JP2008294593A - Location estimation system, device and method for estimating location used therefor, and program therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a location estimation system for accurately estimating the location of a moving body even when the certain sensor terminals among sensor terminals are not mounted for sensing a plurality of the positions related to the moving body. <P>SOLUTION: The location estimation system is composed of a plurality of the sensor terminals 2a and 2b related to the moving body 1, sensor-position sensors 3a and 3b sensing the locations of the sensor terminals respectively and sensor carrying-state sensors 4a and 4b sensing whether or not the moving body carries the sensor terminals respectively. The location estimation system is further composed of a moving-body location estimation device 5 estimating the locations of each sensor terminal sensed by the sensor-position sensors and the location of the moving body from the carrying states of each sensor terminal sensed by the sensor carrying-state sensors. The location estimation system senses whether or not the moving body carries each sensor terminal, and estimates the location of the moving body from the locations of each sensor terminal in consideration of the carrying degrees of sensed each sensor terminal. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a position estimation system, a position estimation apparatus, a position estimation method used therefor, and a program therefor, and in particular, in a system for estimating the position of a moving body, based on whether the moving body carries each of a plurality of sensor terminals. The present invention relates to a position estimation method for estimating the position of a moving object.

  As a system for detecting the position of a moving object such as a person or an object, a system using a GPS (Global Positioning System), a wireless LAN (Local Area Network), an RFID (Radio Frequency IDentification), an infrared ray, an ultrasonic wave, or the like has been proposed. ing.

  Non-Patent Document 1 describes a system that detects the position of a terminal (hereinafter referred to as a sensor terminal) attached to a moving body using various media such as wireless, ultrasonic, infrared, and the like.

  Non-Patent Document 2 describes a system that switches position detection results obtained by a plurality of position detection systems associated with a moving body according to a request (accuracy and response speed) and outputs the result as the position of the moving body. Has been.

  Further, in Patent Document 1, when there is a contradiction in outputs of a plurality of position detection systems associated with a moving body, it is determined that an abnormal state such as the mobile body not carrying a sensor terminal has occurred. The system to be described is described.

  Furthermore, Patent Document 2 describes a system that corrects the position estimation result of a moving object when the output of the position detection system contradicts preset schedule information.

JP 2005-038269 A JP 2005-181224 A G. Chen and D.C. Kotz, A Survey of Context-Aware Mobile Computing Research, Technical Report 381, Department of Computer Science, Dartout College, 2000 Shinichiro Mori et al., Seamless Positioning System, Information Processing Society of Japan Research Report Vol. 2006, no. 22 ((ITS-24), pp. 71-78, 2007)

  In the technology related to the present invention, in the case of a position detection system that detects the position of a sensor terminal attached to a moving body, the position of the moving body cannot be detected unless the moving body carries the sensor terminal. In addition, even if the position of the sensor terminal can be detected, the sensor terminal carried by the mobile body and the sensor terminal not carried by the mobile body cannot be determined for a plurality of sensor terminals associated with the mobile body, Since the position of the moving body cannot be specified correctly, the moving body does not carry some sensor terminals among the sensor terminals for the plurality of position detection systems associated with the moving body. There is a problem that it is impossible to correctly estimate the position of.

  Accordingly, an object of the present invention is to solve the above-described problems, and when estimating the position of the moving body from the outputs of a plurality of position detection systems associated with the moving body, whether the moving body carries each sensor terminal. An object of the present invention is to provide a position estimation system, a position estimation apparatus, a position estimation method used therefor, and a program therefor that can estimate the position of a moving body based on whether or not.

The position estimation system according to the present invention includes a plurality of sensor terminals associated with a moving body, and a sensor position detection system that detects the position of each of the plurality of sensor terminals, and the sensor detected by the sensor position detection system A position estimation system that estimates the position of the mobile object based on the position of a terminal,
A moving body that estimates the position of the moving body from the carrying state of each of the sensor terminals indicating whether the moving body carries the sensor terminal and the position of each of the sensor terminals detected by the sensor position detection system. Position estimation means is provided.

A position estimation device according to the present invention is a system including a plurality of sensor terminals associated with a moving body and a sensor position detection system that detects the position of each of the plurality of sensor terminals, and is detected by the sensor position detection system. A position estimation device that estimates the position of the moving body based on the position of the sensor terminal,
A moving body that estimates the position of the moving body from the carrying state of each of the sensor terminals indicating whether the moving body carries the sensor terminal and the position of each of the sensor terminals detected by the sensor position detection system. Position estimation means is provided.

The position estimation method according to the present invention is a system including a plurality of sensor terminals associated with a moving body and a sensor position detection system that detects the positions of the plurality of sensor terminals, and is detected by the sensor position detection system. A position estimation method used in a position estimation device that estimates the position of the moving object based on the position of the sensor terminal,
The position estimation device is configured to determine whether the mobile body is based on a mobile state of each of the sensor terminals indicating whether the mobile body is carrying the sensor terminal and a position of each of the sensor terminals detected by the sensor position detection system. A moving body position estimation process for estimating the position is executed.

The program according to the present invention is a system including a plurality of sensor terminals associated with a moving body and a sensor position detection system that detects the position of each of the plurality of sensor terminals, and the sensor detected by the sensor position detection system. A program that causes a computer to execute in a position estimation device that estimates the position of the moving body based on the position of a terminal,
A moving body that estimates the position of the moving body from the carrying state of each of the sensor terminals indicating whether the moving body carries the sensor terminal and the position of each of the sensor terminals detected by the sensor position detection system. It includes a position estimation process.

  With the configuration and operation as described above, the present invention enables the mobile body to carry each sensor terminal when estimating the position of the mobile body from the outputs of a plurality of position detection systems associated with the mobile body. The effect that the position of the moving body can be estimated based on whether or not it is present is obtained.

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

  FIG. 1 is a block diagram showing a configuration example of a position estimation system according to a first embodiment of the present invention, and FIG. 2 shows an example of information recorded in a sensor position storage section according to the first embodiment of the present invention. FIG. 3 is a diagram showing an example of information recorded in the sensor portable state storage unit according to the first embodiment of the present invention, and FIG. 4 shows movement from the observation amount according to the first embodiment of the present invention. It is a figure which shows the probability reasoning model which estimates the position of a body.

  In FIG. 1, a position estimation system according to a first embodiment of the present invention includes a mobile object 1 whose position is to be estimated, and a plurality of sensor terminals 2k (k = a, b,...) Associated with the mobile object 1. ..), a sensor position detection device 3k for detecting the position of the sensor terminal 2k, a sensor portable state detection device 4k for detecting whether the sensor terminal 2k is carried by the mobile body 1, and a sensor position detection device, respectively. A mobile body position estimation device 5 that estimates the position of the mobile body 1 from the position of each sensor terminal 2k detected at 3k and the mobile state of each sensor terminal 2k detected by the sensor mobile state detection device 4k; It is comprised from the mobile body position utilization apparatus 6 which utilizes the position of a mobile body.

