JP2020122748A - Position estimation system, position estimation method and program - Google Patents

Abstract

To accurately understand about a position of a person irrespective of being indoor or outdoor.SOLUTION: A position estimation system comprises: a plurality of signal transmitters provided in a management target indoor space; a portable terminal that is carried by a person moving in and out of the space; and a management device that can communicate with the portable terminal, and estimates a position of the person. The signal transmitter transmits an identification signal including own identification information. The portable terminal comprises: a first receiving unit that receives the identification signal transmitted by the signal transmitter existing in a predetermined distance range; a second receiving unit that receives a GPS signal; a signal intensity measurement unit that measures reception intensity of the identification signal and accuracy of the GPS signal; and a transmission unit that transmits information of the identification signal and the GPS signal to the management device. The management device receives the identification signal of a specific signal transmitter in a neighbor of an entrance/exit connecting to indoor and outdoor of a house, and switches between an indoor positioning process and an outdoor positioning process when reception intensity of the identification signal and accuracy of the GPS signal satisfy a predetermined condition.SELECTED DRAWING: Figure 6

Description

The present invention relates to a position estimation system, a position estimation method and a program for estimating the position of a mobile terminal carried by a worker during work such as security work by using a beacon and GPS.

Conventionally, as a technique for switching indoor positioning using a beacon or the like and outdoor positioning using a GPS (Global Positioning System) or the like, switching is performed when the received signal strength of a GPS signal, a beacon signal or the like is below a predetermined strength or the signal cannot be received The following Patent Documents 1 and 2) and those that switch under the condition that a signal indicating an entrance/exit is received (Patent Documents 3 and 4).

JP, 2008-109293, A JP, 2010-271206, A JP, 2010-107235, A JP, 2013-092451, A

However, in the technology for switching between indoor positioning/outdoor positioning depending on the received signal strength as described in Patent Documents 1 and 2, there is a case where the beacon signal cannot be received indoors and the GPS signal is received depending on the reception environment. Even if you are in the area, you may end up positioning outdoors. The same is true outdoors.

In addition, in the technique of switching indoor positioning/outdoor positioning when receiving a signal indicating an entrance/exit as described in Patent Documents 3 and 4, there is a possibility that the position may be erroneously switched just by passing through the vicinity of the entrance/exit.

In view of the above circumstances, an object of the present invention is to provide a position estimation system, a position estimation method, and a program capable of accurately grasping the position of a person regardless of whether it is indoors or outdoors.

In order to achieve the above object, a position estimation system according to an aspect of the present invention includes a plurality of signal transmitters installed in an indoor space to be managed, and a mobile terminal carried by a person moving inside or outside the space. A position estimation system which has the management device capable of communicating with the mobile terminal and estimates the position of the person.
The signal transmitter has a transmitter that transmits an identification signal including its own identification information.
The mobile terminal includes a first receiving unit that receives the identification signal transmitted by the signal transmitter existing within a predetermined distance range, a second receiving unit that receives a GPS signal, and a reception intensity of the identification signal. It has a signal strength measuring unit that measures the accuracy of the GPS, and a transmitting unit that transmits the information of the identification signal and the GPS signal to the management device.
The management device performs indoor positioning based on the identification signal received from the portable terminal and outdoor positioning based on the GPS signal, and the indoor positioning process or the outdoor positioning result in which the indoor positioning result is the position of the person. The position estimation unit performs the position estimation of the person by any of the outdoor positioning processing in which the person is positioned. The position estimation unit receives the identification signal of a specific signal transmitter near the doorway that communicates indoors and outdoors among the signal transmitters, and the reception intensity of the identification signal and the accuracy of the GPS are predetermined. When the condition is satisfied, the indoor positioning process and the outdoor positioning process are switched.

With this configuration, the indoor positioning process and the outdoor positioning process are switched when the identification signal of the signal transmitter installed near the entrance is detected and the reception intensity of the identification signal and the accuracy of the GPS signal satisfy predetermined conditions. As a result, the position of the person can be accurately grasped regardless of whether it is indoors or outdoors. Here, the person is a worker such as a guard or a cleaner, and other persons.

When the position estimation unit estimates the position of the person based on the identification signal of the specific signal transmitter in the indoor positioning processing, and the reception intensity of the identification signal is equal to or higher than a first threshold value, the GPS The indoor positioning process is maintained regardless of the accuracy of the above, and when the reception intensity of the identification signal is less than the first threshold and the accuracy of the GPS is more than the second threshold, the indoor positioning process is switched to the outdoor positioning process. May be.

Thus, in the indoor positioning process based on the signal transmitter installed near the doorway, if the identification signal is strong, the indoor positioning process is maintained regardless of the GPS accuracy, and if the identification signal is weak and the GPS accuracy is high. By switching to the outdoor positioning processing, the position can be estimated with high accuracy both indoors and outdoors.

The position estimation unit receives the identification signal equal to or more than a first threshold value from the specific signal transmitter while performing the position estimation of the person by the outdoor positioning process, or other than the specific signal transmitter. When the identification signal having a third threshold value or more, which is larger than the first threshold value, is received from the signal transmitter, the outdoor positioning process may be switched to the indoor positioning process.

This allows indoor positioning based on the identification signals of other signal transmitters even if the worker moves from outdoors to indoors but for some reason cannot receive the identification signal from the signal transmitter near the entrance. It is possible to switch appropriately to processing.

The management device may further include a storage unit that stores a route condition in which the route that the person can move is indicated by the identification information of the plurality of signal transmitters. In this case, the position estimation unit receives the identification signal of the specific signal transmitter in the outdoor positioning process, and further, when receiving the identification signal of the signal transmitter that satisfies the route condition, the position estimation unit determines from the outdoor positioning process. You may switch to the said indoor positioning process.

