JP2010019774A - Position estimation method, server, positioning terminal, and positioning system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a new method for accurately locating a positioning terminal. <P>SOLUTION: In a positioning system 1, a server system 3 includes a terminal database having cumulatively stored terminal data which has associated a GPS positioning location with a signal strength of respective base station signals of each base station BS communicable at the GPS positioning location. The server system receives the signal strength of the respective base station signals of each base station BS communicable at an actual location of a mobile telephone 2 from the mobile telephone 2 and extracts the terminal data out of the terminal database by singling out the signal strength compliant with the signal strength of the base station signal received from the mobile telephone 2. Then, the server system uses the GPS positioning location stored in the extracted terminal data to estimate and transmit positional coordinates of the mobile telephone 2 to the mobile telephone 2. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a position estimation method, a server, a positioning terminal, and a positioning system.

  As a positioning system using positioning signals, GPS (Global Positioning System) is widely known and used for positioning terminals such as mobile phones and car navigation devices. In GPS, the values of four parameters, the three-dimensional coordinate value indicating the position of the positioning terminal and the clock error, are based on information such as the positions of a plurality of GPS satellites and pseudo distances from each GPS satellite to the positioning terminal. Positioning is performed by performing the required positioning calculation.

However, in environments where it is difficult to receive positioning signals, such as indoors or environments surrounded by high-rise buildings, positioning using positioning signals is not possible, or positioning is possible even if positioning can be performed. There is a problem that the accuracy of the result is lowered, and various techniques have been devised in consideration of this problem (for example, Patent Document 1).
JP 2007-139515 A

  Patent Document 1 uses positioning using a positioning signal, positioning using a base station signal received from a mobile phone base station, and a beacon signal received from a position beacon transmitter installed on a road. A technique is disclosed in which positioning is performed by a plurality of positioning methods such as positioning, and the position of the positioning terminal is calculated by averaging the positioning results.

  However, in an environment where it is difficult to receive a positioning signal, positioning using the positioning signal cannot be performed in the first place, or even if it can be performed, the accuracy of the positioning position is considered to be low. In general, positioning using a base station signal and positioning using a beacon signal are poor in positioning accuracy compared to positioning using a positioning signal. Therefore, even if the positioning positions obtained by the plurality of positioning methods described above are averaged, there is still a problem that the position of the positioning terminal cannot be accurately obtained.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to propose a new technique for more accurately obtaining the position of a positioning terminal.

  A first invention for solving the above problems is a database in which the position coordinates of a sampling point and measurement information obtained by measuring the base station signal of each base station that can communicate at the sampling point are stored in association with each other. To extract measurement information suitable for the measurement information obtained by measuring the base station signal of each base station that can communicate at an arbitrary point, and use the position coordinates of the sampling point corresponding to each of the extracted measurement information And estimating a position coordinate of the arbitrary point.

  According to the first aspect of the present invention, any point can be selected from the database in which the position coordinates of the sampling point and the measurement information obtained by measuring the base station signal of each base station communicable at the sampling point are stored in association with each other. The measurement information suitable for the measurement information obtained by measuring the base station signal of each base station capable of communication in is extracted. Then, the position coordinates of an arbitrary point are estimated using the position coordinates of the sampling point corresponding to each of the extracted measurement information.

  If an arbitrary point and the sampling point match or are close to each other, the combination of base stations that can communicate at the point should be the same, and the measurement results of the base station signals of each base station should also approximate. . Therefore, by estimating the position coordinates of an arbitrary point using the position coordinates of the sampling position to which the measurement information obtained by measuring the base station signal is matched, it is possible to realize positioning capable of obtaining the actual sampling position more accurately.

  Further, as a second invention, in the position estimation method according to the first invention, the database further stores the reliability of the position coordinates of the sampling point in association with each other, and the estimation includes Estimating the position coordinates of the arbitrary point by performing weighted averaging of the position coordinates of the sampling points corresponding to each of the extracted measurement information using the reliability stored in the database. A position estimation method may be configured.

  According to the second aspect of the invention, the position coordinates of an arbitrary point are obtained by performing weighted averaging of the position coordinates of the sampling points corresponding to each of the extracted measurement information using the reliability stored in the database in association with each other. Is estimated. By performing a weighted average calculation in which the weighting of the sampling position with high reliability is increased, a more accurate position as close as possible to the true position can be calculated.

  Further, as a third invention, the position estimation method according to the first or second invention, wherein the measurement information is signal strength of a base station signal, and the database includes the position coordinates of the sampling point and the sampling point. Each of the base stations that can communicate with each other in combination with a combination of signal strengths of the base station signals of each base station, and the extraction is based on each base station that can communicate at the arbitrary point from the database. Extracting a combination of signal strengths that matches a combination of signal strengths of the respective base station signals, and the estimating is performed using position coordinates of sampling points corresponding to the respective combinations of the extracted signal strengths. The position estimation method may be configured to estimate the position coordinates of the arbitrary point.

