JP2017181166A - Location positioning device, location positioning method, and location positioning program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve a location positioning accuracy of a radio wave receiving device.SOLUTION: In a radio wave receiving device 3, (a) a position of the radio wave receiving device 3 is calculated by using intensity of three radio waves among intensity of radio waves from radio wave transmission devices of n sets (n≥4) for each combination of three radio wave transmission devices 1 different from one another, (b) distances up to the radio wave receiving device 3 from the n sets of the radio wave transmission device 1 are calculated, respectively, by using the radio wave intensity, and the reciprocal of the sum of the distance from the radio wave transmission device 1 is obtained for each of the combinations, and a weighting coefficient for the position of the radio wave receiving device 3 is calculated for each of the combinations by dividing the reciprocal for each obtained combination by the sum of the reciprocal for all the combinations, and (c) a weighting coefficient is multiplied on positions of the radio wave receiving device 3, respectively, for each of the combinations, and the total sum of the multiplied value is defined as a positioning position of the radio wave receiving device 3.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a technique for positioning the position of a radio wave receiving device from radio wave information.

  There are various location information services today. In the location information service, the location of a radio wave receiving device (hereinafter referred to as a receiving terminal) is clarified using the radio wave intensity transmitted by a radio wave transmitting device (hereinafter referred to as a base station) such as a wireless LAN access point, and then the current location of the user. It provides added value such as position and navigation functions. In order to specify the current position of the user, a technique for acquiring radio wave information and a technique for specifying the position from the radio wave information are required in addition to the application for displaying the position information.

  As a method of calculating the position information of the receiving terminal using the radio wave information, using the property that the radio wave intensity becomes weak in inverse proportion to the distance from the base station, the receiving terminal's position is calculated based on the radio wave intensity from the three base stations. Three-point positioning for calculating coordinates on a two-dimensional plane is known. By using the coordinates of the three base stations on the two-dimensional plane and the distances from the three base stations to the receiving terminal obtained by converting the radio field intensity, the coordinates of the receiving terminal can be uniquely specified. . For example, it is used for Wi-Fi three-point positioning using the radio wave intensity of a wireless LAN.

  However, since the radio wave intensity fluctuates, an error occurs in the positioning accuracy of the three-point positioning, and the influence increases as the radio wave becomes weaker as the distance from the base station increases. Resulting in. Therefore, when there are four or more base stations in the vicinity, the positioning accuracy can be maintained by using the three radio wave strengths having higher radio wave strengths.

JP 2013-109049 A

  However, when the base station used for the calculation of the three-point positioning is switched with the movement of the receiving terminal, the coordinates of the new base station and the radio wave intensity that have not been used so far are used. Suddenly large fluctuations occur. This also tends to cause a deterioration in position positioning accuracy. Further, the radio wave intensity varies due to fluctuations, and this phenomenon may occur repeatedly. For example, when four base stations are installed at the positions shown in FIG. 20, if the central receiving terminal moves from the area of the base stations A, B, C to the area of the base stations A, D, C. Since the base station with the weakest radio wave intensity is the base station B farthest from the receiving terminal, the base stations A, B, C used for the calculation of the three-point positioning are switched to the base stations A, D, C, The positioning position of the receiving terminal may fly discontinuously.

  In order to solve the same problem as the above problem, in Patent Document 1 (paragraph 0127 to paragraph 0133), in addition to the three corresponding points P1, P2, and P3, one corresponding point P4 within a certain distance from the gazing point. Is obtained as a reference point, and three-point positioning is performed for each of ΔP1, P2, P3 and ΔP1, P2, P4, and a weighted average is calculated. In this case, discontinuity of the positioning position can be suppressed to some extent if the receiving terminal moves in a certain direction, such as moving in a direction perpendicular to the line segment of the corresponding points P1 and P2. However, the moving direction of the receiving terminal is not necessarily a fixed direction, and the effect is considered to be limited considering that the receiving terminal arbitrarily moves in a 360 ° azimuth.

  The present invention has been made in view of the above problems, and an object of the present invention is to improve the positioning accuracy of a radio wave receiving apparatus.

