JP2012194023A - Position measurement system, position measurement device, position measurement method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the cost of installing a sensor node in a system using an IN/OUT-type sensor.SOLUTION: Each of transmitters 3 transmits identification information at predetermined intervals, and an ID receiver 4 receives the identification information transmitted by the transmitters 3. A reception information generation part 11 obtains the identification information received by the ID receiver 4 at a plurality of points in a predetermined area; counts the number of independent receptions for each identification information piece and the number of simultaneous receptions for which a pair of identification information pieces is received at the same point; and generates reception information. An inter-transmitter distance calculation part 13 calculates a distance between two transmitters 3 from the reception information and the coverage of transmission for each of the transmitters 3. A transmitter position calculation part 15 calculates installation coordinates for each of the other transmitters 3 from the installation coordinates and the inter-transmitter distance of three transmitters 3 that can form a triangle.

Description

  The present invention relates to a position measurement technique. More specifically, the present invention relates to a technique for measuring the position of a moving body by communication between a plurality of communication devices arranged in a distributed manner and the moving body.

  In recent years, services that provide information to users based on context information such as the user's position and current time have been actively researched and developed. In particular, increasing the accuracy of user position measurement is regarded as an important technical issue of the above service. Patent Document 4 arranges RF tag active readers at regular intervals, and reads the identification information (RFID) of the RF tag that the user has to read the user's IN / OUT to the radio wave range of each RFID reader. The position of the user is detected. Non-Patent Document 1 uses learning using signal intensity received from a plurality of transmitters and information on absolute coordinates acquired by other sensors (such as GPS), and uses radio wave intensity after learning to detect a position. It is carried out.

  As a method for determining the position of a wireless communication device, for example, in the technique of Patent Document 1, first, a signal is received from a fixed wireless transmitter, and a plurality of triangulation methods, k-nearest neighbor methods, and minimum polygon methods are used. A plurality of provisional predicted positions are calculated using a calculation method. Next, a highly accurate predicted position is calculated based on the calculated provisional predicted position and reference information related to the wireless communication environment.

  Patent Document 2 describes a technique for detecting the position of a wireless tag. In the position detection system of Patent Document 2, when a transponder receives identification information transmitted from a base station and a ranging signal by optical communication, and the received identification information and identification information unique to the transponder match, Transmit to the base station via radio waves. Three or more base stations each receive transmission identification information and a ranging signal from the transponder, and measure the distance to the transponder based on the received information. Then, the position of the transponder is specified by triangulation based on the position information of at least three base stations that are close to the transponder.

  In general, an RF tag is often used for user authentication. In user authentication, an RF tag is often read over a tag reader, but Patent Document 3 describes that authentication is performed without forcing the user to perform an authentication operation.

JP 2004-215258 A JP-A-2005-241301 JP 2006-161390 A JP 2010-33457 A

“PlaceEngine: WiFi location information infrastructure based on real-world collective intelligence”, IC2010

  In a sensor (IN / OUT type sensor) such as an infrared sensor as disclosed in Patent Document 4 that can only be used for signal reception, the position information of each transmitter is registered in advance, and the IN of the receiver is then registered. Since the position is detected from the determination of / OUT, there is a first problem that the cost of installing the transmitter is high.

  In the position determination method of Patent Document 1, the signal strength of the received signal is used as an index representing distance. Further, in the position detection system of Patent Document 2, a ranging signal is used. In the radio wave intensity type sensor as shown in Non-Patent Document 1, since the distance from the transmitter can be estimated using the radio wave intensity, more accurate position measurement is possible, but this method is an IN / OUT type. There is a second problem that it cannot be applied to the sensor.

  The present invention has been made in view of the above circumstances, and an object thereof is to reduce the installation cost of a sensor node in a system using an IN / OUT type sensor.

A position measurement system according to a first aspect of the present invention includes:
A plurality of communication devices that are arranged in a distributed manner, each of which transmits identification information wirelessly in a predetermined cycle, or receives the signal from a mobile that wirelessly transmits a signal in a predetermined cycle;
A mobile body that receives identification information transmitted by the communication device, or a mobile body that wirelessly transmits a signal at the predetermined period;
A set of information indicating whether or not the identification information received by the mobile unit from the communication device at a plurality of points in a predetermined region and the two different pieces of identification information are the same for a predetermined period, or The identification information of the communication device that has received the signal transmitted in the predetermined period while moving in a predetermined region for a predetermined period of time, and whether the signal received by the different communication device was transmitted from the same point A collection means for obtaining a set of communication device IDs, which is a set of information indicating whether or not
Generate reception information that counts the number of receptions for each identification information included in the set of communication device IDs and the number of receptions at which the identification information is received or transmitted at the same point for each set of two identification information. Receiving information generating means for
Range information acquisition means for acquiring communication range information indicating a transmission range of each communication device or a transmission range of the receivable mobile unit;
Distance calculating means for calculating a distance between communication devices between two communication devices included in the plurality of communication devices from the reception information and the communication range information;
Means for acquiring communication device information including the identification information and installation coordinates of each of the three communication devices that can form a triangle having the position as a vertex among the plurality of communication devices;
From the distance between the communication devices and the communication device information, coordinate calculation means for calculating the installation coordinates of each of the communication devices,
It is characterized by providing.

The position measuring device according to the second aspect of the present invention is:
Receiving identification information received at a plurality of points within a predetermined area and two different types of identification information from a plurality of communication devices that are arranged in a distributed manner each transmitting identification information wirelessly at a predetermined cycle A set of information indicating whether or not the points are the same, or a mobile body that transmits signals wirelessly at a predetermined cycle has received a signal transmitted while moving within a predetermined area for a predetermined period of time. A collection means for acquiring a set of communication device IDs, which is identification information of a plurality of communication devices to be arranged and a set of information indicating whether signals received by different communication devices are transmitted from the same point;
Generate reception information that counts the number of receptions for each identification information included in the set of communication device IDs and the number of receptions at which the identification information is received or transmitted at the same point for each set of two identification information. Receiving information generating means for
Range information acquisition means for acquiring communication range information indicating a transmission range of each communication device or a transmission range of the receivable mobile unit;
Distance calculating means for calculating a distance between communication devices between two communication devices included in the plurality of communication devices from the reception information and the communication range information;
Means for acquiring communication device information including the identification information and installation coordinates of each of the three communication devices that can form a triangle having the position as a vertex among the plurality of communication devices;
From the distance between the communication devices and the communication device information, coordinate calculation means for calculating the installation coordinates of each of the communication devices,
It is characterized by providing.

The position measurement method according to the third aspect of the present invention is:
Receiving identification information received at a plurality of points within a predetermined area and two different types of identification information from a plurality of communication devices that are arranged in a distributed manner each transmitting identification information wirelessly at a predetermined cycle A set of information indicating whether or not the points are the same, or a mobile body that transmits signals wirelessly at a predetermined cycle has received a signal transmitted while moving within a predetermined area for a predetermined period of time. A collection step of acquiring a communication device ID set, which is a set of information indicating whether identification information of a plurality of communication devices to be arranged and signals received by different communication devices are transmitted from the same point;
Generate reception information that counts the number of receptions for each identification information included in the set of communication device IDs and the number of receptions at which the identification information is received or transmitted at the same point for each set of two identification information. Receiving information generation step,
A range information acquisition step for acquiring communication range information indicating a transmission range of each communication device or a transmission range of the receivable mobile unit;
A distance calculating step of calculating a distance between communication devices between the two communication devices included in the plurality of communication devices from the reception information and the communication range information;
Obtaining the communication device information including the identification information and installation coordinates of each of the three communication devices that can form a triangle having the apex of the position among the plurality of communication devices;
From the distance between the communication devices and the communication device information, a coordinate calculation step for calculating installation coordinates of each of the communication devices,
It is characterized by providing.

A program according to the fourth aspect of the present invention is provided in a computer.
Receiving identification information received at a plurality of points within a predetermined area and two different types of identification information from a plurality of communication devices that are arranged in a distributed manner each transmitting identification information wirelessly at a predetermined cycle A set of information indicating whether or not the points are the same, or a mobile body that transmits signals wirelessly at a predetermined cycle has received a signal transmitted while moving within a predetermined area for a predetermined period of time. A collection step of acquiring a communication device ID set, which is a set of information indicating whether identification information of a plurality of communication devices to be arranged and signals received by different communication devices are transmitted from the same point;
Generate reception information that counts the number of receptions for each identification information included in the set of communication device IDs and the number of receptions at which the identification information is received or transmitted at the same point for each set of two identification information. Receiving information generation step,
A range information acquisition step for acquiring communication range information indicating a transmission range of each communication device or a transmission range of the receivable mobile unit;
A distance calculating step of calculating a distance between communication devices between the two communication devices included in the plurality of communication devices from the reception information and the communication range information;
Obtaining the communication device information including the identification information and installation coordinates of each of the three communication devices that can form a triangle having the apex of the position among the plurality of communication devices;
From the distance between the communication devices and the communication device information, a coordinate calculation step for calculating installation coordinates of each of the communication devices,
Is executed.

