JP2006300861A - Device and method for calculating relative position, its program, and recording medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for calculating a relative position capable of easily calculating the positions of transmitting stations or receiving stations being fixed even if the coordinates of the transmitting stations (transmitters), receiving stations (receivers), etc. are all unknown. <P>SOLUTION: The intensities of reception of radio signals transmitted and received between a plurality of fixed apparatus and a mobile apparatus, respectively, are acquired by an intensity-of-reception detection means of either the fixed apparatus or the mobile apparatus, A first relational expression representing a predetermined relationship between the fixed apparatus and the mobile apparatus is read out from a first-relational-expression storage means which stores the first relational expression, and a second relational expression to be determined by substituting an intensity of reception into the first relational expression is created for each combination of the fixed apparatus and the mobile apparatus. From the simultaneous equations of the created plurality of second relational expressions, relative coordinates of each of the plurality of fixed apparatus and the mobile apparatus are calculated. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a relative position calculation device, a relative position calculation method, a program thereof, and a recording medium that calculate the relative positions of a plurality of fixing devices by transmitting and receiving radio signals.

A system for calculating the position of a transmitting station that transmits a sign number by a radio signal is disclosed (for example, see Patent Document 1).
Japanese Patent Laid-Open No. 2004-53510

Here, in the method for calculating the position of the transmitting station in the above-mentioned patent document, the position of the moving transmitting station is calculated. However, if the position on the fixed receiving station side is not known, the position of the transmitting station is always determined. It cannot be calculated.
Also, in an environment where there are multiple fixed transmitting stations, when trying to build a system that calculates the positions of these transmitting stations as needed, for example, by storing coordinates in all transmitting stations, all However, in this case, the more transmitters there are, the more work is required to memorize the coordinates where the transmitters are installed. At the same time, it is necessary to provide a storage unit as the hardware configuration of the transmitting station, which increases the hardware configuration. Also, in such a system, if the GPS function is added to the transmitting station, the coordinates of all the transmitting stations can be easily detected. In this case, however, it is necessary to provide a GPS function unit as the hardware configuration of the transmitting station. There are many hardware configurations, and it becomes expensive.

  Therefore, the present invention can easily calculate the position of a fixed transmitting station or receiving station even if the coordinates of the transmitting station (transmitting apparatus), receiving station (receiving apparatus), etc. are all unknown. An object of the present invention is to provide a position calculation device, a relative position calculation method, a program thereof, and a recording medium.

  The present invention has been made to solve the above-described problem, and calculates the relative positions of the plurality of fixing devices using radio signals transmitted and received between the plurality of fixing devices and at least one mobile device. A relative position calculation device that receives radio signals respectively transmitted and received between the plurality of fixed devices and the moving device at a plurality of coordinates from the reception intensity detecting means of either the fixed device or the moving device. The first relational expression is read from a reception intensity acquisition means for acquiring the intensity, and a first relational expression storage means for storing a first relational expression representing a predetermined relation between the fixed device and the moving device, and A second relational expression creating means for creating a second relational expression obtained by substituting the reception intensity into the first relational expression for each combination of the fixed device and the moving device; and the plurality of the created second relational expressions as simultaneous equations , A relative coordinate calculating means for calculating a serial multiple respective securing device relative coordinates, a relative position calculating apparatus comprising: a.

  In the invention, it is preferable that the predetermined relationship between the fixed device and the moving device in the first relational expression is a relationship between a distance between the fixed device and the moving device and reception intensity. To do.

  The distance between the fixing device and the moving device may be indicated by unknown coordinates indicating the position of the fixing device and unknown coordinates indicating the position of the moving device.

  Further, in the present invention, when the number of the fixing devices is m, the number of the moving device positions is n, and the unknown coordinates are two-dimensional coordinates, the relative coordinate calculation unit is configured to obtain a relationship between the m and the n. However, the second relational expression, which is a number obtained by multiplying m and n satisfying mn> 2m + 2n, is specified, and relative coordinates of each of the plurality of fixing devices are calculated as the simultaneous equations.

  In the invention, it is preferable that the fixed device includes a wireless signal transmission unit, and the mobile device includes a wireless signal reception unit.

  In the invention, it is preferable that the mobile device includes a wireless signal transmission unit, and the fixing device includes a wireless signal reception unit.

