Coordinate output method and coordinate output device
View Patent ↗There is provided a coordinate output method capable of suppressing the influence of a positioning error (jump) of a float solution in a case where interferometric positioning by RTK method is applied to positioning of a moving body. Current coordinates of a moving body are estimated based on previous coordinates of the moving body and information on a speed of the moving body. In addition, interferometric wave positioning is executed based on the positioning data of a base station and the positioning data of a positioning station to calculate the current coordinates of the moving body as either a fix solution or a float solution. In a case where the fix solution may not be calculated after the fix solution is calculated for a predetermined time or more, the coordinates of the moving body estimated from the information on a speed are output.
1. A coordinate output method comprising:
estimating current coordinates of a moving body based on previous coordinates of the moving body and information on a speed of the moving body;
calculating the current coordinates of the moving body as either of a fix solution or a float solution by executing interferometric wave positioning based on positioning data of a base station installed at a predetermined point and positioning data of a positioning station placed on the moving body;
outputting the current coordinates of the moving body calculated as the fix solution in a case where the current coordinates of the moving body are calculated as the fix solution;
determining a time during which the current coordinates of the moving body have been calculated as the fix solution; and
outputting the current coordinates of the moving body estimated from the information on the speed in a case where a time during which the current coordinates of the moving body have been calculated as the fix solution is equal to or more than a predetermined value and in a case where the current coordinates of the moving body are not calculated as the fix solution, the predetermined value being more than zero.
2. The coordinate output method of claim 1 , further comprising:
determining whether or not the current coordinates of the moving body estimated from the information on the speed have been continuously output for a predetermined time or more; and
outputting the current coordinates of the moving body calculated as the float solution in a case where it is determined that the current coordinates of the moving body estimated from the information on the speed have been continuously output for a predetermined time and in a case where the current coordinates of the moving body are not calculated as the fix solution.
3. The coordinate output method of claim 1 , further comprising:
determining reliability of a fix solution by the interferometric wave positioning; and
in a case where the reliability of the fix solution obtained most recently is higher than a predetermined value, outputting the current coordinates of the moving body estimated from the information on the speed when a time during which the current coordinates of the moving body have been calculated as the fix solution is equal to or more than a predetermined value and when the current coordinates of the moving body are not calculated as the fix solution.
4. The coordinate output method of claim 1 , further comprising:
determining reliability of a fix solution by the interferometric wave positioning; and
in a case where the reliability of the fix solution obtained most recently is lower than a predetermined value, outputting the current coordinates of the moving body calculated as the float solution when a time during which the current coordinates of the moving body have been calculated as the fix solution is equal to or more than a predetermined value and when the current coordinates of the moving body are not calculated as the fix solution.
5. The coordinate output method of claim 1 , further comprising:
outputting the current coordinates of the moving body calculated as the float solution in a case where the time during which the current coordinates of the moving body have been calculated as the fix solution is less than the predetermined value and in the case where the current coordinates of the moving body are not calculated as the fix solution.
6. A coordinate output device comprising:
a processor;
a storage; and
an output unit,
wherein the processor
estimates current coordinates of a moving body based on previous coordinates of the moving body and information on a speed of the moving body,
calculates the current coordinates of the moving body as either of a fix solution or a float solution by executing interferometric wave positioning based on positioning data of a base station installed at a predetermined point and positioning data of a positioning station placed on the moving body,
outputs the current coordinates of the moving body calculated as the fix solution to the output unit in a case where the current coordinates of the moving body are calculated as the fix solution,
determines a time during which the current coordinates of the moving body have been calculated as the fix solution to record the time in the storage, and
outputs the current coordinates of the moving body estimated from the information on the speed to the output unit in a case where a time during which the current coordinates of the moving body have been calculated as the fix solution is equal to or more than a predetermined value and in a case where the current coordinates of the moving body are not calculated as the fix solution, the predetermined value being more than zero.
7. The coordinate output device of claim 6 ,
wherein the processor
determines whether or not the current coordinates of the moving body estimated from the information on the speed have been continuously output for a predetermined time or more; and
outputs the current coordinates of the moving body calculated as the float solution to the output unit when it is determined that the current coordinates of the moving body estimated from the information on the speed have been continuously output for a predetermined time and when the current coordinates of the moving body are not calculated as the fix solution.
8. The coordinate output device of claim 6 ,
wherein the processor
determines reliability of a fix solution by the interferometric wave positioning, and
in a case where the reliability of the fix solution obtained most recently is higher than a predetermined value, outputs the current coordinates of the moving body estimated from the information on the speed to the output unit when a time during which the current coordinates of the moving body have been calculated as the fix solution is equal to or more than a predetermined value and when the current coordinates of the moving body are not calculated as the fix solution.
9. The coordinate output device of claim 6 ,
wherein the processor
determines reliability of a fix solution by the interferometric wave positioning, and
in a case where the reliability of the fix solution obtained most recently is lower than a predetermined value, outputs the current coordinates of the moving body calculated as the float solution to the output unit when a time during which the current coordinates of the moving body have been calculated as the fix solution is equal to or more than a predetermined value and when the current coordinates of the moving body are not calculated as the fix solution.