  According to the present invention, it is possible to estimate the position information of all the transmitters by inputting the position information of the three transmitters serving as the base points using the IN / OUT type sensors.

It is a block diagram which shows the structural example of the position measurement system which concerns on Embodiment 1 of this invention. 6 is a diagram illustrating an example of the number of receptions for each transmitter ID set in Embodiment 1. FIG. 6 is a diagram illustrating an example of counting the number of single receptions and the number of simultaneous receptions from reception information in Embodiment 1. FIG. 6 is a diagram illustrating an example of the number of single receptions in the first embodiment. FIG. 6 is a diagram illustrating an example of the number of simultaneous receptions in the first embodiment. FIG. 6 is a diagram illustrating a method for calculating an overlapping area area in the first embodiment. FIG. 3 is a diagram showing a method for calculating a distance between transmitters in the first embodiment. FIG. 6 is a diagram showing an example of inter-transmitter distance information used in Embodiment 1. FIG. 6 is a diagram showing an example of transmitter information used in Embodiment 1. FIG. 6 is a diagram illustrating a coordinate candidate calculation method according to Embodiment 1. FIG. 6 is a diagram showing a method for determining final estimated coordinates from coordinate candidates in Embodiment 1. FIG. 3 is a flowchart showing an example of operation of transmitter coordinate calculation according to the first embodiment. It is a flowchart which shows an example of the operation | movement which estimates the position of the receiver which concerns on embodiment. It is a block diagram which shows the structural example of the position measurement system which concerns on Embodiment 2 of this invention. It is a figure which shows the calculation method of the virtual coordinate of the origin transmitter in Embodiment 2. FIG. FIG. 10 is a diagram illustrating a method for calculating actual coordinates in the second embodiment. 6 is a flowchart showing an example of transmitter coordinate calculation operation according to the second embodiment. It is a figure which shows arrangement | positioning of the transmitter in a specific example of embodiment, and an observation point. It is a block diagram which shows the physical structural example of the position measuring device which concerns on embodiment of this invention.

  Before describing the configuration of the embodiment of the present invention, first, the principle of the embodiment will be described. In the embodiment of the present invention, an area is assumed in which a plurality of transmitters, such as RF tag readers, that transmit respective identification information at a predetermined cycle are distributed. Among the plurality of transmitters, the coordinates (communication device information) of three transmitters constituting a triangle with the position of the transmitter as a vertex are given. The reachable range of identification information transmitted from the transmitter (the range in which the identification information can be received) is assumed to be a circle centered on the transmitter, and the radius of the reachable range is given.

  Identification information transmitted from the transmitter is received at a plurality of points distributed in an area where the plurality of transmitters are distributed and arranged. Collecting identification information received at multiple points, and receiving the two pieces of identification information at the same point for each pair of two different pieces of identification information with the number of reception points (number of receptions) for each piece of identification information Count the number of times (number of simultaneous receptions).

  For any two transmitters (identification information), from the number of receptions and the number of simultaneous receptions for each identification information, the ratio of the area of each reachable range and the area of the range where the reachable ranges overlap (overlapping area area) is calculated. . The distance between the two transmitters (distance between transmitters) is calculated from the ratio of the area of the reachable area and the overlapping area and the radius of the reachable range. The distance can be calculated for two transmitters whose overlapping area area exceeds 0 and whose overlapping area area is less than 100% of the reach of any transmitter. Then, the coordinates of each transmitter are calculated from the coordinates of the three transmitters constituting the triangle and the distance between the transmitters using the cosine theorem of the triangle.

  Any transmitter can calculate the distance between transmitters with two or more other transmitters, and when considering a graph in which the transmitter is a node and the distance between transmitters is an edge, multiple transmitters are 1 If represented by one (single-connected) graph, the relative coordinates (referred to as virtual coordinates in the present invention) of all the transmitters can be calculated. The virtual coordinates have degrees of freedom of parallel movement, rotation within the area plane, and mirror image (relation between front and back) with respect to coordinates fixed to the area. If the coordinates of three transmitters constituting a triangle among a plurality of transmitters are given, the degrees of freedom are uniquely determined.

  If the coordinates of the transmitter can be calculated, the mobile body (RF tag) receives the identification information received from the transmitter (RF tag reader, etc.) at one point, or the signal transmitted from the mobile body at one point. The position of the moving body can be estimated by obtaining identification information of a transmitter (such as an RF tag reader) and calculating the center of gravity of the coordinates of the transmitter corresponding to the identification information.

  Replacing the above transmitter and receiver, receiving signals transmitted from multiple points in the area with a plurality of distributed receivers, and adding the receiver identification information to the received signals May be counted for each piece of identification information as the number of receptions. In this case, the number of simultaneous receptions is the number of times that the same signal is received by two receivers. In the present invention, the transmitter and the receiver are collectively referred to as a communication device. A device that receives identification information transmitted from a transmitter or a device that transmits signals from a plurality of points in an area is referred to as a moving body. In the embodiment of the present invention, the case where the communication device is a transmitter will be mainly described. In the embodiment, an apparatus (mobile body) that receives identification information from a plurality of transmitters arranged in a distributed manner is called an ID receiver.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or equivalent parts are denoted by the same reference numerals.

(Embodiment 1)
FIG. 1 is a block diagram showing a configuration example of a position measurement system according to Embodiment 1 of the present invention. The position measurement system 1 includes a plurality of transmitters 3, an ID receiver 4, and a position measurement device 2. Each transmitter 3 transmits unique identification information in a predetermined cycle. The plurality of transmitters 3 are distributed and arranged so as to cover an area where the ID receiver 4 can move with a set of reachable areas of the identification information.

  The ID receiver 4 receives identification information (transmitter ID) transmitted by the transmitter 3 at a plurality of points within a predetermined area. The ID receiver 4 adds the received time to the received identification information and stores it. Alternatively, a plurality of pieces of identification information received at the same point are stored in association (collectively) for each received point. The ID receiver 4 transmits the stored identification information to the position measurement device 2. The ID receiver 4 does not have to store the identification information in the ID receiver 4 by transmitting the identification information to the position measuring device 2 every time it receives the identification information. In any case, the position measuring device 2 stores the identification information received for each received point from the received time or the association for each received point.

  The position measurement device 2 includes a reception information generation unit 11, a reception information database (reception information DB) 12, an inter-transmitter distance calculation unit 13, a transmitter position calculation unit 15, a transmitter information database (transmitter information DB) 14, and The position estimation unit 16 is provided. The reception information generation unit 11 receives (acquires) the identification information received by the ID receiver 4 from the ID receiver 4 and counts the number of points (single reception count) received for each transmitter ID. For each pair (pair) of two different pieces of identification information, the number of times the two pieces of identification information are received at the same point (the number of simultaneous receptions) is counted.

FIG. 2 is a diagram illustrating an example of the number of receptions for each transmitter ID set in the first embodiment. The transmitter ID set in FIG. 2 represents that the transmitter ID included in the transmitter ID set is received at the same point. The number of receptions is the number of points that received the transmission ID set. For example, if the first line of the transmitter ID set = S _1, the number of sites that received only S1 is 18. The second row indicates that transmitter ID set = {S ₁ , S ₂ }, and that the number of points where S ₁ and S ₂ are received at the same point is ten.

FIG. 3 shows an example of counting the number of single receptions and the number of simultaneous receptions from the reception information in the first embodiment. The transmitter ID set and the number of receptions in FIG. 3 are the same as those in FIG. For example, if the transmitter ID is _{S 1} and _{S 2,} alone received number of _{S 1} is to count the number of receptions _{of S 1} is appearing on transmitter ID set, to 40. Alone received number of S ₂ is to count the number of receptions of S ₂ appears in transmitter ID set is 44. Then, simultaneous reception number of _{S 1} and _{S 2 is} to count the number of times of reception of the transmitter ID set includes _{S 1, S _2}, becomes 14.

