JP6960829B2 - How to set a reference position for indoor positioning, indoor positioning system and indoor positioning method - Google Patents

Description

The present invention relates to a method for setting a reference position for indoor positioning utilizing a positioning satellite system such as a GNSS (Global Navigation Satellite System), an indoor positioning system, and an indoor positioning method.

Conventionally, as an indoor positioning method for measuring an indoor position, for example, the following methods (1) to (5) are known.

(1) Wi-Fi (registered trademark) positioning This is a method of calculating the self-position by calculating from the difference in the radio field strength from a plurality of Wi-Fi base stations. Apple and Google have already built a location information database for Wi-Fi stations all over the world, and it can be used on iPhone (registered trademark) and Android (registered trademark) smartphones (smartphones). You can see your own position that will be practical to some extent even in buildings and underground malls. This method uses the Wi-Fi mechanism that is already widely used, so it has the advantage of not requiring new investment. Since the coverage area of a general Wi-Fi base station has a radius of several tens of meters, it is necessary for the base stations to exist at a considerable density in order to obtain a highly accurate position.

(2) Beacon positioning A beacon transmitter of the same format as Bluetooth (registered trademark) is installed indoors, and the smartphone side estimates its own position based on the signal strength discrimination of the communication method called BLE (Bluetooth Low Energy). be. Since the Bluetooth (registered trademark) signal reaches only a radius of about 10 meters at most, the transmitter needs to be installed with high density, but the positioning accuracy is improved as compared with Wi-Fi. Apple Inc. calls this mechanism iBeacon (registered trademark) and implements it in iOS7 (iOS is a registered trademark), and Android (registered trademark) is also implemented in 4.3 or later.

(3) Pedestrian self-contained navigation Pedestrian self-contained navigation is also called PDR (Pedestrian Dead Reckoning), and utilizes the sensor functions such as acceleration, magnetism, and angular velocity that most smartphones have today to move in and out of their own direction. It is a method of estimating the amount. The biggest advantage of this method is that there is no additional cost. However, even if the starting point is the correct position, the errors will gradually accumulate. Therefore, it is suitable to combine it with other methods instead of performing indoor positioning only by PDR.

(4) IMES Positioning IMES (Indoor IMES System) is a technology unique to Japan that JAXA proposed in cooperation with a private company in the process of developing the quasi-zenith satellite "MICHIBIKI". A transmitter of the same method (protocol and frequency) as GPS (Global Positioning System) is installed indoors, and the GPS reception function of the existing smartphone is used to seamlessly measure the position indoors and outdoors. Therefore, there is an advantage that the cost is low for the user side. However, it is necessary to update the firmware of the smartphone built-in chip to support IMES.

(5) Geomagnetic positioning This is a method in which the geomagnetic pattern generated from the iron material of a structure such as a building is measured on-site, a database is created in advance, and the self-position is known by the geomagnetic sensor of the smartphone. If there are no major changes in the structure, the data once measured is relatively stable. This method is advantageous in terms of cost because it does not require capital investment and does not use electricity. However, if an object that disturbs the geomagnetism, such as a railroad vehicle or a large vehicle, is nearby, there is a weakness that the pattern is erroneously recognized and the position cannot be measured accurately.

By the way, in (1) above, the indoor reference coordinates are set using the position information database of the Wi-Fi station. Further, in (2) above, the reference coordinates in the room are set by installing the beacon transmitter indoors. Further, in (3) above, the indoor reference coordinates are set by utilizing the sensor functions such as acceleration, magnetism, and angular velocity that most smartphones have.
However, in any of the above indoor positioning methods, since the indoor reference coordinate accuracy is generally poor, the positioning accuracy has an error of 10 cm at the maximum.

