JP2006343232A - Positioning system, positioning device, terminal device, mediation device, and program for positioning device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a positioning system capable of positioning the present position of a terminal device, without receiving obstruction of communication waves transmitted by the terminal device. <P>SOLUTION: The positioning device 40 includes a producing means for propagation delay information between terminal mediation devices, for generating propagation delay information 370 between terminal mediation devices indicating time required to propagate terminal information to each agency device 20A, based on transmission time information 366 for terminal information, receipt time information 368 for mediation information, and propagation delay information 356 for mediation information, acquired by an acquisition means for mediation device information; and a producing means for terminal device position information, for creating terminal device position information 372, indicating the position of the terminal device 12, based on mediation device 354 position information and propagation delay information 370 between terminal device devices. <P>COPYRIGHT: (C)2007,JPO&amp;INPIT

Description

  The present invention relates to a positioning system for positioning a current position of a terminal device, a positioning device, a terminal device, an intermediary device, and a control program for the positioning device.

Conventionally, a positioning system that measures the current position of a GPS receiver by using, for example, a GPS (Global Positioning System) that is a satellite navigation system has been put into practical use.
In such a positioning system, a technique for positioning using a carrier wave derived from a communication base station together with a satellite radio wave has been proposed (for example, Patent Document 1).
Special table 2001-505665 gazette

  However, for example, in a terminal device in which a GPS receiver and a communication device are integrated, a communication radio wave having a radio field strength much higher than that of a satellite radio wave is transmitted from the communication device. When this communication radio wave is received by the terminal device itself, the satellite radio wave and / or the SNR (Signal to noise ratio) of the carrier wave from the communication base station deteriorates, which may cause a problem in positioning. is there.

  Accordingly, the present invention provides a positioning system, a positioning device, a terminal device, an intermediary device, and a positioning device control program that can measure the current position of the terminal device without being disturbed by a communication radio wave transmitted by the terminal device. For the purpose.

  According to the first aspect of the present invention, the terminal device that wirelessly transmits terminal information including identification information, a plurality of mediating devices that can communicate with the terminal device, and the terminal device and the mediating device can communicate with the terminal device. A positioning system comprising: a positioning device, wherein the terminal device includes terminal information transmitting means for transmitting the terminal information based on a request from the positioning device, and the intermediary device includes the terminal device. The intermediary device identification information for identifying the intermediary device is attached to the terminal information received from the intermediary information transmitting means for transmitting to the positioning device as intermediary information, the positioning device includes time measuring means, Mediating device position information storage means for storing mediating device location information indicating the location of the mediating device, and mediating information transmission indicating the time required for the mediation information to propagate between each mediating device and the positioning device. Mediation information propagation delay information storage means for storing delay information, terminal information request information transmission means for transmitting terminal information request information for requesting transmission of the terminal information to the terminal apparatus, and from the terminal apparatus The terminal information receiving means for receiving the terminal information, the transmission time information indicating the time when the terminal information request information is transmitted, and the reception time information indicating the time when the terminal information is received from the terminal device, Direct propagation delay information generating means for generating direct propagation delay information indicating a time required for the terminal information to propagate between the terminal device and the positioning device, based on the reception time information and the direct propagation delay information Terminal information transmission time information generating means for generating terminal information transmission time information indicating a time at which the terminal device has transmitted the terminal information, and the broker information from the broker device. Based on the mediation apparatus identification information included in the mediation information, mediation information reception time information generation means for generating mediation information reception time information indicating the time when the mediation information was received, Acquired by the mediating device specific information acquisition means for acquiring the mediating device position information and the mediation information propagation delay information, the terminal information transmission time information, the mediation information reception time information, and the mediation device specific information acquisition means. Based on the intermediary information propagation delay information, the inter-terminal intermediary device propagation delay information generating means for generating inter-terminal intermediary device propagation delay information indicating the time required for the terminal information to propagate to each intermediary device; Based on the intermediary device position information acquired by the intermediary device specific information acquisition means and the inter-terminal intermediary device propagation delay information, the position of the terminal device And a terminal device position information generation unit that generates terminal device position information indicating the above.

According to the configuration of the first aspect of the invention, since the positioning device has the direct propagation delay information generating means, the time required for the terminal information to propagate between the terminal device and the positioning device is indicated. Direct propagation delay information can be generated. And since the said positioning apparatus has the said terminal information transmission time information production | generation means, it can produce | generate the terminal information transmission time information which shows the time when the said terminal device transmitted the said terminal information.
In addition, since the positioning device includes the inter-terminal intermediary device propagation delay information generating means, the inter-terminal intermediary device propagation delay information indicating the time required for the terminal information to propagate from the terminal device to each intermediary device. Can be generated.
Furthermore, since the positioning device includes the terminal device position information generating unit, the positioning device generates terminal device position information indicating the position of the terminal device based on the intermediary device position information and the inter-terminal intermediary device propagation delay information. be able to.
As described above, the terminal location information is not generated based on radio waves received from the outside by the terminal device, but is generated based on the terminal information transmitted by the terminal device. That is, the terminal location information is generated by actively using the terminal information.
For this reason, according to the positioning system of 1st invention, the present position of a terminal device can be measured, without receiving the disorder | damage | failure of the communication electromagnetic wave which a terminal device transmits.

  According to the second invention, the object is a positioning device capable of communicating with a terminal device and a plurality of intermediary devices, and stores time measuring means and intermediary device position information indicating the position of each intermediary device Position information storage means, mediation information propagation delay information storage means for storing mediation information propagation delay information indicating a time required for the mediation information to propagate between each of the mediation devices and the positioning device, and the terminal Terminal information request information transmitting means for transmitting terminal information request information for requesting the apparatus to transmit terminal information including identification information wirelessly or by wire, and receiving the terminal information from the terminal apparatus Based on the terminal information receiving means, the transmission time information indicating the time when the terminal information request information is transmitted, and the reception time information indicating the time when the terminal information is received from the terminal device, the terminal device Direct propagation delay information generating means for generating direct propagation delay information indicating a time required for the terminal information to propagate between the positioning devices, based on the reception time information and the direct propagation delay information, Terminal information transmission time information generating means for generating terminal information transmission time information indicating the time at which the terminal device transmits the terminal information, and mediation device identification information for identifying the mediation device from the mediation device to the terminal information Mediation information receiving means for receiving the mediation information to which is attached, Mediation information reception time information generating means for generating mediation information reception time information indicating the time when the mediation information was received, and the mediation information included in the mediation information Based on the mediating device identification information, the mediating device specific information obtaining means for obtaining the mediating device location information and the mediating information propagation delay information, the terminal information transmission time information, Based on the mediation information reception time information and the mediation information propagation delay information acquired by the mediation device specific information acquisition means, the time required for the terminal information to propagate from the terminal device to each mediation device is calculated. Based on the intermediary terminal inter-apparatus propagation delay information generating means for generating inter-terminal intermediary apparatus propagation delay information, the intermediary apparatus location information acquired by the intermediary apparatus specific information acquisition means, and the inter-terminal intermediary apparatus propagation delay information, And a terminal device position information generating unit that generates terminal device position information indicating the position of the terminal device.

  According to the configuration of the second invention, the current position of the terminal device can be measured without being disturbed by the communication radio wave transmitted by the terminal device.

