Entitled position information processing system, and position information processing apparatus

Technical field

[0001]

　The present invention, position information processing system using a satellite signal, and a position information processing apparatus.

BACKGROUND

[0002]

　In recent years, positioning technologies for acquiring position information using signals transmitted from GPS (Global Positioning System) has been widely used. Further, by using this positioning technique, for example, by charging to the vehicle of the user to move the urban applications such reduced congestion alleviation of urban are also contemplated.

[0003]

　On the other hand, this way, among spreading the use scene of the position information, by tampering with the location information, it is feared that fraud is performed. Therefore, Patent Documents 1 and 2, the Quasi-Zenith Satellite (QZSS) used with GPS satellites, a technique for preventing the alteration of the position information obtained by using a signal which they satellites transmits is disclosed.

CITATION

Patent Document

[0004]

Patent Document 1: Patent No. 5400529 Patent Publication
Patent Document 2: Japanese Patent No. 5667967

Summary of the Invention

Problems that the Invention is to Solve

[0005]

　While aspects of the application usage of location information, for example, even if that must be continuously records the position information over a period of time such as when recording a trajectory of movement over a predetermined time period of the moving object is there. Common in situations such applications, it is necessary to record the information of the position information has been obtained separately (e.g. authenticates the driver of the mobile body information, etc.) together with the positional information. When recording such information continuously, generally the amount of information is enormous, there is a concern that compressing the storage capacity of the storage device.

[0006]

　On the other hand, in recent years to disseminate the GPS satellite signals fake a technique for tamper recording of positional information have been developed.

[0007]

　One aspect of the present invention has been made in view of the above circumstances, and an object thereof is to provide a position information processing system and the position information processing apparatus capable of recording position information efficiently.

[0008]

　Further, certain aspects of the present invention, even when the GPS satellite signal false is used, to provide a position information processing system and the position information processing apparatus can prevent tampering of the position information, and one of its purposes to.

Means for Solving the Problems

[0009]

　One aspect of the present invention to solve the problems of the prior art is provided with a position information processing apparatus. The position information processing apparatus includes the position information obtained by using the satellite signals, and receiving means for receiving repeatedly a plurality of types of information sequentially that may vary with time, the plurality of types of information received, along with the time information wherein the recording means for recording in association with each other, said recording means, among the repeated receiving information, select the information underlying prediction information underlying the prediction information as a basis for prediction selectively recording the information judged to unpredictable by a predetermined method from.

[0010]

　The aspect of the present invention to solve the problems of the prior art is provided with a position information processing apparatus. The position information processing apparatus includes the position information obtained by using the satellite signals, and receiving means for receiving repeatedly a plurality of types of information sequentially that may vary with time, the plurality of types of information received, along with the time information wherein the recording means for recording in association with each other, said receiving means records information relating to satellite signals the basis of calculation of the position information subjected to the authentication process, the recording means, a plurality of different mutually when information relating to the position is obtained, the record information indicating the different positions on the resulting one another.

The invention's effect

[0011]

　According to one aspect of the present invention, the position information can be efficiently recorded.

[0012]

　According to a separate aspect of the present invention can prevent alteration of the position information.

BRIEF DESCRIPTION OF THE DRAWINGS

[0013]

Is a schematic configuration diagram showing an example of a position information processing system according to an embodiment of FIG. 1 the present invention.
Is a block diagram illustrating an example of a position information processing according to the embodiment of the present invention; FIG.
3 is a functional block diagram showing an example of a position information processing according to the embodiment of the present invention.
FIG. 4 is an explanatory view showing an example of a recording process of information by the position information processing according to the embodiment of the present invention.
5 is a flow chart diagram illustrating a detection process example of the false signal by the position information processing according to the embodiment of the present invention.
[6] to position information processing is processing according to the embodiment of the present invention, is a diagram of the detection processing example based on the signal including the pseudo signal.
[7] by the position information processing according to the embodiment of the present invention, it is a diagram of an example of a process to examine the existence of false signals.

DESCRIPTION OF THE INVENTION

[0014]

　Will be described with reference to the drawings, embodiments of the present invention. Position information processing system 1 according to the embodiment of the present invention, as illustrated in FIG. 1, receiving the signal (navigation message, etc.) from the GPS satellites 2 and QZSS (QZSS) 3, these signals obtaining location information based. The position information processing system 1 according to the example of this embodiment, the position information processing apparatus 10 arranged on the mobile, in general, the OLT 20 which is arranged at a distance from the mobile They comprise constructed.

[0015]

　Although here is an example of the GPS satellites 2 and QZSS 3, this embodiment is not limited to this, other GPS as Global Navigation Satellite System, GLONASS and Gallileo, signals such as Hokuto is used may be, satellite navigation augmentation system: as (SBAS satellite Based Augmentation system), addition of the quasi-zenith satellite (QZSS), the European EGNOS, the United States of WAAS, Indian GAGAN, Russian SDCM, signal of Japan's MSAS is it may be used.