  It is assumed that IDs that can uniquely identify the mobile body 1 and the sensor terminal 2k in the system are set in advance.

  The sensor position detection device 3k is a position detection system that detects the position of the sensor terminal 2k using a medium such as wireless, ultrasonic, or infrared. For example, in the case of a GPS position detection system, the sensor terminal 2k detects its own position using a signal from a GPS satellite (not shown), and the detected position is detected via a wired or wireless network. Send to 3k.

  In addition, for example, in the case of a position detection system in units of base stations (not shown) by wireless LAN or RFID, the sensor terminal 2k does not directly detect its own position, but the reception status of radio waves obtained at the base station can be determined. By analyzing with the sensor position detection device 3k, the position of the sensor terminal 2k is detected.

  Thus, although the position of the sensor terminal 2k may be detected by either the sensor terminal 2k or the sensor position detection device 3k, the sensor position detection device 3k can acquire the position of the sensor terminal 2k. .

  Further, the method of expressing the position of the sensor terminal 2k detected by the sensor position detection device 3k may be a place name, an address, or a position represented by one-dimensional, two-dimensional, or three-dimensional coordinates. Furthermore, the sensor terminals 2k and the sensor position detection devices 3k are not necessarily the same number, and may be different numbers. Further, the position detection system to be used is not necessarily one type, and various types of position detection systems may be used.

  The sensor carrying state detection device 4k detects whether or not the moving body 1 is carrying the sensor terminal 2k (hereinafter referred to as a sensor carrying state). As a specific example of the method for detecting the sensor carrying state, the sensor terminal 2k is provided with an authentication function using a password, fingerprint, voiceprint, face, or the like, and the mobile body 1 carries the sensor terminal 2k when the authentication is successful. A method of detecting that the mobile terminal 1 is carrying the sensor terminal 2k when some input device is provided and any input device such as a switch, mouse, keyboard or pen tablet is provided on the sensor terminal 2k, An acceleration sensor, a vibration sensor, a gyro sensor, or a magnetic sensor is incorporated in the sensor terminal 2k, and the mobile body 1 carries the sensor terminal 2k when it is confirmed that the sensor terminal 2k is moving by the incorporated sensor. There is a method to detect.

  Further, the sensor terminal 2k and the sensor portable state detection device 4k are not necessarily the same number, and may be different numbers. Furthermore, the sensor carrying state detecting device 4k that detects the sensor carrying state of the sensor terminal 2k may detect the sensor carrying state by different methods.

  Furthermore, even if the sensor carrying state detection device 4k outputs the sensor carrying state as a binary value of “carried” or “not carried”, the degree of carrying is determined in several stages. The degree of being carried may be expressed as a continuous value and output.

  The mobile body position estimation device 5 includes a sensor position acquisition unit 51, a sensor portable state acquisition unit 52, a sensor position storage unit 53, a sensor portable state storage unit 54, a mobile body information storage unit 57, and a sensor portability estimation unit. 56 and a moving body position estimation unit 55.

  The mobile body position utilization device 6 inputs the ID of the mobile body 1 whose position is to be acquired to the mobile body position estimation device 5 and acquires the corresponding position of the mobile body 1 from the mobile body position estimation device 5.

  The sensor position acquisition unit 51 records the position of each sensor terminal 2k input from the sensor position detection device 3k in the sensor position storage unit 53 together with the sensor ID and the acquisition time. As shown in FIG. 2, the sensor position storage unit 53 records time, an ID for uniquely identifying each sensor, and a detected position. Further, only the latest position detection result may be recorded in the sensor position storage unit 53 for each sensor ID, and the past position detection result may be deleted.

  The sensor carrying state acquisition unit 52 records the sensor carrying state of each sensor terminal 2k input from the sensor carrying state detection device 4k in the sensor carrying state storage unit 54 together with the sensor ID and the acquisition time. As shown in FIG. 3, the sensor portable state storage unit 54 stores time, an ID for uniquely identifying each sensor, and a detected sensor portable state. FIG. 3 shows an example in which the sensor carrying state detection device 4k outputs, as the sensor carrying state, “YES” when the mobile body is carrying the sensor terminal, and “NO” when it is not carrying the sensor terminal. .

  The moving body information storage unit 57 stores the ID of the moving body 1 and the ID of the sensor terminal 2k associated with each moving body, and the sensor associated with the corresponding moving body 1 from the ID of the moving body 1. It has a function of acquiring the ID list of the terminal 2k.

  The sensor portability estimation unit 56 acquires the ID of each sensor terminal 2k associated with the mobile body 1 from the mobile body information storage unit 57, and the sensor portability state of each sensor terminal 2k recorded in the sensor portability state storage unit 54. From this, the sensor portability of each sensor terminal 2k at the time of estimating the position of the moving body 1 is estimated.

  Here, the sensor portability of the sensor terminal 2k indicates a probability value that the corresponding sensor terminal 2k is carried by the mobile body 1. The sensor portability takes a value in the range from “0” to “1”, where “1” indicates that the sensor terminal 2k is being carried by the mobile body 1, and as the value decreases, the sensor terminal 2k becomes smaller. The probability that the mobile terminal 1 is carried by the mobile unit 1 is low, and “0” indicates that the sensor terminal 2 k is not carried by the mobile unit 1.

  For example, the sensor portability of a certain sensor terminal 2k can be defined as a value that decreases according to the time elapsed since the last detection when the mobile body 1 is carrying the sensor terminal 2k by the sensor porting state acquisition unit 52. .

・・・（１）
という計算式に従って決定できる。この式において、ｆ（ｘ）はセンサ端末２ｋを置き忘れて移動してしまうまでの時間ｘの確率密度分布、Ｐ_holdは移動体１がセンサ端末２ｋを携帯していると最後に検出されてから時間ｔ経過した後のセンサ携帯度、１／λはセンサ端末２ｋを置き忘れて移動してしまうまでの時間の期待値である。 Assuming that the time from when the mobile body 1 is carrying the sensor terminal 2k to the time when the sensor terminal 2k is misplaced and moved according to the exponential distribution, the sensor portability _Phold is

... (1)
It can be determined according to the following formula. In this equation, f (x) is the probability density distribution of time x until the sensor terminal 2k is left behind and moved, and P _hold is the last detected when the mobile body 1 carries the sensor terminal 2k. Sensor portability after the elapse of time t, 1 / λ, is an expected value of time until the sensor terminal 2k is left behind and moved.