  According to a third aspect of the present invention, in the configuration of the second aspect of the invention, the terminal device internal delay information that is a time from when the terminal device receives the terminal information request information to when the terminal information is transmitted is stored. Delay information storage means, and mediation device internal delay information storage means for storing mediation device internal delay information, which is a time from when the mediation device receives the terminal information until the mediation information is transmitted, The direct propagation delay information generating means is further configured to generate the direct propagation delay information based on the terminal apparatus internal delay information, and the inter-terminal intermediary apparatus propagation delay information generating means is further configured to generate the mediation delay information. The positioning device is configured to generate propagation delay information between the terminal mediating devices based on device internal delay information.

According to the configuration of the third invention, the direct propagation delay information generating unit is configured to generate the direct propagation delay information based on the terminal device internal delay information. Direct propagation delay information can be generated.
In addition, since the inter-terminal intermediary device propagation delay information generating means is further configured to generate the inter-terminal intermediary device propagation delay information based on the intermediary device internal delay information, the terminal intermediary device having a higher system can be used. Inter-device propagation delay information can be generated.
As described above, since the accuracy of the direct propagation delay information and the inter-terminal intermediary device propagation delay information is high, the terminal device position information generated based on them can be made more accurate information.

  According to a fourth aspect of the present invention, in the configuration according to the second aspect or the third aspect, the terminal device position information generation unit further includes the direct propagation delay information and a positioning device that indicates a position of the positioning device. The positioning device is configured to generate the terminal device position information based on position information.

According to the configuration of the fourth invention, the terminal device position information generation means can also use the direct propagation delay information and the positioning device position information.
In order to measure the position of the terminal device, at least three known positions and information for calculating the distance between the known position and the terminal device are required.
In this regard, since the positioning device can also use the direct propagation delay information and the positioning device position information, even if the mediation information can be received only from two mediation devices, The terminal device position information can be generated.

  According to a fifth aspect of the present invention, there is provided a terminal device for wirelessly transmitting terminal information including identification information, wherein the terminal information is transmitted to the positioning device and a plurality of mediating devices. Terminal device position information receiving means for receiving terminal device position information indicating the position of the terminal device from the positioning device, and the terminal device position information includes a time measuring means and a position of each intermediary device. An intermediary device position information storage means for storing intermediary device position information to be indicated, and an intermediary for storing intermediary information propagation delay information indicating a time required for the intermediary information to propagate between each of the intermediary devices and the positioning device. Information propagation delay information storage means; and terminal information request information transmission means for transmitting terminal information request information for requesting the terminal device to transmit terminal information including identification information wirelessly or by wire. Terminal information receiving means for receiving the terminal information from the terminal device, transmission time information indicating a time when the terminal information request information is transmitted, and reception time information indicating a time when the terminal information is received from the terminal device. A direct propagation delay information generating means for generating direct propagation delay information indicating a time required for the terminal information to propagate between the terminal device and the positioning device, the reception time information and the direct propagation Based on delay information, terminal information transmission time information generating means for generating terminal information transmission time information indicating a time at which the terminal device transmits the terminal information, and identifying the mediation device as the terminal information from the mediation device Mediating information receiving means for receiving mediating information with mediating device identification information for generating mediating information receiving time information indicating the time when the mediating information is received Mediating information reception time information generating means, mediating device specific information obtaining means for obtaining the mediating device location information and the mediating information propagation delay information based on the mediating device identification information included in the mediation information, and the terminal Based on the information transmission time information, the mediation information reception time information, and the mediation information propagation delay information acquired by the mediation device specific information acquisition means, the terminal information is propagated from the terminal device to each mediation device. The inter-terminal intermediary device propagation delay information generating means for generating the inter-terminal intermediary device propagation delay information indicating the time required for the intermediary device, the intermediary device position information acquired by the intermediary device specific information acquiring means, and the inter-terminal intermediary device propagation delay Terminal device position information generating means for generating terminal device position information indicating the position of the terminal device based on the information. This is achieved by a terminal device characterized by being generated by a device.

  According to the structure of 5th invention, the said terminal device provides the said terminal information for positioning the present position of a terminal device, without receiving the disorder | damage | failure of the communication radio wave which a terminal device transmits with respect to the said positioning device. can do.

  According to a sixth aspect of the present invention, there is provided an intermediary device capable of communicating with a terminal device that wirelessly transmits terminal information including identification information, wherein the mediation device is identified by the terminal information received from the terminal device. Mediating information identifying means for attaching to the positioning device for generating terminal device location information indicating the location of the terminal device as mediation information, and the terminal location information includes timing means and An intermediary device position information storage means for storing intermediary device position information indicating the position of each intermediary device, and an intermediary indicating a time required for the intermediary information to propagate between each of the intermediary devices and the positioning device. Mediation information propagation delay information storage means for storing information propagation delay information, and terminal information request information for requesting the terminal device to transmit terminal information including identification information wirelessly or by wire. Terminal information request information transmitting means, terminal information receiving means for receiving the terminal information from the terminal device, transmission time information indicating a time at which the terminal information request information was transmitted, and the terminal information from the terminal device. Direct propagation delay information generating means for generating direct propagation delay information indicating a time required for the terminal information to propagate between the terminal device and the positioning device based on reception time information indicating a reception time; Based on the reception time information and the direct propagation delay information, terminal information transmission time information generating means for generating terminal information transmission time information indicating a time at which the terminal device transmits the terminal information, and the intermediary device, Mediation information receiving means for receiving the mediation information; Mediation information reception time information generating means for generating mediation information reception time information indicating a time when the mediation information is received Intermediary device specific information acquisition means for acquiring the intermediary device position information and the intermediary information propagation delay information based on the intermediary device identification information included in the intermediary information, the terminal information transmission time information, and the intermediary information reception A terminal intermediary device indicating the time required for the terminal information to propagate from the terminal device to each intermediary device based on time information and the intermediary information propagation delay information acquired by the intermediary device specific information acquisition means Based on the intermediary device inter-apparatus propagation delay information generating means for generating inter-apparatus propagation delay information, the intermediary apparatus location information acquired by the intermediary apparatus specific information acquisition means, and the inter-terminal intermediary apparatus propagation delay information. Terminal device position information generating means for generating terminal device position information indicating a position, and generated by the positioning device Achieved by a mediating device.

  According to the configuration of the sixth invention, the mediation device causes the positioning device to measure the current position of the terminal device without being disturbed by a communication radio wave transmitted by the terminal device. Can be provided.