[0016]

　In the example of this embodiment, the center side device 20, the time and the uplink predetermined encryption information which changes the (encrypted code) to the QZSS 3 in accordance with the relative QZSS 3, the encryption of information may be sent along with a navigation message or the like. This operation is similar to that disclosed in such Japanese Patent No. 5667967 (Patent Document 2), and detailed descriptions thereof are omitted here.

[0017]

　Also, the position information processing apparatus 10, as illustrated in FIG. 2, the satellite signal reception unit 11, a signal processing unit 12, the control unit 13, a storage unit 14, an interface unit 15, and a transceiver 16 in it is configured.

[0018]

　Satellite signal reception unit 11 receives a signal GPS satellites 2 and quasi-zenith satellites (QZSS) 3 is sent, and outputs a signal the received signal processing unit 12. The signal processing unit 12, a signal the satellite signal reception unit 11 has received (RF signal) is amplified by a variable gain amplifier or the like by using an AGC (Auto Gain Control) is converted into an intermediate frequency signal (IF signal), further outputs the converted digital signal to the controller 13 by the a / D conversion. The signal processing unit 12,
(1) a false signal that simulates a signal that GPS satellites 2 sends out, or when a false signal transmitter (so-called spoofer (Spoofer)) is transmitting,
(2) GPS satellites 2 when is the interfering signal to the signal to be sent is transmitted, or
(3) when the interference signal (jamming) is transmitted
as in the case of such, that IF signal (digitized containing this false signal, etc. ) so that the output of the control unit 13.

[0019]

　Control unit 13 is a program controllable CPU or DSP (Digital Signal Processer), etc., based on the input signals, calculates the position information repeatedly for each predetermined timing. Processing of this operation, since widely known, a detailed description thereof will be omitted here.

[0020]

　Control unit 13 operates according to a program stored in the storage unit 14, acquisition processing of the incidental information, the recording process of the position information and associated information, and performs the detection process of the false signal or the like. It will be described later in detail the contents of each of these processes. Storage unit 14 is a semiconductor recording device or the like, in accordance with an instruction input from the control unit 13 records the information such as position information and associated information. Also, the storage unit 14 is configured to include a memory device, for holding the program executed by the control unit 13. Furthermore the storage unit 14 also operates as work memory of the control unit 13.

[0021]

　Interface unit 15 is connected to various devices for collecting accompanying information, and outputs the information these various devices to the control unit 13. The device for collecting accompanying information here, for example, the authentication apparatus that authenticates a user, the mobile (vehicle or ship or the loading platform or the like,) measuring equipment for measuring the weight of an imaging device that outputs the image information captured is is there.

[0022]

　In one example of this embodiment, the device for collecting the accompanying information includes a biometric sensor configured to identify a user. This device converts the biometric data biometric sensor detects the digital information, and outputs to the control unit 13. The biometric sensor, face authentication, fingerprint authentication, vein authentication, etc. iris authentication may be of any type. Further, with a method of identifying a captain driver and boats to drive the car to install a camera for tracking the face of the driver in the driver's seat, provided a fingerprint sensor or a vein sensor in the handle and steering, these cameras and sensors sequentially association with temporally synchronizes the output information may be output this association information to the control unit 13. Thus, it is more accurate with high user authentication.

[0023]

　The device for collecting the accompanying information, the detection information of the predetermined object other than the user, and collected as accompanying information may be output to the control unit 13. Here the object and the car used by the user, not only mobile ship or the like, including a user using these mobile received, or ones hands over. For example, in the case of fishing vessels, a user captain, even fish obtained by fishing included in examples of the object. For fishing vessels, as well as identify the type of harvested fish camera catches by measuring the volume occupancy of the storage space of the weight or harvesting fish, can use information that associates these information.

[0024]

　Transceiver unit 16 is, for example, wireless communication device, in accordance with an instruction input from the control unit 13 communicates with the OLT 20. The transceiver unit 16 to the center side device 20, and sends the information in accordance with an instruction input from the control unit 13. Also the transceiver unit 16 receives a signal OLT 20 is sent to the position information processing apparatus 10 destined to acquire and decode the information contained in this signal, and outputs it to the control unit 13. The transceiver 16 also by wire connection, may communicate with the OLT 20.

[0025]

　Next the operation of the control unit 13. In this embodiment, the control unit 13, as illustrated in FIG. 3 (a), the accompanying information receiving unit 31, a location information receiving unit 32, a sequential information generation processing unit 33, the interpolation processing unit 34 When a recording information generating unit 35, an output unit 36 ​​is configured to include functionally. The control unit 13 and the storage unit 14 may be configured in one chip, or may be configured to include a plurality of IC or the like.

[0026]

　Here accompanying information receiving unit 31, a device for collecting incidental information via the interface unit 15 (when a plurality of each of the devices) accompanying information input from and output to the sequential information generation processing unit 33. Position information receiving unit 32, based on signals received from the signal processing unit 12 generates position information widely known methods. Here accompanying information, for example the authentication information and the load of the load information of the user, as such as, there may be multiple types.