  The present invention is also a relative position calculation method in a relative position calculation device that calculates a relative position of the plurality of fixed devices using radio signals transmitted and received between the plurality of fixed devices and at least one mobile device. The reception strength for acquiring the reception strength of the radio signals respectively transmitted and received between the plurality of fixed devices and the mobile device at a plurality of coordinates from the reception strength detection means of either the fixed device or the mobile device The first relational expression is read from a first relational expression storage means that stores a first relational expression representing a predetermined relationship between the acquisition process and the fixed device and the moving device, and the first relational expression is A second relational expression creating process for creating a second relational expression into which reception intensity is substituted for each combination of the fixed device and the mobile device, and the plurality of the created second relational expressions as simultaneous equations, The relative coordinate calculation step of calculating a constant device each relative coordinate, a relative position calculating method characterized by having a.

  According to another aspect of the present invention, there is provided a program that is executed by a computer of a relative position calculation device that calculates a relative position of the plurality of fixed devices using radio signals transmitted and received between the plurality of fixed devices and at least one mobile device. And reception which acquires the receiving strength of each radio signal transmitted and received between the plurality of fixed devices and the mobile device at a plurality of coordinates from the receiving strength detection means of either the fixed device or the mobile device Read the first relational expression from the first relational expression storage means for storing the first relational expression representing the predetermined relation between the strength acquisition process and the fixed device and the moving device, A second relational expression creating process for creating a second relational expression into which the received intensity is substituted for each combination of the fixed device and the moving device, and the plurality of the created second relational expressions as simultaneous equations The relative coordinate calculation process for calculating the plurality of fixing devices each relative coordinates, a program for executing a computer.

According to the present invention, since the relative coordinates of a plurality of fixed transmitting stations (transmitting devices) and receiving stations (receiving devices) are detected using simultaneous equations, even if all the coordinates are unknown, The relative coordinates of a fixed transmitting station or receiving station (fixing device) can be easily calculated.
Further, the relative coordinates of all the transmitting stations and receiving stations can be detected without providing the transmitting station and the receiving station with a GPS function. Further, since it is not necessary for an administrator who uses such a system to set position information for all of the transmitting station and the receiving station, the labor of the administrator can be reduced.

Hereinafter, a fixing device relative position calculation system according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a first fixing device relative position calculation system according to the present embodiment.
In this figure, reference numeral 1 denotes a transmitting station (transmitting apparatus) that transmits an identification number by a radio signal. Reference numeral 2 denotes a receiving station (receiving device) that receives a radio signal and detects the reception intensity of the radio signal. Reference numeral 3 denotes a server (relative position calculation device) that calculates the relative coordinates (relative positions) of all transmitting stations. In the fixed device relative position calculation system, the server 3 is connected to the receiving station 2 via a communication network. In FIG. 1, the transmission station 1 is fixed at each location in a premises such as a house or a museum. Accordingly, in FIG. 1, the transmitting station 1 is a fixed device.

FIG. 2 is a block diagram showing the configuration of the second fixing device relative position calculation system according to this embodiment.
The same reference numerals as those in FIG. 1 are used for the transmitting station, receiving station, and server in this figure. In the fixed device relative position calculation system of FIG. 2, the server 3 is connected to the receiving station 2 via a communication network. In FIG. 2, the receiving station 2 is fixed, for example, at each location on the premises. Accordingly, in FIG. 2, the receiving station 2 is a fixed device.

1 and 2, the server 3 includes all the fixed devices (the transmitting station 1 in FIG. 1 and the receiving station 2 in FIG. 2) and the mobile device (the receiving station 2 in FIG. 1 and in FIG. 2). Calculates the relative coordinates of each fixed device from the unknown coordinates of the transmitting station 1).
At this time, the server 3 is received from the reception intensity detection means provided in the receiving station 2 (which is a mobile device in the form of FIG. 1 and a fixed apparatus in the form of FIG. 2). 2, the reception strengths of the radio signals transmitted and received between the receiving station 2) and the mobile device (the receiving station 2 in FIG. 1 and the transmitting station 1 in FIG. 2) are acquired. Then, the first relational expression is read from a first relational expression storage unit that stores a first relational expression that represents a predetermined relationship between the fixed device and the moving device (in this embodiment, a relationship between distance and reception intensity). Thus, a second relational expression in which the reception intensity is substituted into the first relational expression is created for each combination of the fixed device and the moving device. Then, using the plurality of second relational expressions thus created as simultaneous equations, the relative coordinates of each of the plurality of fixing devices and the moving device are calculated.