  According to the seventh aspect of the present invention, the computer stores communication means for communicating with the terminal device and the plurality of mediation devices, time measuring means, and mediation device location information indicating the location of each mediation device. An intermediary device position information storage unit; an intermediary information propagation delay information storage unit that stores intermediary information propagation delay information indicating a time required for the intermediary information to propagate between each of the intermediary devices and the positioning device; A positioning device having a terminal information request information transmission step for transmitting terminal information request information for requesting the terminal device to wirelessly transmit terminal information including identification information; and the terminal device, A terminal information receiving step for receiving the terminal information from the terminal device; transmission time information indicating a time at which the positioning device transmits the terminal information request information; and Direct propagation delay information for generating direct propagation delay information indicating the time required for the terminal information to propagate between the terminal device and the positioning device based on reception time information indicating the time at which the end information is received Generation step, and terminal information transmission time information generation in which the positioning device generates terminal information transmission time information indicating a time at which the terminal device transmits the terminal information based on the reception time information and the direct propagation delay information A mediation information receiving step in which the positioning device receives mediation information in which the mediation device identification information for identifying the mediation device is added to the terminal information from the mediation device; and The mediation information reception time information generation step for generating mediation information reception time information indicating the time when the mediation information is received, and the positioning device are included in the mediation information. An intermediary device specific information acquisition step for acquiring the intermediary device position information and the intermediary information propagation delay information based on the intermediary device identification information; and the positioning device includes the terminal information transmission time information and the intermediary information reception time information. And inter-terminal intermediary device propagation indicating the time required for the terminal information to propagate from the terminal device to each intermediary device based on the intermediary information propagation delay information acquired in the intermediary device specific information acquisition step. Based on the intermediary device inter-device propagation delay information, the inter-terminal intermediary device propagation delay information generating step for generating delay information, and the positioning device based on the intermediary device position information and the inter-terminal intermediary device propagation delay information acquired in the intermediary device specific information acquisition step. And a terminal device position information generation step for generating terminal device position information indicating the position of the terminal device. This is achieved by a positioning device control program.

  According to the configuration of the seventh invention, similarly to the configuration of the second invention, the current position of the terminal device can be measured without being disturbed by the communication radio wave transmitted by the terminal device.

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
The embodiments described below are preferred specific examples of the present invention, and thus various technically preferable limitations are given. However, the scope of the present invention is particularly limited in the following description. Unless otherwise stated, the present invention is not limited to these embodiments.

FIG. 1 is a schematic diagram showing a positioning system 10 and the like according to an embodiment of the present invention.
As shown in FIG. 1, the positioning system 10 includes a terminal 12. The terminal 12 is a mobile phone and can transmit a terminal frame F (see FIG. 6) wirelessly. The terminal frame F includes a terminal ID for identifying the terminal 12 from other terminals (not shown). This terminal ID is an example of identification information. The terminal frame F is an example of terminal information, and the terminal 12 is an example of a terminal device.

The positioning system 10 also includes base stations 20A, 20B, and 20C that can communicate with the terminal 12. The base station 20A and the like are communication base stations for mobile phones. The base station 20A and the like are an example of an intermediary device.
The positioning system 10 also includes a positioning base station 40 that can communicate with the terminal 12, the base station 20A, and the like. The positioning base station 40 is an example of a positioning device.

The terminal 12 is, for example, a mobile phone, but may be a PHS (Personal Handy-phone System), a PDA (Personal Digital Assistance _), or the like.

  Note that the number of base stations 20A and the like is not limited to three as long as they are plural.

(Main hardware configuration of terminal 12)
FIG. 2 is a schematic diagram showing the main hardware configuration of the terminal 12.
As shown in FIG. 2, the terminal 12 has a computer, and the computer has a bus 13.

  A CPU (Central Processing Unit) 14, a storage device 15, and the like are connected to the bus 13. The storage device 15 is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), or the like.

In addition, an input device 16 for inputting various information and the like, a terminal communication device 17, and a display device 18 are connected to the bus 13.
The terminal 12 receives terminal position information 372 (see FIG. 8) described later from the positioning base station 40 by the terminal communication device 17. The terminal communication device 17 is an example of a terminal device position information receiving unit.

(Main hardware configuration of base station 20A)
FIG. 3 is a schematic diagram showing the main hardware configuration of the base station 20A.
Note that the main hardware configuration of the base stations 20B and 20C is the same as that of the base station 20A, and thus description thereof is omitted.
As shown in FIG. 3, the base station 20 </ b> A has a computer, and the computer has a bus 21.

  A CPU 22, a storage device 23, an external storage device 24, and the like are connected to the bus 21. The external storage device 24 is, for example, an HDD (Hard Disk Drive).

  In addition, an input device 25, a base station communication device 26, and a display device 27 are connected to the bus 21.

(Main hardware configuration of positioning base station 40)
FIG. 4 is a schematic diagram showing a main hardware configuration of the positioning base station 40.
As shown in FIG. 4, the positioning base station 40 has a computer, and the computer has a bus 41.

A CPU 42, a storage device 43, an external storage device 44, an input device 45, a positioning base station communication device 46, a display device 47, and a clock 48 are connected to the bus 41.
The positioning base station 40 receives a terminal frame F (see FIG. 6A), which will be described later, from the terminal 12 by the positioning base station communication device 46, and the terminal frame F1 (see FIG. 6B) from the base station 20A or the like. Receive. The positioning base station communication device 46 is an example of a terminal information receiving unit, an example of an intermediary information receiving unit, and an example of a communication unit.

(Main software configuration of terminal 12)
FIG. 5 is a schematic diagram showing a main software configuration of the terminal 12.
FIG. 6 is a schematic diagram illustrating an example of the terminal frame F and the like.
As shown in FIG. 5, the terminal 12 includes a terminal control unit 100 that controls each unit, a terminal communication unit 102 corresponding to the terminal communication device 17 in FIG. 2, a terminal first storage unit 110 that stores various programs, various information, and the like. Terminal 2nd storage part 150 which stores.

  As illustrated in FIG. 5, the terminal 12 stores terminal identification information 152 in the terminal second storage unit 150. The terminal identification information 152 is information for identifying the terminal 12 from other terminals (not shown). The terminal ID indicated in the terminal identification information 152 is a number “1111” for identifying the terminal 12, for example.

As illustrated in FIG. 5, the terminal 12 stores a terminal frame transmission program 112 in the terminal first storage unit 110. The terminal frame transmission program 112 is a program for the terminal control unit 100 to transmit the terminal frame F in FIG. 6A based on a request from the positioning base station 40. That is, the terminal frame transmission program 112 and the terminal control unit 100 are examples of terminal information transmission means.
As shown in FIG. 6A, the terminal frame F includes a terminal ID.
When the terminal 12 receives information requesting the terminal frame F from the positioning base station 40, the terminal 12 transmits the terminal frame F.

(Main software configuration of base station 20A)
FIG. 7 is a schematic diagram showing a main software configuration of the base station 20A.
Note that the main software configuration of the base stations 20B and 20C is the same as that of the base station 20A, and thus description thereof is omitted.
As shown in FIG. 7, the base station 20A includes a base station control unit 200 that controls each unit, a base station communication unit 202 corresponding to the base station communication device 26 in FIG. 3, and a base station first storage unit that stores various programs. 210, a base station second storage unit 250 for storing various information and the like.

As shown in FIG. 7, the base station 20 </ b> A stores base station identification information 252 in the base station second storage unit 250. The base station identification information 252 is information for identifying the base station 20A from other base stations 20B and the like. This base station identification information 252 is an example of mediation apparatus identification information.
The base station ID indicated in the base station identification information 252 is, for example, a number “2222” for identifying the base station 20A.