[0027]

　Sequential information generation processing unit 33, and accompanying information is accompanying information receiving unit 31 received, the position information receiving unit 32 generates a sequential information including the position information received. Specifically, the sequential information generation processing unit 33 issues a repetition time information for each predetermined timing. Here, it is assumed to issue a regularly repeating time information for each Δt seconds. The sequential information generation processing unit 33 sequentially information associated to this issue time information, and accompanying information received just before the timing that issued the time information, position information, etc., a plurality of kinds of information to produce the output.

[0028]

　The interpolation processing unit 34 sequentially successive information Ri information generation processing unit 33 has output in the past (i = 1, 2, ..., output at the time of the lapse of time Delta] t × i from the original output) the last N times (N is an integer of 2 or more, experimentally previously determined appropriate) holds only partial (from Rj to Rj + N). The interpolation processing unit 34 uses the number of interpolation functions among the predetermined (e.g., a spline function), the value of the position information and accompanying information contained in those (Rj) of the earliest among the sequential information of the most recent N times, sequential information Rj + N included in (after only Delta] t × N from the output of the Rj), included in a corresponding value of the position information and associated information to use in sequential information Rj + 1, Rj + 2 ... Rj + N-1 It is, to predict the value of the corresponding location information and associated information. The interpolation processing unit 34 compares the actual input value and the predicted value.

[0029]

　For example, the interpolation processing unit 34, the respective position information or associated information successively information Rj included in (j = 1,2, ...) as Qj (t), among the sequential information of the most recent N times, successively information Rj + 1, Rj + 2 ... Rj + N-1 information at each time point included in Qj + 1, Qj + 2 ... Qj + N-1 with the interpolation function to predict. The value Q'J + 1 obtained by this prediction, Q'j + 2 ... and Q'j + N-1, the value represented by the corresponding type of information at the corresponding time point Qj + 1, Qj + 2 ... Qj + N-1 and compared to (e.g., calculating the difference). The interpolation processing unit 34, the process includes the sequential information R, performed for each type of information Q. Note interpolation function may use different functions for different types of information.

[0030]

　The interpolation processing unit 34, the result of the comparison here, the value of the prediction, whether the error within a predetermined range from a sequential information generation processing unit 33 has output a value, held last N times are sequentially determined for each information, the determination result is recorded for each sequential information is held in.

[0031]

　Recording information generation unit 35, out of the successive information the interpolation processing unit 34 holds, the oldest from those held in the order, with reference to the determination result is the interpolation processing unit 34 is recorded, the value of the prediction, sequentially when sequential information including information of time when it is determined not to error range from the value output from the information generating unit 33 is found, the sequential information Rj used in the calculation of the interpolation, and Rj + N, prediction values, and sequentially the information Rj + n including information of time when it is determined not to error range from the output from the sequential information generation processing unit 33 the value (n is 1 ≦ n ≦ n-1 becomes an integer) as a record of the subject, and outputs to the output unit 36.

[0032]

　The recording information generating unit 35 sequentially information Rj holds, Rj + 1, remove the ... Rj + N-1, Rj + N, wait until a new, successive information R is N times held, to perform processing to generate the determination result to the interpolation processing unit 34. In this manner, in the present embodiment, the information underlying the predictions and the information is determined to unpredictable from the information underlying the predictions in a predetermined manner to selectively record, the amount of information to be recorded to reduce.

[0033]

　Recording information generation unit 35, also when the value of the prediction, which was not successively information includes information of time when it is determined not to error range from the output from the sequential information generation processing unit 33 the value is found, that is , most past and sequential information Rj held in, and a last holding the successive information Rj + N, sequential information Rj + 1 is output during this period, ... the various information included in Rj + N-1, when unpredictable in predetermined error range by a predetermined interpolation function is output most past and sequential information Rj held in, the last held the sequential information Rj + N as a record of the target portion and outputs it to the 36. The recording information generating unit 35 sequentially information Rj holds, Rj + 1, remove the ... Rj + N-1, Rj + N, wait until a new, successive information R is N times held, to perform processing to generate the determination result to the interpolation processing unit 34. The output unit 36 ​​stores the sequential recording information generation unit 35 outputs accumulated in the storage unit 14.

[0034]

　Furthermore, the recorded information generator 35 for sequentially the information not recorded (e.g. sequential information including only the information that is predictable by interpolation calculation based on the sequential information before and after), instead of the said successive information, the sequential in association with time information indicating when to recording information, information and specifying the interpolation functions among which uses the prediction method specifying information (e.g., prediction of specifying a method for the prediction, such as information identifying the sequential information used for prediction information including) may be output in place of the sequential information.