  The mobile body position estimation unit 55 acquires the ID of the sensor terminal 2k associated with the ID of the mobile body 1 input from the mobile body position utilization device 6 from the mobile body information storage unit 57, and stores the sensor position based on this ID. The latest position of each sensor terminal 2k recorded in the unit 53 and the sensor portability of each sensor terminal 2k at the time of estimating the position of the moving body 1 estimated by the sensor portability estimation unit 56 are acquired. The moving body position estimation unit 55 determines the position of the moving body 1 from the latest position of each sensor terminal 2k acquired from the sensor position storage unit 53 and the sensor portability of each sensor terminal 2k acquired from the sensor portability estimation unit 56. Is estimated.

  As a specific example of the mobile body position estimation method of the mobile body position estimation unit 55, there is one in which the position of the mobile terminal 1 is the position of the sensor terminal 2k having the highest sensor portability obtained by the sensor portability estimation unit 56. Further, as another specific example of the mobile object position estimation method of the mobile object position estimation unit 55, it is detected using a probability inference model on the assumption that the position of the mobile object 1 and each sensor terminal 2k is not the same. Some of them estimate the position of the moving body 1 from the position of each sensor terminal 2k.

An example of the probabilistic reasoning model is shown in FIG. In this model, it is assumed that the position of the moving body 1 and the position of the sensor terminal 2k are not necessarily the same, and further, the outputs obtained from the plurality of sensor terminals 2k are independent of each other. This model is set to the position [pi _t of the moving body 1 at the time t, the position X _i of each sensor terminal 2k, (the position of each sensor terminal 2k detected) observed amount e _i obtained at each sensor terminal 2k, and 1 It consists of a dynamic Bayesian network that models the relationship with the position π _t-1 of the moving body before the step.

  In this model, a probability value representing the positional relationship between the mobile body 1 and each sensor terminal 2k determined according to the portability of each sensor terminal 2k estimated by the sensor portability estimation unit 56, and a sensor position detection prepared in advance. The position of the moving body 1 is estimated from the detection result of the device 3k, the probability value representing the relationship between the positions of the sensor terminals 2k, and the probability value representing the movement characteristics between arbitrary positions of the moving body 1 prepared in advance.

・・・（２）
というように導かれる。この（２）式において、Ｐ（π_t ｜ｅ）は時刻ｔの間測量が得られた時に移動体１が位置π_t にある確率（以下、事後確率とする）、Ｐ（π_t-1 ）は時刻ｔ−１に移動体１が位置π_t にある確率（以下、事前確率とする）、Ｐ（Ｘ_i ｜π_t ）は移動体１が位置π_t にある時にセンサ端末２ｋが位置Ｘ_i にある確率（以下、センサ携帯確率とする）、Ｐ（ｅ_i ｜Ｘ_i ）はセンサ端末２ｋが位置Ｘ_i にある時にセンサ端末２ｋが位置ｅ_i にあると検出される確率（以下、センサ出力確率とする）、Ｐ（π_t ｜π_t-1 ）は時刻ｔ−１に位置π_t-1 にあった移動体１が時刻ｔに位置π_t に移動する確率（以下、状態遷移確率）、α_t は正規化係数（事後確率の全位置に関する総和が１になるように調整するための係数）である。 According to this model, the formula for probabilistically calculating the position of the moving body 1 from the observed amount is

... (2)
It is guided as follows. In this equation (2), P (π _t | e) is a probability that the moving body 1 is at the position π _t when a survey is obtained during time t (hereinafter referred to as a posterior probability), P (π _t−1 ) Is the probability that the moving body 1 is at the position π _t at time t-1 (hereinafter referred to as prior probability), and P (X _i | π _t ) is the position of the sensor terminal 2k when the moving body 1 is at the position π _t. The probability of being at X _i (hereinafter referred to as the sensor carrying probability), P (e _i | X _i ) is the probability of detecting that the sensor terminal 2 k is at the position e _i when the sensor terminal 2 k is at the position X _i (hereinafter referred to as the sensor carrying probability). , P (π _t | π _t-1 ) is the probability that the mobile ₁ that was at position π _t-1 at time t-1 will move to position π _t at time t (hereinafter referred to as state) (Transition probability) and α _t are normalization coefficients (coefficients for adjusting the sum of the posterior probabilities for all positions to be 1).

・・・（３）
というような計算式で決定できる。 Here, in the above equation (2), the sensor output probability and the state transition probability are constants given in advance based on the characteristics of each position detection system and the characteristics of the position detection target area (distance between output position symbols, etc.). From the sensor portability of each sensor terminal 2k estimated by the sensor portability estimation unit 56, for example,

... (3)
It can be determined by the following formula.

  In this embodiment, using the above equation (2), the probability (posterior probability) that the moving object 1 exists at each position is sequentially calculated, and the position where the probability value of the calculated posterior probability is maximum is determined as the moving object. 1 position.

  5 to 7 are sequence charts showing the operation of the position estimation system according to the first embodiment of the present invention. The operation of the position estimation system according to the first embodiment of the present invention will be described with reference to FIGS.

  The sensor position detection device 3k detects the position of the sensor terminal 2k using a medium such as wireless, ultrasonic, infrared, or the like (step A1 in FIG. 5). The position of the sensor terminal 2k detected by the sensor position detection device 3k is input to the sensor position acquisition unit 51 (step A2 in FIG. 5). Further, the sensor position acquisition unit 51 uniquely identifies the time and each sensor terminal 2k. Together with the ID to be recorded in the sensor position storage unit 53 (step A3 in FIG. 5). A series of operations from detection of the sensor position by the sensor position detection device 3k to recording in the sensor position storage unit 53 is executed asynchronously with other operations.

  The sensor carrying state detection device 4k detects whether or not the mobile body 1 is certainly carrying the sensor terminal 2k (step B1 in FIG. 6). The sensor carrying state of the sensor terminal 2k detected by the sensor carrying state detection device 4k is input to the sensor carrying state acquisition unit 52 (step B2 in FIG. 6), and further, the sensor carrying state acquisition unit 52 performs time and each sensor terminal. Along with an ID for uniquely identifying 2k, it is recorded in the sensor configuration state storage unit 54 (step B3 in FIG. 6). A series of operations from detection of the sensor carrying state by the sensor carrying state detection device 4k to recording in the sensor carrying state storage unit 54 is executed asynchronously with other operations.

  The mobile body position utilization device 6 inputs the ID of the mobile body 1 to the mobile body position estimation unit 55 in order to use the position of the mobile body 1 (step C1 in FIG. 7). The mobile body position estimation unit 55 acquires, from the mobile body information storage unit 57, the ID list of the plurality of sensor terminals 2k associated with the mobile body 1 based on the input ID of the mobile body 1 (step C2 in FIG. 7). , C3).