FIG. 3 is a block diagram showing the configuration of the transmitting station and the receiving station.
In FIG. 3, reference numeral 10 of the transmitting station 1 is an antenna for transmitting a radio signal, and 11 is a radio transmission processing unit for performing a radio signal transmission process. Reference numeral 12 denotes an identification number storage unit for storing an identification number unique to the transmitting station 1. Reference numeral 13 denotes a power source. Reference numeral 20 of the receiving station 2 is an antenna for receiving a radio signal, and 21 is a radio reception processing unit that performs radio signal reception processing. A network processing unit 22 transmits and receives information to and from the server 3 via a communication network. A control unit 23 controls each processing unit of the receiving station 2. Reference numeral 24 denotes a reception intensity detection unit that detects the reception intensity of the radio signal received by the radio reception processing unit 21. Reference numeral 25 denotes a calculation information notification processing unit that notifies the server 3 of the identification number of the transmission station 1 included in the received radio signal and the reception strength detected by the reception strength detection unit 24.

FIG. 4 is a block diagram showing the configuration of the server.
In this figure, reference numeral 31 denotes a communication processing unit that transmits and receives information to and from the receiving station 2 via a communication network. A control unit 32 controls each processing unit of the server 3. Reference numeral 33 denotes a calculation information storage unit for storing information transmitted from the receiving station. Reference numeral 34 denotes a first relational expression storage unit that stores a first relational expression that represents the relationship between the distance between the transmitting station 1 and the receiving station 2 and the reception intensity. Reference numeral 35 denotes a second relational expression creating unit that creates a second relational expression in which the reception intensity is substituted into the first relational expression for each combination of the transmitting station 1 and the receiving station 2. Reference numeral 36 denotes a relative coordinate calculation unit that calculates relative coordinates of the plurality of transmitting stations 1 and the receiving stations 2 using the plurality of second relational expressions created by the second relational expression creating unit 35 as simultaneous equations.
Reference numeral 4 denotes a communication network connecting the receiving station 2 and the server 3. This communication network may be a wirelessly connected network or a wiredly connected network. 3 and FIG. 4, the system configuration shown in FIG. 1 includes the hardware of each transmitting station 1, receiving station 2, and server 3 in the system configuration in which the transmitting station 1 shown in FIG. 1 is a fixed device and the receiving station 2 is a mobile device. The functional configuration of the hardware is shown.

Next, the first relational expression stored in the first relational expression storage unit will be described.
The coordinates of the i-th transmitting station 1 among the plurality of transmitting stations 1 are (x _i , y _i ), and the coordinates of the receiving station 2 at the j-th position among the receiving stations 2 at the destination location are (u _j , v _j ), the distance d _ij from the transmitting station 1 to the receiving station 2 is

It becomes.
Further, if the reception intensity when the j-th receiving station 2 receives a signal transmitted from the i-th transmission station 1 is e _ij , a relational expression (first relation) between the reception intensity e _ij and the distance d _ij ceremony,

It is represented by Here, S ₁ and S ₂ are correction coefficients. Here, the coefficient indicating the reception intensity when the distance d _ij is 0 is S ₂ .

Next, the number of destination locations of the transmitting station 1 and the receiving station 2 will be described.
As described above, when the coordinates of the transmitting station 1 are (x _i , y _i ) and the coordinates of the receiving station 2 are (u _j , v _j ), and the respective coordinates are unknown, the transmitting station 1 and the receiving station 2 There are four unknown values for each combination (x _i , y _i , u _j , v _j ). As can be seen, if the number of transmitting stations 1 is m and the number of destination locations of the receiving station 2 is n, an unknown value is generated for each combination of the transmitting station 1 and the receiving station 2 by the number 2m + 2n. To do. The first relational expression expressed by the above equation (2) is established by “the number m of the transmitting stations 1 × the number n of destination locations of the receiving stations 2”.