  FIG. 4 is a diagram illustrating an example of the number of single receptions in the first embodiment. FIG. 5 is a diagram illustrating an example of the number of simultaneous receptions in the first embodiment. As described with reference to FIG. 3, the reception information generation unit 11 obtains data as illustrated in FIG. 4 by counting the number of times the transmitter ID appears in the transmitter ID set for each transmitter ID. Further, with respect to all transmitter ID pairs, the number of receptions in which the pair is included in the transmitter ID set is counted to obtain data as shown in FIG.

  The reception information generation unit 11 in FIG. 1 collectively sends the single reception count and the simultaneous reception count to the reception information DB 12 as reception information. The reception information DB 12 stores reception information.

  The transmitter-to-transmitter distance calculation unit 13 assumes that the signal arrival area of the transmitter 3 is a circle, and calculates the area overlapped area (overlapping area area) from the ratio of the number of single receptions and the number of simultaneous receptions. The radius of the signal arrival area is stored in, for example, the transmitter information DB 14. When all the transmitters 3 have the same radius of signal arrival area, the transmitter-to-transmitter distance calculation unit 13 may hold the radius information. Then, the distance between the two transmitters 3 (the distance between the transmitters) is calculated from the radius of the signal arrival area and the overlapping area area.

FIG. 6 shows a method for calculating the overlapping area area in the first embodiment. Assume that the signal arrival areas of the two transmitters d1 and d2 are circles with radii r ₁ and r ₂ , respectively. The area of each signal reaching area is S ₁ and S ₂ , and the area of the overlapping area is S _{1_2} (see FIG. _6A ). Assume that the number of single receptions of d ₁ is n ₁ , the number of single receptions of d ₂ is n ₂ , and the number of simultaneous receptions of d ₁ and d ₂ is n ₁₂ .
S ₁ : S _{1 — 2} = n ₁ : n ₁₂
S ₂ : S _{1_2} = n ₂ : n ₁₂
(See FIGS. 6B and 6C), the area S _{1_2 of the} overlapping area is
S _{1_2} = S ₁ · n ₁₂ / n ₁
S _{1_2} = S ₂ · n ₁₂ / n ₂
It is expressed by these two relationships. If you consider the area of two overlapping areas equal and take the average,
_{S 1_2 = (S 1 · n} 2 + S 2 · n 1) n 12 / (n 1 · n 2)
It is. In particular, if r ₁ = r ₂ = r, then S ₁ = S ₂ = πr ² ,
S ₁ — ² = πr ² · n ₁₂ (n ₁ + n ₂ ) / (n ₁ · n ₂ )
It is. This is calculated by regarding the ratio of the average number of single receptions and the number of simultaneous receptions as the ratio of the single area area and the overlapping area area.

The transmitter distance calculator 13 calculates the transmitter distance from the area radius and the overlapping area area. FIG. 7 shows a method for calculating the distance between transmitters in the first embodiment. The signal reachable ranges of the _two transmitters d ₁ and d ₂ are circles having radii r ₁ and r ₂ , respectively. The angles at which the intersections of the circles of the signal arrival area are estimated from the respective centers (positions of the transmitters 3) are 2α and 2β, respectively. The area S _{1_2 of the} overlapping area is S _{1_2} = (αr ₁ ² −r ₁ ² sin α · cos α) + (βr ₂ ² −r ₂ ² sin β · cos β)
However, r ₁ sin α = r ₂ sin β. If α and β are obtained from this equation, the distance d ₁₂ between the transmitters is: d ₁₂ = r ₁ cos α + r ₂ cos β
It can be calculated with In particular, if r ₁ = r ₂ = r, α = β, and the area of the overlapping area is S ₁ — 2 = 2 (αr ² -2r ² sin2α)
And the distance is d ₁₂ = 2r cos α.

FIG. 8 is a diagram showing an example of inter-transmitter distance information used in the first embodiment. The transmitter-to-transmitter distance calculation unit 13 generates, for example, transmitter-to-transmitter distance information including a transmitter ID pair and a transmitter-to-transmitter distance as shown in FIG. Here is the distance information between transmitters.
Distance_info = <PairIDs, Distance>
: (PairIDs = transmitter ID pair, Distance = distance between transmitters)
It is defined as The inter-transmitter distance calculation unit 13 stores inter-transmitter distance information including the transmitter ID pair and the inter-transmitter distance in the transmitter information DB 14.

  The transmitter information DB 14 in FIG. 1 holds transmitter information including a transmitter ID and installation coordinates. FIG. 9 shows an example of transmitter information used in the first embodiment. In the initial state, the transmitter information DB 14 holds transmitter information of three points (base transmitters) that can form a triangle among the transmitters 3 that are arranged. For other transmitter information, the transmitter information generated by the transmitter position calculation unit 15 is acquired and stored. Here, transmitter information SenderInfo = <ID, Coord> (ID = transmitter ID, Coord = installation coordinates) is defined.

  The transmitter position calculation unit 15 in FIG. 1 calculates the position (coordinates) of the transmitter 3 from the transmitter information and the inter-transmitter distance information. The position (coordinates) of the transmitter 3 is represented by a coordinate system fixed to the area where the transmitter 3 is arranged. FIG. 10 shows a coordinate candidate calculation method in the first embodiment.

The transmitter position calculation unit 15 acquires transmitter information and inter-transmitter distance information from the transmitter information DB 14. For two transmitters A and B whose coordinates are known, the distance to the transmitters A and B exists in the inter-transmitter distance information, and the distance between the three points of itself and the transmitters A and B is a triangle. A transmitter C that satisfies the condition is selected. At three points of the known transmitters A and B and the selected transmitter C, the angle θ of the side AB with respect to the X axis is calculated from the coordinates of the transmitters A and B, and further, from the length of the three sides using the cosine theorem. ∠Calculate BAC (α). The angle of the side AC with respect to the X axis is calculated from these angles, and the coordinates of the candidate point of the transmitter C are calculated from the coordinates of the transmitter A and the angle of the side AC with respect to the X axis.

There are two candidate points (C1, C2) for transmitter C (FIG. 10). here,
_{θ = arctan ((x B -x} A) / (y B -y A))
cosα = (d ₁ ² + d ₃ ² −d ₂ ² ) / 2d ₁ d ₂
α = arccos ((d ₁ ² + d ₃ ² −d ₂ ² ) / 2d ₁ d ₂ )
c1: x _c1 = x _A + d ₃ cos (θ + α), y _c1 = y _A + d ₃ sin (θ + α)
_{c2: x c2 = x A +} d 3 cos (θ-α), y c2 = y A + d 3 sin (θ-α)
It is. The transmitter position calculation unit 15 determines one of the two candidates as follows.

FIG. 11 is a diagram illustrating a method of determining final estimated coordinates from coordinate candidates in the first embodiment. The transmitter position calculation unit 15 provides coordinate information to the transmitter D in which the distance to the transmitter C (DistanceD_C) exists in the inter-transmitter distance information and the coordinates of the transmitter 3 exist in the transmitter information. The distance between the candidate points C1 and C2 is calculated. Then, the calculated distance is compared with DistanceD_C, and the one closer to DistanceD_C is set as the final transmitter C position. The transmitter position calculation unit 15 generates transmitter information including a transmitter ID and installation coordinates for the transmitter C. The above operation is repeated until transmitter information cannot be generated. If expressed in a calculation formula, it can be written as follows.
DC = DistanceD_C
^{_{DC1 = √ ((x D -x}} c1) 2 + (y D -y c1) 2)
^{_{DC2 = √ ((x D -x}} c2) 2 + (y D -y c2) 2)
If (| DC1-DC | <| DC2-DC |), C = C1.
Unless (| DC1-DC | <| DC2-DC |), C = C2.

を比較し、値が小さい方を最終的な発信機Ｃの位置として採用する。 There are two other methods for determining the final position of the transmitter C. _First , all transmitters 3 (D = {d ₁ , d ₂ ,...) Where the distance to the transmitter C exists in the inter-transmitter distance information and the coordinates of the transmitter 3 exist in the transmitter information. _.., calculated relative to the _d m}), the transmitter 3 using the coordinate information (the distance between the _{d k} ∈D) and _{C1, C2 (Distanced k _c 1} , Distanced k _c 2). Distanced _k _c _1, calculates a difference _{(Gapd k _c 1, Gapd k} _c 2) with Distanced _k _c ₂ and Distanced _k _c. And the integrated value

And the smaller value is adopted as the final position of the transmitter C.