As shown in FIG. 7, the base station 20 </ b> A stores a terminal frame transfer program 212 in the base station first storage unit 210. The terminal frame transfer program 212 adds base station identification information 252 to the terminal frame F (see FIG. 6A) received by the base station control unit 200 from the terminal 12, and the terminal frame F1 (see FIG. 6B). ) As a program to be transmitted to the positioning base station 40. This terminal frame F1 is an example of mediation information. The terminal frame transfer program 212 and the base station control unit 200 are examples of mediation information transmission means.
Specifically, when receiving the terminal frame F (see FIG. 6A) from the terminal 12, the base station control unit 200 attaches the base station identification information 252 to the terminal frame F and adds the terminal frame F1 (see FIG. 6). 6 (b)) to the positioning base station 40.

(Main software configuration of positioning base station 40)
FIG. 8 is a schematic diagram showing a main software configuration of the positioning base station 40.
As shown in FIG. 8, the positioning base station 40 corresponds to a positioning base station control unit 300 that controls each unit, a positioning base station communication unit 302 corresponding to the positioning base station communication device 46 in FIG. 4, and a clock 48 in FIG. A positioning base station timer 304, a positioning base station first storage 310 for storing various programs, and a positioning base station second storage 350 for storing various information.

  As shown in FIG. 8, the positioning base station 40 stores positioning base station position information 352 in the positioning base station second storage unit 350. The positioning base station position information 352 is information indicating the position of the positioning base station 40 by three-dimensional coordinates (x0, y0, z0), for example.

  As shown in FIG. 8, the positioning base station 40 stores base station position information 354 in the positioning base station second storage unit 350. The base station position information 354 is information indicating, for example, the positions of the base stations 20A, 20B, and 20C by three-dimensional coordinates such as (x1, y1, z1). The base station location information 354 is an example of mediation device location information. And the positioning base station 2nd memory | storage part 350 is an example of an intermediary apparatus position information storage means.

As shown in FIG. 8, the positioning base station 40 stores base station propagation delay information 356 in the positioning base station second storage unit 350. The base station propagation delay information 356 includes propagation delay times d1, d2 and d3 (FIG. 6) necessary for the terminal frame F1 (see FIG. 6B) to propagate between each base station 20A and the positioning base station 40. 1). The base station propagation delay information 356 is an example of mediation information propagation delay information. And the positioning base station 2nd memory | storage part 350 is an example of a mediation information propagation delay information storage means.
The base station propagation delay information 356 is measured with each base station 20A, which is a known value, based on the fact that the propagation speed of a signal (or a signal transmitted via a wire) carried on a radio wave is the speed of light. It is calculated by dividing the distance to the base station 40 by the signal propagation speed.
In this specification, “delay” of propagation delay and internal delay is used to mean a delay time. “Propagation” is used to mean propagation of electromagnetic waves transmitted by wire or wirelessly.

As shown in FIG. 8, the positioning base station 40 stores a terminal frame request program 312 in the positioning base station first storage unit 310. The terminal frame request program 312 is a program for the positioning base station control unit 300 to transmit terminal frame request information 358 for requesting the terminal 12 to transmit a terminal frame F (see FIG. 6A). It is.
Specifically, the positioning base station control unit 300 receives terminal frame request information stored in the positioning base station second storage unit 350 when receiving a request for location information of the terminal 12 from the terminal 12 or a third party. 358 is transmitted to the terminal 12.
This terminal frame request information 358 is an example of terminal information request information. The terminal frame request program 312 and the positioning base station control unit 300 are examples of terminal information request information transmission means.

The positioning base station control unit 300 also measures the time when the terminal frame request information 358 is transmitted by the terminal frame request program 312 using the positioning base station timer 304, and the terminal frame request information transmission time indicating the time ts1. Information 360 is generated. This terminal frame request information transmission time information 360 is an example of transmission time information.
The positioning base station control unit 300 stores the generated terminal frame request information transmission time information 360 in the positioning base station second storage unit 350.

As illustrated in FIG. 8, the positioning base station 40 stores a terminal frame reception time information generation program 314 in the positioning base station first storage unit 310. The terminal frame reception time information generation program 314 measures the time t0 when the positioning base station controller 300 receives the terminal frame F by the positioning base station timer 304, and the terminal frame reception time information 362 indicating the time t0. Is a program for generating The terminal frame reception time information 362 is an example of reception time information.
The positioning base station control unit 300 stores the generated terminal frame reception time information 362 in the positioning base station second storage unit 350.

As shown in FIG. 8, the positioning base station 40 stores a direct propagation delay information generation program 316 in the positioning base station first storage unit 310. The direct propagation delay information generation program 316
This is the time required for the positioning base station control unit 300 to propagate a signal between the terminal 12 and the positioning base station 40 based on the terminal frame request information transmission time information 360 and the terminal frame reception time information 362. This is a program for generating the direct propagation delay information 364 indicating the direct propagation delay dt0 (see FIG. 1). The direct propagation delay information 364 is an example of direct propagation delay information. The direct propagation delay information generation program 316 and the positioning base station control unit 300 are examples of direct propagation delay information generation means.
Specifically, positioning base station control section 300 divides time RTT between time ts1 indicated in terminal frame request information transmission time information 360 and time t0 indicated in terminal frame reception time information 362 by two. The direct propagation delay dt0 is calculated. Half of the RTT is half of the time from when the positioning base station 40 transmits the terminal frame request information 358 to when the terminal frame F is received from the terminal 12. Since the terminal frame request information 358 and the terminal frame F are carried on radio waves, their propagation speeds are both light speeds. Therefore, the half time of RTT indicates the time until the terminal frame F transmitted from the terminal 12 reaches the positioning base station 40 directly without passing through the base station 20A or the like.
The positioning base station control unit 300 stores the generated direct propagation delay information 364 in the positioning base station second storage unit 350.

As illustrated in FIG. 8, the positioning base station 40 stores a terminal frame transmission time information generation program 318 in the positioning base station first storage unit 310. The terminal frame transmission time information generation program 318 is a terminal frame transmission time indicating the time at which the terminal 12 transmits the terminal frame F based on the terminal frame reception time information 362 and the direct propagation delay information 364. This is a program for generating information 366. The terminal frame transmission time information 366 is an example of terminal information transmission time information. The terminal frame transmission time information generation program 318 and the positioning base station control unit 300 are examples of terminal information transmission time information generation means.
Specifically, positioning base station control section 300 calculates terminal frame transmission time t0 by going back by direct propagation delay dt0 indicated by direct propagation delay information 364 from time t0 indicated by terminal frame reception time information 362. Is calculated.
The positioning base station control unit 300 stores the generated terminal frame transmission time information 366 in the positioning base station second storage unit 350.

As illustrated in FIG. 8, the positioning base station 40 stores a terminal frame received terminal frame reception time information generation program 320 in the positioning base station first storage unit 310. The terminal frame reception time information generation program 320 via the base station uses the positioning base station timer 304 to determine the time when the positioning base station controller 300 received the terminal frame F1 (see FIG. 6B) from each base station 20A and the like. This is a program for generating terminal frame reception time information 368 that is measured and indicates the time. This base station routed terminal frame reception time information 368 is an example of mediation information reception time information. The base station routed terminal frame reception time information generation program 320 and the positioning base station control unit 300 are examples of the mediation information reception time information generation means.
The base station terminal frame reception time information 368 includes a time t1 when the terminal frame F1 is received from the base station 20A, a time t2 when the terminal frame F1 is received from the base station 20B, and a time t3 when the terminal frame F1 is received from the base station 20C. Information.
The positioning base station control unit 300 stores the generated base station routed terminal frame reception time information 368 in the positioning base station second storage unit 350.