Here, the unknown value in the first relational expression corresponding to the combination of one transmitting station 1 and one receiving station 2 destination is the remaining (x _i , y _i) if the receiving intensity e _ij is known. , u _j , v _j ). The number of first relational expressions necessary for solving these four unknown values is the number calculated by m and n that satisfies the condition of mn> 2m + 2n (that is, the number of m and n satisfying the above condition). (Multiplied value). If there are as many destination locations as m and n satisfying the above conditions, the coordinates of the plurality of transmitting stations 1 and (x _i , y _i ) can be obtained using the first relational expression. The relative coordinates of the receiving station 2 at each location of the movement destination can be calculated (u _j , v _j ).
Therefore, in the present embodiment, there are as many transmitting stations 1 as m as many as satisfying the condition of mn> 2m + 2n, and similarly there are as many destination locations as the receiving station 2 as many as n satisfying the condition. In this embodiment, the number of transmission stations 1 (transmission stations in the system form of FIG. 2) or reception stations 2 (reception stations in the system form of FIG. 1), which are mobile devices, becomes n by moving. It shall be.
When the coordinates of the transmitting station 1 and the receiving station 2 are expressed in three dimensions (x, y, z), the condition is mn> 3m + 3n.

Next, the configuration of data stored in the calculation information storage unit will be described.
FIG. 5 is a diagram showing a configuration of data stored in the calculation information storage unit.
As shown in FIG. 5, the calculation information storage unit 33 determines the combination of the reception strength of the radio signal received by the reception station 2 from the transmission station 1 and the identification number of the transmission station 1 included in the radio signal. And a table held for each combination of the receiving station 2 is stored.

Next, the processing of each device in the fixed device relative position calculation system when the transmitting station is a fixed device will be described in order.
First, processing of the transmitting station 1 and the receiving station 2 will be described.
In the transmission station 1 in the fixed device relative position calculation system, the radio transmission processing unit 11 transmits the radio signal including the identification number of the own device recorded in the identification number storage unit 12 intermittently or based on a user instruction. Processing to send from. In the receiving station 2, the radio reception processing unit 21 receives a radio signal via the antenna 20. At this time, the reception strength detection unit 24 detects the reception strength of the radio signal received by the radio reception processing unit 21 and notifies the calculation information notification processing unit 25 of the value of the reception strength.

  The control unit 23 receives the received radio signal from the radio reception processing unit 21, reads the identification number of the transmitting station 1 included in the radio signal, and notifies the calculation information notification processing unit 25 of the identification number. The calculation information notification processing unit 25 is instructed to notify the server 3 of information about the identification number and the received intensity value. Then, the calculation information notification processing unit 25 instructs the network processing unit 22 to transmit information on the combination of the identification number received from the control unit 23 and the reception intensity value received from the reception intensity detection unit 24. The network processing unit 22 transmits information on the combination of the identification number and the received intensity value to the server 3 via the communication network 4. In the system configuration of FIG. 1, since the mobile device is the receiving station 2, for example, the system administrator or the user carries the portable receiving station 2 and carries the receiving station 2 at each coordinate point of the destination. The information is notified from the receiving station 2 to the server 3 by instructing the server 3 to notify the server 3 of the information of the combination of the identification number and the received intensity value. In the system configuration of FIG. 2, since the mobile device is the transmission station 1, for example, the system administrator or the user carries the portable transmission station 1, and at each coordinate point of the movement destination, By instructing the server 3 to notify the information of the combination of the identification number and the received intensity value, the information is notified from the transmitting station 1 to the server 3.

FIG. 6 is a diagram showing a processing flow of the server.
Next, the server processing in the system form of FIG. 1 will be described with reference to FIG.
In the server 3, first, when an instruction to start processing for calculating the relative position of the fixed device is received from the input unit or the like, the identification number and the received intensity value transmitted from the receiving station 2 by the communication processing unit 31 via the communication network 4. The combination information is received (step S1). Then, the control unit 32 records information on the combination of the identification number and the received intensity value in the calculation information storage unit 33. Here, the information of the combination from the receiving station 2 is transmitted in accordance with an instruction from the administrator, and the control unit 32 stores the received information in a table (that is, the identification number and the reception intensity) stored in the calculation information storage unit 33. (A list of information of combinations of values) (step S2).

Then, the second relational expression creating unit 35 and the relative coordinate calculating unit 36 calculate the relative coordinates of the transmitting station 1 and the receiving station 2 by performing the following processing.
The second relational expression creating unit 35 reads the first relational expression from the first relational expression storage unit 34. The second relational expression creating unit 35 reads one piece of information of the combination of the identification number and the received intensity value from the calculation information storage unit 33. The read reception intensity is substituted into the first relational expression to create a second relational expression. In this way, the second relational expression creating unit 35 creates the second relational expression for all the identification numbers recorded in the calculation information storage unit 33 (step S3). That is, the second relational expression is created for the combination of the transmitting station 1 and the receiving station 2.

