number of GPS satellites that can be received is less than or equal to the predetermined number, the second moving position calculating means corrects the broadcast waves from the required number of broadcasting stations with the phase correction values. Since the moving position of the moving body 1 is calculated together with the positioning information from the GPS satellites, the vehicle position is accurately determined even if the reception from the GPS satellites is temporarily interrupted due to the shadow of a building or the like. can do. Further, it is not necessary to install a fixed monitoring station and a vehicle communication device for communicating with the fixed broadcasting station as in the conventional broadcast positioning, so that the entire system can be realized at low cost.

In the second configuration, the broadcast wave positioning that replaces the GPS positioning is realized with a simple configuration by the pilot signal wave common to each FM radio broadcast.

In the third configuration, four GPSs are used.
The shortfall of unreceivable satellites is compensated by the broadcast wave from the broadcasting station, so that the three-dimensional coordinate position of the moving body can be always obtained.

Broadcast wave positioning is generally more accurate than GPS positioning. Therefore, in the above-described fourth configuration, the phase correction value of the broadcast wave is obtained while a predetermined number of GPS satellites or more can be received. When a predetermined number or more of broadcast stations are receivable, broadcast wave positioning is performed based on the phase correction value, and when there are insufficient receivable broadcast stations, G
Supplement with PS positioning. As a result, it becomes possible to measure the position of the moving body with higher accuracy in an urban area where roads are complicated. Also in this configuration, it is not necessary to install a fixed monitoring station or a vehicle communication device for communicating with the fixed monitoring station, so that the entire system can be realized at low cost.

[0015]

【Example】

(Embodiment 1) In FIG. 1, the vehicle 1 as a moving body has a GP.
An S reception antenna 11 is provided to receive communication waves from at least four GPS satellites 2A to 2D. The vehicle 1 is also provided with an FM receiving antenna 12 for a minimum of four Fs.
Broadcast waves from the M broadcasting stations 3A to 3D are received. Communication waves of the GPS satellites 2A to 2D that can be generally used are L1 band (1.57542 GHz) waves that are spread spectrum modulated by a pseudo noise code (C / A code), and 24 GPS signals are used.
The satellites can be identified by the C / A code assigned to them. The positioning information included in the communication wave of each GPS satellite is the time when the radio wave is emitted from the satellite, the orbit information of the satellite, the correction value of the clock, the correction coefficient of the ionosphere, and the like. When the pilot signal wave for FM radio stereo broadcasting is used as the broadcast wave, the frequency is 19 kHz.
Therefore, since one wavelength is a range in which positioning by broadcast waves is possible, a radius of 15 to 1 around the broadcasting station (broadcasting station)
Broadcast wave positioning is possible in areas within 6 km. Since there are many broadcasting stations in urban areas, this range of positioning is sufficient.

FIG. 2 shows a device configuration of a vehicle-mounted navigation device using the mobile body positioning system according to the present invention. The reception signal of the GPS reception antenna 11 is demodulated by the GPS receiver 13A and input to the input interface 14A.
And input to CPU15. Further, the reception signal of the FM reception antenna 12 is demodulated by the FM receiver 13B,
Input to the CPU 15 via the input interface 14B. The CPU 15 determines the position of the vehicle 1 by the processing operation described later, performs navigation display processing, and displays it on the display 16.

The principle of GPS positioning will be described below. The coordinates of the four GPS satellites 2A to 2D (three-dimensional right-handed orthogonal coordinate system with the center of the earth as the origin) are respectively (x1,
y1, z1) (x2, y2, z2) (x3, y3, z3
) (X4, y4, z4) and the current vehicle position is (x0
, Y0, z0) and the pseudo distances to the satellites are r1 to r4, the following equations hold. r1 = √ {(x1 -x0) 2 + (y1 -y0) 2 + (z1 -z0) 2} ...... (1) r2 = √ {(x2 -x0) 2 + (y2 -y0) 2 + (z2 -Z0) ² } (2) r3 = √ {(x3 -x0) ² + (y3 -y0) ² + (z3 -z0) ² } ... (3) r4 = √ {(x4 -x0) ^{2 + (y4 -y0) 2 + (} z4 -z0) 2} ...... (4) r1 = C · (t1 + Δt) ...... (5) r2 = C · (t2 + Δt) ...... (6) r3 = C · (T3 + Δt) (7) r4 = C · (t4 + Δt) (8) where t1 to t4 are the arrival times of radio waves from each satellite to the vehicle, and Δt is the time difference between each satellite and the vehicle. , C is the speed of light. Thus, the current vehicle position (x0, y0, z0) is known by calculating the solution by the least-squares method from the above equations (1) to (8) using x0, y0, z0 and Δt as variables.