  The moving body position estimation unit 55 acquires the current position of each sensor terminal 2k from the sensor position storage unit 53 based on the acquired ID of each sensor terminal 2k (steps C4 and C5 in FIG. 7). The moving body position estimation unit 55 inputs the ID of the moving body 1 to the sensor portability estimation unit 56 in order to acquire the sensor portability of the plurality of sensor terminals 2k associated with the moving body 1.

  The sensor portability estimation unit 56 acquires the ID list of the plurality of sensor terminals 2k associated with the mobile body 1 from the mobile body information storage unit 57 based on the input ID of the mobile body 1 (step C7 in FIG. 7). , C8). However, in order to reduce the load of the ID acquisition process of the sensor terminal 3k to the mobile body information storage unit 57, the process of steps C2 and C3 in FIG. 7 is used instead of the ID list of the sensor terminal 2k acquired in this step. The acquired ID list of the sensor terminal 2k may be used.

  The sensor portability estimation unit 56 acquires the sensor portability state of each sensor terminal 2k from the sensor portability state storage unit 54 based on the acquired ID of each sensor terminal 2k (steps C9 and C10 in FIG. 7). The sensor portability estimation unit 56 calculates the sensor portability of each sensor terminal 2k from the acquired sensor portability state of each sensor terminal 2k (step C11 in FIG. 7), and outputs it to the moving body position estimation unit 55 ( FIG. 7 Step C12).

  The moving body position estimation unit 55 estimates the position of the moving body 1 from the current positions and sensor portability of each of the plurality of sensor terminals 2k associated with the acquired moving body 1 (step C13 in FIG. 7), and determines the position. It outputs with respect to the moving body position utilization apparatus 6 (FIG. 7 step C14).

  Thus, in the first embodiment of the present invention, after detecting whether or not the mobile body 1 is carrying a plurality of sensor terminals 2k associated with the mobile body 1, the mobile terminal 1 moves from the position of each sensor terminal 2k. By estimating the position of the body 1, even if some of the sensor terminals 2k for the plurality of position detection systems associated with the mobile body 1 are not carried, they are detected by each sensor terminal 2k. The position of the moving body 1 can be correctly estimated from the determined position.

  FIG. 8 is a block diagram showing a configuration of a position estimation system according to the second exemplary embodiment of the present invention. In FIG. 8, the position estimation system according to the second embodiment of the present invention does not include the sensor portable state detection device 4k, but includes the sensor portable state acquisition unit 52, the sensor portable state storage unit 54, and the sensor of the moving body position estimation device 5. Instead of the portability estimation unit 56, a sensor portability estimation unit 58 that estimates the sensor portability at the time of estimating the position of the moving body 1 from the position of each sensor terminal 2 k recorded in the sensor position storage unit 53. Except for the provision of the mobile body position estimation device 7 provided, the configuration is the same as that of the first embodiment of the present invention shown in FIG. 1, and the same components are denoted by the same reference numerals.

  The sensor portability estimation unit 58 acquires the ID of each sensor terminal 2k associated with the moving body 1 from the moving body information storage unit 57, and moves from the position of each sensor terminal 2k recorded in the sensor position storage unit 53. The sensor portability of each sensor terminal 2k at the time of estimating the position of the body 1 is estimated.

  As a specific example of the sensor portability estimation unit 58, it is determined whether the sensor terminal 2k has moved from the past history of the detected position of the sensor terminal 2k, and the position of the mobile body 1 is estimated at the time when the position of the mobile body 1 is estimated. When it is determined that the sensor terminal 2k is not moving at the time of estimating the position of the moving body 1, the time when the sensor terminal 2k is determined to be moving is maximized. In some cases, the shorter the elapsed time from the time, the greater the degree of sensor portability. This is equivalent to the fact that the sensor terminal 2k has moved is regarded as being carried by the mobile body 1.

  As another specific example of the sensor portability estimation unit 58, it is determined from a past history of the position of the detected sensor terminal 2k whether or not a certain sensor terminal is at the same position as another sensor terminal, and is the same or close. There is one that determines the degree of sensor portability as the number of sensor terminals in a position increases.

  FIG. 9 is a sequence chart showing the operation of the position estimation system according to the second exemplary embodiment of the present invention. The operation of the position estimation system according to the second embodiment of the present invention will be described with reference to FIG. 5, FIG. 8, and FIG.

  The operations of the sensor position detection device 3k, the sensor position acquisition unit 51, and the sensor position storage unit 53 in the second embodiment of the present invention indicated by steps A1 to A3 in FIG. 5 are the same as those in the first embodiment of the present invention. Since the operation is the same as that of the position detection device 3k, the sensor position acquisition unit 51, and the sensor position storage unit 53, the description of the operation is omitted.

  Moreover, the mobile body position utilization device 6, the mobile body position estimation unit 55, the sensor portability estimation unit 58, and the mobile body information in the second embodiment of the present invention shown in steps C1 to C8 and steps C12 to C14 of FIG. The operations of the storage unit 57 and the sensor position storage unit 53 are as follows. The mobile body position utilization device 6 and the mobile body position estimation unit 55 in the first embodiment of the present invention shown in steps C1 to C8 and steps C12 to C14 of FIG. The operations of the sensor portability estimation unit 56, the moving body information storage unit 57, and the sensor position storage unit 53 are the same as those of the sensor portability estimation unit 56, and a description thereof is omitted.

  The sensor portability estimation unit 56 acquires the position of each sensor terminal 2k from the sensor position storage unit 53 based on the acquired ID of each sensor terminal 2k (steps C15 and C16 in FIG. 9). However, in order to reduce the load of the process for acquiring the position of the sensor terminal 2k to the sensor position storage unit 53, instead of the position of the sensor terminal 2k acquired in this step, it is acquired by the processes of steps C4 and C5 in FIG. The position of the sensor terminal 2k may be used.

  The sensor portability estimation unit 56 calculates the sensor portability of each sensor terminal 2k from the acquired position of each sensor terminal 2k (step C17 in FIG. 9) and outputs it to the moving body position estimation unit 55 (FIG. 9). Step C12).

  As described above, the second embodiment of the present invention estimates the portability of each sensor terminal 2k from the detected position of the mobile body 1 in addition to the effects of the first embodiment of the present invention described above. In addition to the device for detecting the position of the sensor terminal 2k, no device for detecting the sensor carrying state is required, and some of the sensor terminals 2k for the plurality of position detection systems associated with the mobile body 1 Even when the sensor terminal is not carried, the position of the moving body 1 can be correctly estimated from the position detected by each sensor terminal 2k.