The second is that the distance to the transmitter C for which coordinates are calculated in the first method is not included in the inter-transmitter distance calculated by the inter-transmitter distance calculation unit 13, and the coordinates of the transmitter C are two candidates one distance Distanced _k _ci calculated from the coordinates for the (C1, C2) (i = 1 or 2) is smaller than the sum of the area radius of transmitters d _k and transmitter C, the other two candidates for the case where the distance is calculated from the coordinates Distanced _k _cj (j = 2 or 1) is the transmitter greater than the sum radius area of dk and transmitter C, the distance calculated from the coordinates Distancedk_ci (i = 1 or 2), respectively for small candidate than the sum of the area radius added distance calculated from the coordinates Distancedk_ci a (i = 1 or 2) to the integrated value ΣGapd _k _ci the difference in distance. Then, the two integrated values (Equation 1) are compared, and the smaller value is adopted as the final position of the transmitter C.

  After determining the coordinates of the transmitter C, the transmitter A or the transmitter B and the transmitter C are changed to two transmitters A and B whose coordinates are already known, and the above-described processing is repeated. In this way, the position (coordinates) of the transmitter 3 is calculated one after another.

  For any two transmitters A and B of the three transmitters 3 to which coordinates are initially given, the distance to the transmitters A and B exists in the inter-transmitter distance information, and the own transmitters A and B When there is no transmitter C in which the distance between the three points B satisfies the triangle establishment condition, the distance to the transmitter A exists in the inter-transmitter distance information, and the triangle A including the transmitter A satisfies the triangle establishment condition 2 Two transmitters 3 are selected, and temporary coordinates for transmitter A are calculated. In this case, the degree of freedom of the relationship between the rotation around the transmitter A and the mirror image remains. Therefore, the temporary coordinates of the transmitter 3 are calculated one after another, and when the temporary coordinates of the transmitter 3 to which the coordinates are given are calculated, the temporary coordinates are made to coincide with the given coordinates. The actual coordinates (in the coordinate system fixed to the area) are calculated from the coordinates of.

  The transmitter position calculation unit 15 generates transmitter information including the transmitter ID and the installation coordinates as described above for all the transmitters 3 for which the distance information between the other two transmitters 3 is determined. To do. The transmitter position calculation unit 15 stores transmitter information in the transmitter DB.

The position measuring device 2 calculates the coordinates of all the transmitters 3 and then estimates the position of the ID receiver 4 using the coordinates of the transmitters 3. The position estimation unit 16 obtains the transmitter ID set received from the communication device at one point (or the identification information of the communication device that has received the signal transmitted from the mobile body at one point) from the reception information generation unit 11. get. Then, the coordinates of the transmitter 3 corresponding to the transmitter ID included in the transmitter ID set are read from the transmitter information DB 14 and their center of gravity is calculated. For example, the transmitter ID set is {S ₁ , S ₂ , S ₃ } and the respective coordinates are S ₁ = (x ₁ , y ₁ ), S ₂ = (x ₂ , y ₂ ), S ₃ = (x ₃ , y ₃ )
In this case, the final position coordinates are ((x ₁ + x ₂ + x ₃ ) / 3, (y ₁ + y ₂ + y ₃ ) / 3)
It becomes. The position measuring device 2 uses the coordinates of the barycentric point as the estimated position of the ID receiver 4.

  FIG. 12 is a flowchart showing an example of the transmitter coordinate calculation operation according to the first embodiment. The ID receiver 4 is moved in an area where a plurality of transmitters 3 are distributed and received, and transmitter IDs are received at a plurality of points (step S11). For example, the ID receiver 4 receives the transmitter ID by having a person who wears the ID receiver 4 walk around the measurement target area (the area where the transmitter 3 is arranged) uniformly. The reception information generation unit 11 acquires the transmitter ID set received by the ID receiver 4 from the ID receiver 4 (step S12). The reception information generation unit 11 counts the number of single receptions for each transmitter ID and the number of simultaneous receptions for each pair of two transmitter IDs, and from the transmitter ID set and the number of receptions (the number of single receptions and the number of simultaneous receptions). The received information is generated and registered in the received information DB 12 (step S13).

  Next, the inter-transmitter distance calculation unit 13 acquires the reception information from the reception information DB 12 and the transmitter information from the transmitter information DB 14. The inter-transmitter distance calculation unit 13 acquires the reach area radius of the transmitter 3 from the transmitter information DB 14 (step S14). Assuming that the signal arrival area of the transmitter 3 is a circle, the overlapping area area is calculated by using the ratio of the number of single receptions and the number of simultaneous receptions as the ratio of the single area area and the overlapping area area. Then, the transmitter-to-transmitter distance is calculated from the area radius and the overlapping area area (step S15). The inter-transmitter distance calculation unit 13 generates inter-transmitter distance information including the transmitter ID pair and the inter-transmitter distance, and stores the generated inter-transmitter distance information in the transmitter information DB 14.

  Next, the transmitter position calculation unit 15 acquires the coordinates (transmitter information) of the three transmitters 3 and the distance between the transmitters from the transmitter information DB 14 (step S16). For two transmitters A and B whose coordinates are known, the distance to the transmitters A and B exists in the inter-transmitter distance information, and the distance between the three points of itself and the transmitters A and B is a triangle. A transmitter C that satisfies the condition is selected. At the three points of transmitters A, B and C, the coordinates of transmitter C are calculated using the triangular cosine theorem as described above (step S17). The transmitter position calculation unit 15 generates transmitter information including transmitter IDs and installation coordinates for all the transmitters 3 for which the distance information between the other two transmitters 3 and the transmitters is determined. It memorize | stores in information DB14.

  FIG. 13 is a flowchart illustrating an example of an operation of estimating the position of the receiver according to the embodiment. The reception information generation unit 11 waits for reception of the transmitter ID received by the ID receiver 4 at a predetermined time from the ID receiver 4 (step S21, step S22; NO), for example. When the transmitter ID is received from the ID receiver 4 (step S22; YES), the center of gravity of the coordinates of the transmitter 3 of the received transmitter ID is calculated (step S23). Then, the calculated coordinates of the center of gravity are output as the position of the ID receiver 4 (step S24).

  As described above, according to the position measurement system 1 of the present embodiment, all of the position information of the three transmitters 3 serving as the base points can be obtained without using the intensity of the signal received by the ID receiver 4. The position information (coordinates) of the transmitter 3 can be calculated. Then, the position of the ID receiver 4 can be estimated using the calculated coordinates of the transmitter 3.

(Embodiment 2)
FIG. 14 is a block diagram illustrating a configuration example of a position measurement system according to Embodiment 2 of the present invention. In the second embodiment, the virtual coordinates of the transmitter 3 are calculated from the distance between the transmitters, and then the coordinates (real coordinates) of the three transmitters 3 constituting the triangle are used to calculate the virtual coordinates of the transmitter 3. The real coordinates are calculated from In addition to the configuration of the first embodiment, the position measurement device 2 of the second embodiment includes a virtual coordinate calculation unit 17 in the transmitter position calculation unit 15. Other configurations are the same as those in the first embodiment.

  As in the first embodiment, the reception information generation unit 11 acquires a transmitter ID set from the ID receiver 4 and counts the number of single receptions and the number of simultaneous receptions to generate reception information. The inter-transmitter distance calculation unit 13 calculates the overlapping area area from the reception information and the area radius of the reachable range of the transmitter 3, and calculates the distance between the transmitters. And the distance information between transmitters is memorize | stored in transmitter information DB14.

  The virtual coordinate calculation unit 17 acquires distance information between transmitters from the transmitter information DB 14. A virtual coordinate system is set in which one of the transmitters 3 is set as an origin, and a straight line passing through the other one and the origin is set as one of coordinate axes. And the virtual coordinate of the transmitter 3 in a virtual coordinate system is calculated from the distance between transmitters. The transmitter position calculation unit 15 acquires transmitter information including real coordinates of three points (base transmitters) that can form a triangle from the transmitter information DB 14, and uses the virtual coordinates of the transmitter 3 and the transmitter information. The actual coordinates of the transmitter 3 are calculated.

  FIG. 15 is a diagram illustrating a method of calculating virtual coordinates of the base point transmitter according to the second embodiment. The virtual coordinate calculation unit 17 selects any three points (A, B, C) that can form a triangle from the inter-transmitter distance. The coordinate of the transmitter A is (0, 0), the coordinate of the transmitter B is (DistanceA_B, 0), and ∠BAC (α) is calculated from the length of the three sides using the cosine theorem. Then, the coordinates of the transmitter C are calculated as (DistanceA_C · cosα, DistanceA_C · sinα).

  Two candidates are calculated for the virtual coordinates of the transmitter C. Of these, the final virtual coordinates are determined by the distance from the known transmitter 3 in the virtual coordinates, as in the first embodiment.

