JP7417570B2 - Positioning system and method - Google Patents

Description

The present invention relates to a positioning system, a management device, a reference device, a positioning target device, a positioning method, and a program.

Conventionally, in areas such as indoors where radio waves from GNSS satellites are difficult to reach, the positioning target device (hereinafter also referred to as "target device") is connected to multiple reference devices installed at known position coordinates. A system is known that transmits and receives wireless media such as radio waves, sound waves, and light in a line-of-sight environment (LOS environment) between (For example, see Patent Document 1).

International Publication No. 2018/155437

In conventional systems that utilize the transmission and reception of wireless media such as radio waves in a line-of-sight environment (LOS environment), there is a problem in managing the positioning of a target device by distinguishing the purpose and use of positioning.

A positioning system according to one aspect of the present invention includes a positioning target device and a plurality of reference devices installed at mutually different known position coordinates, and a positioning system between the positioning target device and the plurality of reference devices. This is a positioning system that performs positioning by transmitting and receiving positioning signals using a wireless medium and calculating the position coordinates of the device to be positioned using an algorithm based on the results of the transmission and reception. Each of the plurality of reference devices of this positioning system has a receiving unit that receives a positioning signal including positioning management identification information from the positioning target device via the wireless medium. The positioning target device includes a storage unit that stores the positioning management identification information, and a transmitting unit that transmits a positioning signal including the positioning management identification information to each of the plurality of reference devices via the wireless medium. has.

A device according to another aspect of the present invention is a reference device that can be used in the positioning system, and is a receiver that receives a positioning signal including the positioning management identification information from the positioning target device via the wireless medium. has a department.

A device according to still another aspect of the present invention is a positioning target device that can be used in the positioning system, and includes a storage unit that stores the positioning management identification information, and a plurality of reference devices via the wireless medium. and a transmitter that transmits a positioning signal including the positioning management identification information.

A device according to still another aspect of the present invention is a management device that can be used in the positioning system, and is a management device that can communicate with each of the plurality of reference devices via a communication network.

A method according to still another aspect of the present invention includes transmitting and receiving positioning signals using a wireless medium between a positioning target device and a plurality of reference devices installed at mutually different known position coordinates, and transmitting and receiving positioning signals using a wireless medium. This is a positioning method in which the position coordinates of the device to be positioned are calculated using an algorithm based on the above algorithm. In this positioning method, each of the plurality of reference devices stores positioning management identification information in the positioning target device, and each of the plurality of reference devices connects the positioning target device to the positioning target device via the wireless medium. , receiving a positioning signal including the positioning management identification information; and the positioning target device transmitting the positioning signal including the positioning management identification information to each of the plurality of reference devices via the wireless medium. Including.

A program according to yet another aspect of the present invention is a program executed on a computer or processor included in the reference device. This program includes a program code for receiving a positioning signal including the positioning management identification information from the positioning target device via the wireless medium.

A program according to still another aspect of the present invention is a program executed in a computer or processor provided in the device to be positioned. This program includes a program code for storing the positioning management identification information, and a program code for transmitting a positioning signal including the positioning management identification information to each of the plurality of reference devices via the wireless medium. ,including.

A program according to still another aspect of the present invention is a program executed on a computer or processor included in the management device. This program includes a program code for communicating with each of the plurality of reference devices via a communication network, a program code for storing information on position coordinates of each of the plurality of reference devices, and a program code for storing information on the position coordinates of each of the plurality of reference devices. A program code for receiving, from each of the devices, identification information of the device to be positioned, identification information of the reference device, positioning management identification information, and information on the transmission/reception result of the positioning signal, and the positioning management identification information. With respect to a plurality of reference devices having the same positioning target, the positioning target is determined based on the identification information of the positioning target device, the identification information of the reference device, and the information of the transmission/reception result of the positioning signal received from each of the plurality of reference devices. and program code for calculating position coordinates of the device.

In the positioning system, the positioning target device, the reference device, the management device, the positioning method, and the program, the positioning management identification information includes the purpose of the positioning, the use of the positioning result, and the positioning result. The information may be information that can identify at least one of the entities using the information.

In the positioning system, the positioning target device, the reference device, the management device, the positioning method, and the program, each of the plurality of reference devices includes a memory that stores positioning management identification information set in advance in the reference device. and a transmission unit that transmits the positioning management identification information to the positioning target device, and the positioning target device has a receiving unit that receives the positioning management identification information from the reference device. Good too. Here, the positioning management identification information is transmitted from the reference device to the positioning target device when a pairing process involving near field communication authentication is performed between the reference device and the positioning target device. may be done.