  In order to solve the above-described problem, the position measuring device according to claim 1 is configured such that the position of the radio wave receiving device is different from each other using three radio wave intensities among the radio wave intensities from four or more radio wave transmitters. A means for calculating for each combination of transmitters, and a distance from the four or more radio transmitters to the radio receiver using the radio wave intensity, respectively, and a sum of distances from the radio transmitters for each combination Means for calculating a weighting coefficient for the position of the radio wave receiving device for each combination by determining the reciprocal and dividing the reciprocal for each obtained combination by the sum of the reciprocals for all the combinations, and for each combination Means for multiplying the position of the radio wave receiver by the weighting coefficient, and setting the sum of the multiplied values as the positioning position of the radio wave receiver. The gist of the door.

  The position positioning method according to claim 2 is a position positioning method performed by a position positioning device, wherein the positions of the radio wave receiving devices are different from each other using three radio wave intensities among the radio wave intensities from four or more radio wave transmitters. Calculating for each combination of two radio wave transmitters, and calculating the distance from each of the four or more radio wave transmitters to the radio wave receiver using the radio wave intensity, and calculating the distance from the radio wave transmitter for each combination. Obtaining a reciprocal of the sum, and calculating a weighting coefficient for the position of the radio wave receiving device for each combination by dividing the reciprocal of each obtained combination by the sum of the reciprocals of all the combinations, and For each combination, the position of the radio wave receiver is multiplied by the weighting coefficient, and the sum of the multiplied values is determined as the positioning position of the radio wave receiver. Comprising the steps of, and summarized in that comprises a.

  The gist of a position positioning program according to claim 3 is to cause a computer to function as the position positioning device according to claim 1.

  According to the present invention, it is possible to improve the positioning accuracy of the radio wave receiver.

It is a reference figure at the time of explaining the outline of the present invention. It is a reference figure at the time of explaining the outline of the present invention. It is a reference figure at the time of explaining the outline of the present invention. It is a reference figure at the time of explaining the outline of the present invention. It is a reference figure at the time of explaining the outline of the present invention. It is a reference figure at the time of explaining the outline of the present invention. It is a figure which shows the whole operation | movement outline | summary of the system which concerns on 1st Embodiment. It is a figure which shows the example of whole structure of the system which concerns on 1st Embodiment. It is a figure showing an example of functional block composition of a system concerning a 1st embodiment. It is a sequence diagram which shows the registration process of the base station information which concerns on 1st Embodiment. It is a sequence diagram which shows the position positioning process of the radio wave receiver which concerns on 1st Embodiment. It is a sequence diagram which shows the position positioning process of the radio wave receiver which concerns on 1st Embodiment. It is a sequence diagram which shows the position positioning process of the radio wave receiver which concerns on 1st Embodiment. It is a flowchart which shows the registration process of the base station information which concerns on 1st Embodiment. It is a figure which shows the example of base station information. It is a flowchart which shows the position positioning process of the radio wave receiver which concerns on 1st Embodiment. It is a sequence diagram which shows the position positioning process of the radio wave receiver which concerns on 2nd Embodiment. It is a sequence diagram which shows the position positioning process of the radio wave receiver which concerns on 2nd Embodiment. It is a sequence diagram which shows the position positioning process of the radio wave receiver which concerns on 2nd Embodiment. It is a reference figure at the time of problem description.

  Hereinafter, an embodiment for carrying out the present invention will be described with reference to the drawings.

<Outline of the invention>
First, the outline of the present invention will be described. There are n base stations (n is 4 or more), and the receiving terminal executes the present invention when receiving radio waves from 4 or more of them.

  Here, a case where there are four base stations will be described as an example.

  First, as shown in FIG. 1, the receiving terminal 3 receives the radio waves from the four base stations A to D, and measures the radio field strengths (step S1).

Next, as shown in FIG. 2, the receiving terminal 3 sequentially selects three base stations based on the measured radio field intensity, and executes three-point positioning for all combinations of ₄ C _three base stations ( Step S2). Specifically, three-point positioning by base stations A, B, C, three-point positioning by base stations A, B, D, three-point positioning by base stations A, C, D, three by base stations B, C, D Point positioning is performed, the three-point positioning results by the base stations A, B, and C are (x ₁ , y ₁ ), the three-point positioning results by the base stations A, B, and D are (x ₂ , y ₂ ), and the base The three-point positioning result by the stations A, C, and D is (x ₃ , y ₃ ), and the three-point positioning result by the base stations B, C, and D is (x ₄ , y ₄ ).