On the other hand, although indoor position measurement using radar or laser is spreading, it is desirable that the measurement has highly accurate reference coordinates indoors. Especially in the latter case, the survey coordinates at the time of design and construction and the coordinates are generally acquired through a new public survey, but the survey coordinates and the measurement coordinates are different due to the accompanying coordinate transformation that deteriorates the accuracy, and it takes several years. In the case of long-term measurement, it is necessary to re-survey the reference point each time because the crustal movement of the Japanese archipelago and the newly performed survey coordinates will deviate. Furthermore, there is also the inconvenience that the reference coordinates of the building do not exist on each floor.

The present invention has been made in view of the above, and an object of the present invention is to provide a highly accurate method for setting a reference position for indoor positioning, an indoor positioning system, and an indoor positioning method.

In order to solve the above-mentioned problems and achieve the object, the method for setting the reference position for indoor positioning according to the present invention is for indoor positioning using a satellite signal receiver that receives satellite signals from a plurality of positioning satellites. It is a method to set the reference position inside the building, the step of installing the satellite signal receiver on the roof or the outer wall of the building, the step of acquiring the installation position information of the satellite signal receiver, and the installation of the satellite signal receiver. A step to set a reference position for indoor positioning directly under the position, a step to measure the height from the set reference position to the installation position of the satellite signal receiver, the measured height, and the acquired satellite signal receiver. It is characterized by including a step of acquiring the position information of the reference position based on the installation position information.

Further, as another method for setting the reference position for indoor positioning according to the present invention, in the above-described invention, a vertical passage extending in the vertical direction is provided directly below the installation position of the satellite signal receiver, and the vertical passage is used for indoor positioning. It is characterized in that the reference position of is set.

Further, in another method of setting the reference position for indoor positioning according to the present invention, in the above-described invention, the reference position for indoor positioning is set on the floor surface of a predetermined floor and directly below the installation position of the satellite signal receiver. A predetermined height section above the floor surface of the vertical passage extending in the vertical direction is characterized in that it is detachably configured with respect to the vertical passage main body.

Further, the indoor positioning system according to the present invention is characterized in that indoor positioning is performed based on the position information of the reference position set by the above-described method for setting the reference position for indoor positioning.

Further, the indoor positioning method according to the present invention is characterized in that indoor positioning is performed based on the position information of the reference position set by the above-described method for setting the reference position for indoor positioning.

According to the method for setting the reference position for indoor positioning according to the present invention, the reference position for indoor positioning is set indoors in a building by using a satellite signal receiver that receives satellite signals from a plurality of positioning satellites. The step of installing the satellite signal receiver on the roof or outer wall of the building, the step of acquiring the installation position information of the satellite signal receiver, and the reference position for indoor positioning are set directly under the installation position of the satellite signal receiver. The position of the reference position based on the step to measure, the step to measure the height from the set reference position to the installation position of the satellite signal receiver, the measured height, and the acquired installation position information of the satellite signal receiver. Since it is provided with a step of acquiring information, it has an effect that a highly accurate reference position can be provided indoors.

Further, according to another method for setting the reference position for indoor positioning according to the present invention, a vertical passage extending in the vertical direction is provided directly below the installation position of the satellite signal receiver, and the reference position for indoor positioning is provided in the vertical passage. Is set, so that the effect that the reference position can be easily set by using the vertical passage is obtained.

Further, according to another method for setting the reference position for indoor positioning according to the present invention, the reference position for indoor positioning is set on the floor surface of a predetermined floor, and is vertically below the installation position of the satellite signal receiver. Of the extending vertical passages, a predetermined height section above the floor surface is detachably configured with respect to the vertical passage body, so measurement work performed by installing a measuring device at the vertical passage position on the floor surface. It has the effect of improving sex.

Further, according to the indoor positioning system according to the present invention, indoor positioning is performed based on the position information of the reference position set by the above-described method for setting the reference position for indoor positioning, so that indoor positioning is performed with high accuracy. It has the effect of being able to.

Further, according to the indoor positioning method according to the present invention, indoor positioning is performed based on the position information of the reference position set by the above-described method for setting the reference position for indoor positioning, so that the indoor positioning is performed with high accuracy. It has the effect of being able to.