  FIG. 10 is a block diagram showing a configuration example of the sensor portability estimation unit in the third embodiment of the present invention, and FIG. 11 is a diagram showing an example of a graph structure. In FIG. 10, the sensor portability estimation unit 58 in the third embodiment of the present invention includes a sensor movement distance calculation unit 581, a sensor movement state detection unit 582, and a sensor portability calculation unit 583. The position estimation system according to the third embodiment of the present invention has the same configuration as the position estimation system according to the second embodiment of the present invention shown in FIG.

  In this embodiment, a notebook personal computer (hereinafter referred to as a notebook personal computer) or a wireless LAN mobile phone, which is a wireless LAN terminal, is used as a sensor terminal 2k associated with the mobile body 1, and a sensor for detecting the position of the sensor terminal 2k. The position detection device 3k includes a wireless LAN management system that detects the installation position of the access point connected to each wireless LAN terminal as the position of the sensor terminal 2k.

  The mobile object position estimation device 7 and the mobile object position utilization device 6 are realized by a personal computer (hereinafter referred to as a personal computer), and the devices are connected by a wireless LAN or a wired LAN network. The personal computer functions as a central processing unit (not shown) that functions as the sensor position acquisition unit 51, the sensor portability estimation unit 58, and the mobile body position estimation unit 55, and the sensor position storage unit 53 and the mobile body information storage unit 57. And a storage device (not shown).

  The sensor movement distance calculation unit 581 acquires the latest position of each sensor terminal 2k from the sensor position storage unit 53 at regular time intervals, and calculates the movement distance of the sensor terminal 2k from the acquired position history of each sensor terminal 2k. .

  In this embodiment, the connection relationship between the installation positions of all access points as shown in FIG. 11 is defined by a graph structure in which the installation positions of the access points are nodes and the connections between the nodes are links. Using such a graph structure, the distance between the positions output by the sensor position detection device 3k can be calculated as the shortest distance in the graph structure. Here, the time interval for obtaining the latest position of each sensor terminal 2k from the sensor position storage unit 53 and the length of the position history for calculating the movement distance of each sensor terminal 2k are determined depending on the environment in which the system is used, the mobile object 1 is determined in consideration of the movement tendency.

  For example, when assuming the position of an employee in the office, the time interval for acquiring the latest position of each sensor terminal 2k from the sensor position storage unit 53 is 30 seconds, and the length of the position history is 10 (5 minutes). By doing so, it is possible to obtain a moving distance suitable for detecting the moving state of the sensor terminal 2k.

  The sensor movement state detection unit 582 corresponds to a case where the sensor terminal 2k is small when the movement distance of the sensor terminal 2k calculated by the sensor movement distance calculation unit 581 is larger than a preset threshold value. It is determined that the sensor terminal 2k is not moving, and the determination result is output.

  The threshold of the moving distance is determined in consideration of the error characteristics of the sensor position detection device 3k and the movement tendency of the moving body 1. For example, in the case of the sensor position detection device 3k that detects the installation position of the access point to which the wireless LAN terminal is connected as the position of the sensor terminal 2k as used in the present embodiment, Since a detection error that is erroneously detected occurs, it is necessary to set a threshold value that is larger than the calculation error of the movement distance that can occur due to such a detection error and that can detect the movement of the moving body 1 as completely as possible.

  The sensor portability calculator 583 calculates the sensor portability based on the elapsed time since the sensor terminal 2k was determined to have moved last by the sensor movement presence / absence determiner 582. The movement of the sensor terminal 2k is regarded as the mobile body 1 carrying the sensor terminal 2k, and when the mobile body 1 carries the sensor terminal 2k, the sensor terminal 2k is misplaced and moved. Assuming that the time until it follows the exponential distribution, the sensor portability is calculated according to the above equation (1).

  Here, the expected value of the time until the sensor is left behind and moved is determined in consideration of the movement tendency of the moving body 1. For example, it is possible to obtain a reasonable sensor portability by setting a value of 1 hour as an expected value after investigating the movement tendency of the employee assuming the grasp of the position of the employee in the office.

  Based on the sensor portability of each sensor terminal 2k calculated by the sensor portability estimation unit 58, the position of the mobile unit 1 is determined by the mobile unit position estimation unit 55 as described in the first embodiment of the present invention. Can be estimated.

  In the present embodiment, the position of the moving body 1 associated with a plurality of wireless LAN terminals is estimated based on the sensor portability estimated from the detected position history, using a sensor position detection system using a wireless LAN. Can do. As a result, in this embodiment, even when some of the sensor terminals 2k for the plurality of position detection systems associated with the mobile body 1 are not carried, the positions detected by the sensor terminals 2k. Thus, the position of the moving body 1 can be correctly estimated.

  FIG. 12 is a block diagram showing a configuration example of the sensor portability estimation unit in the fourth embodiment of the present invention. 12, in the configuration of the sensor portability estimation unit 58 in the fourth embodiment of the present invention, the sensor portability estimation unit 58 in the configuration shown in FIG. 10 includes a sensor movement distance calculation unit 581 and a sensor movement state detection unit. A sensor portability estimation unit in the third embodiment of the present invention shown in FIG. 10 in that it includes a 582, a sensor history distance calculation unit 584, a similar sensor number calculation unit 585, and a sensor portability calculation unit 586. This is different from the 58 configuration. The position estimation system according to the fourth embodiment of the present invention has the same configuration as the position estimation system according to the second embodiment of the present invention shown in FIG.

  The operations of the sensor movement distance calculation unit 581 and the sensor movement presence / absence determination unit 582 are the same as the operations of the sensor movement distance calculation unit 581 and the sensor movement presence / absence determination unit 582 shown in FIG. To do.

  The sensor history distance calculation unit 584 acquires the latest position of each sensor terminal 2k from the sensor position storage unit 53 at regular time intervals, and is associated with the moving body 1 from the acquired position history of each sensor terminal 2k. The history distance between the sensor terminals 2k is calculated for all combinations of the plurality of sensor terminals 2k.

・・・（４）
という計算式に従って算出できる。この（４）式においては、時刻ｔにおけるセンサ端末ｋとセンサ端末ｊの過去Ｔステップの履歴間距離を算出する。また、（４）式において、Ｘ_i （ｔ）は時刻ｔに検出されたセンサ端末２ｋの位置、ｄ（ｘ₁ ，ｘ₂ ）は位置ｘ₁ と位置ｘ₂ との距離である。 In the present embodiment, the distance between the positions output by the sensor terminal 2k is calculated using the graph structure described above, and the distance between the history of each sensor terminal 2k is:

... (4)
It can be calculated according to the following formula. In this formula (4), the distance between the past T steps of the sensor terminal k and sensor terminal j at time t is calculated. In the equation (4), X _i (t) is the position of the sensor terminal 2k detected at time t, and d (x ₁ , x ₂ ) is the distance between the position x ₁ and the position x ₂ .