As shown in FIG. 8, the positioning base station 40 stores a base station information acquisition program 322 in the positioning base station first storage unit 310. Based on the base station ID included in the terminal frame F1 (see FIG. 6B) received by the positioning base station control unit 300, the base station information acquisition program 322 reads the base station information acquisition program 322 from the positioning base station second storage unit 350. This is a program for acquiring base station position information 354 and base station propagation delay information 356 for a base station corresponding to a base station ID. That is, the base station information acquisition program 322 and the positioning base station control unit 300 are an example of an intermediary device specific information acquisition unit.
Specifically, the positioning base station control unit 300, when the base station ID of the terminal frame F1 corresponds to the base station 20A, base station position information 354 indicating the position of the base station 20A, and positioning with the base station 20A. The base station propagation delay information 356 indicating the propagation delay time with the base station 40 is acquired.

  As illustrated in FIG. 8, the positioning base station 40 stores a terminal base station propagation delay information generation program 324 in the positioning base station first storage unit 310. The inter-terminal base station propagation delay information generation program 324 includes the base station propagation delay information 356 acquired by the positioning base station control unit 300 using the base station via terminal frame reception time information 368, the base station information acquisition program 322, and This is a program for generating inter-terminal base station propagation delay information 370 indicating the time required for the terminal frame F to propagate to each of the base stations 20A, 20B and 20C based on the terminal frame transmission time information 366 described above. . This inter-terminal base station propagation delay information 370 is an example of inter-terminal intermediary device propagation delay information. The terminal base station propagation delay information generation program 324 and the positioning base station control unit 300 are examples of the terminal intermediary apparatus propagation delay information generation means.

Specifically, positioning base station control section 300 determines base station propagation delay information 356 from the time difference between time t1 when terminal frame F1 is received from base station 20A and time t indicated in terminal frame transmission time information 366. The time dt1 (see FIG. 1) required for the terminal frame F to propagate from the terminal 12 to the base station 20A is calculated by subtracting the propagation delay time d1 from the base station 20A shown in FIG. The terminal-to-base station propagation delay information 370 shown is generated. Here, the positioning base station control unit 300 specifies the terminal frame F1 corresponding to the terminal frame F directly received from the terminal 12 by the terminal ID included in both the terminal frame F and the terminal frame F1. The terminal frame F and the terminal frame F1 thus associated are transmitted by the terminal 12 at the same time.
Similarly, the positioning base station control unit 300 propagates the propagation delay time dt2 (see FIG. 1) necessary for the terminal frame F to propagate from the terminal 12 to the base station 20B, and the terminal frame F propagates from the terminal 12 to the base station 20C. The propagation delay time dt3 (see FIG. 1) necessary for the calculation is calculated.
The positioning base station control unit 300 stores the generated inter-terminal base station propagation delay information 370 in the positioning base station second storage unit 350.
Unlike this embodiment, the terminal frame F may include a frame ID for identifying a specific terminal frame F from other terminal frames F in addition to the terminal ID. In this case, the positioning base station control unit 300 specifies the terminal frame F1 corresponding to the received terminal frame F based on the terminal ID and the frame ID.

As illustrated in FIG. 8, the positioning base station 40 stores a terminal location information generation program 326 in the positioning base station first storage unit 310. The terminal position information generation program 326 determines the position of the terminal 12 based on the base station position information 354 and the terminal-to-base station propagation delay information 370 acquired by the positioning base station control unit 300 using the base station information acquisition program 322 described above. This is a program for generating terminal position information 372 shown. The terminal location information 372 is an example of terminal device location information. The terminal location information generation program 326 and the positioning base station control unit 300 are examples of terminal device location information generation means.
Specifically, the positioning base station control unit 300 is based on the coordinates of the base stations 20A, 20B, and 20C, the propagation delay times dt1, dt2, and dt3 indicated in the terminal base station propagation delay information 370, and the speed of light C. Then, using the formula shown in step ST11 of FIG. 10 described later, coordinates (x, y, z) indicating the position of the terminal 12 are calculated, and the terminal position information 372 is generated.
The positioning base station control unit 300 stores the generated terminal location information 372 in the positioning base station second storage unit 350.

  As illustrated in FIG. 8, the positioning base station 40 stores a terminal location information transmission program 328 in the positioning base station first storage unit 310. The terminal location information transmission program 328 is a program for the positioning base station control unit 300 to transmit the terminal location information 372 to the terminal 12 by the positioning base station communication unit 302.

The positioning system 10 is configured as described above.
As described above, the positioning base station 40 may generate the direct propagation delay information 364 (see FIG. 8) indicating the time required for the terminal frame F to propagate between the terminal 12 and the positioning base station 40. it can. Then, the positioning base station 40 can generate terminal frame transmission time information 366 (see FIG. 8) indicating the time when the terminal 12 transmits the terminal frame F.
Further, the positioning base station 40 can generate inter-terminal base station propagation delay information 370 (see FIG. 8) indicating the time required for the terminal frame F to propagate to each base station 20A and the like.
Further, the positioning base station 40 can generate terminal position information 372 indicating the position of the terminal 12 based on the base station position information 354 and the terminal base station propagation delay information 370.
As described above, the terminal position information 372 is not generated based on the radio wave received from the outside by the terminal 12, but is generated based on the terminal frame F transmitted by the terminal 12. That is, the terminal position information 372 is generated by actively using the terminal frame F.
For this reason, according to the positioning system 10, the current position of the terminal 12 can be measured without being disturbed by the communication radio wave transmitted by the terminal 12.

  The above is the configuration of the positioning system 10 according to the present embodiment. Hereinafter, an example of the operation will be described mainly using FIGS. 9 and 10.

9 and 10 are schematic flowcharts showing an operation example of the positioning system 10.
First, the positioning base station 40 requests the terminal frame F (see FIG. 6A) from the terminal 12 (step ST1 in FIG. 9). This step ST1 is an example of a terminal information request information transmission step. Specifically, the positioning base station 40 transmits terminal frame request information 358 (see FIG. 8).

Subsequently, the terminal 12 receives a request for the terminal frame F (step ST2). Specifically, the terminal 12 receives the terminal frame request information 358.
Subsequently, the terminal 12 transmits a terminal frame F (step ST3).
The terminal 12 transmits the terminal frame F not only to the positioning base station 40 but also to the base stations 20A, 20B and 20C with which the terminal 12 can communicate.

Subsequently, the positioning base station 40 receives the terminal frame F (step ST4). This step ST4 is an example of a terminal information receiving step.
In parallel with step ST4, the base station 20A and the like also receive the terminal frame F (step ST41).

Subsequently, the positioning base station 40 calculates a direct propagation delay dt0 (see FIG. 8) between the terminal 12 and the positioning base station 40, and generates direct propagation delay information 364 (see FIG. 8) (step ST5). This step ST5 is an example of a direct propagation delay information generation step.
Subsequently, the positioning base station 40 calculates the transmission time t of the terminal frame F, and generates terminal frame transmission time information 366 (see FIG. 8) (step ST6). This step ST6 is an example of a terminal transmission time information generation step.