As a result, not only the specific signal transmitter but also a plurality of other signal transmitters satisfying the route condition are detected, so that it is possible to switch to the indoor positioning process when the person surely moves indoors.

A position estimation system according to another aspect of the present invention includes a plurality of signal transmitters installed in an indoor space to be managed, and a mobile terminal carried by a person moving inside or outside the space. It is a position estimation system that estimates the position of the. The signal transmitter has a transmitter that transmits an identification signal including its own identification information. The mobile terminal includes a first receiving unit that receives the identification signal transmitted by the signal transmitter existing within a predetermined distance range, a second receiving unit that receives a GPS signal, and a reception intensity of the identification signal. An indoor positioning process or an outdoor positioning process in which the signal strength measuring unit that measures the accuracy of the GPS, indoor positioning based on the identification signal, and outdoor positioning based on the GPS signal are performed, and the indoor positioning result is the position of the person. And a position estimation unit that estimates the position of the person by any of the outdoor positioning processes that use the result of (1) as the position of the person. The position estimating unit receives the identification signal of a specific signal transmitter of the signal transmitters near the doorway that communicates indoors and outdoors among the signal transmitters of the first communication unit, and receives the reception intensity of the identification signal and the GPS. And the accuracy of the above condition satisfy a predetermined condition, the indoor positioning process and the outdoor positioning process are switched.

Here, the estimated position information may be transmitted to the management device in real time, or may be temporarily stored in the storage unit and subsequently transmitted to the management device.

A position estimation method according to another aspect of the present invention is directed to a plurality of signal transmitters installed in an indoor space to be managed, a mobile terminal carried by a person moving inside or outside the space, and communication with the mobile terminal. It is a method of estimating the position of the person by using a possible management device. The signal transmitter has a transmitter that transmits an identification signal including its own identification information.
The method receives the identification signal transmitted by the signal transmitter existing within a predetermined distance range,
Receives GPS signals,
The reception strength of the identification signal and the accuracy of the GPS are measured,
Indoor positioning processing based on the identification signal and outdoor positioning based on the GPS signal, and indoor positioning processing in which the result of the indoor positioning is the position of the person or outdoor positioning processing in which the result of the outdoor positioning is the position of the person. The position of the person is estimated by any one of the signal transmitters, and the identification signal of a specific signal transmitter near the doorway that communicates indoors and outdoors is received, and the reception intensity of the identification signal and the GPS When the accuracy satisfies a predetermined condition, switching between the indoor positioning process and the outdoor positioning process is included.

A program according to another aspect of the present invention is capable of communicating with a plurality of signal transmitters installed in an indoor space to be managed, a mobile terminal carried by a person moving inside or outside the space, and the mobile terminal. A program executed by the management device in the position estimation system that estimates the position of the person using the management device. The signal transmitter has a transmitter that transmits an identification signal including its own identification information. The mobile terminal includes a first receiving unit that receives the identification signal transmitted by the signal transmitter existing within a predetermined distance range, a second receiving unit that receives a GPS signal, the identification signal and the GPS signal. And a transmitting unit that transmits the information of 1. to the management device.
The program is stored in the management device
Receiving information of the identification signal and the GPS signal,
Measuring the reception strength of the identification signal and the accuracy of the GPS;
Indoor positioning processing based on the identification signal and outdoor positioning based on the GPS signal, and indoor positioning processing in which the result of the indoor positioning is the position of the person or outdoor positioning processing in which the result of the outdoor positioning is the position of the person. The position of the person is estimated by any one of the signal transmitters, and the identification signal of a specific signal transmitter near the doorway that communicates indoors and outdoors is received, and the reception intensity of the identification signal and the GPS When the accuracy satisfies a predetermined condition, the step of switching between the indoor positioning process and the outdoor positioning process is executed.

As described above, according to the present invention, the position of a person can be accurately grasped regardless of whether it is indoors or outdoors. However, this effect does not limit the present invention.

It is the figure which showed the structure of the position estimation system which concerns on one Embodiment of this invention. It is the figure which showed the hardware constitutions of the center server which concerns on one Embodiment of this invention. It is a figure showing composition of a functional block of a center server, a personal digital assistant, and a beacon terminal concerning one embodiment of the present invention. It is a figure showing an example of a database of discernment information on a beacon terminal and position information which a center server concerning one embodiment of the present invention memorizes. It is the figure which showed the table of the route conditions which the guard can move between beacon terminals which the center server which concerns on one Embodiment of this invention memorize|stores. 6 is a flowchart showing a flow of a switching process from an indoor positioning process to an outdoor positioning process by the center server according to the embodiment of the present invention. FIG. 4 is a diagram showing an example of switching processing from indoor positioning processing to outdoor positioning processing by the center server according to one embodiment of the present invention in time series together with the reception strength of the beacon terminal, the accuracy of GPS, and the change of the position of the guard. is there. 6 is a flowchart showing a flow of switching processing from outdoor positioning processing to indoor positioning processing by the center server according to the embodiment of the present invention. FIG. 4 is a diagram showing an example of a switching process from an outdoor positioning process to an indoor positioning process by the center server according to the embodiment of the present invention in a time series together with the reception strength of the beacon terminal, the GPS accuracy, and the position of the guard. is there. 7 is a table summarizing switching processing between indoor positioning processing and outdoor positioning processing by the center server according to the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[System configuration]
FIG. 1 is a diagram showing the configuration of the position estimation system according to the present embodiment.