  Here, the time interval for acquiring the latest position of each sensor terminal 2k from the sensor position storage unit 53 and the length of the position history for calculating the distance between the history of each sensor terminal 2k are the environment used for the system, movement Decide in consideration of the movement tendency of the body. For example, when assuming the position of an employee in the office, the time interval for acquiring the latest position of each sensor terminal 2k from the sensor position storage unit 53 is 30 seconds, and the length of the position history is 10 (5 minutes). By doing so, it is possible to obtain a distance between histories suitable for calculating the number of similar sensors.

  For each sensor terminal 2k, the similar sensor number calculation unit 585 has a distance between sensor histories calculated by the sensor history distance calculation unit 585 among all sensor terminals 2k associated with the mobile body 1 based on a preset threshold. The number of small sensor terminals is calculated and output as the number of similar sensors of the corresponding sensor terminal.

  The threshold for the distance between sensor histories is determined in consideration of the error characteristics of the sensor position detecting device 3k. For example, in the case of the sensor position detection device 3k that detects the installation position of the access point to which the wireless LAN terminal is connected as the position of the sensor terminal 2k as used in the present embodiment, the surrounding access point installation position is erroneously set. Since a detection error that is detected occurs, it is necessary to set a threshold value that is larger than the variation in the distance between sensor histories that can occur due to such a detection error and that can detect a sensor terminal at the same position as completely as possible.

・・・（５）
という計算式に従って算出する。（５）式において、ｔは最後に移動したと判定されてからの経過時間、１／λはセンサ端末２ｋを置き忘れて移動してしまうまでの時間の期待値、Ｎは移動体１に関連付けられたセンサ端末２ｋの総数、Ｃは類似センサ数、Ｐ_max はセンサ携帯度の最大値、Ｐ_holdはあるセンサ端末のセンサ携帯度である。 The sensor portability calculation unit 586 includes an elapsed time after the sensor movement presence / absence determination unit 582 determines that the sensor terminal 2k has finally moved, and the number of similar sensors of the sensor terminal 2k calculated by the similar sensor number calculation unit 585. Based on the above, the sensor portability is calculated. The sensor portability is set so that the shorter the elapsed time after movement, the higher the sensor portability and the higher the sensor portability with the number of sensor terminals that are together,

... (5)
It calculates according to the calculation formula. In equation (5), t is the elapsed time since it was determined that the last movement, 1 / λ is the expected value of the time until the sensor terminal 2k is left behind and moved, and N is associated with the moving body 1. The total number of sensor terminals 2k, C is the number of similar sensors, P _max is the maximum value of sensor portability, and P _hold is the sensor portability of a certain sensor terminal.

Here, the expected value (1 / λ) of the time until the sensor terminal 2k is misplaced and moved is determined in consideration of the movement tendency of the moving body 1. For example, assuming an employee's position in the office and investigating the movement tendency of the employee, a value of 1 hour can be set as the expected value. Further, the maximum value (P _max ) of the sensor portability is determined according to the accuracy of the sensor portability calculation unit 586, and for example, a value “0.9” can be set.

  Based on the sensor portability of each sensor terminal 2k calculated by the sensor portability estimation unit 58, the position of the mobile unit 1 is determined by the mobile unit position estimation unit 55 as described in the first embodiment of the present invention. Can be estimated.

  In the present embodiment, the position of the moving body 1 associated with a plurality of wireless LAN terminals is estimated based on the sensor portability estimated from the detected position history, using a sensor position detection system using a wireless LAN. Can do. As a result, in this embodiment, even when some of the sensor terminals 2k for the plurality of position detection systems associated with the mobile body 1 are not carried, the positions detected by the sensor terminals 2k. Thus, the position of the moving body 1 can be correctly estimated.

  As described above, in this embodiment, the graph structure set in advance is used to calculate the movement distance of the sensor terminal 2k and the distance between histories, but the number of types of output symbols is the movement distance and the Hamming distance between the output symbols is A method of calculating the distance between histories or a method of directly calculating the movement distance and the distance between histories after expressing the position by one-dimensional, two-dimensional, or three-dimensional coordinate values can also be used.

  FIG. 13 is a block diagram showing a configuration of a position estimation system according to the fifth exemplary embodiment of the present invention. In FIG. 13, the position estimation system according to the fifth embodiment of the present invention is associated with the mobile body 1 that is a target whose position is to be estimated and the mobile body 1, as in the above-described first embodiment of the present invention. A plurality of sensor terminals 2k, a sensor position detection device 3k that detects the position of each sensor terminal 2k, a sensor portable state detection device 4k that detects whether the sensor terminal 2k is carried by the mobile body 1, and a sensor A mobile body position estimation device 5 that estimates the position of the mobile body 1 from the position of each sensor terminal 2k detected by the position detection device 3k and the mobile state of each sensor terminal 2k detected by the sensor mobile state detection device 4k; It is comprised from the mobile body position utilization apparatus 6 which utilizes the estimated position of the mobile body 1. FIG.

  The moving object position estimation program 8 is read by the moving object position estimation device 5 and controls the operation of the moving object position estimation device 5. The moving body position estimation apparatus 5 executes the same processing as the processing by the moving body position estimation apparatus 5 in the first embodiment of the present invention under the control of the moving body position estimation program 8.

  FIG. 14 is a block diagram showing a configuration of a position estimation system according to the sixth exemplary embodiment of the present invention. In FIG. 14, the position estimation system according to the sixth embodiment of the present invention is associated with the mobile body 1 that is the target of position estimation and the mobile body 1 as in the second embodiment of the present invention described above. A plurality of sensor terminals 2k, a sensor position detecting device 3k for detecting the position of each sensor terminal 2k, and a moving body position for estimating the position of the moving body 1 from the position of each sensor terminal detected by the sensor position detecting device 3k. The estimation apparatus 7 and a moving body position utilization apparatus 6 that uses the estimated position of the moving body are included.

  The moving body position estimation program 9 is read by the moving body position estimation apparatus 7 and controls the operation of the moving body position estimation apparatus 7. The mobile body position estimation device 7 executes the same processing as the processing by the mobile body position estimation device 7 in the second embodiment of the present invention described above under the control of the mobile body position estimation program 9.

  As described above, the first position estimation system of the present invention includes a plurality of sensor terminals 2k associated with the mobile body 1, a sensor position detection device 3k that detects the positions of the sensor terminals 2k, and the sensor terminal 2k. A sensor carrying state detection device 4k that detects whether or not the mobile body 1 is carried, a position of each sensor terminal 2k detected by the sensor position detection device 3k, and each sensor terminal detected by the sensor carrying state detection device 4k And a mobile body position estimation device 5 that estimates the position of the mobile body 1 from a 2k portable state.