[0035]

　That is, in this example, recording information generating unit 35 includes a sequential information was the basis of the prediction, for a sequential information is determined to unpredictable from sequential information underlying the predictions in a predetermined manner, the sequential information itself (for convenience, the actual information hereinafter), and outputs them in association with the time information representing each point of input. The recorded information generator 35, the time information indicating the time at which successive information determined to be predicted from the sequential information underlying the prediction by a predetermined method is input, the prediction for predicting the sequential information the method in association with specific information for output. That is, in this information recording information generation unit 35 is output and the actual information, the prediction method specifying information is a synthesis information synthesized.

[0036]

　According to the example of the above embodiment, the position information processing unit 10 for the actual information sequentially obtained (e.g. the actual real information accompanying information such as authentication information of the position data and user), a predetermined time from the real information group buffered within the band, performs calculation to predict by interpolation information obtained during the time period (for example, calculation that fits the locus a spline function). The position information processing unit 10 compares the prediction information obtained by interpolating the actual information, determines whether the difference between the prediction information and the actual information is within a predetermined range.

[0037]

　If position information processing apparatus 10 is the prediction information is entered from the real information in the predetermined range, without recording the real information of that time period, a prediction method specifying information (e.g., interpolation function for specifying a prediction method for recording specific information and the like). Or the position information processing apparatus 10, if the interpolation function is predetermined, it is not necessary to also record information specifying the interpolation function, it is not necessary to record a prediction method specifying information. In this case, only the time information or not is also recorded any information on the time that could predict or other information (information unpredictable) is not associated may be recorded). Also, when the prediction information is not in the actual information in the predetermined range, the position information processing apparatus 10 records the actual information.

[0038]

　The operation of the position information processing apparatus 10 of the present embodiment will be described with reference to FIG. Figure 4 shows an example of a sequential information sequential information generation processing unit 33 is outputted from time t1 to t17. In Figure 4, the position data, the authentication information of the user, information of the time series of three cargo weight information is shown an example that is the target of recording.

[0039]

　The vertical axis in FIG. 4 (a) denote the value of each information. In order to simplify the illustration and explanation, although the respective information and a one-dimensional value, actual information may be a vector information. Also in FIG. 4 (a), the value obtained actually by the satellite signals and measurement are shown at discrete points.

[0040]

　Position information processing apparatus 10, each of these various types of information, (interpolation function is varied for each type of information) that approximated to a predetermined interpolation function. Specifically, the position data and the weight information of the load is performed approximated by a spline function, for user authentication information shall be zero-order approximation (approximation information is assumed unchanged) is performed. Is indicated by dashed curve, respectively (or dashed line) in FIGS. 4 (a) The results of this approximation.

[0041]

　FIG. 4 (b), the results of the approximation degree actual approximation value to the difference (actual measurement value of the value of the corresponding type of information at the time the corresponding meets, therefore the difference as well, the ratio " differences from 1 "to indicate a size or the like may be) of the distance between vectors.

[0042]

　As shown in FIG. 4, according to the movement of the moving body, varies the position data sequentially, approximates the sequentially changing the movement path at a predetermined interpolation function obtained from the interpolation function correlation value between the comparison result of the prediction information and the actual information (the differences in this case) preset above the threshold (correlation is low) at the time information (at time t7, t8 in Fig. 4 information) as a recording of the subject.

[0043]

　Further, the same processing for the authentication information and cargo weight information of the user, for example, the authentication information of the user, lower than the correlation value and the prediction information in the corresponding time obtained from interpolation function is predetermined information (difference is large) time information (t15 in FIG. 4, t16) and the recording of the subject. Thus, in the target and the three types of information recording, at least one of the information of the time of a unpredictable information from before and after the information recording of the subject, other required information as a basis for the prediction, by recording only the selected information as a record of the target in this way, to reduce the amount of information to be recorded.

[0044]

　In the time of fishing is departed from the fishing port, often acceleration changes sharply, it can not be reproduced by a simple approximate curve. Thus rather than information relating to the predicted interpolated data (prediction method specifying information, etc.), the actual data (actual data) is recorded. Thus trajectories of departure is relatively accurately recorded. Since relatively linearly moving track until close to the fishing ground varies, making it possible to interpolation, information relating to the interpolated data is recorded. Possible to reduce the amount of data to be recorded in this.

[0045]

　Further, in the fisheries vicinity, the movement of vessels to move to the position of the fish will become complicated, so that the real information is recorded becomes impossible interpolation. When fishing is started, even in a state in which if the position does not change, because the load amount changes, We will not be interpolated, so that the actual information is recorded. Thereafter, fishing is finished, to take a relatively monotonous route until the return to port to the port, the correlation values ​​between the interpolation data and the actual information is high, so that the information relating to the interpolated data is recorded. Further back in the fishing port, while the load is lowered, it becomes the weight of the authentication information and cargo users varies greatly, the actual information is recorded.