As shown in the figure, this system includes a center server 100, a mobile terminal 200, and a plurality of beacon terminals 300.

The center server 100 is a server installed in a security center operated by a security company, and is a management device that manages the states of the security guard G and the beacon terminal 300. The center server 100 can communicate with the mobile terminal 200 via a mobile network and the Internet. A controller is stationed at the security center and monitors the position of the security guard G in the security target facility B. When an abnormal report is received from the security guard G, the security guard is dispatched to the security target facility B. Necessary measures will be taken.

The facility B to be guarded is, for example, an airport, a train station, a museum, a museum, a school, a facility of a public office, a commercial facility (a department store, a supermarket, etc.), a performance hall, an office of a company, a private residence, or the like.

The mobile terminal 200 is, for example, a smartphone or a dedicated security terminal, and is carried by a security guard G who guards the facility B to be guarded. In the same figure, one guard and one mobile terminal 200 are shown, but a plurality of guards may exist in the facility B to be guarded.

A plurality of beacon terminals 300 (1 to 18) are installed in each space (wall surface, ceiling, furniture, etc.) of the facility B to be guarded, and transmit beacon signals. The beacon terminal 300 can also communicate between the beacon terminals and transmit the abnormality information of the beacon terminal 300 to the center server 100.

The beacon signal is a signal for acquiring various information including a position when received by the mobile terminal 200, and includes information that can identify the installation position in the space of the beacon terminal 300 that is the transmission source. For example, by including the identification information that identifies the beacon terminal 300 that is the transmission source in the beacon signal, the center server 100 is received by referring to a database that associates the identification information with the installation position of the beacon terminal 300 that is the transmission source. The installation position of the beacon terminal 300 of the transmission source can be acquired from the identified information.

The mobile terminal 200 receives the beacon signal from each of the beacon terminals 300, and outputs the identification information included in the beacon signal and the information about the signal strength (received signal strength: RSSI) to the center server 100 via the mobile network and the Internet. Send. The center server 100 estimates which beacon terminal 300 the guard G exists near based on the identification information and the signal strength. In addition, the mobile terminal 200 transmits data and the like acquired by the security guard G during the security work to the center server 100.

Further, in the figure, the solid line connecting the beacon terminals 300 is a route condition set as a route along which the guard G can move. For example, since it is usually impossible for the guard G to move to the beacon terminal 4 without going through the beacon terminal 3 next to the beacon terminal 2, the center server 100 measures the signal strength from the beacon terminal 4 above the threshold value. Even if the route condition is not satisfied, it is not estimated that the guard G exists near the beacon terminal 4.

Further, the beacon terminal 300 installed in the vicinity of the doorway D leading to the inside and outside of the facility B to be guarded is defined as a “specific” beacon terminal 300, and when the guard G goes in and out indoors and outdoors. It goes through a specific beacon terminal 300.

When the guard G is outdoors, the center server 100 estimates the position based on the GPS signal.

[Hardware configuration of the center server]
FIG. 2 is a diagram showing a hardware configuration of the center server 100. As shown in FIG. 1, the center server 100 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, an input/output interface 15, and a bus 14 that connects these to each other. Equipped with.

The CPU 11 appropriately accesses the RAM 13 and the like as necessary and performs overall control of all blocks of the center server 100 while performing various arithmetic processes. The ROM 12 is a non-volatile memory in which an OS to be executed by the CPU 11 and firmware such as programs and various parameters are fixedly stored. The RAM 13 is used as a work area of the CPU 11, etc., and temporarily holds the OS, various applications being executed, and various data being processed.

A display unit 16, an operation reception unit 17, a storage unit 18, a communication unit 19 and the like are connected to the input/output interface 15.

The display unit 16 is a display device using, for example, an LCD (Liquid Crystal Display), an OELD (Organic ElectroLuminescence Display), a CRT (Cathode Ray Tube), or the like.

The operation receiving unit 17 is, for example, a pointing device such as a mouse, a keyboard, a touch panel, and other input devices.

The storage unit 18 is a nonvolatile memory such as an HDD (Hard Disk Drive), a flash memory (SSD; Solid State Drive), or other solid-state memory. The storage unit 18 stores the OS, various applications, and various data.

Particularly, in the present embodiment, the storage unit 18 stores an application and other programs and a database for the center server 100 to execute the position estimation processing of the security guard.

The communication unit 19 is a module for wireless communication such as a NIC (Network Interface Card) for Ethernet or a wireless LAN, and is responsible for communication processing with the mobile terminal 200.

Although not shown, the basic hardware configuration of the mobile terminal 200 and the beacon terminal 300 as a computer is substantially the same as the hardware configuration of the center server 100. It should be noted that mobile terminal 200 has a first receiving unit that receives the identification signal from beacon terminal 300 existing within a predetermined distance range, and a second receiving unit that receives the GPS signal.

[Function and database of each device in the system]
FIG. 3 is a diagram showing the configuration of functional blocks of the center server 100, the mobile terminal 200, and the beacon terminal 300.

(Functional block of the center server)
As shown in the figure, the center server 100 has, as functional blocks, a communication unit 110, a storage unit 120, a state management unit 130, a display output unit 140, a route condition determination unit 150, and a position estimation unit 160.

The communication unit 110 is a communication interface having a function of communicating with the mobile terminal 200, and detects detection data (beacon signal information (identification information or received signal strength) or GPS information (via a mobile network or the Internet). (Latitude/longitude, accuracy or signal strength) etc.) etc.

The storage unit 120 stores information on the installation position of each beacon terminal 300. FIG. 4 is a diagram showing an example of the installation position information.