  Next, as shown in FIG. 3, the receiving terminal 3 calculates the distance from each base station A to D to its own terminal using the radio wave intensity from each base station A to D measured in step S1. (Step S3). The method for obtaining the distance relationship from the radio wave intensity is arbitrary. For example, there is a method for obtaining based on actual measurement values. FIG. 3 illustrates a method for calculating the distance X from the radio field intensity A ′ of the base station A from a graph showing the relationship between the radio field intensity and the distance at a commercially available Wi-Fi access point.

Next, since the receiving terminal 3 corrects the position of the three-point positioning obtained in step S2, first, as shown in FIG. 4, for each combination of three base stations, the distance between the base station and the receiving terminal And the inverse of the sum is obtained (step S4). Specifically, the reciprocal of the sum of the distances of the base stations A, B, C is α, the reciprocal of the sum of the distances of the base stations A, B, D is β, and the reciprocal of the sum of the distances of the base stations A, C, D. Is γ, and the reciprocal of the sum of the distances of the base stations B, C, D is δ,
α = 1 / (distance from base station A + distance from base station B + distance from base station C)
β = 1 / (distance from base station A + distance from base station B + distance from base station D)
γ = 1 / (distance from base station A + distance from base station C + distance from base station D)
δ = 1 / (distance from base station B + distance from base station C + distance from base station D)
Is calculated.

  Subsequently, as shown in FIG. 5, the receiving terminal 3 calculates a weighting coefficient for each three-point positioning position from the reciprocal of the total distance obtained in step S4 (step S5). Specifically, α / (α + β + γ + δ), β / (α + β + γ + δ), γ / (α + β + γ + δ), and δ / (α + β + γ + δ) are calculated using the reciprocal of the total value of the distances.

Finally, as shown in FIG. 6, the receiving terminal 3 multiplies each coordinate value of the position of the three-point positioning obtained in step S2 by the weighting coefficient obtained in step S5, and takes all the sums. The calculation result is set as the positioning position of the receiving terminal 3 (step S6). Specifically, {α / (α + β + γ + δ) × (x ₁ , y ₁ ) + β / (α + β + γ + δ) × (x ₂ , y ₂ ) + γ / (α + β + γ + δ) × (x ₃ , y ₃ ) + δ / (α + β + γ + δ) The calculation result of × (x ₄ , y ₄ )} is set as the position of the receiving terminal 3. In step S6, a process of correcting the position of the receiving terminal 3 obtained in step S2 using the weighting coefficient obtained in step S5 is executed.

<First Embodiment>
Next, a first embodiment of the present invention will be described. FIG. 7 is a diagram showing an outline of the operation of the entire system according to the present embodiment described below. Since it will be described in detail later, description here is omitted. In the present embodiment, a case will be described in which the position of receiving terminal 3 is specified using radio waves from four base stations A to D, similarly to the configuration described in the above <Summary of Invention>.

  FIG. 8 is a diagram showing an example of the overall configuration of the system according to the present embodiment. FIG. 9 is a diagram illustrating a functional block configuration example of the system illustrated in FIG.

  This system includes a radio wave transmitter 1 (base station) that transmits radio waves, a radio wave receiver 3 (receiver terminal) that receives the radio waves, and a base station information storage device that stores base station information related to the base station 5.

  The radio wave transmission device 1 is a base station or the like fixed at a predetermined position on the earth, and is a device that transmits a radio wave including an identification ID of the own device. Specifically, it is configured to include a radio wave transmission unit 11 that transmits a radio wave including an identification ID of its own device via a wireless facility such as an antenna. For example, a Wi-Fi access point, a Bluetooth tag, a mobile phone / PHS base station, and the like.