FIG. 1 is a schematic side sectional view of a building showing an embodiment of an indoor positioning reference position setting method, an indoor positioning system, and an indoor positioning method according to the present invention. FIG. 2 (1) is an explanatory diagram of the height of the bottom surface of the antenna, and FIG. 2 (2) is an explanatory diagram of the offset value.

Hereinafter, a method for setting a reference position for indoor positioning, an indoor positioning system, and an embodiment of the indoor positioning method according to the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment.

(How to set the reference position for indoor positioning)
First, an embodiment of a method for setting a reference position for indoor positioning according to the present invention will be described.

In the method of setting the reference position for indoor positioning according to the present embodiment, the reference point (reference position) for indoor positioning is set by using a GNSS receiver (satellite signal receiver) that receives satellite signals from a plurality of positioning satellites. It is set indoors in a multi-story building. In the present embodiment, the case where the building has three floors will be described as an example, but the present invention is not limited to this.

As shown in FIG. 1, first, the GNSS receiver 10 is installed on the roof 2 of the building 1, and the position coordinates (latitude, longitude, altitude z0 or elliptical height z0 of the observation point P0) which is the installation position information of the GNSS receiver 10 are installed. ) To get. In this case, the position coordinates of the GNSS receiver 10 are periodically or constantly acquired by performing static positioning, RTK positioning, or the like with an electronic reference point (not shown) around the building 1. It is preferable that the acquired position coordinates are subjected to a removal process (smoothing) such as white noise by using, for example, a 3-hour moving average method.

Next, for example, an opening 14 with a lid is provided in the ceiling portion 12 directly below the central portion of the bottom surface of the GNSS receiver 10, and a vertical pipe 16 (vertical passage) leading from the opening 14 to the lower floor is provided. Instead of the vertical pipe 16, a vertical shaft having a shaft structure may be provided.

As shown in the figure, the vertical pipe 16 may be provided so as to penetrate each floor from the ceiling portion 12 to the floor surface 20 of the first floor, or may be provided up to the bottom surface 20 of the floor where the reference point is to be set, such as the second floor or the third floor. You may. In the present embodiment, a case where reference points P1 to P3 are set on the floor surfaces 20 of each floor of the 1st to 3rd floors directly below the observation point P0 through the vertical pipe 16 will be described as an example.

Next, the rope 18 is connected to the central part of the bottom surface of the GNSS receiver 10 (the part directly below the observation point P0), and the rope 18 is vertically hung down to the floor surface 20 on the first floor through the vertical pipe 16 to measure the length L of the rope 18. do.

Here, if there is an accessory device on the bottom surface of the GNSS receiver 10, the antenna bottom surface height H is acquired. At that time, the offset value is also taken into consideration. An example of the method of acquiring the antenna bottom surface height H and the offset value is shown in FIGS. 2 (1) and 2 (2), respectively. FIG. 2 shows an example in which the GNSS receiver 10 is installed on a tripod. As shown in FIG. 2 (1), the antenna bottom surface height H is represented as a vertical distance from the physical lowest surface (antenna bottom surface height reference surface B) of the antenna body of the GNSS receiver 10 to the top surface of the stone. NS. In the present embodiment, the position of the upper end of the rope 18 (the central portion of the bottom surface of the GNSS receiver 10) corresponds to the position of the upper surface of the stone mark and the like. Further, as shown in FIG. 2 (2), the offset value is the length from the antenna bottom surface height reference plane B to the phase center G of the L1 and L2 frequencies.

Finally, by subtracting the value obtained by adding the length L of the rope 18 and the height H of the bottom surface of the antenna from the altitude z0 (or elliptical height) of the observation point P0 by the GNSS receiver 10, the reference point of the floor surface 20 on the first floor Obtain the altitude z1 (or elliptical height) of P1. That is, the altitude z1 can be calculated by the formula z1 = z0− (L + H). For the position of the reference point P1 in the north, south, east, and west directions, the coordinates (latitude, longitude) of the observation point P0 are adopted as they are. By doing so, the reference point P1 having highly accurate position coordinates can be easily provided on the floor surface 20 on the first floor indoors.

