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WO2018173573A1 - Système de cartographie mobile et dispositif terminal de positionnement - Google Patents

Système de cartographie mobile et dispositif terminal de positionnement Download PDF

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Publication number
WO2018173573A1
WO2018173573A1 PCT/JP2018/005451 JP2018005451W WO2018173573A1 WO 2018173573 A1 WO2018173573 A1 WO 2018173573A1 JP 2018005451 W JP2018005451 W JP 2018005451W WO 2018173573 A1 WO2018173573 A1 WO 2018173573A1
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WO
WIPO (PCT)
Prior art keywords
positioning
reinforcement data
data
satellite
terminal device
Prior art date
Application number
PCT/JP2018/005451
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English (en)
Japanese (ja)
Inventor
吉田　光伸
隼人 山口
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2019507443A priority Critical patent/JPWO2018173573A1/ja
Priority to KR1020197027055A priority patent/KR20190116442A/ko
Priority to TW107109041A priority patent/TWI664393B/zh
Publication of WO2018173573A1 publication Critical patent/WO2018173573A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections

Definitions

  • the present invention relates to a mobile mapping system and a positioning terminal device used in the mobile mapping system.
  • Conventional MMS Mobile Mapping System
  • a positioning position error prediction is performed based on a prediction that a positioning solution will be obtained (for example, Patent Document 1).
  • the conventional MMS has the following problems because it is a prediction that a positioning solution will be obtained. (1) In order to improve the certainty, the stationary time is set longer in the MMS measurement vehicle equipped with the MMS. For example, the initial rest is 6 minutes, the intermediate rest is 2 minutes, and there may be unnecessary rest time. (2) Even if the stationary time is set longer, the reliability of the positioning position may be lacking.
  • positioning reinforcement data is acquired in the post-processing step, and using this positioning reinforcement data and position information acquired by the MMS measurement vehicle, a positioning solution is calculated in the positioning calculation. May not be obtained. This is related to the electronic reference point and the ionosphere, and is unavoidable in the current system. If a positioning solution cannot be obtained in the positioning calculation, the expected position accuracy cannot be obtained and post-processing cannot be performed. In this case, remeasurement is performed using the MMS measuring vehicle, and a significant time loss occurs.
  • the MMS measuring vehicle moves to a place where at least five satellites can be secured and is stationary for 2 minutes, thereby obtaining a fixed prediction state derived by error prediction.
  • the “fix prediction state” refers to a state that can be considered as a fix state.
  • the “fixed state” refers to a state where a positioning solution is obtained in the positioning calculation.
  • MMS measurement includes procedures such as azimuth verification, initial rest, initialization travel, end travel, etc., and the following items must be implemented in conventional operation.
  • the MMS measurement vehicle In order to obtain the fixed prediction state, the MMS measurement vehicle needs to be stationary for 2 minutes. (C) If the prediction error exceeds the specified value during measurement (if it is likely to exceed), the MMS measurement vehicle must move to a place where at least five satellites can be secured and remain stationary until a fixed prediction state is obtained I must. (D) Although error estimation is performed during measurement, it is only an estimation and not an accurate error. For this reason, the error after post-processing is larger than the estimation error, and remeasurement may have to be performed. (E) If the satellite captured by the MMS measurement vehicle during measurement does not match the satellite captured by the electronic reference point used during post-processing, The fixed state cannot be obtained from the post-processing result.
  • the positioning reinforcement data is not used in the position detection. For this reason, in the measurement by the MMS measuring vehicle, it is impossible to present that the vehicle is actually in the fixed state, and it is possible to present only the fixed prediction state.
  • An object of the present invention is to provide a system that can indicate that the vehicle is actually in a fixed state in an MMS measuring vehicle.
  • the mobile mapping system of this invention is A mobile mapping system that includes a communication device, a display device, a positioning terminal device, and a measurement device, and is mounted on a vehicle.
  • the communication device Receiving the positioning reinforcement data from the positioning reinforcement data transmitting device for transmitting the positioning reinforcement data;
  • the positioning terminal device Obtaining the positioning reinforcement data from the communication device, receiving the positioning signal from a positioning satellite that transmits a positioning signal, detecting a position using at least the positioning signal, and detecting the positioning signal and the positioning reinforcement data. If it is in a fixed state where the position is detected, the fact that it is in the fixed state is displayed on the display device.