  The first position estimation system of the present invention adopts such a configuration, detects whether or not the mobile body 1 is carrying each sensor terminal 2k, and considers the portability of each detected sensor terminal 2k. Even when some of the sensor terminals 2k for a plurality of position detection systems associated with the mobile body 1 are not carried by estimating the position of the mobile body 1 from the position of each sensor terminal 2k. The position of the moving body 1 can be correctly estimated from the position detected by each sensor terminal 2k.

  The second position estimation system of the present invention includes a plurality of sensor terminals 2k associated with the mobile body 1, a sensor position detection device 3k that detects the positions of the sensor terminals 2k, and the sensor terminal 2k carried by the mobile body 1. And a moving body position estimating device 5 that estimates the position of the moving body 1 from the estimation result and the position of each sensor terminal 2k detected by the sensor position detecting device 3k.

  The second position estimation system of the present invention adopts such a configuration, detects whether each mobile terminal 1 is carried by each mobile terminal 1 from the position history of each sensor terminal 2k, and detects each detected sensor terminal. A part of the sensor terminals 2k for a plurality of position detection systems associated with the mobile body 1 by estimating the position of the mobile body 1 from the position of each sensor terminal 2k in consideration of the portability of 2k Even when the terminal is not carried, the position of the moving body 1 can be correctly estimated from the position detected by each sensor terminal 2k.

  Therefore, the present invention detects whether or not the mobile body 1 carries each sensor terminal 2k, and the mobile body from the detected position of each sensor terminal 2k according to the obtained portability of each sensor terminal 2k. In order to estimate the position of 1, even if a plurality of position detection sensor terminals 2 k are associated with the mobile body 1 and some of the sensor terminals 2 k are not carried, each sensor terminal The position of the moving body 1 can be correctly estimated from the position detected at 2k.

  The present invention is applied to uses such as a program for realizing the position acquisition of a person or thing using a plurality of position detection systems or the position acquisition of a person or thing using a plurality of position detection systems in a computer. Can do.

It is a block diagram which shows the structural example of the position estimation system by 1st Example of this invention. It is a figure which shows an example of the information recorded on the sensor position memory | storage part by 1st Example of this invention. It is a figure which shows an example of the information recorded on the sensor portable state memory | storage part by 1st Example of this invention. It is a figure which shows the probability reasoning model which estimates the position of a moving body from the observation amount by 1st Example of this invention. It is a sequence chart which shows operation | movement of the position estimation system by 1st Example of this invention. It is a sequence chart which shows operation | movement of the position estimation system by 1st Example of this invention. It is a sequence chart which shows operation | movement of the position estimation system by 1st Example of this invention. It is a block diagram which shows the structure of the position estimation system by the 2nd Example of this invention. It is a sequence chart which shows operation | movement of the position estimation system by the 2nd Example of this invention. It is a block diagram which shows the structural example of the sensor portability estimation part in the 3rd Example of this invention. It is a figure which shows the example of a graph structure. It is a block diagram which shows the structural example of the sensor portability estimation part in the 4th Example of this invention. It is a block diagram which shows the structure of the position estimation system by the 5th Example of this invention. It is a block diagram which shows the structure of the position estimation system by the 6th Example of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mobile body 2a, 2b Sensor terminal 3a, 3b Sensor position detection apparatus 4a, 4b Sensor carrying state detection apparatus
5 Mobile body position estimation device
6 Mobile body position utilization device
7 Moving body position estimation device
8 Mobile object position estimation program
DESCRIPTION OF SYMBOLS 9 Mobile body position estimation program 51 Sensor position acquisition part 52 Sensor carrying state acquisition part 53 Sensor position memory | storage part 54 Sensor portable state storage part 55 Mobile body position estimation part 56 Sensor portable degree estimation part 57 Mobile body information storage part 58 Sensor carrying Degree estimation unit 581 Sensor movement distance calculation unit 582 Sensor movement presence / absence determination unit 583 Sensor portability calculation unit 584 Sensor history distance calculation unit 585 Similar sensor number calculation unit 586 Sensor portability calculation unit

Claims (25)