In the positioning system, the positioning target device, the reference device, the management device, the positioning method, and the program, the wireless medium may be UWB (ultra wideband) radio waves.

In the positioning system, the positioning target device, the reference device, the management device, the positioning method, and the program, the plurality of reference devices are four or more reference devices whose time synchronization or time difference is managed. The position coordinates of the positioning target device are determined by information on a plurality of time differences at which the positioning signal transmitted from the positioning target device is received by each of the plurality of reference devices, and each of the plurality of reference devices. It may be calculated based on information on the position coordinates of .

In the positioning system, the positioning target device, the reference device, the management device, the positioning method, and the program, the positioning target device may be a wireless IC tag.

The positioning system may include a management device capable of communicating with each of the plurality of reference devices via a communication network.

In the positioning system including the management device, each of the plurality of reference devices includes identification information of the positioning target device that transmitted the positioning signal, identification information of the reference device, positioning management identification information, and transmission/reception of the positioning signal. the management device includes a storage section that stores information on the position coordinates of each of the plurality of reference devices, and a transmission section that sends information on the results to the management device; , a receiving unit that receives identification information of the positioning target device, identification information of the reference device, positioning management identification information, and information on the transmission/reception result of the positioning signal; and a plurality of reference devices having the same positioning management identification information. , the position coordinates of the positioning target device are determined based on the identification information of the positioning target device received from each of the plurality of reference devices, the identification information of the reference device, and information on the transmission/reception result of the positioning signal. The computer may also include a calculation unit that performs calculations.

In the positioning system including the management device, the management device includes a transmitter that transmits the positioning management identification information to each of the plurality of reference devices, and each of the plurality of reference devices receives the communication from the management device. It includes a receiving unit that receives the positioning management identification information via a network, and an information processing unit that initializes or updates the positioning management identification information based on the positioning management identification information received from the management device. You may.

According to the present invention, when positioning is performed using the transmission and reception of positioning signals via a wireless medium between a plurality of reference devices and a positioning target device, the purpose of positioning, use, etc. are distinguished, and the positioning of the positioning target device is performed. can be managed.

FIG. 1 is an explanatory diagram showing an example of the main configuration of a positioning system according to an embodiment. 2 is a block diagram showing an example of the main configurations of a reference device, a target device, and a management device that constitute the positioning system of FIG. 1. FIG. FIG. 2 is an explanatory diagram showing an example of transmission and reception of positioning management identification information (Purpose ID) in the positioning system of FIG. 1; FIG. 7 is an explanatory diagram showing another example of the main configuration of the positioning system according to the embodiment. 5 is a block diagram showing an example of the main configurations of a reference device, a target device, and a management device that constitute the positioning system of FIG. 4. FIG. 5 is an explanatory diagram showing an example of transmission and reception of positioning management identification information (Purpose ID) in the positioning system of FIG. 4. FIG.

Embodiments of the present invention will be described below with reference to the drawings.
The positioning system according to the embodiment described in this document operates in a line-of-sight environment (LOS environment) between a tag (a device to be positioned) and a plurality of anchors (reference devices) installed at mutually different known position coordinates. ) is a system that transmits and receives positioning signals using ultra-wideband (UWB) radio waves, and calculates the position coordinates of a tag using a TDoA (time difference of arrival) algorithm based on the results of the transmission and reception.

The TDoA positioning system of this embodiment is suitable for positioning the position coordinates of a tag in an area such as an indoor area where radio waves from a GNSS satellite cannot reach or are difficult to reach. The positioning system of this embodiment is suitable for realizing a real-time positioning system (RTLS) that measures the position of a positioning target device such as a tag in real time.

FIG. 1 is an explanatory diagram showing an example of the main configuration of a positioning system according to an embodiment of the present invention. In FIG. 1, the positioning system includes a plurality of reference devices (hereinafter also referred to as "anchors") 20A(1) to 20A() installed at mutually different known position coordinates in each of a plurality of positionable spaces 10A and 10B. 4), 20B(1) to 20B(4). The positioning system may further include positioning target devices (hereinafter referred to as "target devices") 30A and 30B in the positioning possible spaces 10A and 10B, respectively. The positioning system may further include a management device 40 capable of communicating with each of the plurality of reference devices 20A(1) to 20A(4) and 20B(1) to 20B(4). The management device 40 may be able to communicate with the target devices 30A and 30B.

Note that the example in FIG. 1 shows a positioning system that measures the positions of the target devices 30A and 30B using the TDoA method; It is also possible to measure the position.