The principle of broadcast wave positioning is basically the same as the GPS positioning described above, except that the signal phase is used for calculating the pseudo distance. That is, the coordinates of the four broadcasting stations are (x5, y5, z5) (x6, y6, z6) (x
7, y7, z7) (x8, y8, z8) and the pseudo distances from the vehicle to the broadcasting stations are r5 to r8, the following equations are established. r5 = √ {(x5 -x0) 2 + (y5 -y0) 2 + (z5 -z0) 2} ...... (9) r6 = √ {(x6 -x0) 2 + (y6 -y0) 2 + (z6 -Z0) ² } (10) r7 = √ {(x7 -x0) ² + (y7 -y0) ² + (z7 -z0) ² } ... (11) r8 = √ {(x8 -x0) ^{2 + (y8 -y0) 2 + (} z8 -z0) 2} ...... (12) r5 = C · (t5 + Δt) ...... (13) r6 = C · (t6 + Δt) ...... (14) r7 = C · (T7 + Δt) (15) r8 = C · (t8 + Δt) (16) t5 = {(φ5-φh5) / 2π} / f (17) t6 = {(φ6-φh6) / 2π } / F ... (18) t7 = {(φ7−φh7) / 2π} / f …… (19) t8 = {(φ8−φh8) / 2π} / f …… (20) where t5 to t8 Is the arrival time of the radio wave from each broadcasting station to the vehicle, φ5 to φ8 are the phases of the detection signals, φh5 to φh8 are the phases of the reference signals determined by the processing described later, and f It is a broadcast wave of the signal frequency (19KHz). It should be noted that Δt is a clock time difference between each broadcast transmission station and the vehicle, and since the GPS satellite and the broadcast transmission station use the same highly accurate atomic clock, the clock time difference between the satellite and the vehicle is Is considered the same as. Thus, with x0, y0, z0, and Δt as variables,
The current vehicle position (x0, y0, z0) is known by calculating the solution by the least squares method from the above equations (9) to (20).

Hereinafter, the CPU will be described with reference to FIGS. 3 and 4.
The processing procedure of 15 will be described. In step 101, GPS
Performs radio wave reception processing. This is to update the receiving satellite numbers from 1 to 24 in order, and follow step 10
2 C / assigned to the satellite of the updated number
GPS receiver 13A to demodulate received radio waves with A code
Issue a command to. In step 103, it is determined whether or not reception is possible depending on whether or not the reception signal input via the interface 14A has a sufficient level. If the number of receivable satellites is 4 or more, the process proceeds to step 104 and GPS Performs positioning calculation processing. This is the expression we already discussed
Current vehicle position (x0, y0, z0) according to (1) to (8)
Is what you get.

In step 105, a broadcast wave reception process is performed. This is to scan the broadcasting frequency of each broadcasting transmitting station and demodulate it by the FM receiver 13B, and follow Step 1
In 06, it is determined whether the reception is possible or not depending on whether or not the reception signal input via the interface 14B has a sufficient level. If the broadcast wave can be received, the signal phases φ5 to φ8 are detected in step 107, and in the following step 108, the current vehicle position (x0, y0, z0) and the clock time deviation Δt obtained in step 104 are used. Then, the reference signal phase (phase correction value) is calculated using the equations (9) to (20).
φh5 to φh8 are calculated and stored in step 109.

If the number of GPS satellites that can be received in step 103 is 3 or less, steps 110, 1
In step 11, the same processing as in steps 105 and 106 is performed, and in step 112, the signal phases φ5 to φ8 are detected. In step 113, it is confirmed whether the phase correction values φh5 to φh8 have been stored. If they have been stored, step 12
At 0, a combination positioning process of a GPS station and a broadcast transmitting station, which will be described in detail below, is performed.

FIG. 4 shows details of the combined positioning process.
Check the number of GPS satellites that can be received in step 121,
If it is three, it proceeds to step 122 and below, if it is two, it proceeds to step 125 and below, if it is one, it proceeds to step 128 and below, and if it is zero, it proceeds to step 131 and below. Hereinafter, a case where the number of GPS satellites that can be received is 3 will be specifically described.

For example, as shown in FIG. 5, GPS satellite 2D
Is behind the building F and the communication wave does not reach,
The number of GPS satellites that can be received is 3 from 2A to 2C. Therefore, in step 122, the number of receivable broadcasting stations is 1
It is confirmed that the number is equal to or more than one, and in the subsequent step 123, the positioning calculation is performed by the combination of the above-mentioned three GPS stations 2A to 2C and one broadcasting station 3A which can be received. That is, GP
Formulas (1) to (3), (5) to (7) for S stations 2A to 2C
And equations (9), (13), (1) for the broadcasting station 3A
From (7), we obtain a four-element system of equations, x0, y0, z0, Δt
The current vehicle position (x0, y0, z0) is calculated by calculating a solution by the method of least squares using as a variable. If the number of broadcast transmitting stations that can be received in step 122 is 0, positioning is performed using the three GPS stations 2A to 2C (step 124), but in this case, only three-way simultaneous equations are used. The altitude z0 cannot be calculated because it cannot be obtained. In urban areas where GPS satellites tend to be behind buildings, the altitude does not change so much, so there is no problem.