A plurality of sensor terminals associated with a moving body; and a sensor position detection system that detects a position of each of the plurality of sensor terminals, and the movement based on the position of the sensor terminal detected by the sensor position detection system A position estimation system for estimating the position of a body,
A moving body that estimates the position of the moving body from the carrying state of each of the sensor terminals indicating whether the moving body carries the sensor terminal and the position of each of the sensor terminals detected by the sensor position detection system. A position estimation system comprising position estimation means. Including a sensor carrying state detecting means for detecting whether the moving body carries the sensor terminal;
The mobile body position estimation means estimates the position of the mobile body from the position of each of the sensor terminals detected by the sensor position detection system and the mobile state of each of the sensor terminals detected by the sensor mobile state detection means. The position estimation system according to claim 1, wherein:   The mobile body position estimating means selects and outputs the position of the mobile body from the positions of at least one of the sensor terminals detected by the sensor carrying state detection means as being carried by the mobile body. The position estimation system according to claim 2.   The mobile body position estimating unit calculates a sensor portability whose value decreases according to an elapsed time after the sensor mobile state detection unit detects that the mobile body is being carried by the mobile body, and the sensor portability The position estimation system according to claim 2, wherein the position of the moving body is selected and output from at least one position of the sensor terminal at which the maximum value becomes.   The mobile body position estimation means follows a probability state model on the assumption that the positions of the mobile body and each of the sensor terminals are not the same, according to the mobile state of each of the sensor terminals detected by the sensor mobile state detection means. A probability value representing the relationship between the position of the mobile body and each of the sensor terminals to be determined, a probability value set in advance and representing the relationship between the detection result of the sensor position detection system and the position of the sensor terminal, and The position estimation system according to claim 2, wherein the position of the moving body is estimated from a probability value that is set and represents a movement characteristic between arbitrary positions of the moving body.   The sensor carrying state detecting means carries the sensor terminal when the authentication is successful by an authentication function using at least one of a password, fingerprint, voiceprint, and face provided in the sensor terminal. The position estimation system according to claim 2, wherein the position estimation system is determined to be a thing.   The sensor carrying state detecting means is configured such that the mobile object carries the sensor terminal when any operation occurs in an input device including at least one of a switch, a mouse, a keyboard, and a pen tablet provided in the sensor terminal. The position estimation system according to claim 2, wherein the position estimation system is determined as having been performed.   The sensor carrying state detecting means is when the sensor terminal is confirmed to be moving in a measuring device including at least one of an acceleration sensor, a vibration sensor, a gyro sensor, and a magnetic sensor incorporated in the sensor terminal. 6. The position estimation system according to claim 2, wherein the mobile body determines that the mobile terminal is carrying the sensor terminal.   The sensor carrying state detecting means is configured such that when it is confirmed that the sensor terminal is moving from a history of the position of the sensor terminal detected by the sensor position detection system, the moving body is The position estimation system according to claim 2, wherein it is determined that the mobile phone is carried.   The sensor carrying state detecting means determines whether the sensor terminal is moving from a history of a certain period of the position of the sensor terminal detected by the sensor position detection system, and is similar between position histories with other sensor terminals. The number of similar sensors is calculated based on the degree, and the assumption is that the shorter the elapsed time after movement, the greater the number of similar sensors, the higher the degree that the mobile object carries the sensor terminal. The position estimation system according to any one of claims 2 to 5, wherein it is estimated whether or not the mobile object is carrying the sensor terminal. Including a sensor portability estimating means for estimating whether the moving body carries the sensor terminal;
The mobile body position estimation means estimates the position of the mobile body from the position of each of the sensor terminals detected by the sensor position detection system and the mobile state of each of the sensor terminals estimated by the sensor mobile degree estimation means. The position estimation system according to claim 1, wherein:   The mobile body position estimation means selects and outputs the position of the mobile body from at least one or more sensor terminal positions estimated to be carried by the mobile body by the sensor portability estimation means. The position estimation system according to claim 11.   The mobile body position estimation unit calculates a sensor portability whose value decreases in accordance with an elapsed time after the sensor portability estimation unit estimates that the mobile body is being carried by the mobile body, and the sensor portability The position estimation system according to claim 11, wherein the position of the moving body is selected and output from the positions of at least one of the sensor terminals at which the maximum value becomes.   The mobile body position estimating means follows a probability state model based on the assumption that the positions of the mobile body and each of the sensor terminals are not the same, according to the mobile state of each of the sensor terminals estimated by the sensor mobile degree estimation means. A probability value representing the relationship between the position of the mobile body and each of the sensor terminals to be determined, a probability value set in advance and representing the relationship between the detection result of the sensor position detection system and the position of the sensor terminal, and The position estimation system according to claim 11, wherein the position of the moving body is estimated from a probability value that is set and represents a movement characteristic between arbitrary positions of the moving body.   When the sensor portability estimation means confirms that the sensor terminal is moving based on a history of the position of the sensor terminal detected by the sensor position detection system, the mobile body is moved to the sensor terminal. 15. The position estimation system according to claim 11, wherein the position estimation system estimates whether or not the mobile phone is carried.   The sensor portability estimation means determines whether the sensor terminal is moving from a history of a certain period of the position of the sensor terminal detected by the sensor position detection system, and similarity between position histories with other sensor terminals The number of similar sensors is calculated based on the degree, and the assumption is that the shorter the elapsed time after movement, the greater the number of similar sensors, the higher the degree that the mobile object carries the sensor terminal. The position estimation system according to any one of claims 11 to 14, wherein it is estimated whether or not the mobile object is carrying the sensor terminal. In a system including a plurality of sensor terminals associated with a moving body and a sensor position detection system that detects the position of each of the plurality of sensor terminals, based on the position of the sensor terminal detected by the sensor position detection system A position estimation device for estimating a position of the moving body,
A moving body that estimates the position of the moving body from the carrying state of each of the sensor terminals indicating whether the moving body carries the sensor terminal and the position of each of the sensor terminals detected by the sensor position detection system. A position estimation device comprising position estimation means. Sensor carrying state detecting means for detecting whether or not the moving body carries the sensor terminal is provided in the system,
The mobile body position estimation means estimates the position of the mobile body from the position of each of the sensor terminals detected by the sensor position detection system and the mobile state of each of the sensor terminals detected by the sensor mobile state detection means. The position estimation apparatus according to claim 17, wherein: Including a sensor portability estimating means for estimating whether the moving body carries the sensor terminal;
The mobile body position estimation means estimates the position of the mobile body from the position of each of the sensor terminals detected by the sensor position detection system and the mobile state of each of the sensor terminals estimated by the sensor mobile degree estimation means. The position estimation apparatus according to claim 17, wherein: In a system including a plurality of sensor terminals associated with a moving body and a sensor position detection system that detects the position of each of the plurality of sensor terminals, based on the position of the sensor terminal detected by the sensor position detection system A position estimation method used in a position estimation apparatus for estimating the position of the moving body,
The position estimation device is configured to determine whether the mobile body is based on a mobile state of each of the sensor terminals indicating whether the mobile body is carrying the sensor terminal and a position of each of the sensor terminals detected by the sensor position detection system. A position estimation method characterized by executing a mobile object position estimation process for estimating a position. Sensor carrying state detecting means for detecting whether or not the moving body carries the sensor terminal is provided in the system,
In the mobile body position estimation process, the position estimation device uses the position of each of the sensor terminals detected by the sensor position detection system and the portable state of each of the sensor terminals detected by the sensor portable state detection means. The position estimation method according to claim 20, wherein the position of the moving body is estimated. The position estimation device performs a sensor portability estimation process for estimating whether the moving body carries the sensor terminal,
In the mobile body position estimation process, the position estimation device uses the position of each sensor terminal detected by the sensor position detection system and the portable state of each sensor terminal estimated by the sensor portability estimation unit. The position estimation method according to claim 20, wherein the position of the moving body is estimated. In a system including a plurality of sensor terminals associated with a moving body and a sensor position detection system that detects the position of each of the plurality of sensor terminals, based on the position of the sensor terminal detected by the sensor position detection system A program that causes a computer to execute in a position estimation device that estimates the position of the moving body,
A moving body that estimates the position of the moving body from the carrying state of each of the sensor terminals indicating whether the moving body carries the sensor terminal and the position of each of the sensor terminals detected by the sensor position detection system. A program including position estimation processing. Sensor carrying state detecting means for detecting whether or not the moving body carries the sensor terminal is provided in the system,
In the mobile body position estimation process, the position of the mobile body is estimated from the position of each of the sensor terminals detected by the sensor position detection system and the mobile state of each of the sensor terminals detected by the sensor mobile state detection means. 24. The program according to claim 23, wherein: Including a sensor portability estimation process for estimating whether the mobile object carries the sensor terminal,
In the mobile body position estimation process, the position of the mobile body is estimated from the position of each of the sensor terminals detected by the sensor position detection system and the mobile state of each of the sensor terminals estimated by the sensor portability estimation unit. 24. The program according to claim 23, wherein:

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