Further, in the example of FIG. 1, a case is shown in which the number of positionable spaces 10A and 10B is two, but the number of positionable spaces may be singular, or may be three or more. Further, the number of reference devices 20A(1) to 20A(4) and 20B(1) to 20B(4) in each of the positioning possible spaces 10A and 10B is 4, respectively, but the number of reference devices in the positioning possible space is 5. It may be more than that. Further, although the number of target devices 30A and 30B in each of the positionable spaces 10A and 10B is one, the number of target devices in the positionable space may be two or more.

Furthermore, in the following description, when describing matters common to each of the positioning spaces 10A and 10B, they will be referred to as the positioning space 10. Further, when describing matters common to each of the reference devices 20A(1) to 20A(4) and 20B(1) to 20B(4), they will be referred to as reference device 20. Further, when describing each target device 30A, 30B, it will be referred to as target device 30.

The plurality of reference devices 20 are installed at a plurality of different positions in a two-dimensional or three-dimensional positionable space 10 inside a building or the like. The installation positions of the plurality of reference devices 20 differ from each other in at least one of horizontal position and height. The installation position is preferably as far away as possible within the positioning space 10.

The number of reference devices 20 is set, for example, according to the algorithm of the positioning method. For example, when positioning the target device 30 in a three-dimensional space using the TDoA method, the number of reference devices 20 is, for example, four or more. Note that when positioning the target device 30 in a two-dimensional area, the number of reference devices 20 may be three or more. Further, the number of reference devices 20 may be two or more depending on the positioning method.

Each of the plurality of reference devices 20 is a reference device whose time synchronization or time difference is managed with respect to each other. For example, the plurality of reference devices 20 are time-synchronized with each other by any synchronization method applicable between the devices. Each of the plurality of reference devices 20 includes a time-synchronized internal clock.

The known position coordinates at which each of the plurality of reference devices 20 is installed are, for example, relative position coordinates measured in advance between the reference devices 20 with a certain point in the positionable space 10 as a reference. The position coordinates of the plurality of reference devices 20 may be relative position coordinates measured in advance with the position of any one reference device 20 as the origin. Furthermore, if the reference device 20 is placed in an area where it can receive radio waves from a GNSS satellite, the known position coordinates of the reference device 20 may be position coordinates measured by a GNSS receiver. The position coordinates in this case may be, for example, known latitude, longitude, and altitude, or a coordinate position (X, Y, Z) in an ECEF (Earth-Centered Earth-Fixed) coordinate system in which a certain reference point is defined. ).

The target device 30 is, for example, an IC wireless tag (hereinafter also referred to as "tag"). The target device 30 may be a tag, a truck, a forklift, various parts, or various products. The target device 30 may be a moving device, a temporarily stopped device, or a fixedly located device.

The target device 30 transmits a positioning signal using a predetermined wireless medium to each of the plurality of reference devices 20, as shown by the solid arrow in FIG. The wireless medium used for transmitting and receiving positioning signals is a wireless medium such as radio waves, sound waves, and light. In this embodiment, UWB (ultra wideband) radio waves are used as the wireless medium. UWB is a communication technology using weak radio waves in a wide band (for example, a bandwidth of several hundred MHz centered on an arbitrary frequency in a several GHz band), and is defined by IEEE 802.15.4.

The target device 30 may be configured to be able to transmit and receive information such as positioning management identification information (for example, Purpose ID) to and from each of the plurality of reference devices 20 using a predetermined short-range wireless communication method. Various communication methods can be used as the short-range wireless communication method between the target device 30 and the reference device 20, and for example, a BLE (Bluetooth (registered trademark) Low Energy) communication method may be used.

The management device 40 is, for example, a cloud computer system (hereinafter also referred to as "cloud system") built on a communication network 45 such as the Internet. The management device 40 may be a server composed of a single computer device or a plurality of computer devices. Communication between the management device 40 and the plurality of reference devices 20 can be performed, for example, via a wired or wireless communication line. The communication line may be a public line or a private line.

FIG. 2 is a block diagram showing an example of the main configurations of the reference device (anchor) 20, target device (tag) 30, and management device 40 that constitute the positioning system of FIG.
In FIG. 2, the reference device 20 includes a UWB receiving section 210 that also functions as a positioning signal receiving section, a storage section 230, and a NW communication section 240 that also functions as an information transmitting section.

The UWB receiving unit 210 is configured with, for example, a UWB wireless communication module, and receives a positioning signal transmitted (transmitted) from the target device 30 using UWB radio waves via the antenna 211 . Further, the UWB receiving unit 210 outputs information included in the positioning signal received from the target device 30 and reception time information (Timestamp) of the positioning signal.