  • the present invention it is possible to provide a system that can indicate that the vehicle is actually in a fixed state in the MMS measurement vehicle.
  • it since it can be confirmed in the vehicle that the vehicle is actually in the fixed state, it is not necessary to wait for a time to obtain a positioning solution more than necessary, thereby improving the measurement efficiency.
  • FIG. 3 is a diagram of the first embodiment and shows a configuration of a measurement system 1000.
  • FIG. 3 is a diagram of the first embodiment, and shows a device mounted on the measurement vehicle 100.
  • FIG. 3 is a diagram illustrating the hardware configuration of the positioning terminal device 200 according to the first embodiment.
  • FIG. 3 is a flowchart of the operation of the measurement system 1000 in the first embodiment.
  • FIG. 5 is a diagram illustrating the display mode of the Fix indicator 401 and the sky plot 402 on the display device 400 in the first embodiment.
  • the figure of Embodiment 1 is a figure which shows typically the state which reflected fix state information in three-dimensional measurement data.
  • the figure of Embodiment 1 is a figure which shows a modification.
  • Embodiment 1 FIG. *** Explanation of configuration ***
  • fix states are defined. As described in the background art, the “fixed state” refers to a state in which a positioning solution is obtained in the positioning calculation. In another definition, “fixed state” refers to a state in which the wave number of each signal is determined for a positioning satellite of a specified number or more.
  • the measurement system 1000 according to the first embodiment will be described with reference to FIGS.
  • the main features of the measurement system 1000 are as follows.
  • MMS measurement vehicles do not use positioning reinforcement data for position detection. For this reason, the MMS measuring vehicle cannot present that it is actually in the fixed state, but can only present a prediction that it will be in the fixed state.
  • the communication device 300 or the satellite signal receiving device 150 mounted on the vehicle receives the positioning reinforcement data, and the positioning terminal device 200 is positioned using the positioning reinforcement data. Is detected. Therefore, it is possible to display on the display device 400 that the MMS measuring vehicle is actually in the fixed state.
  • various devices mounted on the MMS measurement vehicle communicate with the correction information center device 710 or the quasi-zenith satellite 602, thereby enhancing positioning within the MMS measurement vehicle.
  • Data can be acquired and positioning solution calculation can be performed.
  • a positioning solution as a result which is not a prediction is obtained. Therefore, as an effect, since the MMS measuring vehicle can start the next travel when the vehicle is in the fixed state, the stationary time is not unnecessarily wasted.
  • FIG. 1 shows a measurement system 1000.
  • the measurement system 1000 includes a measurement vehicle 100 equipped with an MMS, a correction information center 700, and a post-processing device 800.
  • the measurement vehicle 100 is an MMS measurement vehicle.
  • the measurement vehicle 100 includes a positioning terminal device 200, a communication device 300, and the like.
  • the communication device 300 can communicate with the correction information center device 710 of the correction information center 700 via the Internet 900.
  • the communication device 300 receives the positioning reinforcement data from the correction information center device 710 and outputs the positioning reinforcement data to the positioning terminal device 200.
  • the correction information center 700 includes a correction information center device 710.
  • the positioning terminal device 200 receives the positioning signal transmitted from the positioning satellite 601 and detects the position.
  • the positioning terminal device 200 performs positioning by RTK (Real Time Kinetic).
  • RTK Real Time Kinetic
  • the RTK positioning result and the three-dimensional measurement data measured by the measurement vehicle 100 are post-processed by the post-processing operation unit 810 of the post-processing device 800, and the post-processing result is output as output data 820.
  • FIG. 2 shows a device mounted on the measurement vehicle 100.
  • the MMS mounted on the measurement vehicle 100 includes a measurement unit 110, an odometer 120, a positioning terminal device 200, a communication device 300, a display device 400, and a three-dimensional measurement data storage device 500 that stores measured three-dimensional measurement data.
  • the measurement unit 110 includes cameras 111A to 111F, laser scanners 112A to 112D, GPS antennas 113A to 113C, and an IMU (navigation inertial device) 114.
  • the mobile mapping system 101 includes a communication device 300, a display device 400, a positioning terminal device 200, a measurement unit 110 and an odometer 120 that are measurement devices.
  • the mobile mapping system 101 is mounted on the measurement vehicle 100.
  • FIG. 3 shows a hardware configuration of the positioning terminal device 200.