Next, the heights h1 to h3 between the floor surfaces 20 of each floor are acquired. In this case, for example, the vertical pipe 16 is pre-engraved with a scale for height measurement, and the heights h1 to h3 can be obtained from the difference between the scales read at the position of the floor surface 20 on each floor. Further, when the building 1 is a general building, the heights h1 to h3 between the floor surfaces 20 of each floor can be grasped from the construction drawing or the like, and thus the heights h1 to h3 may be obtained by using the heights h1 to h3.

By adding the heights h1 to h3 between the floor surfaces 20 of each floor thus acquired to the altitude z1 of the reference point P1 of the floor surface 20 of the first floor, the reference points P2 of the floor surfaces 20 of the second and third floors, The altitudes z2 and z3 of P3 can be obtained. That is, the altitude z2 can be calculated by the formula z2 = z1 + h1, and the altitude z3 can be calculated by the formula z3 = z2 + h2. By doing so, reference points P2 and P3 having highly accurate position coordinates can be provided on the floor surface 20 on the second and third floors.

Instead of doing so, the altitudes z2 and z3 may be obtained by using the altitude z0 of the observation point P by the GNSS receiver 10 and the height H of the bottom surface of the antenna. In this case, the altitude z3 can be calculated by the formula z3 = z0− (h3 + H), and the altitude z2 can be calculated by the formula z2 = z3-h2.

In the above embodiment, when the vertical pipe 16 is installed and the height L of the rope 18 to the floor surface 20 on the lower floor is measured, the inside of the vertical pipe 16 becomes the reference position, and the sensor is located near the reference point. It is expected that the work will be done with equipment. In this case, the vertical pipe 16 may interfere with the workability. Therefore, for example, a section having a height of about several tens of cm or several meters from the floor surface 20 of the vertical pipe 16 may be configured by a detachable pipe such as a screw-in type vertical pipe 16a. By doing so, the vertical pipe 16a in this height section can be removed from the main body of the vertical pipe 16 and the measuring device or the like can be easily installed near the reference point on the floor surface 20, thus improving the workability of measurement. can do.

Further, in the above embodiment, the case where the vertical pipe 16 and the rope 18 are used has been described as an example, but the present invention is not limited to this, and for example, a reference point is set by using a laser irradiation device such as a laser pointer. It may be set. In this case, for example, a laser pointer may be placed at the center of the bottom surface of the GNSS receiver 10 to irradiate the laser beam vertically downward, and the irradiation position on the floor surface 20 of the lower floor may be set as a reference point, or the lower floor may be set. A laser pointer may be arranged on the floor surface 20 of the GNSS receiver 10 and a position where the laser beam can be irradiated to the central portion of the bottom surface of the GNSS receiver 10 may be set as a reference point.

Further, in the above embodiment, the case where the GNSS receiver 10 is provided on the roof 2 of the building 1 has been described as an example, but the present invention is not limited to this, and for example, the GNSS receiver 10 is installed on the outer wall of the building 1. A reference point may be set by providing a vertical pipe or the like provided at 3 and directly below the vertical pipe. In this case, the set reference point can be used as a reference point for indoor positioning or as a reference point for outdoor positioning in the vicinity of the building 1.

(Indoor positioning system)
Next, an embodiment of the indoor positioning system according to the present invention will be described.

As shown in FIG. 1, the indoor positioning system according to the present embodiment has reference points P1 to P3 set by the above-described indoor positioning reference position setting method as starting points on each floor (1st to 3rd floors). It performs indoor positioning. Since the reference points P1 to P3 set on the floor surface 20 of each floor are points having highly accurate position coordinates, indoor positioning on each floor can be performed with high accuracy.

(Indoor positioning method)
Next, an embodiment of the indoor positioning method according to the present invention will be described.