The transmission format of the positioning signal transmitted from the target device 30 includes, for example, frame control information (Frame Control), transmission sequence number (Sequence Number), target device identification information (TAG ID) that can identify the target device 30, and message identification. information (Message ID), positioning management identification information (Purpose ID), and data error recovery information (CRC).

The positioning management identification information (Purpose ID) is, for example, information that can identify at least one of the purpose of positioning, the use of the positioning results, and the entity using the positioning results.

For example, when receiving positioning signals from a plurality of target devices 30, the UWB receiving unit 210 selects the positioning signal of the own device 20 from among the plurality of positioning signals based on positioning management identification information (Purpose ID) included in the positioning signals. Only a specific positioning signal including management identification information (Purpose ID) may be received and only that specific positioning signal may be output.

The positioning management identification information (Purpose ID) includes information such as the purpose of positioning, the use of the positioning results, the entity using the positioning results, etc. when the target device 30 is used in various locations (for example, the positioning possible space 10). This is important information to identify. For example, when the target device 30 moves, it may be necessary to correspond to different positioning management identification information (Purpose ID) depending on the location of the destination.

Here, for example, if the owner of the reference device 20 and the target device 30 is the same entity such as a corporation, the positioning management identification information (Purpose ID) is preset in the reference device (own device) 20 by the entity. be done.

Note that the target device 30 normally only transmits a positioning signal containing positioning management identification information (Purpose ID) in UWB, but the positioning management identification information (Purpose ID) used in the target device 30 is automatically transmitted depending on the location. It may also be possible to set or automatically change the settings. For example, as described below, the positioning management identification information (Purpose ID) used by the target device 30 can be set to a location by using the pairing process of BLE wireless communication executed between the reference device 20 and the target device 30. It may be automatically set and changed accordingly.

The storage unit 230 stores various information included in the positioning signal output from the UWB receiving unit 210 and positioning signal reception time information (timestamp), which is information on the transmission and reception result of the positioning signal, in association with each other.

The NW communication unit 240 communicates with the management device 40 via a wired or wireless communication line. The NW communication unit 240 transmits positioning-related information regarding the positioning of the target device 30 stored in the storage unit 230 to the management device 40. The transmission format of the positioning related information sent to the management device 40 is, for example, target device identification information (TAG ID), reference device identification information (Anchor ID) that can identify the reference device (own device) 20, and target device count information. (TAG Counter), positioning management identification information (Purpose ID), reception time information (Timestamp) of the positioning signal from the target device 30, and radio field strength and absolute time information (Epoch Time).

In FIG. 2, the target device 30 includes a UWB transmitting section 310 that also functions as a positioning signal transmitting section, and a storage section 330.

The UWB transmitter 310 is configured with, for example, a UWB wireless communication module, and transmits (emits) a positioning signal having a transmission format including the above-mentioned positioning management identification information (Purpose ID) via the antenna 311. The positioning signal is, for example, a pulse-like signal, and is periodically transmitted at predetermined time intervals.

The storage unit 330 stores information to be included in the positioning signal transmitted from the UWB transmission unit 310. The storage unit 330 also stores positioning management identification information (Purpose ID) that is preset in the reference device 20.

In FIG. 2, the management device 40 includes a NW communication section 410 that also functions as a reception section for information on transmission and reception results, a positioning calculation section 420 that also functions as a position coordinate calculation section, and a storage section 430.

The NW communication unit 410 communicates with the plurality of reference devices 20 via wired or wireless communication lines. The NW communication unit 410 receives positioning-related information regarding the positioning of the target device 30 from each reference device 20 . The transmission format of the positioning-related information includes, for example, target device identification information (TAG ID), reference device identification information (Anchor ID) that can identify the reference device (own device) 20, target device count information (TAG Counter), and positioning management. It includes identification information (Purpose ID), reception time information (Timestamp) of the positioning signal from the target device 30, and radio field strength and absolute time information (Epoch Time).

The positioning calculation unit 420 calculates the current position of the target device 30 for each positioning management identification information (Purpose ID) and for each target device 30 based on the positioning related information received from each reference device 20, and performs positioning. do.

In the TDoA positioning system of this embodiment, the current position of the target device 30 can be calculated using, for example, the following algorithm. Here, in the positioning possible space 10A of FIG. 1 described above, the positioning signal transmitted from the target device 30A reaches four reference devices 20A (1), 20A (2), 20A (3), and 20A (4). The received times (Timestamps) are T1, T2, T3, T4, the propagation speed of the positioning signal is v [m/s], and the target device 30 and the reference device 20A(1), 20A(2), 20A(3) , 20A(4) are respectively D1, D2, D3, and D4, and the reception time difference of the positioning signal between the reference devices is ΔT12=T1-T2, ΔT13=T1-T3, ΔT14=T1-T4, ΔT23= When T2-T3, ΔT24=T2-T4, and ΔT34=T3-T4, the following relational expressions (1) to (6) hold true.