  For the transmitters 3 after the fourth point, the coordinates in the virtual coordinate system are calculated in the same manner as the coordinate calculation method of the transmitter position calculation unit 15 of the first embodiment. Then, virtual coordinate information including a transmitter ID and virtual coordinates is generated from the calculated virtual coordinates. Here, it is defined as virtual coordinate information VirtualCoordInfo = <ID, VirtualCoord> (ID = transmitter ID, Coord = virtual coordinate).

  The transmitter position calculation unit 15 acquires the virtual coordinate information from the virtual coordinate calculation unit 17 and the transmitter information including the actual coordinates of the base point transmitter (I, J, K) from the transmitter information DB 14. Using the virtual coordinates and real coordinates of the transmitters I, J, and K, a conversion formula from virtual coordinates to real coordinates is generated.

FIG. 16 is a diagram illustrating a method of calculating real coordinates in the second embodiment. The real coordinate system _x r -y _r a relationship between the virtual coordinate system _x v -y _v expressed as FIG. That is, the position (displacement) of the virtual coordinate system origin with respect to the origin of the real coordinate system is (a, b), and the inclination angle of the virtual coordinate system with respect to the real coordinate system is β (γ = β | π−β). The conversion formula from the virtual coordinate system to the real coordinate system is
_{x r = a + x v cosβ} -y v sinβ,
y _r = b + x _v sin β + y _v cos β
(A + x _Iv cos β−y _Iv sin γ = x _Ir , b + x _Iv sin β + y _Iv cos γ = y _Ir ,
a + x _Jv cos β−y _Jv sin γ = x _Jr , b + x _Jv sin β + y _Jv cos γ = y _Jr ,
a + x _Kv cos β-y _Kv sin γ = x _Kr , b + x _Kv sin β + y _Kv cos γ = y _Kr ,
a, b, β, γ satisfying γ = β | π−β)
It becomes. Using this conversion formula, the value obtained by converting the virtual coordinate in the virtual coordinate information into the real coordinate is used as the installation coordinate, and transmitter information including the transmitter ID and the installation coordinate is generated.

  FIG. 17 is a flowchart showing an example of the transmitter coordinate calculation operation according to the second embodiment. Steps S31 to S35 in FIG. 17 are the same as steps S11 to S15 in FIG. After calculating the inter-transmitter distance (step S35), the virtual coordinate calculating unit 17 calculates the virtual coordinates of the transmitter 3 from the inter-transmitter distance as described above (step S36).

  When the virtual coordinates are calculated for all the transmitters 3, the transmitter position calculation unit 15 acquires the transmitter information including the actual coordinates of the three transmitters 3 from the transmitter information DB 14 (step S37). Then, from the virtual coordinates and the transmitter information, a conversion formula from the virtual coordinates to the real coordinates is generated as described above, and the coordinates (real coordinates) of the transmitter 3 are calculated (step S38). After calculating the coordinates (actual coordinates) of the transmitter 3, the position of the receiver can be estimated in the same manner as in the first embodiment.

  As described above, according to the position measurement system 1 of the second embodiment, even if the distance between the transmitters of the three transmitters 3 to which the coordinates are given first is not directly calculated from the received information. Any transmitter 3 can determine the coordinates of the transmitter 3 if the distance between the transmitters with the other two or more transmitters 3 can be calculated.

Next, the operation of the embodiment of the present invention will be described using a specific example. FIG. 18 is a diagram illustrating an arrangement of the transmitter 3 and observation points in a specific example of the embodiment. In the example of FIG. 18, 100 transmitters with a signal arrival area radius of 1.5 m are measured from each of 100 reference points (10 × 10) in a grid pattern with a 1 m interval for a measurement target area of 13 m × 13 m. One piece was randomly placed within a radius of 25 cm. Consider a case where 5000 observation points (locations where the receiver receives the transmitter ID) are randomly prepared in the measurement target area. The measurement area is divided into 1m ² grids, and a person wearing the ID receiver 4 walks around to pass all the grids. The transmitter ID can be received once in each grid, and the measurement area is set about 30 times. He walked around.

  In such a case, the reception information generation unit 11 acquires the transmitter ID set as shown in FIG. 2 from the ID receiver 4 and generates the reception information as shown in FIGS. The inter-transmitter distance information calculation unit 103 assumes that the signal arrival area of the transmitter 3 is a circle (the area radii of all transmitters 3 are the same and the radius information is retained), and the average number of single receptions The overlap area (DupArea) was calculated using the ratio of the number of simultaneous receptions as the ratio of the single area and the overlap area.

For example, when the area radius is 1 m and the single area is πm ² and the distance information between transmitters S1 and S2 is generated in FIG.
SingleRevNumS ₁ = 18 + 10 + 8 + 4 = 40,
SingleRevNumS ₂ = 10 + 4 + 14 + 7 + 6 + 3 = 44,
The number of simultaneous reception is
DoubleRevNumS ₁ _S ₂ = 10 + 4 = 14
The overlap area is
DupArea S ₁ _S ₂ = π · 14 / ((40 + 44) / 2)
It becomes.

The inter-transmitter distance calculation unit 13 calculates the inter-transmitter distance from the area radius and the overlapping area area (FIG. 7), and the inter-transmitter distance information including the transmitter ID pair and the inter-transmitter distance as shown in FIG. Generated. The distance between transmitters is
π / 3 = α−sin2α · Distance S ₁ _S ₂ = 2cos α
Is solved, and DistanceS ₁ —S ₂ = 1.438.

  In the transmitter information DB 14, transmitter information including transmitter IDs and installation coordinates as shown in FIG. 9 is registered for any three transmitters 3 that can form a triangle. The transmitter position calculation unit 15 acquires transmitter information and inter-transmitter distance information from the transmitter information DB 14, and starts from the two transmitters (A, B) whose coordinates are known by the above-described method. The coordinates of the transmitter 3 of the inter-transmitter distance that can be configured are calculated.

  The distance to the transmitters A and B exists in the distance information between the transmitters, and the transmitter A at the three points of the transmitter (C) in which the distance between the three points of itself and the transmitters A and B satisfies the triangle formation condition. , B is calculated from the coordinates of the side AB with respect to the X axis, and ∠BAC (α) is calculated from the length of the three sides using the cosine theorem, and the angle of the side AC with respect to the X axis (θ ) And the coordinates of the candidate points C1 and C2 of the transmitter C are calculated from the coordinates of the transmitter A and the angle of the side AC with respect to the X axis (FIG. 10). Next, for the transmitter D in which the distance to the transmitter C (DistanceD_C) exists in the inter-transmitter distance information and the coordinates of the transmitter 3 exist in the transmitter information, the candidate point C1 is used using the coordinate information. , C2 is calculated, the calculated distance is compared with DistanceD_C, and the one closer to DistanceD_C is set as the final transmitter C position (FIG. 11). Generate transmitter information. The above operation is repeated until transmitter information cannot be generated.

For example, when the coordinates of S ₄ are calculated from the coordinates of S _{1 and} S ₂ and the distances of S ₁ S ₂ , S ₁ S ₄ and S ₂ S ₄ in FIGS. 8 and 9, ∠S ₂ S ₁ S ₄ is α = arccos ((1.45 ² +0.67 ² -1.12 ² ) / (2 × 1.45 × 0.67))
= 48 °. The angle of S1S2 with respect to the X axis is θ = 90 °. The coordinates of candidate points S ₄₁ and S ₄₂ of S ₄ are S ₄₁ =
(1.02 + 1.45 cos (48 ° + 90 °), 1.36 + 1.45 sin (48 ° + 90 °))
= (2.11, 2.33),
S ₄₂ =
(1.02 + 1.45 cos (48 ° -90 °), 1.36 + 1.45 sin (48 ° -90 °))
= (-0.1, 2.33)
It becomes.

S _42, the distance from the coordinates of _{S 41} and _{S 3} of the _{S 3 S 41, S 3 S} 42 and _S 3 _{S 4} is
S ₃ S ₄₁ = √ ((2.11-2.01) ² + (2.33-1.50) ² ) = 0.83,
S ₃ S ₄₂ = √ ((− 0.1−2.01) ² + (2.33-1.50) ² ) = 2.27
It becomes. Compared with S ₃ S ₄ = 0.82 in FIG. 9, the value of S ₃ S ₄₁ is closer, so the coordinates of S ₄ are finally set to (2.11, 2.33).

  The calculation as described above was repeated to obtain the estimated position of the transmitter 3 as shown in FIG. In FIG. 18, the installation position of the transmitter 3 is indicated by a circle, and the estimated position of the transmitter 3 is indicated by a square. The observation point (receiver ID reception position) is indicated by a small point. The accuracy of the estimated position of the transmitter 3 can be improved by making the intervals between the observation points uniform and increasing the density (more observation points).