As shown in the figure, the installation position information is a database in which the installation positions of the beacon terminals 300 in the space of the security facility B are registered in association with the identification information (beacon ID) of the beacon terminals 300. ..

In the example of the figure, the position (latitude and longitude) in the plane is registered for each beacon terminal 300, but three-dimensional position information may be registered in addition to information such as altitude. Further, position information including coordinate values (x, y, z) based on a position in a three-dimensional space may be registered, not limited to latitude, longitude, and altitude. Note that the installation position of the beacon terminal may be registered under the names of the west side entrance (for example, the beacon terminal 1) and the room east side (for example, the beacon terminal 9), and the position of the security guard may be estimated.

The storage unit 120 also stores a route condition indicating a route that the security guard G can move within the security target facility B. FIG. 5 is a diagram showing an example of the route condition table.

In FIG. 1, a solid line connecting adjacent beacon terminals 300 is a route along which the guard G can move, and as shown in FIG. 5, is registered for each beacon terminal 300 (identification information thereof) as a route condition. ..

In the registration of the route condition, another beacon terminal 300 located within a predetermined distance from a certain beacon terminal 300 may be automatically connected, or an administrator may manually register.

As described above, referring to FIG. 1, it is possible for the guard G to move from the beacon terminal 2 to the beacon terminal 3 but to move directly from the beacon terminal 2 to the beacon terminal 4 without passing through the beacon terminal 3. It is usually impossible to do. Therefore, in the table of FIG. 5, the beacon terminal 4 is not registered as the movable destination of the beacon terminal 2.

In addition, the storage unit 120 sequentially receives the detection data received by the mobile terminal 200 when the security guard G actually moves in the security target facility B from the mobile terminal 200 and stores the detection data. Further, data indicating the reception order of each beacon signal may be stored, or data indicating the reception time of each beacon signal may be stored. In the detection data, the identification information of the beacon terminal 300 and the signal strength are associated with each other.

The state management unit 130 manages the position information of the security guard G from the detection data received from the mobile terminal 200.

The display output unit 140 outputs the current position of the security guard G estimated by the position estimation unit 160 described below and the detection data received from the mobile terminal 200 to a display unit such as a monitor. Thereby, the administrator can grasp the position information of the security guard G and the abnormality information of the beacon terminal 300. The display output unit 140 may display the movement trajectory of the security guard G using the detection data accumulated and stored. This allows the manager to visually recognize the change in the position information of the security guard G.

Upon receiving the detection data from the mobile terminal 200, the route condition determining unit 150 refers to the route condition shown in FIG. 5 and determines that the beacon terminal 300 described as the source of the beacon signal in the detection data has the route condition. It is determined whether or not the condition is satisfied.

Specifically, in FIG. 1, the guard can move to the beacon terminal 2→3→17, but directly moves from the beacon terminal 2 to the beacon terminal 17 without passing through the beacon terminals 3 and 18. You know that you can't do that. Here, referring to the table of FIG. 5, since the beacon 17 does not exist at the movable destination of the beacon 2, the center server 100 recognizes the beacon terminal 17 as a route immediately after the beacon terminal 2 from the detection data, It is not estimated that the guard G exists near the beacon terminal 17.

The position estimation unit 160 performs indoor positioning based on the identification signal transmitted from the beacon terminal 300 and outdoor positioning based on the GPS signal. That is, indoor positioning and outdoor positioning are performed at the timing when the detection data is received from the mobile terminal 200. The current state of the security guard G who owns the mobile terminal 200 is determined by either the indoor positioning process in which the result of the indoor positioning is the position of the security guard G or the outdoor positioning process in which the result of the outdoor positioning is in the position of the security guard G. Estimate the position. That is, one of the result of the indoor positioning and the result of the outdoor positioning is the position of the security guard G.

In the indoor positioning, when the signal strength of the beacon signal received from the beacon terminal 300 is equal to or higher than the threshold value (first threshold value), the position estimation unit 160 determines that the beacon terminal is detected and the guard G holding the mobile terminal 200 is detected. Exists in the vicinity (for example, within 5 m) of the beacon terminal of the receiving source. When the signal strength of the beacon signal in the plurality of beacon terminals 300 is equal to or more than the threshold value, it is determined that the beacon terminals 300 exist near the beacon terminal 300 having the highest signal strength. The first threshold is, for example, −90 db (about 5 m when converted to the distance between the mobile terminal 200 and the beacon terminal 300), but is not limited to this.

The threshold value is determined according to how the manager of the security center wants to know the position of the security guard. For example, when the administrator wants to confirm whether or not there is a guard within 5 m from the beacon terminal, for example, the average value of the signal strength at a point 5 m away is calculated in advance and the average value is calculated as the first value. It may be set as a threshold.

The position estimation unit 160 may further add to the position estimation condition that the route condition determination unit 150 determines that the route condition is satisfied.

On the other hand, in outdoor positioning, the position estimation unit 160 estimates the position of the security guard G based on the reception information of the GPS signal.

Then, the position estimation unit 160 detects the specific beacon terminal 300 leading to the entrance D, and when the beacon signal and the received signal strength of the GPS signal satisfy a predetermined condition, performs the indoor positioning process and the outdoor positioning process. The position is estimated by switching.

In addition, when the position estimation unit 160 estimates the position of the security guard G using the indoor positioning result based on the identification signal of the specific beacon terminal 300 in the indoor positioning process, the magnitude of the identification signal is a predetermined condition. Is greater than or equal to the first threshold value, it is highly likely that the guard G is in the vicinity (indoor) of the particular beacon terminal 300, and therefore the indoor positioning process is maintained regardless of the size of the GPS signal, and the identification signal If the magnitude is less than the first threshold and the magnitude of the GPS signal is greater than or equal to the second threshold, there is a high possibility that the guard G has moved outdoors, and the outdoor positioning processing is switched to.