  The radio wave receiving device 3 is a portable receiving terminal, receives radio waves from the radio wave transmitting device 1, and distance information from the radio wave transmitting device 1 to its own device and position information of the radio wave transmitting device 1 converted from the radio wave intensity. Is a device (position positioning device) that measures the position of its own device on the earth. Specifically, the radio wave receiving unit 31 that receives radio waves from the radio wave transmitting device 1, the distance calculating unit 32 that calculates the distance from the radio wave transmitting device 1 to its own device from the received radio wave intensity, and the radio wave transmitting device 1 identification An information transmitting / receiving unit 33 that transmits an ID to the base station information storage device 5 to receive the location information of the radio wave transmission device 1, distance information from the radio wave transmission device 1 to its own device, and location information of the radio wave transmission device 1. And a position positioning calculation unit 34 that measures the position of the device itself. For example, it can be configured by using a CPU and a memory that construct a smartphone, a tablet terminal, and the like.

  The base station information storage device 5 is a device that stores location information related to the radio wave transmission device 1. Specifically, the information transmission / reception unit 51 that receives the identification ID of the radio wave transmission device 1 from the radio wave reception device 3 and transmits position information corresponding to the identification ID, the identification ID of the radio wave transmission device 1, and the radio wave transmission device 1 The base station information storage DB 52 for storing the base station information associated with the position of the radio wave and the identification ID and the position information of the radio wave transmitter 1 input by the administrator or the like are received and stored in the base station information storage DB 52 And an information input unit 53. For example, it can be configured using a server, a workstation, or the like that can input and update such information.

  Next, the operation of the system according to the present embodiment will be described.

  First, a processing operation for registering base station information in the base station information storage device 5 will be described with reference to FIG.

  First, in the base station information storage device 5, the information input unit 53 includes an identification ID for identifying the radio wave transmission device 1 input by an administrator or the like, and position information indicating the position where the radio wave transmission device 1 is installed. Is received (step S101).

  Finally, the base station information storage DB 52 stores the identification ID of the radio wave transmitting device 1 input in step S101 and the position information in association with each other as base station information (step S102).

  Next, a processing operation for measuring the position of the radio wave receiving device 3 will be described with reference to FIGS.

  First, in the four radio wave transmission devices 1, each radio wave transmission unit 11 transmits a radio wave including an identification ID of the own device from the wireless antenna (step S201).

  Next, in the radio wave receiver 3, the radio wave receiver 31 receives the radio waves transmitted from the four radio wave transmitters 1 and measures their radio field strengths (step S202).

  Next, the information transmitting / receiving unit 33 acquires identification IDs from the radio waves received from the four radio wave transmitting devices 1, and transmits all the identification IDs to the base station information storage device 5 (step S203).

  Next, in the base station information storage device 5, the base station information storage DB 52 extracts position information corresponding to the identification ID from the radio wave receiver 3 (step S204), and the information transmitting / receiving unit 51 extracts all the extracted positions. Information is returned to the radio wave receiving device 3 (step S205).

Next, in the radio wave receiving device 3, the position measurement calculating unit 34 determines the radio wave intensity of the four radio wave transmitting devices 1 obtained in step S202 and the position information of the four radio wave transmitting devices 1 received in step S205. Are used to perform 3 point positioning for all combinations of the ₄ C _three types of radio wave transmission apparatuses 1 to calculate ₄ C _three types of positions, respectively (step S206).

Specifically, assuming that the four radio wave transmission devices 1 are base stations A, B, C, and D, three-point positioning by the base stations A, B, and C, three-point positioning by the base stations A, B, and D, the base The three-point positioning by the stations A, C, and D and the three-point positioning by the base stations B, C, and D are respectively executed, and the three-point positioning results by the base stations A, B, and C are (x ₁ , y ₁ ), and the base station The three-point positioning results by A, B, D are (x ₂ , y ₂ ), the three-point positioning results by base stations A, C, D are (x ₃ , y ₃ ), and the three points by base stations B, C, D The positioning result is (x ₄ , y ₄ ).

  Next, the distance calculation unit 32 calculates the distance from each radio wave transmission device 1 to its own device (the radio wave reception device 3) using the radio wave strengths of the four radio wave transmission devices 1 obtained in step S202 ( Step S207).