The position estimation unit 16 acquires the transmitter ID set received at one point from the reception information generation unit 11, and outputs the center of gravity of coordinates for all IDs of the transmitter ID set as the final position. For example, when the transmitter ID set is {S ₁ , S ₂ , S ₃ } and the respective coordinates are the values shown in FIG. 9, the final position coordinates are ((1.02 + 1.02 + 2.01) / 3, (1.36 + 2.08 + 1.50) / 3)
= (1.34, 1.31)
It becomes.

A specific example of the calculation of virtual coordinates according to the second embodiment of the present invention will be described.
For example, when calculating the virtual coordinates of S ₁ , S ₂ , S ₄ from the distances of S ₁ S ₂ , S ₁ S ₄ , S ₂ S ₄ in FIG. 8, ８S ₂ S ₁ S ₄ is expressed as α = arccos ( (1.45 ² +0.67 ² -1.12 ² ) / (2 × 1.45 × 0.67))
= 48 °
It becomes. A virtual coordinate system is set with S ₁ as the origin and a straight line passing through S ₁ and S ₂ as the x axis. The virtual coordinates of each point are S ₁ = (0, 0), S ₂ = (0.72, 0), S ₄ = (1.45 cos 48 °, 1.45 sin 48 °).

Based on the three points S ₁ , S ₂ , and S ₄ , the virtual coordinates after the fourth point are calculated. After calculating the virtual coordinates of all the transmitters 3, the transmitter position calculating unit 15 transmits the virtual coordinate information from the virtual coordinate calculating unit 17 and the transmitter of the base transmitter (I, J, K) from the transmitter information DB 14. Information is acquired and a conversion formula from virtual coordinates to real coordinates is generated using virtual coordinates and real coordinates of transmitters I, J, and K.

In the conversion formula between virtual coordinates and real coordinates described in the second embodiment, for example,
Ir = (3, 2), Jr = (6, 4), Kr = (4, 5),
Iv = (1,0.5), Jv = (4,1), Kv = (2.5,3)
in the case of,
a + 1cosβ-0.5sinγ = 3,
b + 1sinβ + 0.5cosγ = 2,
a + 4 cos β-1 sin γ = 6,
b + 4sinβ + 1cosγ = 4,
a + 2.5cosβ-3sinγ = 4,
b + 2.5sinβ + 3cosγ = 5
And a, b, β, γ are calculated, and the conversion formula x _r = a + x _v cos β−y _v sin β,
y _r = b + x _v sin β + y _v cos β
Is generated.

  FIG. 19 is a block diagram illustrating a physical configuration example of the position measurement apparatus according to the embodiment of the present invention. FIG. 19 shows the configuration of the position measuring device 2 of FIG. 1 or FIG.

  As shown in FIG. 19, the position measurement device 2 includes a control unit 21, a main storage unit 22, an external storage unit 23, an operation unit 24, a display unit 25, an input / output unit 26, and a transmission / reception unit 27. The main storage unit 22, the external storage unit 23, the operation unit 24, the display unit 25, the input / output unit 26, and the transmission / reception unit 27 are all connected to the control unit 21 via the internal bus 20.

  The control unit 21 includes a CPU (Central Processing Unit) and the like, and executes a process for position measurement according to a control program 29 stored in the external storage unit 23.

  The main storage unit 22 is composed of a RAM (Random-Access Memory) or the like, loads a control program 29 stored in the external storage unit 23, and is used as a work area of the control unit 21.

  The external storage unit 23 includes a nonvolatile memory such as a flash memory, a hard disk, a DVD-RAM (Digital Versatile Disc Random-Access Memory), a DVD-RW (Digital Versatile Disc ReWritable), and the above-described processing is performed by the control unit 21. A control program 29 to be executed is stored in advance, and data stored in the control program 29 is supplied to the control unit 21 in accordance with an instruction from the control unit 21, and the data supplied from the control unit 21 is stored.

  The operation unit 24 includes a keyboard and a pointing device such as a mouse or a touch panel, and an interface device that connects the keyboard and the pointing device to the internal bus 20. Via the operation unit 24, inputs such as transmitter information including coordinates of the three transmitters 3 serving as base points and an area radius of the transmitter 3 are accepted.

  The display unit 25 includes an LCD (Liquid Crystal Display) or an organic EL display, a speaker, and the like, and displays the coordinates of the transmitter 3 or the estimated position of the ID receiver 4.

  The input / output unit 26 includes a serial interface or a parallel interface. The transmitter 3 is connected to the input / output unit 26. When the transmitter 3 receives a signal transmitted from the ID receiver, the information received by the transmitter 3 is input via the input / output unit 26 and sent to the control unit 21.

  The transmitter / receiver 27 includes a wireless transmitter / receiver, a wireless modem or a network termination device, and a serial interface or a LAN (Local Area Network) interface connected thereto. The position measuring device 2 receives the transmitter ID set from the ID receiver 4 via the transmission / reception unit 27.

  The control program 29 controls processes such as the reception information generation unit 11, the reception information DB 12, the transmitter distance calculation unit 13, the transmitter information DB 14, the transmitter position calculation unit 15, and the position estimation unit 16 of the position measuring device 2. The processing is executed by using the unit 21, main storage unit 22, external storage unit 23, operation unit 24, display unit 25, input / output unit 26, transmission / reception unit 27, and the like as resources.

  In addition, the above-described hardware configuration and flowchart are examples, and can be arbitrarily changed and modified.

  The central part that performs control processing including the control unit 21, the main storage unit 22, the external storage unit 23, the operation unit 24, the internal bus 20, and the like is not based on a dedicated system but is performed using a normal computer system. It is feasible. For example, a computer program for executing the above operation is stored and distributed in a computer-readable recording medium (flexible disk, CD-ROM, DVD-ROM, etc.), and the computer program is installed in the computer. Thus, the position measurement device 2 that executes the above-described processing may be configured. Alternatively, the computer program may be stored in a storage device included in a server device on a communication network such as the Internet, and the position measurement device 2 may be configured by being downloaded by a normal computer system.

  When the functions of the position measuring device 2 are realized by sharing an OS (operating system) and an application program, or by cooperation between the OS and the application program, only the application program portion is stored in a recording medium or a storage device. May be.

  It is also possible to superimpose a computer program on a carrier wave and distribute it via a communication network. For example, the computer program may be posted on a bulletin board (BBS: Bulletin Board System) on a communication network, and the computer program may be distributed via the network. The computer program may be started and executed in the same manner as other application programs under the control of the OS, so that the above-described processing may be executed.

  A part or all of the above-described embodiment can be described as in the following supplementary notes, but is not limited thereto.

(Appendix 1)
A plurality of communication devices that are arranged in a distributed manner, each of which transmits identification information wirelessly in a predetermined cycle, or receives the signal from a mobile that wirelessly transmits a signal in a predetermined cycle;
A mobile body that receives identification information transmitted by the communication device, or a mobile body that wirelessly transmits a signal at the predetermined period;
A set of information indicating whether or not the identification information received by the mobile unit from the communication device at a plurality of points in a predetermined region and the two different pieces of identification information are the same for a predetermined period, or The identification information of the communication device that has received the signal transmitted in the predetermined period while moving in a predetermined region for a predetermined period of time, and whether the signal received by the different communication device was transmitted from the same point A collection means for obtaining a set of communication device IDs, which is a set of information indicating whether or not
Generate reception information that counts the number of receptions for each identification information included in the set of communication device IDs and the number of receptions at which the identification information is received or transmitted at the same point for each set of two identification information. Receiving information generating means for
Range information acquisition means for acquiring communication range information indicating a transmission range of each communication device or a transmission range of the receivable mobile unit;
Distance calculating means for calculating a distance between communication devices between two communication devices included in the plurality of communication devices from the reception information and the communication range information;
Means for acquiring communication device information including the identification information and installation coordinates of each of the three communication devices that can form a triangle having the position as a vertex among the plurality of communication devices;
From the distance between the communication devices and the communication device information, coordinate calculation means for calculating the installation coordinates of each of the communication devices,
A position measurement system comprising:

(Appendix 2)
The communication range information includes an area radius indicating the reach range or the transmission range of each of the plurality of communication devices,
The distance calculation means calculates the distance between the communication devices by regarding the reachable range or the transmission range of the communication devices as a circle of the area radius centered on the communication device. The position measurement system described in 1.

(Appendix 3)
The position measuring system according to claim 2, wherein the distance calculating unit calculates the inter-communication distance from the area radius of each of the two communication devices and an overlapping area of the reachable range or the transmission range. .