[0046]

　Sequential information recorded in this way, in accordance with an instruction from the user after, or at a predetermined condition (communication with the center device 20 has become possible, conditions, etc.), the OLT 20 or the predetermined device is sent to the (pre-authenticated device) addressed. And in apparatus that has received this sequential information, at the time when the actual information is recorded, on the basis of the actual information, each type of information included in the real information is reproduced.

[0047]

　Further, at the time when the information related to the interpolation data (the portion that has been recorded that there is no actual information) is recorded, the immediately preceding information relating to the interpolation data, according to the actual information (or interpolated data recorded immediately after the information, the real information) is specified as the information underlying the predictions, the number interpolation function among the predetermined (or based on the interpolation function) specified by the recorded information as information relating to the interpolation data prediction generate a value, to reproduce at each time point, such as authentication information and cargo weight information of the user associated with the history and the position information of the position information, the accompanying information.

[0048]

　And by where real information or information reproduced on the basis of such information to the interpolation data, it is possible to obtain a record of the mobile, in the example fishing, performs authentication of the fishing in a defined fishing is performed it can be, in a vehicle, in a defined area, it is possible to perform authentication of such that are running by the driver defined.

[0049]

[Detection of false signals]
　Further, the control unit 13 in the present embodiment, since it is performed the detection of false signals falsely signal from a satellite, will be described below the process therefor. In this embodiment, the control unit 13 executes the following processing. The control unit 13 of this case, as illustrated in FIG. 3 (b), and the interpolation processing unit 34 may be free of the recording information generation unit 35 functionally. That is, the control unit 13 in this case, the interpolation processing unit 34 may not be performed necessarily the processing of the recording information generation unit 35, if not performed these operations (functionally FIG 3 (b) If having the configuration illustrated), the control unit 13, will be recorded and accumulated information sequentially information generation processing unit 33 has output sequentially (real information) to each storage unit 14.

[0050]

　Control unit 13 for detecting a false signal of the present embodiment accepts a signal (IF signal) after converting signals the satellite signal reception unit 11 receives an (RF signal) to an intermediate frequency signal.

[0051]

　The control unit 13, as illustrated in FIG. 5 performs the processing of the IF signal during the 10 ms on (signal after digitization), coherent integration enhancement for performing FFT computation of replica signal (Coherent Integration) performs the detection process of the satellite signal (S1). Replica signal, the signal control unit 13 is artificially generate, simulating the C / A (Coarse / Acquisition) signal which is a kind of PRN (Pseudo Random Noise) included in the signal of GPS satellites 2 to be captured it is. This operation is the same as detecting processing of the satellite signal currently widely, detailed description thereof will be omitted here.

[0052]

　Control unit 13, whether there is a set of the code phase and Doppler frequency exceeds or not (a predetermined threshold value a plurality of peaks in the result of the signal (the matrix of the correlation values) of the FFT operation is present ) investigate. Figure 6 shows is an illustration of the matrix of correlation values, the axis of the height direction (Z) represents the intensity (power), the depth direction (Y) code phase, the lateral direction (X) is the Doppler frequency .

[0053]

　In general, the detecting the highest peak from the matrix of the correlation values ​​in supplements such as GPS satellites 2. If spoofer is not present, since this peak is one (one satellite signal) (FIG. 6 (a)), and code phase, and thus be estimated and the carrier frequency.

[0054]

　However, if the spoofer is present, corresponding to one of the PRN ID (information for identifying the satellite), and a plurality of peaks appear in the correlation value matrix (satellite signal is more detected) (Fig. 6 ( b)). One characteristic feature of the present embodiment, the control unit 13 not only detects the code phase and carrier frequency corresponding to the highest peak, has a power that exceeds a predetermined threshold when there are a plurality of sets of information between the code phase and Doppler frequency (in which a peak) is to multiple detection.

[0055]

　For this purpose, in the example of this embodiment, the control unit 13 performs parallel signal processing of a plurality of channels for each PRN ID. Control unit 13, the satellite signal detected by the step S1 it is checked whether a plurality of (S2). Here, if the detected signal is singular (process S2: No), obtains the positional information from the one satellite signal, and outputs the positional information as a record of the subject (S3).

[0056]

　If satellite signals in this manner is one,
(1) If the correct satellite signal has been received, the other,
(2) antenna line is drawn, when a signal directly spoofer is supplied to the antenna , it can be considered.

[0057]

　Therefore, in the example of the present embodiment, when the antenna line is pulled out, so that the position information processing unit 10 will not function, it is preferable to keep the device having tamper resistance. For this purpose, in the example of the present embodiment, the position information processing apparatus 10, the antenna wire, placed detection line that detects whether or not extracted (signal lines, etc.) in parallel, the detection when the line is disconnected it can be previously to perform the operation such as issuing an alarm as it failed.

[0058]

　Referring back to FIG. 5, in the process S2, if the detected signal is a plurality (process S2: Yes), the control unit 13, using a set of information of a plurality of code phase and Doppler frequency detected, each set based on the code phase and Doppler frequency contained in, and generates a reference signal which is a spread code using the respective corresponding code phase (so-called C / a reference signal). Control unit 13 also outputs the information of the corresponding carrier frequency (S4).