Next, the positioning calculation unit 34 obtains the reciprocal of the sum of the distances from the radio wave transmission device 1 for each of the ₄ C _three combinations, and the reciprocal for each obtained combination is the sum of the reciprocals for all the combinations. By dividing each, a weighting coefficient for the position of the radio wave receiver 3 is calculated for each of the ₄ C _three combinations (step S208).

Specifically, the four radio wave transmitting devices 1 are base stations A, B, C, and D, the reciprocal of the sum of the distances of the base stations A, B, and C is α, and the distances of the base stations A, B, and D are If the reciprocal of the sum is β, the reciprocal of the sum of the distances of the base stations A, C, D is γ, and the reciprocal of the sum of the distances of the base stations B, C, D is δ,
α = 1 / (distance from base station A + distance from base station B + distance from base station C)
β = 1 / (distance from base station A + distance from base station B + distance from base station D)
γ = 1 / (distance from base station A + distance from base station C + distance from base station D)
δ = 1 / (distance from base station B + distance from base station C + distance from base station D)
Is calculated. Thereafter, α / (α + β + γ + δ), β / (α + β + γ + δ), γ / (α + β + γ + δ), and δ / (α + β + γ + δ) are calculated. That is, in step S208, the weighting coefficient is calculated so that the combination of the radio wave transmitting device 1 closer to the radio wave receiving device 3 is prioritized in the positioning result by taking the reciprocal number based on the total distance value. . The total value of the weighting coefficients is 1.

Finally, the position measurement calculation unit 34 multiplies the position of the radio wave receiving device 3 obtained in step S206 for each of the ₄ C _three combinations by the weighting coefficient obtained in step S208, and calculates the sum of the multiplied values. It is calculated as a positioning position of (radio wave receiver 3) (step S209).

Specifically, {α / (α + β + γ + δ) × (x ₁ , y ₁ ) + β / (α + β + γ + δ) × (x ₂ , y ₂ ) + γ / (α + β + γ + δ) × (x ₃ , y ₃ ) + δ / (α + β + γ + δ) The calculation result of × (x ₄ , y ₄ )} is taken as the position of the radio wave receiver 3.

  Next, the base station information registration processing operation performed by the base station information storage device 5 will be described with reference to FIG.

  First, the information input unit 53 receives the identification ID of the radio wave transmission device 1 input by an administrator or the like (step S301).

  Next, the information input unit 53 receives the input of the position information of the radio wave transmitting device 1 corresponding to the identification ID of the radio wave transmitting device 1, and the base station information storage DB 52 receives the identification ID of the input radio wave transmitting device 1. And location information are stored in association with each other as base station information (step S302).

  An example of base station information is shown in FIG. In FIG. 15, “access point AP identification information” is illustrated as identification information of the radio wave transmission device 1, and “coordinates” are illustrated as position information of the radio wave transmission device 1. The position information may be latitude / longitude representing position coordinates on the earth, relative coordinates starting from a certain place, or the like.

  Next, with reference to FIG. 16, the position measurement processing operation of the own device performed by the radio wave receiver 3 will be described.

  First, the radio wave receiver 31 receives radio waves including the identification IDs of the radio wave transmitters 1 transmitted from the four radio wave transmitters 1 and measures their radio field strengths (step S401).

  Next, the information transmission / reception unit 33 acquires identification IDs from the radio waves received from the four radio wave transmission devices 1, and obtains location information of the radio wave transmission devices 1 corresponding to the identification IDs from the base station information storage device 5. Each is retrieved and acquired from the station information storage DB (step S402).

Next, the position measurement calculation unit 34 uses the radio wave intensity of the radio wave transmitter 1 of the four calculated in step S401, the acquired position information of the radio wave transmitter 1 of the four said in step S402, ₄ C _Three- point positioning is executed for all combinations of the three radio wave transmitters 1 to calculate ₄ C _three positions, respectively (step S403).

  Next, the distance calculation unit 32 calculates the distance from each radio wave transmission device 1 to its own device (radio wave reception device 3) using the radio wave strengths of the four radio wave transmission devices 1 obtained in step S401 ( Step S404).