Further, when the position estimation unit 160 receives an identification signal equal to or higher than the first threshold value from a specific beacon terminal 300 as a predetermined condition during the outdoor positioning process, the security guard G moves from the outdoors to the interior. Since there is a high possibility, switch to indoor positioning processing. Even when the specific beacon terminal 300 is not detected, when a significantly high signal strength (third threshold value or more) is measured from the other beacon terminals 300, the guard G determines that the other beacon terminals 300 Since there is a high possibility of being in the vicinity of 300, the indoor positioning processing is switched to. The third threshold value is, for example, −78 db (about 2 m to 3 m when converted to the distance between the mobile terminal 200 and the beacon terminal 300), but is not limited to this.

It is also said that the position estimation unit 160 may not measure the identification signal of the specific beacon terminal 300 with the first threshold value or more while the guard G is moving outdoors depending on the reception environment and the installation status of the beacon terminal 300. Since it is not cut off, the indoor positioning process may be switched when a specific beacon terminal 300 is detected and then a beacon terminal 300 that satisfies the route condition is further detected. As a result, it is possible to switch to the indoor positioning processing while surely staying indoors.

In this case, it is preferable that the position estimation unit 160 stores the indoor positioning result in the storage unit 120 retroactively to the time when the specific beacon terminal 300 is detected.

(Functional block of mobile terminal)
As shown in FIG. 3, the mobile terminal 200 has a first reception unit 210, a second reception unit 220, a communication unit 230, and a signal strength measurement unit 240 as functional blocks.

The first receiving unit 210 is a communication interface having a function of performing near field communication with the beacon terminal 300 in the space of the facility B to be guarded, and receives the beacon signal transmitted from the beacon terminal 300 in the space. Bluetooth (registered trademark) or the like is used for the short-range communication.

The second receiver 220 receives GPS signals from GPS satellites.

The communication unit 230 is a communication interface having a function of communicating with the center server 100. The communication unit 230 transmits the detection data and the like to the center server 100 via, for example, a mobile phone network or the Internet network.

The signal strength measuring unit 240 is means for measuring the signal strength of the beacon signal received from the beacon terminal 300. When the beacon signal from beacon terminal 300 is a radio wave, signal strength measuring section 240 detects the amplitude of the received radio wave as the signal strength.

The signal strength measuring unit 240 also determines the positioning accuracy of GPS. For example, the positioning accuracy of GPS can be determined by calculating DOP (Dilution Of Precision) based on the arrangement state of GPS satellites. For example, when the DOP value is less than 5, the positioning accuracy is good, and when the DOP value is 5 or more, the positioning accuracy can be poor. In the following, description will be given separately for the case where the accuracy is good and the case where the accuracy is bad. Note that the accuracy is not limited to this, and the accuracy is high, medium, or low (for example, “high” when DOP value <3, “medium” when 3≦DOP≦7, “low” when 7<DOP). The classification may be performed in multiple stages, or the positioning distance error (m) may be used as the accuracy. That is, the precision is equal to or more than the threshold value, for example, when the precision is “good”, “high, medium”, “error within 3 m”, or the like. Further, in the determination of the positioning accuracy of GPS, various known methods such as CEP (Circular Error Probability) and RMS (Root Mean Square) can be adopted in addition to the calculation of DOP. .. For example, when the RMS value is used, the positioning accuracy may be good if it is less than 5 mRMS (existing in a circle within a radius of 5 m from the true positioning point with a probability of 63%).

Further, the signal strength measurement unit 240 may determine the signal strength of the GPS signal as the positioning accuracy. In this case, if the signal strength is large (greater than or equal to the threshold), the accuracy is good, and if small (less than the threshold), the accuracy is poor.

The signal strength measurement and the positioning accuracy calculation are not limited to the above, and various known methods can be used.

(Function block of beacon terminal)
As shown in FIG. 3, the beacon terminal 300 has a transmission unit 310 and a storage unit 320 as functional blocks.

The transmitting unit 310 transmits the beacon signal including the identification information (beacon ID) of the beacon terminal 300 as a radio wave or a sound wave. The beacon signal transmission interval is set to once/second and the reception interval is set to once (continuous for 5 seconds)/hour, but not limited to these.

The storage unit 320 stores the identification information of the beacon terminal 300 and the like.

[System operation]
Next, a switching operation between indoor positioning processing and outdoor positioning processing in the position estimation system configured as above will be described. The operation is executed by the cooperation of the hardware such as the CPU and the communication unit of the center server 100, the mobile terminal 200, and the beacon terminal 300, and the software stored in the storage unit. In the following description, for the sake of convenience, the CPU of each device will be the main operating entity unless otherwise specified.

As a premise of the processing, the center server 100 periodically transmits the beacon information (beacon identification signal or received signal strength) from the mobile terminal 200 (eg, every 5 seconds) or GPS information (latitude/longitude or accuracy). ) To receive. Further, since it is assumed that the mobile terminal 200 receives signals from the plurality of beacon terminals 300, the mobile terminal 200 transmits information on the beacon terminal 300 having the highest received signal strength to the center server 100. The center server 100 stores the received beacon information and GPS information in the storage unit 120 in order to determine whether or not the route condition is satisfied.

FIG. 6 is a flowchart showing the flow of the switching processing from the indoor positioning processing to the outdoor positioning processing by the center server 100.