  • the positioning terminal device 200 is a computer.
  • the positioning terminal device 200 includes a processor 210, a main storage device 220, an auxiliary storage device 230, an input / output interface device 240, and a satellite signal receiving device 250 as hardware.
  • the processor 210 is connected to other hardware via a signal line, and controls these other hardware.
  • the processor 210 is an IC (Integrated Circuit) that performs arithmetic processing. Specific examples of the processor 210 include a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a GPU (Graphics Processing Unit).
  • a CPU Central Processing Unit
  • DSP Digital Signal Processor
  • GPU Graphics Processing Unit
  • the main storage device 220 is a volatile storage device that can be read and written. Specific examples of the main storage device 220 are SRAM (Static Random Access Memory) and DRAM (Dynamic Random Access Memory).
  • the auxiliary storage device 230 is a non-volatile storage device that can be read and written.
  • the auxiliary storage device 230 stores a program and other data for realizing the function of the positioning terminal device 200.
  • the auxiliary storage device 230 is a magnetic disk device (Hard Disk Drive).
  • the auxiliary storage device 230 may be a storage device that uses a portable storage medium such as an optical disc, a compact disc, a Blu-ray (registered trademark) disc, or a DVD (Digital Versatile Disk).
  • the input / output interface device 240 is an interface device for the processor 210 to communicate with the satellite signal receiving device 250, the communication device 300, the display device 400, and the three-dimensional measurement data storage device 500.
  • the satellite signal receiving device 250 receives the positioning signal transmitted from the positioning satellite 601 and sends the positioning signal to the processor 210 via the input / output interface device 240.
  • the positioning terminal device 200 includes a positioning reinforcement data acquisition unit 211, a positioning unit 212, a fix state detection unit 213, and a satellite determination unit 214 as functional elements.
  • the functions of the positioning reinforcement data acquisition unit 211, the positioning unit 212, the fixed state detection unit 213, and the satellite determination unit 214 are realized by a program.
  • the auxiliary storage device 230 stores programs that realize the functions of the positioning reinforcement data acquisition unit 211, the positioning unit 212, the fix state detection unit 213, and the satellite determination unit 214. This program is read and executed by the processor 210. Thereby, the functions of the positioning reinforcement data acquisition unit 211, the positioning unit 212, the fixed state detection unit 213, and the satellite determination unit 214 are realized.
  • the programs for realizing the functions of the positioning reinforcement data acquisition unit 211, the positioning unit 212, the fix state detection unit 213, and the satellite determination unit 214 may be provided by being stored in a computer-readable recording medium or a program product. May be provided as
  • the positioning terminal device 200 may include a plurality of processors that replace the processor 210.
  • the plurality of processors share the execution of programs of the positioning reinforcement data acquisition unit 211, the positioning unit 212, the fix state detection unit 213, and the satellite determination unit 214.
  • Each processor is an IC that performs arithmetic processing in the same manner as the processor 210. Note that the processor 210 and a plurality of processors replacing the processor 210 are also referred to as processing circuitry.
  • FIG. 4 is a flowchart showing the operation of the measurement system 1000. The operation of the measurement system 1000 will be described with reference to FIG.
  • step S11 the communication device 300 communicates with the correction information center device 710, and acquires the positioning reinforcement data of the electronic reference point i in real time.
  • the positioning unit 212 receives a positioning signal from the positioning satellite 601 that transmits the positioning signal, and detects a position using at least the positioning signal.
  • the communication apparatus 300 acquires the positioning reinforcement data
  • first the approximate position calculated by the positioning unit 212 from the positioning signal transmitted from the positioning satellite 601 without using the positioning reinforcement data is acquired from the positioning terminal apparatus 200. And transmitted to the correction information center apparatus 710.
  • the correction information center device 710 transmits positioning reinforcement data related to the electronic reference point i closer to the approximate position among the plurality of electronic reference points to the communication device 300.
  • step S12 the communication device 300 outputs positioning reinforcement data to the positioning terminal device 200.
  • step S13 the positioning reinforcement data acquisition unit 211 of the positioning terminal apparatus 200 acquires the positioning reinforcement data sent from the communication device 300.
  • step S14 the positioning unit 212 performs positioning using the positioning reinforcement data and the positioning signal.