  In parallel with step ST5 and step ST6 described above, the base station 20A or the like attaches a base station ID of each base station 20A or the like to the terminal frame F and uses the positioning base as a terminal frame F1 (see FIG. 6B). It transmits to the station 40 (step ST42).

Subsequently, the positioning base station 40 receives the terminal frame F1 from each base station 20A or the like (step ST7). This step ST42 is an example of a mediation information receiving step.
Subsequently, the positioning base station 40 generates base station terminal frame reception time information 368 (see FIG. 8) indicating the time when the terminal frame F1 is received from each base station 20A or the like (step ST8). This step ST8 is an example of a mediation information reception time information generation step.

  Subsequently, the positioning base station 40 receives base station position information 354 and base station propagation delay information 356 (see FIG. 8) for the base station corresponding to the base station ID included in the terminal frame F1 received from each base station 20A or the like. Is acquired (step ST9). This step ST9 is an example of an intermediary device specific information acquisition step.

Subsequently, the positioning base station 40 calculates the propagation delay dt1 and the like between each base station 20A and the terminal 12 and generates the terminal-to-base station propagation delay information 370 (see FIG. 8) (step ST10 in FIG. 10). ). This step ST10 is an example of an inter-terminal intermediary device propagation delay information generation step.
Subsequently, the positioning base station 40 calculates the position of the terminal 12 by the equation shown in FIG. 10 based on the position of each base station 20A and the like, and the propagation delay dt1 between each base station 20A and the terminal 12 and the like. Then, terminal location information 372 (see FIG. 8) is generated (step ST12). This step ST12 is an example of a terminal device position information generation step.
Subsequently, the positioning base station 40 transmits terminal position information 372 (see FIG. 8) to the terminal 12 (step ST12).

Subsequently, the terminal 12 receives the terminal position information 372 from the positioning base station 40 (step ST13).
As described above, according to the positioning system 10, the current position of the terminal 12 can be measured without being disturbed by the communication radio wave transmitted by the terminal 12.

(Second Embodiment)
Next, a second embodiment will be described. The configuration of the positioning system 10A (see FIG. 1) of the second embodiment is similar to that of the positioning system 10 of the first embodiment, and therefore, common parts are denoted by the same reference numerals and the like. Omitted, the following description will focus on the differences.
The positioning base station 40A (see FIG. 1) of the positioning system 10A has information indicating internal delays of the terminal 12, each base station 20A, etc., and the positioning system of the first embodiment is that these information are used. 10 and different.

FIG. 11 is a schematic diagram illustrating a main software configuration of the positioning base station 40A.
As illustrated in FIG. 11, the positioning base station 40A stores terminal internal delay information 374 indicating the terminal internal delay tm in the positioning base station second storage unit 350. The terminal internal delay tm is the time from when the terminal 12 receives the terminal frame request information 358 (see FIG. 11) from the positioning base station 40A until it transmits the terminal frame F (see FIG. 6 (a)). . That is, terminal internal delay information 374 is an example of terminal apparatus internal delay information, and positioning base station second storage section 350 is an example of terminal apparatus internal delay information storage means.

  As shown in FIG. 11, the positioning base station 40A stores base station internal delay information 376 indicating the internal delay ta and the like of each base station 20A in the positioning base station second storage unit 350. The internal delay ta or the like is the time from when each base station 20A or the like receives the terminal frame F until it transmits the terminal frame F1 (see FIG. 6B). That is, the base station internal delay information 376 is an example of an intermediary device internal delay information, and the positioning base station second storage unit 350 is an example of an intermediary device internal delay information storage unit.

In addition to the terminal frame request information transmission time information 360 and the terminal frame reception time information 362, the positioning base station control unit 300 of the positioning base station 40A, based on the direct propagation delay information generation program 316A (see FIG. 11), Based on the terminal internal delay information 374, direct propagation delay information 364A is generated.
Specifically, positioning base station control section 300 determines terminal internal delay information 374 from time RTT of the difference between time ts1 indicated in terminal frame request information transmission time information 360 and time t0 indicated in terminal frame reception time information 362. The direct propagation delay dt0 is calculated by dividing the time obtained by subtracting the terminal internal delay tm shown in FIG.

In addition, the positioning base station control unit 300 of the positioning base station 40A, based on the inter-terminal base station propagation delay information generation program 324A (see FIG. 11), transmits terminal frame transmission time information 366, base station via terminal frame reception time information 368. In addition to the base station propagation delay information 356, the terminal base station propagation delay information 370A is further generated based on the base station internal delay information 376.
Specifically, the positioning base station control unit 300 calculates the base station propagation delay information from the time difference between the time t1 indicated in the terminal frame reception time information 368 and the time t indicated in the terminal frame transmission time information 366. The inter-terminal base station propagation delay information 370A for the base station 20A is generated by subtracting the propagation delay time d1 indicated by 356 and further subtracting the internal delay ta indicated by the base station internal delay information 376. Similarly, positioning base station control section 300 generates terminal base station propagation delay information 370A for base stations 20B and 20C.

As described above, the positioning base station 40A is further based on the terminal internal delay information 374 in addition to the terminal frame request information transmission time information 360 and the terminal frame reception time information 362 based on the direct propagation delay information generation program 316A. Since the direct propagation delay information 364A is generated, the direct propagation delay information 364A with higher accuracy can be generated.
In addition to the terminal frame transmission time information 366, the base station routed terminal frame reception time information 368, and the base station propagation delay information 356, the positioning base station 40A further determines the terminal base station based on the base station internal delay information 376. Since it is configured to generate the inter-cell propagation delay information 370A, it is possible to generate the inter-terminal base station propagation delay information 370A with higher accuracy.
Thus, since the direct propagation delay information 364A and the terminal base station propagation delay information 370A have high accuracy, the terminal location information 372 (see FIG. 11) generated based on them is also highly accurate information. Can do.

(Third embodiment)
Next, a third embodiment will be described. The configuration of the positioning system 10B (see FIG. 1) according to the third embodiment is the same as the positioning system 10 according to the first embodiment, and therefore common parts are denoted by the same reference numerals and the like. Omitted, the following description will focus on the differences.
The positioning base station 40B (see FIG. 1) of the positioning system 10B also uses the positioning base station position information 352 (see FIG. 12) indicating the position of the positioning base station 40B and the direct propagation delay information 364 to obtain the terminal position information 372. The generation point is different from the positioning base station 40 of the first embodiment.

FIG. 12 is a schematic diagram showing a main software configuration of the positioning base station 40B.
The terminal location information generation program 326B of the positioning base station 40B is based on the positioning base station location information 352 and the direct propagation delay information 364 in addition to the base station location information 354 and the inter-terminal base station propagation delay information 370. The position information 372 is generated.

As described above, the positioning base station 40B can also use the positioning base station position information 352 and the direct propagation delay information 364.
In order to measure the position of the terminal 12, at least three known positions and information for calculating the distance between the known position and the terminal 12 are necessary.
In this regard, since the positioning base station 40B can also use the positioning base station position information 352 and the direct propagation delay information 364, this is a case where the terminal frame F1 can be received only from the two base stations 20A and the like. However, the terminal position information 372 can be generated.

  Next, an operation example of the positioning system 10B will be described. Note that the following description will be given on the assumption that the terminal 12 can communicate with the base stations 20A and 20B but cannot communicate with the base station 20C.