  Next, the relative coordinate calculation unit 36 calculates the minimum value of m and n satisfying the condition of mn> 2m + 2n, where m is the number of transmitting stations 1 and n is the number of destination locations of the receiving station 2. It is assumed that the server 3 stores the number m of the transmitting station 1 and the number n of destination locations of the receiving station 2 in the storage unit in advance. The relative coordinate calculation unit 36 calculates m among the second relational expressions created by the second relational expression creation unit 35 as a second relational expression for calculating the relative coordinates of the transmitting station 1 and the receiving station 2. The second relational expression is specified by the number of values obtained by multiplying and n (step S4). Further, the relative coordinate calculation unit 36 calculates the unknown using the plurality of specified second relational expressions (step S5). Thereby, the relative coordinates of the transmitting station 1 and the receiving station 2 are calculated.

  By calculating the relative coordinates of the transmitting station 1, the present system can be used for a function such as determining the fixed transmitting station 1 from the relative relationship between the transmitting station 1 and the receiving station 2 on the premises, for example. . Further, according to the present invention, the relative coordinates of all the transmitting stations 1 can be detected without providing the transmitting station 1 with a GPS function. If the coordinates of one point and its orientation are known, it is possible to detect absolute coordinates without using GPS. Further, since it is not necessary for an administrator who uses such a system to set position (coordinate) information for all of the transmitting stations 1, the labor of the administrator can be reduced.

Although the embodiment of the present invention has been described above, the relative coordinates of the transmitting station 1 and the receiving station 2 can be calculated in the same manner not only in this embodiment but also in other different processing modes.
For example, the above equation (2) may include at least one of the environmental coefficient at the transmitting station 1 and the environmental coefficient at the receiving station 2.
When the environmental coefficient K _rj at the receiving station 2 is used, the first relational expression is

It is represented by In this case, the unknown _numbers S1, S2, and K _rj are determined, and the relative coordinates of the transmitting station 1 and the receiving station 2 are calculated using the determined coefficient values.
Further, when the environmental coefficient _Kti at the transmitting station 1 is used, the first relational expression is

It is represented by In this case, the unknowns S1, S2, and _Kti are determined, and the relative coordinates of the transmitting station 1 and the receiving station 2 are calculated using the determined coefficient values.

  Further, in the case of the system form as shown in FIG. 2, the receiving station 2 (fixed device) stores an identification number unique to the own device, and the identification number and the radio transmitted from the transmitting station 1 (mobile device). Information on the combination of signal radio field intensities is transmitted to the server 3. And the server 3 may be made to calculate the relative coordinate of the transmission station 1 and the receiving station 2 of each place of a movement destination similarly to the case of the system form of FIG.

  Further, the first relational expression is replaced with the first relational expression shown in the above-described expression (2) indicating the relationship between the distance between the transmitting station 1 and the receiving station 2 at the destination location and the reception intensity. (5) may be used. This equation (5) is obtained by setting the coordinates of the transmitting station 1 at each location of the i-th destination to (ui, vi), the coordinates of the j-th receiving station 2 (uj, vj), and the j-th receiving station 2 Eij is the strength of the radio signal from the transmission station 1 at each location of the i-th destination received in step tij, the time required for transmission / reception is tij, and the transmission station 1 at each location of the i-th destination and the j-th reception If the distance to the station 2 is dij and the propagation time of the radio signal in the air is pij, the correction coefficients B, g, h and the proportionality constant K are used.

It is represented by In this case, a processing unit that detects tij for the time required for transmission / reception is required for the transmitting station 1, the receiving station 2, or the server 3.
The radio signal may be a sound wave as well as a radio wave.
In the present embodiment, the receiving station 2 in the system configuration of FIG. 1 and the transmitting station 1 in the system configuration of FIG. 2 are mobile devices that move to each location. It may be possible to substitute for movement by fixedly installing each of them (that is, a fixing device).