[0059]

　Control unit 13, the input IF signal (signal after digitization), the number of peaks detected in the processing S2 (or any smaller number of upper limit that can be processed number of channels) partitioned (duplicate) , respectively different channels of the signal with each other (S5). Control unit 13, a plurality of the reference signals obtained by the process S4, multiplying corresponding to the carrier frequency signal of each channel, and outputs through the low-pass filter, a plurality of the reference signals obtained by the process S4 (and retrieve the navigation message corresponding to each carrier frequency) (S6).

[0060]

　Control unit 13, wherein the location information from each of the plurality of navigation messages removed (GPS satellite 2 and the like, and position information based on the satellite signal, and a location information based on a false signal spoofer), sequential information generating process together in the process of the parts 33, and the common time information, is recorded in association with the accompanying information supplied from another device (S7). Control unit 13, until a recording end instruction position information and associated information, repeatedly executes the processing illustrated in FIG. 5.

[0061]

　The control unit 13 checks repeatedly whether it can communicate with the OLT 20. And when it becomes possible to communicate with the OLT 20, for example using the method disclosed in Japanese Patent No. 5400529 (Patent Document 1), it has been recorded, based on the plurality of navigation messages position information to perform each of the authentication process (GPS satellites 2 and the like, and position information based on the satellite signal, and a location information based on a false signal spoofer). Then, the authenticated position information, the true position information (GPS satellite 2 and the like, the position information based on the satellite signal) as to remove the other location information associated (position information based on a false signal spoofer) , and outputs the sequential information after removal to the outside.

[0062]

[Incoherent Synthesis
　The control unit 13, a signal coherent integration enhancement at a plurality of different timings, and synthesized by adding one another, from further performing incoherent synthesis to enhance the signal strength, the following step S1 in FIG. 5 processing may be the execution. As in this embodiment, when considering the possibility that the signal of the spoofer is received, since in general it satellite signals from GPS satellites 2 and the like is weak compared to the signals of the spoofer is assumed, this it is preferable to perform synthesis processing as.

[0063]

[Another example of the authentication of the location information]
　In yet described so far, had been authenticated by sending location information to the center device 20, this embodiment is not limited to this example.

[0064]

　In an exemplary embodiment of the present invention, the OLT 20 in advance to generate a private and public key pair in advance a public key cryptography. Then a hash value (hash function previously determined) Determination of Refaransu authentication navigation data generated in a predetermined manner (RAND Message), keep encrypted with a private key generated the hash value. Here Refaransu authentication navigation data (RAND message) Patent those disclosed in No. 5,667,967 (Patent Document 2), from the bit string of L1C / A signal transmitted from the GPS satellites 2, the signal generation time of TOC is a Time of Week bit sequence data and ephemeris data for specifying the (celestial coordinates), AF0, extracts Af1, an aS flag (anti-Spoof flag) and satellite specific number is anti spoof flag PRN (Pseudo Range Noise) is obtained by adding the ID. Therefore RAND Because the message is the change frequently time, the OLT 20 generates and updates the RAND message relatively frequently, and calculates the hash value to generate encrypted information (cipher code) .

[0065]

　OLT 20, the encrypted information obtained by encrypting the hash value of the RAND message and uplink QZSS3. QZSS3 is the uplink encryption information is sent at a predetermined timing. QZSS3, for example the encrypted information, may be sent using L6 signal. L6 signal is a signal transmission speed of 2000 bps, it can be sequentially sends the encrypted information that changes relatively frequently time.

[0066]

　Position information processing apparatus 10, it obtains a public key from the OLT 20. Acquisition of the public key is performed by the Internet via, or via a wireless LAN system, via a communication satellite, or via QZSS3 (uplinking from the center side device 20 the public key to QZSS3, QZSS3 throws the public key) . Since L6 signal is two-channel, may be sent to the same encrypted information in each channel, with one channel, it may be sent the public key described herein.

[0067]

　Position information processing apparatus 10, the signal output by the signal or spoofer received from the GPS satellites 2 (either unknown signal) sequentially selecting, with a selection signal, RAND in the same manner as OLT 20 It generates a message, and calculates the hash value in the same manner as the OLT 20 (referred to as comparative hash values). The position information processing unit 10, the encrypted information received from QZSS3, and decrypts the public key to obtain the hash value of the uplinked RAND message from the OLT 20. The position information processing apparatus 10 is now the hash value obtained is compared with the comparative hash value, the generation of if they match, the comparison hash value matches the hash value of RAND Message selected signal as the original is determined to be a signal transmitted from the GPS satellites 2. Further, if the obtained hash value and the comparative hash values ​​match, the position information processing apparatus 10, the selected signal as the original production of the comparative hash value, it is determined that the signal spoofer is output.