(Appendix 4)
The distance calculation means is configured to determine the number of reception times at which the reception or transmission point is the same as the reception number for each identification information of the two communication devices in the area of the reach or transmission range of the two communication devices. The position measurement system according to appendix 3, wherein the overlapping area is calculated by applying a ratio.

(Appendix 5)
The position measurement system according to any one of appendices 2 to 4, wherein the area radii of the plurality of communication devices are the same.

(Appendix 6)
The coordinate calculation means calculates a relative coordinate of the other one communication device with respect to the two communication devices using a cosine theorem from the distance between the communication devices. The position measurement system described.

(Appendix 7)
The coordinate calculation means includes the distance between the communication devices calculated by the distance calculation means and the distance to the communication device for calculating the relative coordinates among the two candidates for the relative coordinates, and coordinates The candidate having a small difference between the distance calculated by the distance calculating unit and the distance calculated from the coordinate and the candidate for the relative coordinate with the communication device calculated by the coordinate calculating unit. The position measurement system according to appendix 6, wherein the position measurement system is calculated as coordinates.

(Appendix 8)
The coordinate calculation means includes the distance between the communication devices calculated by the distance calculation means and the distance to the communication device for calculating the relative coordinates among the two candidates for the relative coordinates, and coordinates For each of the communication devices calculated by the coordinate calculation means, the difference between the distance calculated by the distance calculation means and the distance calculated from the coordinates and the relative coordinate candidates is calculated for each of the relative coordinate candidates. 8. The position measurement system according to appendix 7, wherein the candidate having a small value is calculated as the relative coordinates by comparing the values accumulated for.

(Appendix 9)
The coordinate calculation means is not included in the distance between communication devices calculated by the distance calculation means, and the distance from the communication device for which the relative coordinates are calculated, and one of the two candidates for the relative coordinates is calculated from the coordinates. When the calculated distance is smaller than the sum of the area radii and the distance calculated from the coordinates of the other of the two candidates is larger than the sum of the area radii, the distance calculated from the coordinates is The position measurement system according to appendix 8, wherein a distance calculated from the coordinates is added to the integrated value for a candidate smaller than the sum of area radii.

(Appendix 10)
The coordinate calculation means sets a virtual coordinate system in which any one of the communication devices is an origin and a straight line passing through the other one and the origin is one of coordinate axes, and the distance between the communication devices is The position measurement system according to any one of appendices 6 to 9, wherein a virtual coordinate in the virtual coordinate system of the communication device is calculated, and a coordinate of the communication device is calculated from the communication device information and the virtual coordinate.

(Appendix 11)
The identification information received from the communication device at one point by the mobile body or the identification information of the communication device that has received the signal transmitted from the mobile body at one point, and corresponds to the identification information 11. The position measurement system according to any one of appendices 1 to 10, further comprising a centroid calculating unit that calculates a centroid point of the coordinates of the communication device calculated by the coordinate calculating unit.

(Appendix 12)
Receiving identification information received at a plurality of points within a predetermined area and two different types of identification information from a plurality of communication devices that are arranged in a distributed manner each transmitting identification information wirelessly at a predetermined cycle A set of information indicating whether or not the points are the same, or a mobile body that transmits signals wirelessly at a predetermined cycle has received a signal transmitted while moving within a predetermined area for a predetermined period of time. A collection means for acquiring a set of communication device IDs, which is identification information of a plurality of communication devices to be arranged and a set of information indicating whether signals received by different communication devices are transmitted from the same point;
Generate reception information that counts the number of receptions for each identification information included in the set of communication device IDs and the number of receptions at which the identification information is received or transmitted at the same point for each set of two identification information. Receiving information generating means for
Range information acquisition means for acquiring communication range information indicating a transmission range of each communication device or a transmission range of the receivable mobile unit;
Distance calculating means for calculating a distance between communication devices between two communication devices included in the plurality of communication devices from the reception information and the communication range information;
Means for acquiring communication device information including the identification information and installation coordinates of each of the three communication devices that can form a triangle having the position as a vertex among the plurality of communication devices;
From the distance between the communication devices and the communication device information, coordinate calculation means for calculating the installation coordinates of each of the communication devices,
A position measuring device comprising:

(Appendix 13)
Receiving identification information received at a plurality of points within a predetermined area and two different types of identification information from a plurality of communication devices that are arranged in a distributed manner each transmitting identification information wirelessly at a predetermined cycle A set of information indicating whether or not the points are the same, or a mobile body that transmits signals wirelessly at a predetermined cycle has received a signal transmitted while moving within a predetermined area for a predetermined period of time. A collection step of acquiring a communication device ID set, which is a set of information indicating whether identification information of a plurality of communication devices to be arranged and signals received by different communication devices are transmitted from the same point;
Generate reception information that counts the number of receptions for each identification information included in the set of communication device IDs and the number of receptions at which the identification information is received or transmitted at the same point for each set of two identification information. Receiving information generation step,
A range information acquisition step for acquiring communication range information indicating a transmission range of each communication device or a transmission range of the receivable mobile unit;
A distance calculating step of calculating a distance between communication devices between the two communication devices included in the plurality of communication devices from the reception information and the communication range information;
Obtaining the communication device information including the identification information and the installation coordinates of each of the three communication devices that can form a triangle having the position as a vertex among the plurality of communication devices;
From the distance between the communication devices and the communication device information, a coordinate calculation step for calculating installation coordinates of each of the communication devices,
A position measurement method comprising:

(Appendix 14)
The communication range information includes an area radius indicating the reach range or the transmission range of each of the plurality of communication devices,
The distance calculating step calculates the distance between the communication devices by regarding the reachable range or the transmission range of the communication devices as a circle of the area radius centered on the communication device. The position measuring method described in 1.

(Appendix 15)
15. The position measuring method according to appendix 14, wherein the distance calculating step calculates the inter-communication distance from the area radius of each of the two communication devices and an overlapping area of the reachable range or the transmission range. .

(Appendix 16)
In the distance calculation step, the area of the reachable range or the transmission range of each of the two communication devices is equal to the number of reception times where the reception or transmission point is the same as the reception frequency for each identification information of the two communication devices. The position measuring method according to claim 15, wherein the overlapping area is calculated by applying a ratio.

(Appendix 17)
The position measuring method according to any one of appendices 14 to 16, wherein the area radii of the plurality of communication devices are the same.

(Appendix 18)
The coordinate calculation step calculates a relative coordinate of another one of the communication devices with respect to the two communication devices by using a cosine theorem from the distance between the communication devices. The position measurement method described.

(Appendix 19)
In the coordinate calculation step, a distance from the communication device to which the relative coordinate is calculated is included in the distance between the communication devices calculated in the distance calculation step among the two candidates for the relative coordinate, and the coordinate The candidate having a small difference between the distance calculated in the distance calculating step and the distance calculated from the coordinate and the relative coordinate candidate is compared with the communication device calculated in the coordinate calculating step. The position measuring method according to appendix 18, wherein the position measuring method is calculated as coordinates.

(Appendix 20)
In the coordinate calculation step, a distance from the communication device to which the relative coordinate is calculated is included in the distance between the communication devices calculated in the distance calculation step among the two candidates for the relative coordinate, and the coordinate For all the communication devices calculated in the coordinate calculation step, the difference between the distance calculated in the distance calculation step and the distance calculated from the coordinate and the relative coordinate candidate is determined for each of the relative coordinate candidates. 20. The position measuring method according to appendix 19, wherein the candidate having a small value is calculated as the relative coordinates by comparing the values integrated.

(Appendix 21)
In the coordinate calculation step, the distance to the communication device for which the relative coordinate is calculated is not included in the inter-communication device distance calculated in the distance calculation step, and one of the two candidates for the relative coordinate is calculated from the coordinate. When the calculated distance is smaller than the sum of the area radii and the distance calculated from the coordinates of the other of the two candidates is larger than the sum of the area radii, the distance calculated from the coordinates is The position measurement method according to appendix 20, wherein a distance calculated from the coordinates is added to the integrated value for a candidate smaller than the sum of area radii.

(Appendix 22)
The coordinate calculation step sets a virtual coordinate system having one of the communication devices as an origin and a straight line passing through the other and one of the origins as one of coordinate axes, and calculates the distance from the distance between the communication devices. 22. The position measuring method according to any one of appendices 18 to 21, wherein virtual coordinates in the virtual coordinate system of the communication device are calculated, and the coordinates of the communication device are calculated from the communication device information and the virtual coordinates.