As shown in FIG. 1, the indoor positioning method according to the present embodiment starts from the reference points P1 to P3 set by the above-described method for setting the reference position for indoor positioning, and is located on each floor (1st floor to 3rd floor). It performs indoor positioning. Since the reference points P1 to P3 set on the floor surface 20 of each floor are points having highly accurate position coordinates, indoor positioning on each floor can be performed with high accuracy.

As described above, according to the method for setting the reference position for indoor positioning according to the present invention, the reference position for indoor positioning is set indoors in the building by using a satellite signal receiver that receives satellite signals from a plurality of positioning satellites. The step of installing the satellite signal receiver on the roof or outer wall of the building, the step of acquiring the installation position information of the satellite signal receiver, and the indoor positioning directly under the installation position of the satellite signal receiver. Based on the step of setting the reference position for, the step of measuring the height from the set reference position to the installation position of the satellite signal receiver, the measured height, and the acquired installation position information of the satellite signal receiver. Since it is provided with a step of acquiring the position information of the reference position, a highly accurate reference position can be provided indoors.

Further, according to another method for setting the reference position for indoor positioning according to the present invention, a vertical passage extending in the vertical direction is provided directly below the installation position of the satellite signal receiver, and the reference position for indoor positioning is provided in the vertical passage. Therefore, the reference position can be easily provided by using the vertical passage.

Further, according to another method for setting the reference position for indoor positioning according to the present invention, the reference position for indoor positioning is set on the floor surface of a predetermined floor, and is vertically below the installation position of the satellite signal receiver. Of the extending vertical passages, a predetermined height section above the floor surface is detachably configured with respect to the vertical passage body, so measurement work performed by installing a measuring device at the vertical passage position on the floor surface. The sex can be improved.

Further, according to the indoor positioning system according to the present invention, indoor positioning is performed based on the position information of the reference position set by the above-described method for setting the reference position for indoor positioning, so that indoor positioning is performed with high accuracy. Can be done.

Further, according to the indoor positioning method according to the present invention, indoor positioning is performed based on the position information of the reference position set by the above-described method for setting the reference position for indoor positioning, so that the indoor positioning is performed with high accuracy. Can be done.

As described above, the indoor positioning reference position setting method, the indoor positioning system, and the indoor positioning method according to the present invention are useful for indoor position measurement, and in particular, perform indoor position measurement with higher accuracy. Suitable for.

1 Building 2 Rooftop 3 Outer wall 10 GNSS receiver (satellite signal receiver)
12 Ceiling 14 Openings 16, 16a Vertical piping (vertical passage)
18 Rope 20 Floor surface P1, P2, P3 Reference point (reference position)

Claims (5)

It is a method of setting a reference position for indoor positioning inside a building using a satellite signal receiver that receives satellite signals from multiple positioning satellites.
A step to install a satellite signal receiver on the roof or outer wall of a building, a step to acquire the installation position information of the satellite signal receiver, and a step to set a reference position for indoor positioning directly under the installation position of the satellite signal receiver. Based on the step of measuring the height from the set reference position to the installation position of the satellite signal receiver, the measured height, and the acquired installation position information of the satellite signal receiver, the position information of the reference position is obtained. A method of setting a reference position for indoor positioning, which comprises a step to acquire. The reference position for indoor positioning according to claim 1, wherein a vertical passage extending in the vertical direction is provided directly below the installation position of the satellite signal receiver, and a reference position for indoor positioning is set in the vertical passage. Setting method. The reference position for indoor positioning is set on the floor surface of the predetermined floor, and the predetermined height section above the floor surface of the vertical passage extending in the vertical direction directly below the installation position of the satellite signal receiver is the vertical passage body. The method for setting a reference position for indoor positioning according to claim 2, wherein the reference position is detachably configured. An indoor positioning system characterized in that indoor positioning is performed based on the position information of the reference position set by the method for setting the reference position for indoor positioning according to any one of claims 1 to 3. An indoor positioning method characterized in that indoor positioning is performed based on the position information of the reference position set by the method for setting the reference position for indoor positioning according to any one of claims 1 to 3.

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