Next, the positioning calculation unit 34 obtains the reciprocal of the sum of the distances from the radio wave transmission device 1 for each of the ₄ C _three combinations, and the reciprocal for each obtained combination is the sum of the reciprocals for all the combinations. By dividing each, a weighting coefficient for the position of the radio wave receiver 3 is calculated for each of the ₄ C _three combinations (step S405).

Finally, the position measurement calculation unit 34 multiplies the position of the radio wave reception device 3 obtained in step S403 for each of the ₄ C _three combinations by the weighting coefficient obtained in step S405, and calculates the total sum of the multiplied values. It is calculated as the positioning position of (radio wave receiver 3) (step S406).

<Second Embodiment>
Next, a second embodiment will be described. In the present embodiment, a case will be described in which the number of base stations is generalized to n (n ≧ 4). Here, the description is centered on the contents related to generalization, and the rest is the same as in the first embodiment, and is therefore omitted. Specifically, with respect to the overall configuration of the system, the functional block configuration of the radio wave transmitting device 1, the radio wave receiving device 3, and the base station information storage device 5, and the base station information registration process, refer to the first embodiment. I want.

  First, a processing operation for positioning the position of the radio wave receiving device 3 will be described with reference to FIGS.

  First, in the n radio wave transmitting devices 1, each radio wave transmitting unit 11 transmits a radio wave including its own identification ID from the wireless antenna (step S501).

  Next, in the radio wave receiving device 3, the radio wave receiving unit 31 receives the radio waves transmitted from the n radio wave transmitting devices 1 and measures the radio wave intensity thereof (step S502).

  Next, the information transmitting / receiving unit 33 acquires identification IDs from the radio waves received from the n radio wave transmitting devices 1, and transmits all the identification IDs to the base station information storage device 5 (step S503).

  Next, in the base station information storage device 5, the base station information storage DB 52 extracts position information corresponding to the identification ID from the radio wave receiving device 3 (step S504), and the information transmitting / receiving unit 51 extracts all the extracted positions. Information is returned to the radio wave receiver 3 (step S505).

Next, in the radio wave receiver 3, the position measurement calculation unit 34 calculates the radio wave intensity of the n radio wave transmitters 1 obtained in step S502 and the position information of the n radio wave transmitters 1 received in step S205. Are used to perform the three-point positioning for all the combinations of the _n C _three types of radio wave transmission devices 1, and calculate the _n C _three types of positions, respectively (step S506).

Specifically, n radio wave transmission devices 1 are connected to base stations A, B, C, D,..., L, M, N (L is the n-2th unit, M is the n-1th unit, and N is n. ), Three-point positioning by base stations A, B, C, three-point positioning by base stations A, B, D,..., Three-point positioning by base stations A, B, N, base station A, 3-point positioning by C, D, 3-point positioning by base stations A, C, E, ..., 3-point positioning by base stations A, C, N, ..., 3-point positioning by base stations L, M, N Then, the three-point positioning results by the base stations A, B, and C are (x ₁ , y ₁ ), the three-point positioning results by the base stations A, B, and D are (x ₂ , y ₂ ),. B, N three-point positioning results (x _n , y _n ), base stations A, C, D three-point positioning results (x _{n + 1} , y _{n + 1} ), three-point positioning results by base stations A, C, E (X _{n + 2} , y _{n + 2} ), ..., three-point positioning results by the base stations A, C, N (x _2n-1 , y _2n-1 ), ..., three-point positioning results by the base stations L, M, N (x _m , y _m ). The subscript m represents _n C ₃ .

  Next, the distance calculation unit 32 calculates the distance from each radio wave transmission device 1 to its own device (the radio wave reception device 3) using the radio wave intensity of the n radio wave transmission devices 1 obtained in step S502 ( Step S507).

Next, the position measurement calculation unit 34 obtains the reciprocal of the sum of the distances from the radio wave transmission device 1 for each of the _n C _three combinations, and the reciprocal of each obtained combination is the sum of the reciprocals of all the combinations. By dividing each, a weighting coefficient for the position of the radio wave receiver 3 is calculated for each of the _n C _three combinations (step S508).