Distances D1, D2, D3, and D4, which are unknown variables, can be determined using the above relational expressions (1) to (6). These calculated distances D1, D2, D3, and D4 are the radii of four spherical surfaces whose origin is the known position coordinates of the reference devices 20A(1), 20A(2), 20A(3), and 20A(4). The current position of the target device 30 in the three-dimensional positionable space 10A can be calculated with an accuracy of several centimeters (for example, 3 to 10 cm) using any algorithm for finding the intersection.

The positioning result of the current position of the target device 30 output from the positioning calculation unit 420 can be used for various services of positioning management identification information (Purpose ID), for example, in the management device 40 or in various servers, reference devices, etc. can.

The storage unit 430 stores positioning-related information used for calculation by the positioning calculation unit 420 and positioning results calculated by the positioning calculation unit 420 for each positioning management identification information (Purpose ID) and for each target device 30. Furthermore, the storage unit 430 stores positioning management identification information (Purpose ID) set in advance for each of the plurality of reference devices 20.

FIG. 3 is an explanatory diagram showing an example of transmission and reception of positioning management identification information (Purpose ID) in the positioning system of FIG. 1. The positioning system in FIG. 3 includes anchors A, B, C, and D as a plurality of reference devices 20, a tag α as a target device 30, and a cloud system as a management device 40.

In FIG. 3, 8888 is preset as the Purpose ID for the tag α, and the setting information is stored. Using this PurposeID, it is possible to manage the positioning of the tag α by distinguishing the purpose, use, etc. of the positioning of the tag α. When tag α moves to the positioning space where anchors A, B, C, and D are installed, a positioning signal containing Purpose ID: 8888 is transmitted by UWB at a predetermined timing, and the positioning signal is transmitted to anchors A, B, C, and D. Received on B, C, and D. Anchors A, B, C, and D each transmit positioning-related information including the TAG ID of tag α, the Anchor ID of each anchor A, B, C, and D, and Purpose ID: 8888 to the cloud system. Based on the positioning-related information received from each of the anchors A, B, C, and D, the cloud system performs positioning of the tag α using only the positioning-related information corresponding to Purpose ID:8888.

According to the positioning system shown in FIGS. 1 to 3, positioning can be performed using the transmission and reception of positioning signals using UWB radio waves between multiple anchors A, B, C, and D and tag α, and the positioning It is possible to manage the positioning of the tag α by distinguishing the purpose, use, etc.

In addition, in the positioning system of this embodiment, as shown in the following FIGS. 4 to 6, prior to transmitting and receiving a positioning signal using the UWB communication method in a space where positioning is possible, the positioning management identification information used in the positioning signal is The PurposeID may be set by transmitting it from the reference device (anchor) 20 to the target device (tag) 30.

FIG. 4 is an explanatory diagram showing an example of the main configuration of a positioning system according to another embodiment of the present invention. In this embodiment, prior to transmitting and receiving a positioning signal using the UWB communication method shown by the solid line in FIG. 4, as shown by the broken line in FIG. A pairing process that involves authentication of the BLE (Bluetooth (registered trademark) Low Energy) communication method, which is a short-range wireless communication method, is being performed. When executing this pairing process, the reference device 20 transmits the Purpose ID to the target device 30, and the Purpose ID is automatically set in the target device 30.

FIG. 5 is a block diagram showing an example of the main configurations of the reference device (anchor) 20, target device (tag) 30, and management device 40 that constitute the positioning system of FIG. Note that in FIG. 5, parts common to those in FIG. 2 described above are given the same reference numerals, and explanations thereof will be omitted.

In FIG. 5, the reference device 20 includes a UWB reception section 210, a storage section 230, and a NW communication section 240, as well as a BLE communication section 220 that functions as a transmission section for positioning management identification information (Purpose ID).

The BLE communication unit 220 is configured with, for example, a BLE wireless communication module, performs wireless communication with the target device 30 via the antenna 221, and performs a BLE wireless communication pairing process including an authentication process with the target device 30. In addition, the BLE communication unit 220 transmits the positioning management identification information (Purpose ID) preset in the reference device (own device) 20 to the target device 30 during or after the pairing process of BLE wireless communication. Send to.

In FIG. 5, the NW communication unit 240 also functions as an information receiving unit, and receives positioning management identification information (Purpose ID) set by the management device 40 in the reference device (own device) 20 from the management device 40. do. The positioning management identification information (Purpose ID) received from the management device 40 may be stored in the storage unit 230 as an initial setting, or may be used to update the positioning management identification information (Purpose ID) already stored in the storage unit 230. May be used.