  • step S15 the fix state detection unit 213 acquires a positioning solution that is an RTK positioning result calculated by the positioning unit 212 in real time.
  • the fix state detection unit 213 performs the following (1) to (3).
  • (1) Judge whether it is in a fixed state.
  • (2) Display on the display device 400 whether it is in the fixed state.
  • (3) Information indicating whether the state is fixed is reflected in the three-dimensional measurement data.
  • the fix state detection unit 213 is mounted on the measurement vehicle 100 to indicate that it is in the fix state when the positioning unit 212 is in the fix state where the position is detected using the positioning reinforcement data and the positioning signal. Displayed on the display device 400.
  • FIG. 5 shows a display mode of the Fix indicator 401 and the sky plot 402 of the display device 400.
  • the fix state is displayed on the Fix indicator 401 of the display device 400.
  • the fix state detection unit 213 reflects the fix state information indicating the fix state in the three-dimensional measurement data obtained by the measurement of the measurement device (measurement unit 110, odometer 120).
  • the three-dimensional measurement data is stored in the three-dimensional measurement data storage device 500.
  • FIG. 6 is a diagram schematically illustrating a state in which the fix state information is reflected in the three-dimensional measurement data.
  • “Fix” and “NON-Fix” in FIG. 6 are the fix state information
  • “Fix” indicates the fix state
  • “NON-Fix” indicates the non-fix state. “Not in a fixed state” indicates that a positioning solution is not obtained.
  • the satellite determination unit 214 analyzes the acquired positioning reinforcement data related to the electronic reference point i. Further, the satellite determination unit 214 determines the positioning satellite 601 captured by the electronic reference point i, and determines the positioning satellite 601 currently captured by the positioning terminal apparatus 200 based on the received positioning signal. To do. Then, the satellite determination unit 214 displays both positioning satellites 601 on the display device 400. As shown in FIG. 5, a sky plot 402 showing the positioning satellites being captured is displayed. As described above, the satellite determination unit 214 determines the positioning satellite 601 captured for generating the positioning reinforcement data from the positioning reinforcement data. The satellite determination unit 214 also determines the positioning satellite 601 captured for position detection from the positioning signal received by the positioning unit 212.
  • the satellite determination unit 214 matches a positioning satellite 601 that does not coincide with a plurality of positioning satellites 601 related to position detection, among a plurality of positioning satellites 601 related to generation of positioning reinforcement data, with a positioning satellite 601 related to position detection. It is displayed in a manner different from that of the positioning satellite 601.
  • black circles 403 indicate positioning satellites 601 related to position detection
  • white circles 404 indicate positioning satellites 601 that do not match.
  • the positioning reinforcement data acquisition unit 211 transmits the self-position calculated by the positioning unit 212 to the correction information center device 710 via the communication device 300 at regular intervals.
  • the correction information center device 710 transmits the positioning reinforcement data of the electronic reference point i closest to the self position to the communication device 300.
  • the communication device 300 is a device that receives positioning reinforcement data from the correction information center device 710 that is a positioning reinforcement data transmission device that transmits positioning reinforcement data, and is a device mounted on the measurement vehicle 100.
  • the positioning reinforcement data acquisition unit 211 acquires the positioning reinforcement data via the communication device 300, and transmits the position measured by the positioning unit 212 to the correction information center device 710 via the communication device 300. Thereby, the positioning reinforcement data acquisition unit 211 acquires the positioning reinforcement data suitable for the transmitted position from the correction information center device 710 via the communication device 300.
  • the three-dimensional measurement data 510 and the RTK positioning result 260 are sent to the post-processing device 800, processed by the post-processing computing unit 810, and the processing result is output as output data 820.
  • the current MMS is a system based on post-processing of measurement data, and the final result cannot be obtained unless post-processing. Therefore, in the current MMS measurement based on the fix prediction state, the three-dimensional measurement is performed in a state where the required position accuracy is not obtained, and there are cases where the re-measurement is performed after post-processing.