Specifically, n radio wave transmitters 1 are base stations A, B, C, D,..., N, and the reciprocal of the sum of the distances of base stations A, B, C is α, base stations A, B, The inverse of the sum of the distances of D is β, the inverse of the sum of the distances of the base stations A, B, N is ζ, the inverse of the sum of the distances of the base stations A, C, D is η, and the base stations A, C, E If the reciprocal of the sum of the distances is θ, ..., the reciprocal of the sum of the distances of the base stations A, C, N is κ, ..., and the reciprocal of the sum of the distances of the base stations L, M, N is μ,
α = 1 / (distance from base station A + distance from base station B + distance from base station C)
β = 1 / (distance from base station A + distance from base station B + distance from base station D)
...
ζ = 1 / (distance from base station A + distance from base station B + distance from base station N)
η = 1 / (distance from base station A + distance from base station C + distance from base station D)
θ = 1 / (distance from base station A + distance from base station C + distance from base station E)
...
κ = 1 / (distance from base station A + distance from base station C + distance from base station N)
...
μ = 1 / (distance from base station L + distance from base station M + distance from base station N)
Is calculated. Then, α / (α + β + ... + μ), β / (α + β + ... + μ), ..., ζ / (α + β + ... + μ), η / (α + β + ... + μ), θ / (α + β + ... + μ), ..., κ / (α + β + ... + Μ),... Μ / (α + β +... + Μ) are calculated.

Finally, the position measurement calculation unit 34 multiplies the position of the radio wave reception device 3 obtained in step S506 for each of the _n C _three combinations by the weighting coefficient obtained in step S508, and adds the sum of the multiplied values to the own device. It is calculated as a positioning position of (radio wave receiving device 3) (step S509).

Specifically, {α / (α + β + ... + μ) × (x ₁ , y ₁ ) + β / (α + β + ... + μ) × (x ₂ , y ₂ ) + ... + ζ / (α + β + ... + μ) × (x _n , y _n ) + η / (α + β +... + μ) × (x _{n + 1} , y _{n + 1} ) + θ / (α + β +... + μ) × (x _{n + 2} , y _{n + 2} ) + ... + κ / (α + β +... + μ) × (x _2n−1 , y _2n−1 ) +... + Μ / (α + β +... + Μ) × (x _m , y _m )} is taken as the position of the radio wave receiver 3.

  Next, the position measurement processing operation of the own device performed by the radio wave receiver 3 will be described. Since it is the same as the content of the measurement process shown in FIG. 16, illustration is abbreviate | omitted.

  First, the radio wave receiver 31 receives radio waves including identification IDs of the radio wave transmitters 1 transmitted from the n radio wave transmitters 1 and measures their radio field strengths (step S601).

  Next, the information transmission / reception unit 33 acquires identification IDs from the radio waves received from the n radio wave transmission devices 1, and obtains the location information of the radio wave transmission devices 1 corresponding to the identification IDs from the base station information storage device 5. Each is retrieved and acquired from the station information storage DB (step S602).

Next, the position measurement calculation unit 34 uses the radio field intensity of the n radio wave transmission devices 1 obtained in step S601 and the position information of the n radio wave transmission devices 1 acquired in step S602 to calculate _n C. _Three- point positioning is executed for all combinations of the three radio wave transmitters 1 to calculate _n C _three different positions (step S603).

  Next, the distance calculation unit 32 calculates the distance from each radio wave transmitting device 1 to its own device (the radio wave receiving device 3) using the radio wave intensity of the n radio wave transmitting devices 1 obtained in step S601 ( Step S604).

Next, the position measurement calculation unit 34 obtains the reciprocal of the sum of the distances from the radio wave transmission device 1 for each of the _n C _three combinations, and the reciprocal of each obtained combination is the sum of the reciprocals of all the combinations. By dividing each, a weighting coefficient for the position of the radio wave receiving device 3 is calculated for each of the _n C _three combinations (step S605).

Finally, the position measurement calculation unit 34 multiplies the position of the radio wave reception device 3 obtained in step S603 for each of the _n C _three combinations by the weighting coefficient obtained in step S605, and calculates the sum of the multiplied values. It is calculated as the positioning position of (radio wave receiver 3) (step S606).