[0068]

　Position information processing apparatus 10 is thus in a plurality of channels, based on the respective signals output by the signal or spoofer received from the GPS satellites 2, the intermediate frequency of the signal after digitization (digitized IF signal) the record. Also, the position information processing unit 10 selects the position information generated based on the signal determined to be the signal transmitted from the GPS satellites 2 in the manner described above, as the most probable information (maximum likelihood information) record, or to output. Thus it becomes possible to perform the determination in real time to.

[0069]

　Further, where QZSS3 the encrypted information, may be sent using L5s signal. Since L5s signal has a large strength, there is a case where the position information processing unit 10 is also received In the environment such as the indoor and tunnels. Thus tracking movement or the like outdoors from indoors also possible.

[0070]

　Note that the encryption information is not necessarily transmitted to position information processing apparatus 10 via the QZSS3. For example encryption information, microsatellite, small satellites, reusable manned spacecraft such as a space shuttle, other like communications satellites, without via the outer space, airships, balloons, drones and the like, information wirelessly as long as it can mount a possible relay apparatus, it may be transmitted any via mobile to the position information processing unit 10 destined.

[0071]

[Sanity check]
　or more position information processing apparatus 10 of this embodiment, based on the information of the intensity of the signal, or the accepted signal is only signals transmitted from the GPS satellites 2, including a plurality of signals or not (i.e., presence or absence of the false signal) examined, the so-called sanity check may be performed.

[0072]

　Specifically position information processing apparatus 10 is amplified to generate an appearance frequency information for each output value of the intermediate frequency signal after digitization (IF signal after digitization) (histogram).

[0073]

　Signal received as signals from each of the GPS satellites 2, the case from the GPS satellites 2 is a signal that is transmitted, AGC that is used to amplify the IF signal before digitization: the (Auto Gain Control not shown) since there is no possibility that the gain is saturated, the histogram is as illustrated in FIG. 7 (a), dispersed in the normal distribution shape around a central value of "0". In FIG. 7, the signal of the intermediate frequency is represented as a 4-bit digital signal, it illustrates a case where the value may take from -8 to +7.

[0074]

　On the other hand, contain other than transmitted from the GPS satellite 2 to a receiving signal signal signal (signal or the spoofer is outputted, coming from the outside, the signal interferes with a signal transmitted from the GPS satellites 2 or jamming signal, etc.) is when, the input signal is stronger than the signal which is assumed (typically spoofer, because those which malfunction of the device by outputting a stronger signal than the signal received from the GPS satellites), digitized prior to gain of the AGC is saturated to be used for amplifying the IF signal, the histogram generated by the position information processing apparatus 10, as illustrated in FIG. 7 (b) or FIG. 7 (c), the all possible values in or becomes substantially equal, becomes a concave distribution becomes smallest median, not a normal distribution shape.

[0075]

　Position information processing apparatus 10, for each of the IF signals of the GPS satellites 2 signal is received, performs a sanity check as described above, information (IF signal representing the result is transmitted from the clean (GPS satellites 2 whether it is that signals other than the signal is not included), the dirty (information indicating whether the GPS signal other than the signal transmitted from the satellite 2 may include)), generated in real time, the successive information along with storage It is recorded in the part 14.

[0076]

　By doing so, for each time point for recording successive information, the recording position information included in the sequential information together whether it was generated based on the dirty IF signal. Also based on this recording, for at least one GPS satellite 2, if the IF signal is determined to have been received from the GPS satellites 2 there is a plurality, that is, when the signal received from the GPS satellite 2 is dirty, (the process described above, a plurality of different position information is recorded obtained) position information generated based on the dirty IF signal out of, can identify the recording is dirty, and there in the dirty performs an authentication process each for a plurality of position information included in the recording can be executed processing such as selecting and outputting only the authenticated position information.

[0077]

　Or position information processing apparatus 10, as already mentioned, (the case of incoherent synthesis, in the result of the coherent combining) on ​​Coherent integration enhancement on a signal, depending on whether there are multiple peaks, accepted signal, or a state in which signals one by one from each GPS satellite 2 is received, at least any one of a status or not is judged from the GPS satellite 2 receives a plurality of signals it may be examined.

[0078]

　In this case, the position information processing apparatus 10 (the case of incoherent synthesis, in the result of the coherent combination) is the result of a particular coherent integration enhancement corresponding to the signal of the GPS satellite 2 to a signal, there are a plurality of peaks when the receiving signal is not only signals transmitted from the particular GPS satellite 2, a plurality of a signal (a plurality of signals from one satellite is determined to be transmitted) ones, IF signal is recorded in the storage unit 14 together with the sequential information information indicating that a dirty (may include signals other than the signal transmitted from the GPS satellites 2). The sequential information processing of the recording of this case, as already mentioned, the position information (GPS satellite 2 and the like from each of the plurality of navigation message extracted, and the position information based on the satellite signal, the position information based on a false signal spoofer the included) bets, and common time information, will be recorded in association with the accompanying information supplied from another apparatus.