(Appendix 23)
The identification information received from the communication device at one point by the mobile body or the identification information of the communication device that has received the signal transmitted from the mobile body at one point, and corresponds to the identification information The position measuring method according to any one of appendices 13 to 22, further comprising a centroid calculating step of calculating a centroid point of the coordinates of the communication device calculated in the coordinate calculating step.

(Appendix 24)
On the computer,
Receiving identification information received at a plurality of points within a predetermined area and two different types of identification information from a plurality of communication devices that are arranged in a distributed manner each transmitting identification information wirelessly at a predetermined cycle A set of information indicating whether or not the points are the same, or a mobile body that transmits signals wirelessly at a predetermined cycle has received a signal transmitted while moving within a predetermined area for a predetermined period of time. A collection step of acquiring a communication device ID set, which is a set of information indicating whether identification information of a plurality of communication devices to be arranged and signals received by different communication devices are transmitted from the same point;
Generate reception information that counts the number of receptions for each identification information included in the set of communication device IDs and the number of receptions at which the identification information is received or transmitted at the same point for each set of two identification information. Receiving information generation step,
A range information acquisition step for acquiring communication range information indicating a transmission range of each communication device or a transmission range of the receivable mobile unit;
A distance calculating step of calculating a distance between communication devices between the two communication devices included in the plurality of communication devices from the reception information and the communication range information;
Obtaining the communication device information including the identification information and installation coordinates of each of the three communication devices that can form a triangle having the apex of the position among the plurality of communication devices;
From the distance between the communication devices and the communication device information, a coordinate calculation step for calculating installation coordinates of each of the communication devices,
A program characterized by having executed.

DESCRIPTION OF SYMBOLS 1 Position measurement system 2 Position measurement apparatus 3 Transmitter 4 ID receiver 11 Reception information generation part 12 Reception information database (reception information DB)
13 Transmitter Distance Calculation Unit 14 Transmitter Information Database (Transmitter Information DB)
DESCRIPTION OF SYMBOLS 15 Transmitter position calculation part 16 Position estimation part 17 Virtual coordinate calculation part 20 Internal bus 21 Control part 22 Main memory part 23 External storage part 24 Operation part 25 Display part 26 Input / output part 27 Transmission / reception part 29 Control program

Claims (10)

A plurality of communication devices that are arranged in a distributed manner, each of which transmits identification information wirelessly in a predetermined cycle, or receives the signal from a mobile that wirelessly transmits a signal in a predetermined cycle;
A mobile body that receives identification information transmitted by the communication device, or a mobile body that wirelessly transmits a signal at the predetermined period;
A set of information indicating whether or not the identification information received by the mobile unit from the communication device at a plurality of points in a predetermined region and the two different pieces of identification information are the same for a predetermined period, or The identification information of the communication device that has received the signal transmitted in the predetermined period while moving in a predetermined region for a predetermined period of time, and whether the signal received by the different communication device was transmitted from the same point A collection means for obtaining a set of communication device IDs, which is a set of information indicating whether or not
Generate reception information that counts the number of receptions for each identification information included in the set of communication device IDs and the number of receptions at which the identification information is received or transmitted at the same point for each set of two identification information. Receiving information generating means for
Range information acquisition means for acquiring communication range information indicating a transmission range of each communication device or a transmission range of the receivable mobile unit;
Distance calculating means for calculating a distance between communication devices between two communication devices included in the plurality of communication devices from the reception information and the communication range information;
Means for acquiring communication device information including the identification information and installation coordinates of each of the three communication devices that can form a triangle having the position as a vertex among the plurality of communication devices;
From the distance between the communication devices and the communication device information, coordinate calculation means for calculating the installation coordinates of each of the communication devices,
A position measurement system comprising: The communication range information includes an area radius indicating the reach range or the transmission range of each of the plurality of communication devices,
The distance calculation unit calculates the distance between the communication devices by regarding the reachable range or the transmission range of the communication devices as a circle of the area radius centered on the communication device. The position measurement system according to 1.   3. The position measurement according to claim 2, wherein the distance calculation unit calculates the inter-communication distance from the area radius of each of the two communication devices and an overlapping area of the reachable range or the transmission range. system.   The distance calculation means is configured to determine the number of reception times at which the reception or transmission point is the same as the reception number for each identification information of the two communication devices in the area of the reach or transmission range of the two communication devices. The position measurement system according to claim 3, wherein the overlapping area is calculated by applying a ratio.   The position measurement system according to claim 2, wherein the area radii of the plurality of communication devices are the same.   The coordinate calculation means calculates a relative coordinate of the other communication device with respect to the two communication devices by using a cosine theorem from the distance between the communication devices. The position measurement system according to item 1.   The coordinate calculation means sets a virtual coordinate system in which any one of the communication devices is an origin and a straight line passing through the other one and the origin is one of coordinate axes, and the distance between the communication devices is The position measurement system according to claim 6, wherein virtual coordinates in the virtual coordinate system of a communication device are calculated, and coordinates of the communication device are calculated from the communication device information and the virtual coordinates. Receiving identification information received at a plurality of points within a predetermined area and two different types of identification information from a plurality of communication devices that are arranged in a distributed manner each transmitting identification information wirelessly at a predetermined cycle A set of information indicating whether or not the points are the same, or a mobile body that transmits signals wirelessly at a predetermined cycle has received a signal transmitted while moving within a predetermined area for a predetermined period of time. A collection means for acquiring a set of communication device IDs, which is identification information of a plurality of communication devices to be arranged and a set of information indicating whether signals received by different communication devices are transmitted from the same point;
Generate reception information that counts the number of receptions for each identification information included in the set of communication device IDs and the number of receptions at which the identification information is received or transmitted at the same point for each set of two identification information. Receiving information generating means for
Range information acquisition means for acquiring communication range information indicating a transmission range of each communication device or a transmission range of the receivable mobile unit;
Distance calculating means for calculating a distance between communication devices between two communication devices included in the plurality of communication devices from the reception information and the communication range information;
Means for acquiring communication device information including the identification information and installation coordinates of each of the three communication devices that can form a triangle having the position as a vertex among the plurality of communication devices;
From the distance between the communication devices and the communication device information, coordinate calculation means for calculating the installation coordinates of each of the communication devices,
A position measuring device comprising: Receiving identification information received at a plurality of points within a predetermined area and two different types of identification information from a plurality of communication devices that are arranged in a distributed manner each transmitting identification information wirelessly at a predetermined cycle A set of information indicating whether or not the points are the same, or a mobile body that transmits signals wirelessly at a predetermined cycle has received a signal transmitted while moving within a predetermined area for a predetermined period of time. A collection step of acquiring a communication device ID set, which is a set of information indicating whether identification information of a plurality of communication devices to be arranged and signals received by different communication devices are transmitted from the same point;
Generate reception information that counts the number of receptions for each identification information included in the set of communication device IDs and the number of receptions at which the identification information is received or transmitted at the same point for each set of two identification information. Receiving information generation step,
A range information acquisition step for acquiring communication range information indicating a transmission range of each communication device or a transmission range of the receivable mobile unit;
A distance calculating step of calculating a distance between communication devices between the two communication devices included in the plurality of communication devices from the reception information and the communication range information;
Obtaining the communication device information including the identification information and installation coordinates of each of the three communication devices that can form a triangle having the apex of the position among the plurality of communication devices;
From the distance between the communication devices and the communication device information, a coordinate calculation step for calculating installation coordinates of each of the communication devices,
A position measurement method comprising: On the computer,
Receiving identification information received at a plurality of points within a predetermined area and two different types of identification information from a plurality of communication devices that are arranged in a distributed manner each transmitting identification information wirelessly at a predetermined cycle A set of information indicating whether or not the points are the same, or a mobile body that transmits signals wirelessly at a predetermined cycle has received a signal transmitted while moving within a predetermined area for a predetermined period of time. A collection step of acquiring a communication device ID set, which is a set of information indicating whether identification information of a plurality of communication devices to be arranged and signals received by different communication devices are transmitted from the same point;
Generate reception information that counts the number of receptions for each identification information included in the set of communication device IDs and the number of receptions at which the identification information is received or transmitted at the same point for each set of two identification information. Receiving information generation step,
A range information acquisition step for acquiring communication range information indicating a transmission range of each communication device or a transmission range of the receivable mobile unit;
A distance calculating step of calculating a distance between communication devices between the two communication devices included in the plurality of communication devices from the reception information and the communication range information;
Obtaining the communication device information including the identification information and installation coordinates of each of the three communication devices that can form a triangle having the apex of the position among the plurality of communication devices;
From the distance between the communication devices and the communication device information, a coordinate calculation step for calculating installation coordinates of each of the communication devices,
A program characterized by having executed.

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