<Effects of each embodiment>
Finally, effects of the first embodiment and the second embodiment will be described. According to the present embodiment, in the radio wave receiving device 3, the positions of the radio wave receiving devices 3 are different from each other using (a) three radio wave intensities out of n (n ≧ 4) radio wave transmitting devices. Calculation is made for each combination of the three radio wave transmission devices 1, (b) the distance from the n radio wave transmission devices 1 to the radio wave reception devices 3 is calculated using the radio wave intensity, and the radio wave transmission device 1 is calculated for each combination. By calculating the reciprocal of the sum of the distances from each other and dividing the reciprocal of each obtained combination by the sum of the reciprocals of all the combinations, a weighting coefficient for the position of the radio wave receiver 3 is calculated for each combination. , (C) multiplying the position of the radio wave receiving device 3 by the weighting coefficient for each combination, and setting the sum of the multiplied values as the positioning position of the radio wave receiving device 3 (correcting the position of the three-point positioning) ) So to improve the positioning accuracy of the radio wave receiving apparatus 3, it is possible to prevent the deterioration of the accuracy.

  Moreover, since the weighting coefficient calculated so that the combination of the radio wave transmission device 1 closer to the radio wave reception device 3 is prioritized over the positioning result is corrected from the total value of the distances, Since the influence is reduced, it is possible to prevent the position positioning result from jumping in the vicinity of the region where the combination of the radio wave transmission devices 1 used for positioning is switched, and the position positioning by the radio wave transmission device 1 is prevented from suddenly switching. be able to.

  Further, the radio wave transmitting device 1 whose radio wave intensity is weakened by the movement of the radio wave receiving device 3 has a lower weighting coefficient as the distance increases, and the influence on the position positioning is gradually reduced. Even if disconnected, the influence on the positioning result can be reduced.

  Finally, the radio wave receiver (position positioning device) 3 according to the present embodiment can be realized by a computer having a calculation function such as a CPU and a storage function such as a memory. It is also possible to construct a position positioning method of an algorithm provided in the position positioning device and a position positioning program for causing the computer to function. Furthermore, it is also possible to generate a storage medium for the program, install it on a computer, execute it, and distribute it via a communication or distribution network.

DESCRIPTION OF SYMBOLS 1 ... Radio wave transmission apparatus 11 ... Radio wave transmission part 3 ... Radio wave reception apparatus (position positioning apparatus), receiving terminal 31 ... Radio wave reception part 32 ... Distance calculation part 33 ... Information transmission / reception part 34 ... Position positioning calculation part 5 ... Base station information storage Device 51 ... Information transmitting / receiving unit 52 ... Base station information storage DB
53 ... Information input section S1-S6, S101-S102, S201-S209, S301-S302, S401-S406, S501-S509, S601-S606 ... step

Claims (3)

Means for calculating the position of the radio wave receiver for each combination of three different radio wave transmitters using the three radio wave strengths of the radio wave intensity from four or more radio wave transmitters;
Calculate the distances from the four or more radio wave transmitters to the radio wave receivers using the radio wave intensity, and calculate the reciprocal of the sum of the distances from the radio wave transmitters for each of the combinations. Means for calculating a weighting coefficient for the position of the radio wave receiver for each of the combinations by dividing the reciprocal by the sum of the reciprocals of all combinations;
Means for multiplying the position of the radio wave receiving device for each combination by the weighting coefficient, and setting the sum of the multiplied values as the positioning position of the radio wave receiving device;
A position positioning device comprising: In the positioning method performed by the positioning device,
Calculating the position of the radio wave reception device for each combination of three different radio wave transmission devices using the three radio wave strengths among the radio wave strengths from four or more radio wave transmission devices;
Calculate the distances from the four or more radio wave transmitters to the radio wave receivers using the radio wave intensity, and calculate the reciprocal of the sum of the distances from the radio wave transmitters for each of the combinations. Calculating a weighting coefficient for the position of the radio wave receiver for each of the combinations by dividing the reciprocal by the sum of the reciprocals of all combinations;
Multiplying the position of the radio wave receiver by the weighting coefficient for each combination, and setting the sum of the multiplied values as the positioning position of the radio wave receiver;
A positioning method characterized by comprising:   A position positioning program for causing a computer to function as the position positioning apparatus according to claim 1.