  • the positioning terminal device 200 and the communication device 300 are mounted on the MMS measurement vehicle 100, and the communication device 300 acquires the positioning reinforcement data from the correction information center device 710. For this reason, in the first embodiment, the positioning terminal device 200 can obtain the RTK positioning result in real time from the positioning reinforcement data and the positioning signal.
  • the measurement vehicle 100 is in an actual fixed state. Therefore, it is possible to solve the problem that the fixed state cannot be obtained after the post-processing and the problem that it takes time such as two minutes of rest necessary for obtaining the fixed predicted state.
  • FIG. 7 is a diagram showing a modification of the first embodiment.
  • FIG. 7 shows a configuration in which positioning reinforcement data is distributed from the quasi-zenith satellite 602 with respect to FIG.
  • FIG. 7 shows four positioning satellites 601 and one quasi-zenith satellite 602.
  • the quasi-zenith satellite 602 transmits positioning reinforcement data and a positioning signal.
  • the quasi-zenith satellite 602 is a positioning reinforcement data transmission device that transmits positioning reinforcement data.
  • the difference from FIG. 1 is that the communication device 300 and the correction information center 700 are unnecessary in FIG.
  • the quasi-zenith satellite 602 sequentially transmits positioning reinforcement data of each block obtained by dividing the Japan region into a plurality of blocks.
  • the operation of this ⁇ modified example> is almost the same as that in FIG.
  • step S11 is different and step S17 is not necessary. That is, the positioning terminal device 200 selects positioning reinforcement data close to the approximate position from among the positioning reinforcement data of each block transmitted from the quasi-zenith satellite 602 based on the approximate position. Therefore, step S17 becomes unnecessary.
  • the satellite signal receiving device 250 receives positioning reinforcement data from the quasi-zenith satellite 602 in addition to the positioning signal, and sends it to the processor 210 via the input / output interface device 240.
  • 100 measurement vehicle 110 measurement unit, 111A to 111F camera, 112A to 112D laser scanner, 113A to 111C GPS antenna, 114 IMU, 120 odometer, 200 positioning terminal device, 210 processor, 211 positioning reinforcement data acquisition unit, 212 positioning unit, 213 Fix state detection unit, 214 Satellite determination unit, 220 Main storage device, 230 Auxiliary storage device, 240 Input / output interface device, 250 Satellite signal reception device, 260 RTK positioning result, 300 communication device, 400 display device, 500 3D measurement Data storage device, 510 3D measurement data, 601 positioning satellite, 602 quasi-zenith satellite, 700 correction information center, 710 correction information center device, 800 post-processing device, 810 post-processing Calculation unit, 820 output data, 900 Internet, 1000 measurement system.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne un système de cartographie mobile (101) installé dans un véhicule de mesure (100) et comprenant un dispositif terminal de positionnement (200), un dispositif de communication (300), un dispositif d'affichage (400) et une unité de mesure (110) et un odomètre (120) constituant un dispositif de mesure. Le dispositif de communication (300) reçoit des données de renforcement de positionnement en provenance d'un dispositif de centre d'informations de correction (710) en vue de transmettre des données de renforcement de positionnement. Le dispositif terminal de positionnement (200) acquiert les données de renforcement de positionnement en provenance du dispositif de communication (300), reçoit un signal de positionnement en provenance d'un satellite de positionnement (601) et détecte la position au moins à l'aide du signal de positionnement. En outre, lorsque le dispositif terminal de positionnement (200) est dans un état fixe dans lequel la position est détectée à l'aide du signal de positionnement et des données de renforcement de positionnement, une indication de cette dernière est affichée sur le dispositif d'affichage (400).
PCT/JP2018/005451 2017-03-23 2018-02-16 Système de cartographie mobile et dispositif terminal de positionnement WO2018173573A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2019507443A JPWO2018173573A1 (ja) 2017-03-23 2018-02-16 モービルマッピングシステム及び測位端末装置
KR1020197027055A KR20190116442A (ko) 2017-03-23 2018-02-16 모바일 매핑 시스템 및 측위 단말 장치
TW107109041A TWI664393B (zh) 2017-03-23 2018-03-16 Mobile mapping system and positioning terminal device

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JP2017-058000 2017-03-23
JP2017058000 2017-03-23

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WO2018173573A1 true WO2018173573A1 (fr) 2018-09-27

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JP2021071288A (ja) * 2019-10-29 2021-05-06 大林道路株式会社 三次元計測システム

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JPH06314060A (ja) * 1993-04-28 1994-11-08 Nec Home Electron Ltd ナビゲーション装置
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JP7219201B2 (ja) 2019-10-29 2023-02-07 大林道路株式会社 三次元計測システム

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KR20190116442A (ko) 2019-10-14
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TWI664393B (zh) 2019-07-01

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