[0079]

　Also, the position information processing apparatus 10, as already mentioned, (the case of incoherent synthesis, in the result of the coherent combining) on ​​Coherent integration enhancement on a signal, if there is a plurality of peaks, accepted signal as only signals transmitted from the GPS satellites 2, is recorded in the storage unit 14 together with the sequential information information indicating that the IF signal is clean (not included signal other than the signal transmitted from the GPS satellites 2) .

[0080]

　Here, when the IF signal is determined to be clean (not included signal other than the signal transmitted from the GPS satellites 2) is set to be recorded with the sequential information information indicating to that effect, the in one example of this embodiment, only when the IF signal is dirty, and recorded with sequential information information indicating to that effect, if it is clean, it is also possible to record only sequential information.

[0081]

　Also, the position information processing apparatus 10 according to the embodiment of the present embodiment, such as a vehicle or an airplane, can also be used in other mobile.

DESCRIPTION OF SYMBOLS

[0082]

　1 position information processing system, 2 GPS satellites, 3 QZSS, 10 position information processing apparatus, 11 the satellite signal reception unit, 12 signal processing unit, 13 control unit, 14 storage unit, 15 interface unit, 16 receiving unit, 20 OLT , 31 accompanying information receiving unit, 32 position information receiving portion, 33 sequential information generation processing unit, interpolation processing unit 34, 35 recording information generation unit, 36 output unit.

The scope of the claims

[Requested item 1]

　A position information processing apparatus, a position information processing system including a center side device,
　the position information processing apparatus, at least,
　including the location information obtained by using the satellite signals, a plurality of types of information that may change with time sequentially information including a receiving means for receiving repetition,
　from among the sequential information received, based on a predetermined condition, and determines whether to perform recording for each time the accepted, determines to perform the recording time selection means for selecting the sequential information including a plurality of types of information,
　the sequential information said selected recording means for recording in association with each other together with the time information,
　wherein the
　said selection means, received the repeated among the information, select the sequential information at the time underlying the predictions, where based on sequential information and the information underlying the said prediction comprising the information underlying the predictive The prediction process, and a sequential information containing information determined to unpredictable, selected as information to be recorded,
　the center side apparatus receives the information recorded from the position information processing apparatus, to the information position information processing system for authenticating a location information included.

[Requested item 2]

　A position information processing system according to claim 1,
　the information obtained by using the satellite signal includes position information and cryptographic code,
　the recording means, at the time it is determined to perform the recording, the position information processing system for recording the sequential data including positional information and the encryption code.

[Requested item 3]

　Including the position information obtained by using the satellite signals, the sequential information containing a plurality of types of information to be recorded may vary with time, and receiving means for receiving repetition,
　from among the sequential information received, based on a predetermined condition Te, it is determined whether or not to perform recording for each time of receiving, selecting means for selecting sequentially the information including the plurality of types of information when it is judged to perform recording,
　sequential information said selected recording means for recording in association with each other together with the time information
　comprises,
　said selection means, among the repeated receiving information, select the sequential information at the time underlying the predictions, including information underlying the predictive and sequential information, by the predetermined prediction processing based on the underlying information of the prediction, and a sequential information containing information determined to unpredictable, selected as information to be recorded position Broadcast processing apparatus.

[Requested item 4]

　A position information processing apparatus according to claim 3,
　wherein the recording means, among the repeating sequential information received, the sequential information not selected, recorded information identifying the predictive processing by said selection means the generated as information, the sequential information said selected position information processing apparatus for generating and recording the composite information including the recorded information thus generated.

[Requested item 5]

　Including the position information obtained by using the satellite signals, the sequential information containing a plurality of types of information that may change over time, and receiving means for receiving repetition,
　the sequential information received, recording means for recording in association with one another with time information When,
　wherein the
　said receiving means is to record information relating to satellite signals the basis of calculation of the position information subjected to the authentication process,
　the recording means, the position information related to a plurality of different positions obtained when the, the position information processing apparatus for recording position information indicating the different positions on the resulting one another.

[Requested item 6]

　A position information processing apparatus according to claim 5,
　wherein the recording means, a plurality of while recording a position information according to the different positions, the selection output means for selecting and outputting probable information from it further comprising position information processing apparatus.

[Requested item 7]

　Receiving means for receiving the satellite signals,
　including position information obtained by using the satellite signal received; sequential information containing a plurality of types of information that may change over time, a receiving means for receiving repetition, the receiving means There when it is determined that receives a plurality of signals from one satellite is obtained based on the plurality of signals, the sequential information containing position information indicating the positions different from each other, a receiving means for receiving repetition,
　the receiving It was sequentially information, a recording means for recording in association with each other together with the time information, the receiving unit checks whether it has received a plurality of signals, when receiving a plurality of signals, the sequential information recording means for recording in association with information indicating that obtained include signals other than satellite signals in the received signal,
the position information processing apparatus having a.