The storage unit 230 also functions as a storage unit for positioning management identification information (Purpose ID), and stores positioning management identification information (Purpose ID) that is set in advance in the reference device (own device) 20.

In FIG. 5, the target device 30 includes a BLE communication unit 220 that also functions as a receiving unit for positioning management identification information (Purpose ID) in addition to a UWB transmitting unit 310 and a storage unit 330.

The BLE communication unit 320 is configured with, for example, a BLE wireless communication module, performs wireless communication with the reference device 20 via the antenna 321, and performs a BLE wireless communication pairing process including an authentication process with the reference device 20. Further, the BLE communication unit 320 receives positioning management identification information (Purpose ID) preset in the reference device 20 from the reference device 20 during or after the pairing process of BLE wireless communication. Using the positioning management identification information (Purpose ID) received from the reference device 20, the target device 30 can detect the positioning possible space 10, which is the space in which the position of the target device (self-device) 30 is measured.

In FIG. 5, the storage unit 330 stores positioning management identification information (Purpose ID) received by the BLE communication unit 320 and set in advance in the reference device 20.

In FIG. 5, the NW communication unit 410 of the management device 40 sets positioning management identification information (Purpose ID) to the corresponding reference device 20.

FIG. 6 is an explanatory diagram showing an example of transmission and reception of positioning management identification information (Purpose ID) in the positioning system of FIG. 4. The positioning system in FIG. 6 includes anchors A, B, C, and D as a plurality of reference devices 20, anchors W, X, Y, and Z as a plurality of other reference devices 20, and a tag α as a target device 30. and a cloud system as a management device 40. In the example of FIG. 6, the anchors A, B, C, and D, which are the plurality of reference devices 20, and the anchors W, X, Y, and Z, which are the other plurality of reference devices 20, are located in the same positioning space. may be installed, or may be installed in different positioning spaces.

In FIG. 6, when tag α moves to the positioning space where anchors A, B, C, and D are installed, BLE pairing processing is executed between anchors A, B, and C and tag α, and tag α 8888 is automatically set as the Purpose ID. After the automatic setting, when a positioning signal including Purpose ID:8888 is transmitted by UWB at a predetermined timing, the positioning signal is received by anchors A, B, C, and D. Anchors A, B, C, and D each transmit positioning-related information including the TAG ID of tag α, the Anchor ID of each anchor A, B, C, and D, and Purpose ID: 8888 to the cloud system. Based on the positioning-related information received from each of the anchors A, B, C, and D, the cloud system performs positioning of the tag α using only the positioning-related information corresponding to Purpose ID:8888.

After that, when tag α moves to the positioning space where anchors W, X, Y, and Z are installed, BLE pairing processing is executed between anchors W, X, Y, and Z and tag α, and tag α 7777 is automatically set (automatically changed) as the Purpose ID. After the automatic setting, when a positioning signal including Purpose ID:7777 is transmitted by UWB at a predetermined timing, the positioning signal is received by anchors W, X, Y, and Z. Anchors W, X, Y, and Z each transmit positioning-related information including the TAG ID of tag α, the Anchor ID of each anchor W, X, Y, and Z, and Purpose ID: 7777 to the cloud system. Based on the positioning-related information received from each of the anchors W, X, Y, and Z, the cloud system performs positioning of the tag α using only the positioning-related information corresponding to Purpose ID:7777.

According to the positioning system shown in FIGS. 4 to 6, in an area where multiple anchors A, B, C, and D using Purpose ID: 8888 corresponding to the first purpose are installed, anchors A, B, C, and D are installed. Multiple anchors W using Purpose ID: 7777 can perform positioning using the transmission and reception of positioning signals using UWB radio waves between the , X, Y, and Z, positioning can be performed using the transmission and reception of positioning signals using UWB radio waves between the anchors W, X, Y, and Z and the tag α. In this way, it is possible to manage the positioning of the tag α by distinguishing the purpose, use, etc. of positioning in the area where the tag α is located based on the Purpose ID.

For example, according to the positioning systems shown in Figures 4 to 6, if there are multiple places where Purpose IDs are set on the smart city side for public purposes etc., tag owners such as ordinary citizens can match Purpose IDs and use them. When moving, Purpose IDs can be exchanged using BLE pairing, making it possible to perform positioning corresponding to a predetermined purpose or application.

As described above, according to the present embodiment, when performing positioning using the transmission and reception of positioning signals using UWB radio waves between a plurality of reference devices 20 and the target device 30, the target device It is possible to manage 30 positionings.