As shown in the figure, during execution of the indoor positioning process based on the identification signal of the beacon terminal 300 (when the position of the security guard G is estimated by the indoor positioning process), the CPU 11 of the center server 100 causes the mobile terminal 200 to operate. It is determined whether or not the identification signal of any one of the beacon terminals 300 has been received (step 61).

When it is determined that the identification signal of the beacon terminal 300 is received (Yes), the CPU 11 determines whether the identification signal is the identification signal of the specific beacon terminal 300 (step 62).

When it is determined that the identification signal is not the identification signal of the specific beacon terminal 300 (No), the CPU 11 has a high possibility that the guard G stays indoors, and therefore the indoor positioning process using the beacon terminal 300 is performed. Maintain (step 66).

On the other hand, when determining that the identification signal is the identification signal of the specific beacon terminal 300 (Yes), the CPU 11 determines whether the intensity of the identification signal is less than the first threshold value (step 63).

When it is determined that the strength of the identification signal is equal to or higher than the first threshold value (No), there is a high possibility that the guard G stays in the vicinity of the doorway D of the indoor (it does not go out), so the beacon terminal 300. The indoor positioning process using is maintained (step 66).

On the other hand, when determining that the strength of the identification signal is less than the first threshold value (Yes), the CPU 11 determines whether the GPS accuracy is the second threshold value or more (step 64).

When it is determined that the GPS accuracy is less than the second threshold value (No), it is highly possible that the guard G exists at a position slightly distant from the indoor entrance D to the indoor side. Therefore, the indoor positioning using the beacon terminal 300 is performed. Processing is maintained (step 66).

On the other hand, when it is determined that the GPS accuracy is equal to or higher than the second threshold value (Yes), it is considered that the guard G has gone out of the doorway D, so the CPU 11 performs the indoor positioning process in the outdoor positioning using GPS. The process is switched to (step 65).

When the position of the security guard G is estimated by the indoor positioning process, after receiving the identification signal of the specific beacon terminal 300, the identification signal is not received from any of the beacon terminals 300, and the GPS accuracy is the second. If the threshold value is equal to or more than the threshold value, it is considered that none of the beacon terminals 300 can be detected because the security guard G has gone out of the doorway D, so that the CPU 11 switches from the indoor positioning process to the outdoor positioning process.

FIG. 7 is a diagram showing an example of the switching process from the indoor positioning process to the outdoor positioning process in time series together with the reception intensity of the beacon terminal 300, the GPS accuracy, and the position of the guard G. In addition, the beacon terminal 300 in the same figure is the beacon terminal 300 which has detected the signal strength equal to or higher than the first threshold value, and when there are a plurality of beacon strengths, the beacon strength is the highest. Further, in the figure, the numbers indicating the beacon terminals 300 correspond to those shown in FIG.

As shown in the figure, at time t2, the GPS accuracy is high (greater than or equal to the second threshold), but the specific beacon terminal 300 is not detected, so the CPU 11 maintains the indoor positioning process.

Subsequently, at time t3, since the beacon terminal 300 itself is not detected, the CPU 11 maintains the previous position.

Subsequently, at time t4, the GPS accuracy is high, but since the specific beacon terminal 300 (R5) is detected, the CPU 11 maintains the indoor positioning process.

Subsequently, at time t5, the beacon terminal 300 is no longer detected while the indoor positioning processing based on the specific beacon terminal 300 (R5) is being performed, and the GPS accuracy is high. Therefore, the CPU 11 performs the indoor positioning processing as the outdoor positioning processing. Switch to.

At time t6, the beacon terminal 300 (R8) is detected but not the specific beacon terminal 300, so the CPU 11 maintains the outdoor positioning process.

FIG. 8 is a flowchart showing the flow of the switching processing from the outdoor positioning processing to the indoor positioning processing by the center server 100.

As shown in the figure, during execution of the outdoor positioning process based on the GPS signal (when the position of the security guard G is estimated by the outdoor positioning process), the CPU 11 of the center server 100 uses any one of the mobile terminals 200. It is determined whether or not the identification signal of beacon terminal 300 is received (step 81).

When it is determined that the identification signal of the beacon terminal 300 is received (Yes), the CPU 11 determines whether the identification signal is the identification signal of the specific beacon terminal 300 (step 82).

When determining that the identification signal is the identification signal of the specific beacon terminal 300 (Yes), the CPU 11 determines whether or not the strength of the identification signal is equal to or higher than a first threshold value (step 83).

When it is determined that the strength of the identification signal is equal to or higher than the first threshold value (Yes), it is highly possible that the guard G has moved indoors through the doorway D from the outdoors, and therefore the CPU 11 performs the outdoor positioning process using the beacon. Switching to indoor positioning processing based on the identification signal of the terminal 300 (step 85).

On the other hand, when determining in step 82 that the identification signal is not the identification signal of the specific beacon terminal 300 (No), the CPU 11 identifies the beacon terminals 300 (other beacon terminals 300) other than the specific beacon terminal 300. It is determined whether or not the signal strength is equal to or higher than a third threshold value higher than the first threshold value (step 84).

When it is determined that the strength of the identification signal of the other beacon terminal 300 is equal to or higher than the third threshold value (Yes), the guard G is highly likely to be in the vicinity of the other beacon terminal 300, and thus the CPU 11 causes the above to occur. The outdoor positioning process is switched to the indoor positioning process based on the identification signal of the beacon terminal 300 (step 85).

As a result, even if the guard G moves indoors from the outdoors, even if the identification signal cannot be received from the beacon terminal 300 in the vicinity of the entrance D for some reason, based on the identification signals of the other beacon terminals 300. It is possible to appropriately switch to indoor positioning processing.