13 and 14 are schematic flowcharts showing an operation example of the positioning system 10B.
In step ST41B of FIG. 13, only the base station 20A and the base station 20B receive the terminal frame F (see FIG. 6A) from the terminal 12.
Therefore, in step ST7B, the positioning base station 40B receives the terminal frame F1 (see FIG. 6B) only from the base station 20A and the base station 20B.

Then, in step ST10B of FIG. 14, the positioning base station 40B generates terminal base station propagation delay information 370 (see FIG. 12) for the base stations 40A and 40B.
Then, in step ST11B, the positioning base station 40B, the positioning base station 40B, the positions of the base stations 20A and 20B, the direct propagation delay information 364 (see FIG. 12) indicating the propagation delay between the positioning base station 40 and the terminal 12, and Based on the inter-terminal base station propagation delay information 370 (see FIG. 12) indicating the propagation delay between the base stations 20A and 20B and the terminal 12, the position of the terminal 12 is calculated and the terminal position information 372 is generated. . Specifically, the positioning base station 40B calculates the position of the terminal 12 by the equation shown in FIG.

  As described above, since the positioning base station 40B also uses the positioning base station position information 352 and the direct propagation delay information 364, the terminal frame F1 can be received only from the two base stations 20A. Also, the terminal location information 372 can be generated.

(About programs and computer-readable recording media)
The terminal information request information transmission step, the terminal information reception step, the direct propagation delay information generation step, the terminal information transmission time information generation step, the mediation information reception step, and the mediation information reception time information generation of the above-described operation example in the computer It can be a control program for the positioning device for executing the steps, the intermediary device specific information acquisition step, the inter-terminal intermediary device propagation delay information generation step, the terminal location information generation step, and the like.
Moreover, it can also be set as the computer-readable recording medium etc. which recorded the control program of such a positioning apparatus.

  A program storage medium used for installing these positioning device control programs in a computer and making them executable by the computer is, for example, a floppy disk such as a floppy (registered trademark), a CD-ROM (Compact Disc Read Only Memory). ), CD-R (Compact Disc-Recordable), CD-RW (Compact Disc-Rewritable), DVD (Digital Versatile Disc), etc., as well as semiconductor memory in which a program is temporarily or permanently stored, It can be realized by a magnetic disk or a magneto-optical disk.

  The present invention is not limited to the embodiments described above. Furthermore, the above-described embodiments may be combined with each other.

It is the schematic which shows the positioning system of implementation of this invention. It is the schematic which shows the main hardware constitutions of a terminal. It is the schematic which shows the main hardware constitutions of a base station. It is the schematic which shows the main hardware constitutions of a positioning base station. It is the schematic which shows the main software structures of a terminal. It is a figure which shows an example of the terminal frame etc. which a terminal transmits. It is the schematic which shows the main software structures of a base station. It is the schematic which shows the main software structures of a positioning base station. It is a schematic flowchart which shows the operation example of a positioning system. It is a schematic flowchart which shows the operation example of a positioning system. It is the schematic which shows the main software structures of a positioning base station. It is the schematic which shows the main software structures of a positioning base station. It is a schematic flowchart which shows the operation example of a positioning system. It is a schematic flowchart which shows the operation example of a positioning system.

Explanation of symbols

  12 ... Terminal, 20A, 20B, 20C ... Base station, 40, 40A, 40B ... Positioning base station, 312 ... Terminal frame request program, 314 ... Terminal frame reception time information generation program, 316, 316A ... Direct propagation delay information generation program, 318 ... Terminal frame transmission time information generation program, 320 ... Terminal frame reception terminal frame reception time information generation program, 322 ... Base station information acquisition program, 324, 324A ... terminal base station propagation delay information generation program, 326, 326B ... terminal position information generation program, 328 ... terminal position information transmission program

Claims (7)