Note that the processing steps and components of the positioning system (eg, reference device, target device, management device) described herein can be implemented by various means. For example, these steps and components may be implemented in hardware, firmware, software, or a combination thereof.

Regarding hardware implementation, processing used to realize the above steps and components in an entity (e.g., various wireless communication devices, communication modules, Node B, Node G, terminal, hard disk drive device, or optical disk drive device) The unit or the like may include one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processors (DSPDs), programmable logic devices (PLDs), field programmable gates, etc. implemented in an array (FPGA), processor, controller, microcontroller, microprocessor, electronic device, other electronic unit designed to perform the functions described herein, computer, or combinations thereof; may be done.

Additionally, for firmware and/or software implementations, the means used to implement the components described above, such as processing units, may include programs (e.g., procedures, functions, modules, instructions) that perform the functions described herein. , etc.). In general, any computer/processor readable medium tangibly embodying firmware and/or software code, such as a processing unit, may be used to implement the above steps and components described herein. may be used for implementation. For example, the firmware and/or software code may be stored in memory and executed by a computer or processor, eg, in a controller. The memory may be implemented within the computer or processor, or external to the processor. The firmware and/or software code may also be stored in, for example, random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), electrically erasable PROM (EEPROM), etc. ), flash memory, floppy disks, compact disks (CDs), digital versatile disks (DVDs), magnetic or optical data storage devices, etc. good. The code may be executed by one or more computers or processors and may cause the computers or processors to perform certain aspects of the functionality described herein.

Further, the medium may be a non-temporary recording medium. Further, the code of the program may be read and executed by a computer, processor, or other device or apparatus, and its format is not limited to a specific format. For example, the code of the program may be a source code, an object code, or a binary code, or may be a mixture of two or more of these codes.

The description of the embodiments disclosed herein is also provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to this disclosure will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other variations without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the examples and designs described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

10: Positioning possible space 20: Reference device 30: Target device (device to be positioned)
40: Management device 45: Communication network 210: UWB reception unit 211: Antenna 220: BLE communication unit 221: Antenna 230: Storage unit 240: NW communication unit 310: UWB transmission unit 311: Antenna 320: BLE communication unit 321: Antenna 330 : Storage unit 410 : NW communication unit 420 : Positioning calculation unit 430 : Storage unit

Claims (13)