When it is determined in step 83 that the strength of the identification signal of the specific beacon terminal 300 is less than the first threshold value (No), it is highly possible that the guard G is near the doorway D but remains outdoors. Therefore, the CPU 11 maintains the outdoor positioning process based on the GPS signal (step 86).

Further, when it is determined in step 84 that the strength of the identification signal of the other beacon terminal 300 is less than the third threshold value (No), the guard G can receive the identification signal from the other beacon terminal 300 outdoors. Therefore, the CPU 11 maintains the outdoor positioning processing based on the GPS signal (step 86).

FIG. 9 is a diagram showing an example of the switching process from the outdoor positioning process to the indoor positioning process in time series together with the reception intensity of the beacon terminal 300, the GPS accuracy, and the change of the position of the guard G.

As shown in the figure, at time t2, the beacon terminal 300 (R8) is detected, but since it is not a specific beacon terminal 300, the CPU 11 maintains the outdoor positioning processing based on the GPS signal (note that If the received signal strength of 3 thresholds or more is detected, the indoor positioning processing is switched to).

Since the specific beacon terminal 300 (R7) is detected at time t3, the CPU 11 switches the outdoor positioning process to the indoor positioning process.

FIG. 10 is a table summarizing the switching processing between the indoor positioning processing and the outdoor positioning processing by the center server 100 described above. In each table, the case where the positioning means is switched is shown by shading.

The figure (A) shows the positioning means used according to the relationship between the signal strength of the beacon terminal 300 and the GPS accuracy during the indoor positioning process, and the figure (B) shows the positioning means during the outdoor positioning process. The positioning means used according to the relationship between the signal strength of beacon terminal 300 and GPS accuracy is shown.

When the identification signal of the specific beacon terminal 300A is received as shown in (A-1) during execution of the indoor positioning process in FIG. 9A, the CPU 11 determines that the intensity of the identification signal is the first threshold value (R1). If it is less than and the GPS accuracy is equal to or higher than the second threshold value, the outdoor positioning process based on the GPS signal is switched to, and in other cases, the indoor positioning process based on the beacon terminal 300A is maintained.

Further, during execution of the indoor positioning process, as shown in (A-2), as long as it receives the identification signal of another beacon terminal 300B, the CPU 11 maintains the indoor positioning process based on the beacon terminal 300B.

When the identification signal of the specific beacon terminal 300A is received as shown in (B-1) during execution of the outdoor positioning process in FIG. 7B, the CPU 11 determines that the intensity of the identification signal is less than the first threshold value. The outdoor positioning process is maintained only in some cases, and in other cases, the outdoor positioning process is switched to the indoor positioning process based on the beacon terminal 300A.

Further, during execution of the outdoor positioning process, as shown in (B-2), when the identification signal of the other beacon terminal 300B is received, only when the intensity of the identification signal is the third threshold value or more, The positioning process is switched to the indoor positioning process based on the other beacon terminal 300B, and in other cases, the outdoor positioning process is maintained.

[Summary]
As described above, according to the present embodiment, the center server 100 is indoors according to the identification signal of the beacon terminal 300 installed near the entrance D and the accuracy of GPS when the identification signal is detected. By switching between the positioning process and the outdoor positioning process, the position of the security guard G can be accurately grasped regardless of whether it is indoors or outdoors.

[Modification]
The present invention is not limited to the above-described embodiments, but can be variously modified without departing from the scope of the present invention.

In the above-described embodiment, the position estimation process is performed by the center server 100, but the mobile terminal 200 may be responsible for each process. In this case, the mobile terminal 200 has functional blocks, hardware, and programs corresponding to the storage unit 120 and the position estimation unit 160. In this case, the process of transmitting the information of the identification signal and the GPS signal from the mobile terminal 200 to the center server 100 becomes unnecessary. The mobile terminal 200 may transmit the position information of the security guard G carrying the mobile terminal 200 estimated by the position estimation processing to the center server 100.

In addition, in the above-described embodiment, the center server 100 stores the route condition shown in FIG. 5 and has the route condition determination unit 150. When the detection data is received from the mobile terminal 200, the route condition is referred to. Then, it is determined whether or not the beacon terminal 300 described as the source of the beacon signal in the detection data satisfies the route condition. However, the mobile terminal 200 may have the route condition determination unit and the route condition. In this case, if the route condition determination unit determines that the detection data satisfies the route condition, the mobile terminal 200 transmits the detection data to the center server 100 and determines that the route condition is not satisfied. Does not send the detection data to the center server 100.

Furthermore, in the present embodiment, the position estimation of the security guard G who is performing security work has been described, but the applicable range of the present invention is not limited to this. For example, it can be applied to position estimation of various people such as staff at airports and department stores, cleaners who perform cleaning work, workers who work at various sites, and users who use facilities such as airports and department stores. Is.

Among the inventions described in the claims of the present application, the invention described as "position estimation method" is one in which at least one device such as a computer automatically performs each step by information processing by software. Yes, it is not something that a person uses a device such as a computer. In other words, the "position estimation method" is a position information estimation method using computer software, and is not a method in which a human operates a computing tool called a computer.