  Each of the above devices has a computer system inside. The process described above is stored in a computer-readable recording medium in the form of a program, and the above process is performed by the computer reading and executing this program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

  The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

It is a block diagram which shows the structure of a 1st fixing device relative position calculation system. It is a block diagram which shows the structure of a 2nd fixing device relative position calculation system. It is a block diagram which shows the structure of a transmitting station and a receiving station. It is a block diagram which shows the structure of a server. It is a figure which shows the structure of the data which the information storage part for a calculation memorize | stores. It is a figure which shows the processing flow of a server.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Transmitting station 2 ... Receiving station 3 ... Server 4 ... Communication network

Claims (9)

A relative position calculation device that calculates a relative position of the plurality of fixing devices using radio signals transmitted and received between the plurality of fixing devices and at least one mobile device,
Reception strength acquisition means for acquiring the reception strength of radio signals transmitted and received between the plurality of fixed devices and the mobile device at a plurality of coordinates from the reception strength detection means of either the fixed device or the mobile device. When,
Read the first relational expression from a first relational expression storage unit that stores a first relational expression representing a predetermined relation between the fixed device and the moving device, and substitute the reception intensity into the first relational expression. Second relational expression creating means for creating the second relational expression for each combination of the fixed device and the moving device;
Relative coordinate calculation means for calculating the relative coordinates of each of the plurality of fixing devices, using the plurality of second relational expressions created as simultaneous equations,
A relative position calculation device comprising: The predetermined relationship between the fixing device and the moving device in the first relational expression is:
The relative position calculation device according to claim 1, wherein the relationship is a relationship between a distance between the fixing device and the moving device and reception intensity. The relative position according to claim 2, wherein the distance between the fixing device and the moving device is indicated by unknown coordinates indicating the position of the fixing device and unknown coordinates indicating the position of the moving device. Calculation device. When the number of the fixing devices is m, the number of the moving devices is n, and the unknown coordinates are two-dimensional coordinates,
The relative coordinate calculation means includes
The second relational expression is obtained by multiplying m and n by the relation between m and n satisfying mn> 2m + 2n, and the relative coordinates of each of the plurality of fixing devices are calculated as the simultaneous equations. The relative position calculation device according to any one of claims 1 to 3, wherein the relative position calculation device is provided. The fixing device includes a wireless signal transmission means;
The relative position calculation device according to any one of claims 1 to 4, wherein the moving device includes a wireless signal receiving unit. The mobile device includes a wireless signal transmission means,
The relative position calculation device according to claim 1, wherein the fixing device includes a wireless signal receiving unit. A relative position calculation method in a relative position calculation device that calculates a relative position of the plurality of fixing devices using radio signals transmitted and received between the plurality of fixing devices and at least one mobile device,
A reception strength acquisition process for acquiring the reception strength of radio signals transmitted and received between the plurality of fixed devices and the mobile device at a plurality of coordinates from the reception strength detection means of either the fixed device or the mobile device. When,
Read the first relational expression from a first relational expression storage unit that stores a first relational expression representing a predetermined relation between the fixed device and the moving device, and substitute the reception intensity into the first relational expression. A second relational expression creating process for creating the second relational expression for each combination of the fixed device and the moving device;
Relative coordinate calculation process of calculating relative coordinates of each of the plurality of fixing devices, using the plurality of second relational expressions created as simultaneous equations,
A relative position calculation method characterized by comprising: A program to be executed by a computer of a relative position calculation device that calculates a relative position of the plurality of fixing devices using radio signals transmitted and received between the plurality of fixing devices and at least one mobile device,
Reception strength acquisition processing for acquiring the reception strength of radio signals transmitted and received between the plurality of fixed devices and the mobile device at a plurality of coordinates from the reception strength detection means of either the fixed device or the mobile device. When,
Read the first relational expression from a first relational expression storage unit that stores a first relational expression representing a predetermined relation between the fixed device and the moving device, and substitute the reception intensity into the first relational expression. A second relational expression creating process for creating the second relational expression for each combination of the fixed device and the moving device;
Relative coordinate calculation processing for calculating the relative coordinates of each of the plurality of fixing devices, using the created second relational expressions as simultaneous equations,
A program that causes a computer to execute. A recording medium for storing a program to be executed by a computer of a relative position calculation device that calculates a relative position of the plurality of fixing devices using radio signals transmitted and received between the plurality of fixing devices and at least one mobile device. There,
Reception strength acquisition processing for acquiring the reception strength of radio signals transmitted and received between the plurality of fixed devices and the mobile device at a plurality of coordinates from the reception strength detection means of either the fixed device or the mobile device. When,
Read the first relational expression from a first relational expression storage unit that stores a first relational expression representing a predetermined relation between the fixed device and the moving device, and substitute the reception intensity into the first relational expression. A second relational expression creating process for creating the second relational expression for each combination of the fixed device and the moving device;
Relative coordinate calculation processing for calculating the relative coordinates of each of the plurality of fixing devices, using the created second relational expressions as simultaneous equations,
Medium for storing a program for causing a computer to execute the program.

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