Hereinafter, steps 126, 129, and
In 132, in order to obtain a solution of four variables x0, y0, z0, and Δt, a vehicle origin (x0, y0 , Z0) can be known. In steps 127, 130, and 133, only the three-dimensional simultaneous equations can be obtained, so that the altitude z0 cannot be calculated as described above.

Instead of the stereo broadcast pilot signal wave of the FM radio in the above embodiment, a television image synchronization signal wave or an AM radio stereo broadcast pilot signal wave may be used.

(Embodiment 2) In GPS positioning using the C / A code, an error of about 100 m may occur. Therefore, in an urban area where roads are complicated, broadcast wave positioning is more accurate and advantageous in many cases. Therefore, in this embodiment, when the CPU executes steps 101 to 109 of FIG. 3 to obtain the phase correction value of the broadcast wave, step 2 of FIG.
21 or less performs the combined positioning process of the GPS station and the broadcasting station. That is, the number of receivable broadcasting stations is confirmed in step 221, and if there are four stations, positioning is performed only by the broadcast wave in step 222. If there are three, go to step 223 and below,
If there are two, go to step 226 and below, if there is one, go to step 229 and below, and if there are 0, go to step 232 and below, respectively.
Positioning is supplemented by the PS station. In this way, by giving priority to the broadcast positioning, it is possible to measure the position of the moving body with higher accuracy in the urban area.

[0027]

As described above, according to the mobile body positioning system of the present invention, it is not necessary to install a fixed monitoring station or a vehicle communication device for communicating with the fixed monitoring station, so that the entire system can be realized at low cost. can do.

[Brief description of drawings]

FIG. 1 is a conceptual diagram of a mobile positioning system.

FIG. 2 is a block diagram showing a hardware configuration of a mobile positioning system.

FIG. 3 is a processing flowchart of a CPU in one embodiment of the present invention.

FIG. 4 is a processing flowchart of a CPU.

FIG. 5 is a conceptual diagram of a mobile positioning system showing complementation by broadcast waves.

FIG. 6 is a processing flowchart of a CPU according to another embodiment of the present invention.

FIG. 7 is a claim correspondence diagram.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 vehicle (moving body) 11 GPS receiving antenna 12 FM receiving antenna 13A GPS receiver 13B FM receiver 15 CPU 2A, 2B, 2C, 2D GPS satellites 3A, 3B, 3C, 3D broadcasting station

Claims (4)

[Claims] 1. A GPS receiving means for receiving communication waves from a plurality of GPS satellites, a broadcast wave receiving means for receiving broadcast waves from a plurality of broadcasting stations, and a determination for determining whether reception from the GPS satellites is possible or not. And a first moving position calculating means for calculating the moving position of the moving body based on the positioning information from the GPS satellites when a predetermined number or more of GPS satellites are receivable. Phase correction value calculating means for obtaining the phase correction value of the broadcast wave from each broadcasting station based on the calculated moving position, and when the number of receivable GPS satellites is less than a predetermined number, the required number of broadcast waves from the broadcasting stations are A mobile body positioning system, comprising: second mobile position calculating means for calculating the mobile position of the mobile body together with the positioning information from the GPS satellites, each corrected by the phase correction value. 2. The mobile positioning system according to claim 1, wherein an FM radio pilot signal wave is used as the broadcast wave. 3. The second moving position calculating means, when the number of receivable GPS satellites is 3 or less, 4 Gs in total.
2. The mobile body positioning system according to claim 1, wherein the moving position of the mobile body is calculated by combining broadcast waves from a number of broadcast stations required to make up for the shortage of PS satellites. 4. A GPS receiving means for receiving a communication wave from a plurality of GPS satellites, a broadcast wave receiving means for receiving a broadcast wave from a plurality of broadcasting stations, and a judgment as to availability of reception from a GPS satellite. No. 1 determination means, first movement position calculation means for calculating the movement position of the mobile body based on positioning information from these GPS satellites when a predetermined number or more of GPS satellites are receivable, and first movement position. Phase correction value calculation means for obtaining the phase correction value of the broadcast wave from each broadcasting station based on the moving position calculated by the calculation means, second determination means for determining whether reception of the broadcast wave is possible, and a predetermined number When reception from the above broadcasting stations is possible, the moving waves of these broadcasting stations are respectively corrected by the above phase correction values to calculate the moving position of the moving body, and when the number of receivable broadcasting stations is less than a predetermined number. , From the required number of GPS satellites And a second moving position calculating means for calculating the moving position of the moving body by combining the positioning information of 1.