11... CPU
18/120... Storage unit 19/110... Communication unit 160... Position estimating unit 100... Center server 200... Mobile terminal 210... First receiving unit 220... Second receiving unit 300... Beacon terminal 310... Sending unit B... Security target facility D...Gateway G...Security guard

Claims (7)

A plurality of signal transmitters installed in an indoor space to be managed, a mobile terminal carried by a person moving inside or outside the space, and a management device capable of communicating with the mobile terminal, and the position of the person. A position estimation system for estimating
The signal transmitter has a transmitter for transmitting an identification signal including self-identification information,
The mobile terminal is
A first receiving unit for receiving the identification signal transmitted by the signal transmitter existing within a predetermined distance range;
A second receiver for receiving GPS signals;
A signal strength measuring unit that measures the reception strength of the identification signal and the accuracy of the GPS;
A transmitter for transmitting information on the identification signal and the GPS signal to the management device,
The management device is
The indoor positioning based on the identification signal received from the mobile terminal and the outdoor positioning based on the GPS signal are performed, and the indoor positioning processing in which the result of the indoor positioning is the position of the person or the result of the outdoor positioning is the position of the person. A position estimation unit that estimates the position of the person by any of the outdoor positioning processes
The position estimation unit receives the identification signal of a specific signal transmitter in the vicinity of an entrance/exit that communicates indoors and outdoors among the signal transmitters, and the reception intensity of the identification signal and the accuracy of the GPS are predetermined. A position estimation system that switches between the indoor positioning process and the outdoor positioning process when a condition is satisfied. When the position estimation unit is performing the position estimation of the person based on the identification signal of the specific signal transmitter in the indoor positioning processing and the reception intensity of the identification signal is equal to or higher than a first threshold value, the GPS The indoor positioning processing is maintained regardless of the accuracy of the indoor positioning processing, and the indoor positioning processing is switched to the outdoor positioning processing when the reception intensity of the identification signal is less than a first threshold and the GPS accuracy is more than a second threshold. The position estimation system according to claim 1. The position estimating unit receives the identification signal equal to or more than a first threshold value from the specific signal transmitter while performing the position estimation of the person by the outdoor positioning process, or other than the specific signal transmitter. The position estimation system according to claim 1 or 2, which switches from the outdoor positioning process to the indoor positioning process when the identification signal having a third threshold value or more, which is larger than the first threshold value, is received from the signal transmitter. The management device further includes a storage unit that stores a route condition in which a route that the person can move is indicated by identification information of a plurality of the signal transmitters.
The position estimating unit receives the identification signal of the specific signal transmitter in the outdoor positioning process, and further, when receiving the identification signal of the signal transmitter satisfying the route condition, performs the indoor positioning from the outdoor positioning process. The position estimation system according to claim 1, wherein the position estimation system switches to positioning processing. A position estimation system for estimating the position of a person, comprising a plurality of signal transmitters installed in an indoor space to be managed, and a mobile terminal carried by a person moving inside or outside the space,
The signal transmitter has a transmitter for transmitting an identification signal including self-identification information,
The mobile terminal is
A first receiving unit for receiving the identification signal transmitted by the signal transmitter existing within a predetermined distance range;
A second receiver for receiving GPS signals;
A signal strength measuring unit that measures the reception strength of the identification signal and the accuracy of the GPS, performs indoor positioning based on the identification signal and outdoor positioning based on the GPS signal, and sets the indoor positioning result as the position of the person. A position estimation unit that estimates the position of the person by either indoor positioning processing or outdoor positioning processing that uses the result of the outdoor positioning as the position of the person,
Have
The position estimation unit receives the identification signal of a specific signal transmitter near the entrance of the signal transmitter, which is communicated indoors or outdoors, and the reception intensity of the identification signal and the GPS signal. A position estimation system, wherein the indoor positioning process and the outdoor positioning process are switched when accuracy satisfies a predetermined condition. Using a plurality of signal transmitters installed in an indoor space to be managed, a mobile terminal carried by a person moving inside and outside the space, and a management device capable of communicating with the mobile terminal, the position of the person A position estimation method for estimating
The signal transmitter has a transmitter for transmitting an identification signal including self-identification information,
Receiving the identification signal transmitted by the signal transmitter existing within a predetermined distance range,
Receives GPS signals,
Measuring the reception strength of the identification signal and the accuracy of the GPS,
Indoor positioning processing based on the identification signal and outdoor positioning based on the GPS signal, and indoor positioning processing in which the result of the indoor positioning is the position of the person or outdoor positioning processing in which the result of the outdoor positioning is the position of the person. The position of the person is estimated by any one of the signal transmitters, and the identification signal of a specific signal transmitter near the doorway that communicates indoors and outdoors is received, and the reception intensity of the identification signal and the GPS A position estimation method for switching between the indoor positioning process and the outdoor positioning process when accuracy satisfies a predetermined condition. Using a plurality of signal transmitters installed in an indoor space to be managed, a mobile terminal carried by a person moving inside and outside the space, and a management device capable of communicating with the mobile terminal, the position of the person A program executed by the management device in the position estimation system for estimating
The signal transmitter has a transmitter for transmitting an identification signal including self-identification information,
The mobile terminal includes a first reception unit that receives the identification signal transmitted by the signal transmitter existing within a predetermined distance range, a second reception unit that receives a GPS signal, the identification signal and the GPS signal. And a transmitting unit for transmitting the information of the above to the management device,
The program is stored in the management device.
Receiving information of the identification signal and the GPS signal,
Measuring the reception strength of the identification signal and the accuracy of the GPS;
Indoor positioning processing based on the identification signal and outdoor positioning based on the GPS signal, and indoor positioning processing in which the result of the indoor positioning is the position of the person or outdoor positioning processing in which the result of the outdoor positioning is the position of the person. The position of the person is estimated by any one of the signal transmitters, and the identification signal of a specific signal transmitter near the doorway that communicates indoors and outdoors is received, and the reception intensity of the identification signal and the GPS When the accuracy satisfies a predetermined condition, a step of switching the indoor positioning processing and the outdoor positioning processing,
A program to execute.