The apparatus comprises a positioning target device and a plurality of reference devices installed at mutually different known position coordinates, and transmitting and receiving positioning signals via a wireless medium between the positioning target device and the plurality of reference devices. A positioning system that calculates and positions the position coordinates of the positioning target device using an algorithm based on the results of transmission and reception,
Each of the plurality of reference devices includes:
a receiving unit that receives a positioning signal including positioning management identification information from the positioning target device via the wireless medium;
The device to be positioned is:
a storage unit that stores the positioning management identification information;
a transmitter that transmits a positioning signal including the positioning management identification information to each of the plurality of reference devices via the wireless medium ,
The positioning management identification information is information that can identify at least one of the purpose of the positioning, the use of the positioning results, and the entity using the positioning results,
Each of the plurality of reference devices selects a specific positioning signal that includes the positioning management identification information of the reference device among the plurality of positioning signals based on the positioning management identification information included in the positioning signal received from the positioning target device. Receive only
A positioning system characterized by: The apparatus comprises a positioning target device and a plurality of reference devices installed at mutually different known position coordinates, and transmitting and receiving positioning signals via a wireless medium between the positioning target device and the plurality of reference devices. A positioning system that calculates and positions the position coordinates of the positioning target device using an algorithm based on the results of transmission and reception,
Each of the plurality of reference devices includes:
a receiving unit that receives a positioning signal including positioning management identification information from the positioning target device via the wireless medium;
The device to be positioned is:
a storage unit that stores the positioning management identification information;
a transmitter that transmits a positioning signal including the positioning management identification information to each of the plurality of reference devices via the wireless medium,
Each of the plurality of reference devices includes:
a storage unit that stores positioning management identification information set in advance in the reference device;
a transmitter that transmits the positioning management identification information to the positioning target device,
The positioning system characterized in that the positioning target device has a receiving unit that receives the positioning management identification information from the reference device. The positioning system according to claim 2,
The positioning management identification information is information that can identify at least one of the purpose of the positioning, the use of the positioning results, and the entity using the positioning results.
A positioning system characterized by: The positioning system according to claim 2 or 3,
The positioning management identification information is transmitted from the reference device to the positioning target device when a pairing process involving near field communication authentication is performed between the reference device and the positioning target device. A positioning system characterized by: The positioning system according to any one of claims 1 to 4,
A positioning system characterized in that the wireless medium is UWB (ultra wideband) radio waves. The positioning system according to any one of claims 1 to 5,
The plurality of reference devices are four or more reference devices whose mutual time synchronization or time difference is managed,
The position coordinates of the positioning target device are determined by information on a plurality of time differences when the positioning signal transmitted from the positioning target device was received by each of the plurality of reference devices, and the position of each of the plurality of reference devices. A positioning system characterized in that the positioning system is calculated based on coordinate information. The positioning system according to any one of claims 1 to 6,
A positioning system characterized in that the device to be positioned is a wireless IC tag. The positioning system according to any one of claims 1 to 7,
A positioning system comprising: a management device capable of communicating with each of the plurality of reference devices via a communication network. The positioning system according to claim 8,
Each of the plurality of reference devices transmits the identification information of the positioning target device that transmitted the positioning signal, the identification information of the reference device, the positioning management identification information, and the information of the transmission/reception result of the positioning signal to the management device. has a transmitting section that transmits to
The management device includes:
a storage unit that stores information on position coordinates of each of the plurality of reference devices;
a receiving unit that receives, from each of the plurality of reference devices, identification information of the positioning target device, identification information of the reference device, positioning management identification information, and information on the transmission/reception result of the positioning signal;
With respect to a plurality of reference devices having the same positioning management identification information, based on the identification information of the device to be positioned, the identification information of the reference device, and information on the transmission/reception result of the positioning signal received from each of the plurality of reference devices. a calculation unit that calculates the position coordinates of the positioning target device;
A positioning system characterized by: The positioning system according to claim 8 or 9,
The management device includes a transmitter that transmits the positioning management identification information to each of the plurality of reference devices,
Each of the plurality of reference devices includes:
a receiving unit that receives the positioning management identification information from the management device via the communication network;
an information processing unit that initializes or updates the positioning management identification information based on the positioning management identification information received from the management device;
A positioning system characterized by: The apparatus comprises a positioning target device and a plurality of reference devices installed at mutually different known position coordinates, and transmitting and receiving positioning signals via a wireless medium between the positioning target device and the plurality of reference devices. A positioning system that calculates and positions the position coordinates of the positioning target device using an algorithm based on the results of transmission and reception,
comprising a management device capable of communicating with each of the plurality of reference devices via a communication network,
Each of the plurality of reference devices includes:
a receiving unit that receives a positioning signal including positioning management identification information from the positioning target device via the wireless medium;
The device to be positioned is:
a storage unit that stores the positioning management identification information;
a transmitter that transmits a positioning signal including the positioning management identification information to each of the plurality of reference devices via the wireless medium,
The management device includes a transmitter that transmits the positioning management identification information to each of the plurality of reference devices,
Each of the plurality of reference devices includes:
a receiving unit that receives the positioning management identification information from the management device via the communication network;
an information processing unit that initializes or updates the positioning management identification information based on the positioning management identification information received from the management device;
A positioning system characterized by: Positioning signals are transmitted and received via a wireless medium between the positioning target device and a plurality of reference devices installed at mutually different known position coordinates, and an algorithm based on the results of the transmission and reception is used to calculate the position of the positioning target device. A positioning method that calculates coordinates and measures the position,
The positioning target device stores positioning management identification information;
Each of the plurality of reference devices receives a positioning signal including the positioning management identification information from the positioning target device via the wireless medium;
The positioning target device transmits a positioning signal including the positioning management identification information to each of the plurality of reference devices via the wireless medium;
Based on the positioning management identification information included in the positioning signal received by each of the plurality of reference devices from the positioning target device, each of the plurality of reference devices generates a specific positioning signal that includes the positioning management identification information of the reference device among the plurality of positioning signals. including, that you will receive only
The positioning method is characterized in that the positioning management identification information is information that can identify at least one of the purpose of the positioning, the use of the positioning results, and the entity using the positioning results . Positioning signals are transmitted and received via a wireless medium between the positioning target device and a plurality of reference devices installed at mutually different known position coordinates, and an algorithm based on the results of the transmission and reception is used to calculate the position of the positioning target device. A positioning method that calculates coordinates and measures the position,
The positioning target device stores positioning management identification information;
Each of the plurality of reference devices receives a positioning signal including the positioning management identification information from the positioning target device via the wireless medium;
The positioning target device transmits a positioning signal including the positioning management identification information to each of the plurality of reference devices via the wireless medium;
Each of the plurality of reference devices stores positioning management identification information set in advance in the reference device;
each of the plurality of reference devices transmitting the positioning management identification information to the positioning target device;
The positioning target device receives the positioning management identification information from the reference device;
A positioning method characterized by including.

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