A terminal device that wirelessly transmits terminal information including identification information;
A plurality of intermediary devices capable of communicating with the terminal device;
A positioning device capable of communicating with the terminal device and the mediating device;
A positioning system having
The terminal device
Based on a request from the positioning device, it has terminal information transmitting means for transmitting the terminal information,
The intermediary device is:
An intermediary information transmitting means for attaching the intermediary device identification information for identifying the intermediary device to the terminal information received from the terminal device, and transmitting to the positioning device as intermediary information,
The positioning device is
Timekeeping means,
An intermediary device position information storage means for storing intermediary device position information indicating the position of each of the intermediary devices;
Mediation information propagation delay information storage means for storing mediation information propagation delay information indicating the time required for the mediation information to propagate between each of the mediation devices and the positioning device;
Terminal information request information transmitting means for transmitting terminal information request information for requesting the terminal device to transmit the terminal information;
Terminal information receiving means for receiving the terminal information from the terminal device;
Based on the transmission time information indicating the time when the terminal information request information is transmitted and the reception time information indicating the time when the terminal information is received from the terminal device, the terminal information is transmitted between the terminal device and the positioning device. Direct propagation delay information generating means for generating direct propagation delay information indicating the time required for propagation,
Terminal information transmission time information generating means for generating terminal information transmission time information indicating a time at which the terminal device transmits the terminal information based on the reception time information and the direct propagation delay information;
Mediation information receiving means for receiving the mediation information from the mediation device;
Mediation information reception time information generating means for generating mediation information reception time information indicating the time when the mediation information was received;
Based on the mediation device identification information included in the mediation information, mediation device specific information acquisition means for acquiring the mediation device location information and the mediation information propagation delay information;
Based on the terminal information transmission time information, the mediation information reception time information, and the mediation information propagation delay information acquired by the mediation device specific information acquisition means, the terminal information is propagated from the terminal device to each mediation device. Terminal inter-device propagation delay information generating means for generating terminal inter-device propagation delay information indicating the time required to
Terminal device position information generating means for generating terminal device position information indicating the position of the terminal device based on the intermediary device position information acquired by the intermediary device specific information acquisition means and the inter-terminal intermediary device propagation delay information;
A positioning system characterized by comprising: A positioning device capable of communicating with a terminal device and a plurality of mediation devices,
Timekeeping means,
An intermediary device position information storage means for storing intermediary device position information indicating the position of each of the intermediary devices;
Mediation information propagation delay information storage means for storing mediation information propagation delay information indicating the time required for the mediation information to propagate between each of the mediation devices and the positioning device;
Terminal information request information transmitting means for transmitting terminal information request information for requesting the terminal device to transmit terminal information including identification information wirelessly or by wire;
Terminal information receiving means for receiving the terminal information from the terminal device;
Based on the transmission time information indicating the time when the terminal information request information is transmitted and the reception time information indicating the time when the terminal information is received from the terminal device, the terminal information is transmitted between the terminal device and the positioning device. Direct propagation delay information generating means for generating direct propagation delay information indicating the time required for propagation,
Terminal information transmission time information generating means for generating terminal information transmission time information indicating a time at which the terminal device transmits the terminal information based on the reception time information and the direct propagation delay information;
Mediation information receiving means for receiving mediation information in which mediation device identification information for identifying the mediation device is added to the terminal information from the mediation device;
Mediation information reception time information generating means for generating mediation information reception time information indicating the time when the mediation information was received;
Based on the mediation device identification information included in the mediation information, mediation device specific information acquisition means for acquiring the mediation device location information and the mediation information propagation delay information;
Based on the terminal information transmission time information, the mediation information reception time information, and the mediation information propagation delay information acquired by the mediation device specific information acquisition means, the terminal information is propagated from the terminal device to each mediation device. Terminal inter-device propagation delay information generating means for generating terminal inter-device propagation delay information indicating the time required to
Terminal device position information generating means for generating terminal device position information indicating the position of the terminal device based on the intermediary device position information acquired by the intermediary device specific information acquisition means and the inter-terminal intermediary device propagation delay information;
A positioning device comprising: Terminal device internal delay information storage means for storing terminal device internal delay information, which is a time from when the terminal device receives the terminal information request information to when the terminal information is transmitted;
An intermediary device internal delay information storage means for storing intermediary device internal delay information which is a time from when the intermediary device receives the terminal information until the mediation information is transmitted;
Have
The direct propagation delay information generating means is further configured to generate the direct propagation delay information based on the terminal device internal delay information,
The inter-terminal intermediary device propagation delay information generating unit is further configured to generate the inter-terminal intermediary device propagation delay information based on the intermediary device internal delay information. Positioning device.   The terminal device position information generating means is further configured to generate the terminal device position information based on the direct propagation delay information and positioning device position information indicating a position of the positioning device. The positioning device according to any one of claims 2 and 3. A terminal device that wirelessly transmits terminal information including identification information,
Terminal information transmitting means for transmitting the terminal information to a positioning device and a plurality of mediating devices;
Terminal device position information receiving means for receiving terminal device position information indicating the position of the terminal device from the positioning device;
Have
The terminal device position information is
Timekeeping means,
An intermediary device position information storage means for storing intermediary device position information indicating the position of each of the intermediary devices;
Mediation information propagation delay information storage means for storing mediation information propagation delay information indicating the time required for the mediation information to propagate between each of the mediation devices and the positioning device;
Terminal information request information transmitting means for transmitting terminal information request information for requesting the terminal device to transmit terminal information including identification information wirelessly or by wire;
Terminal information receiving means for receiving the terminal information from the terminal device;
Based on the transmission time information indicating the time when the terminal information request information is transmitted and the reception time information indicating the time when the terminal information is received from the terminal device, the terminal information is transmitted between the terminal device and the positioning device. Direct propagation delay information generating means for generating direct propagation delay information indicating the time required for propagation,
Terminal information transmission time information generating means for generating terminal information transmission time information indicating a time at which the terminal device transmits the terminal information based on the reception time information and the direct propagation delay information;
Mediation information receiving means for receiving mediation information in which mediation device identification information for identifying the mediation device is added to the terminal information from the mediation device;
Mediation information reception time information generating means for generating mediation information reception time information indicating the time when the mediation information was received;
Based on the mediation device identification information included in the mediation information, mediation device specific information acquisition means for acquiring the mediation device location information and the mediation information propagation delay information;
Based on the terminal information transmission time information, the mediation information reception time information, and the mediation information propagation delay information acquired by the mediation device specific information acquisition means, the terminal information is propagated from the terminal device to each mediation device. Terminal inter-device propagation delay information generating means for generating terminal inter-device propagation delay information indicating the time required to
Terminal device position information generating means for generating terminal device position information indicating the position of the terminal device based on the intermediary device position information acquired by the intermediary device specific information acquisition means and the inter-terminal intermediary device propagation delay information;
A terminal device generated by the positioning device. An intermediary device capable of communicating with a terminal device that wirelessly transmits terminal information including identification information,
Mediation information to be transmitted to a positioning device that generates terminal device location information indicating the location of the terminal device as mediation information, with mediation device identification information for identifying the mediation device added to the terminal information received from the terminal device Having a transmission means,
The terminal location information is
Timekeeping means,
An intermediary device position information storage means for storing intermediary device position information indicating the position of each of the intermediary devices;
Mediation information propagation delay information storage means for storing mediation information propagation delay information indicating the time required for the mediation information to propagate between each of the mediation devices and the positioning device;
Terminal information request information transmitting means for transmitting terminal information request information for requesting the terminal device to transmit terminal information including identification information wirelessly or by wire;
Terminal information receiving means for receiving the terminal information from the terminal device;
Based on the transmission time information indicating the time when the terminal information request information is transmitted and the reception time information indicating the time when the terminal information is received from the terminal device, the terminal information is transmitted between the terminal device and the positioning device. Direct propagation delay information generating means for generating direct propagation delay information indicating the time required for propagation,
Terminal information transmission time information generating means for generating terminal information transmission time information indicating a time at which the terminal device transmits the terminal information based on the reception time information and the direct propagation delay information;
Mediation information receiving means for receiving the mediation information from the mediation device;
Mediation information reception time information generating means for generating mediation information reception time information indicating the time when the mediation information was received;
Based on the mediation device identification information included in the mediation information, mediation device specific information acquisition means for acquiring the mediation device location information and the mediation information propagation delay information;
Based on the terminal information transmission time information, the mediation information reception time information, and the mediation information propagation delay information acquired by the mediation device specific information acquisition means, the terminal information is propagated from the terminal device to each mediation device. Terminal inter-device propagation delay information generating means for generating terminal inter-device propagation delay information indicating the time required to
Terminal device position information generating means for generating terminal device position information indicating the position of the terminal device based on the intermediary device position information acquired by the intermediary device specific information acquisition means and the inter-terminal intermediary device propagation delay information;
An intermediary device generated by the positioning device. On the computer,
Communication means for communicating with a terminal device and a plurality of mediation devices, timing means, mediation device location information storage means for storing mediation device location information indicating the location of each mediation device, each mediation device and the positioning A positioning device having mediation information propagation delay information storage means for storing mediation information propagation delay information indicating a time required for the mediation information to propagate between devices; A terminal information request information transmission step for transmitting terminal information request information for requesting wireless transmission of terminal information including:
A terminal information receiving step in which the positioning device receives the terminal information from the terminal device;
Based on the transmission time information indicating the time when the positioning device transmits the terminal information request information and the reception time information indicating the time when the terminal information is received from the terminal device, the terminal device and the positioning device Direct propagation delay information generating step for generating direct propagation delay information indicating the time required for the terminal information to propagate between,
A terminal information transmission time information generating step in which the positioning device generates terminal information transmission time information indicating a time at which the terminal device transmits the terminal information based on the reception time information and the direct propagation delay information;
The positioning device receives, from the mediation device, mediation information receiving step in which mediation device identification information for identifying the mediation device is added to the terminal information;
Mediation information reception time information generation step for generating mediation information reception time information indicating a time when the positioning device has received the mediation information;
The positioning device acquires the mediating device position information and the mediating information propagation delay information based on the mediating device identification information included in the mediating information, and an intermediary device specific information acquisition step,
Based on the terminal information transmission time information, the mediation information reception time information, and the mediation information propagation delay information acquired in the mediation device specific information acquisition step, the terminal information is transmitted from the terminal device. A terminal inter-device propagation delay information generation step for generating terminal inter-device propagation delay information indicating the time required for propagation to the intermediary device;
The terminal device position where the positioning device generates terminal device location information indicating the location of the terminal device based on the mediation device location information acquired in the mediation device specific information acquisition step and the inter-terminal mediation device propagation delay information An information generation step;
A control program for a positioning device, characterized in that

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