  According to the third aspect of the invention, the position coordinates of an arbitrary point can be estimated using the signal strength of the base station signal as measurement information.

  Further, as a fourth invention, the position estimation method according to the third invention, wherein the extracting includes the number of communicable base stations, identification information of communicable base stations, and a predetermined signal strength condition. You may comprise the position estimation method which is extracting using either of the number of base station signals which satisfy | fills as extraction conditions.

  According to the fourth aspect of the invention, measurement is performed using any one of the number of communicable base stations, the identification information of communicable base stations, and the number of base station signals satisfying a predetermined signal strength condition as an extraction condition. Information can be extracted.

  Further, as a fifth invention, the position estimation method according to the first or second invention, wherein the measurement information is a signal propagation time between the sampling point and the base station, and the database includes the position coordinates of the sampling point. And a combination of signal propagation times between each of the base stations that can communicate at the sampling point and stored in association with each other, and the extraction can be performed at the arbitrary point from the database. Extracting a combination of signal propagation times that matches a combination of signal propagation times with each of the base stations, and the estimating includes sampling points corresponding to each of the combinations of the extracted signal propagation times. The position estimation method may be configured to estimate the position coordinates of the arbitrary point using the position coordinates.

  According to the fifth aspect of the present invention, the position coordinates of an arbitrary point can be estimated using the signal propagation time between the sampling point and the base station as measurement information of the base station signal.

  Further, as a sixth aspect of the invention, a storage unit that stores the position coordinates of the sampling point and measurement information obtained by measuring the base station signal of each base station that can communicate at the sampling point, and a positioning terminal, A receiving unit that receives measurement information obtained by measuring a base station signal of each base station that can communicate at a location of a positioning terminal, and measurement information that conforms to the measurement information received by the receiving unit from the storage unit. An extraction unit for extraction, an estimation unit for estimating the position coordinates of the positioning terminal using the position coordinates of the sampling points corresponding to the respective measurement information extracted by the extraction unit, and the position coordinates estimated by the estimation unit A transmission unit that transmits the information to the positioning terminal may be configured.

  According to the sixth aspect of the invention, measurement information obtained by measuring the base station signal of each base station that can communicate at the location of the positioning terminal is received from the positioning terminal, and the received measurement information is stored in the storage unit. Extract relevant measurement information. And the position coordinate of a positioning terminal is estimated using the position coordinate of the sampling point corresponding to each extracted measurement information, and the estimated position coordinate is transmitted to a positioning terminal. Also in this case, the same effect as that of the first invention is exhibited, and the server can estimate the position coordinates of the positioning terminal more accurately.

  Further, as a seventh invention, a positioning unit, a measuring unit that measures a base station signal of each base station that can communicate, a position coordinate of a sampling point, and a base station of each base station that can communicate at the sampling point In a server provided with a storage unit that stores sampling information in association with measurement information obtained by measuring a signal, the measurement unit includes the position coordinates of the positioning position measured by the positioning unit, and the positioning unit performs positioning by the positioning unit. New sampling information providing unit that provides measurement information that is measured information as new sampling information, and sampling that conforms to the measurement information by transmitting measurement information that is information measured by the measurement unit to the server Information is extracted from the storage unit, and the estimated position of the self-positioning terminal estimated based on the sampling position of the extracted sampling information is extracted from the server. And estimated position acquisition unit that acquires from, may constitute a positioning terminal having a.

  According to the seventh aspect of the invention, the position coordinates of the measured positioning position and the measurement information of the base station signal measured at the time of positioning are provided to the server as new sampling information. Also, a self-positioning terminal that transmits measurement information obtained by measuring a base station signal to the server, extracts sampling information suitable for the measurement information from the storage unit of the server, and is estimated based on a sampling position of the extracted sampling information Is obtained from the server.

  By acquiring the estimated position from the server, the positioning terminal can acquire the accurate position of the self-positioning terminal even in an environment where the positioning terminal cannot perform positioning by itself. Further, since the positioning terminal is configured to provide new sampling information to the server, the server can accumulate more sampling information in the storage unit and use it for estimating the position of the positioning terminal.

  Further, as an eighth invention, a positioning system comprising a positioning terminal and a server, wherein the server measures the position coordinates of the sampling point and the base station signal of each base station that can communicate at the sampling point. A storage unit that stores sampling information in association with the measured information, and a positioning position measured by the positioning terminal and a base station signal of each base station that can communicate at the positioning position from the positioning terminal The new sampling information acquisition unit that receives the measurement information as new sampling information and stores it in the storage unit, and the base station signal of each base station that can communicate at the location of the positioning terminal from the positioning terminal Receiving the measured measurement information, extracting the measurement information suitable for the measurement information from the storage unit, A position estimation unit that estimates the position coordinates of the positioning terminal and notifies the positioning terminal using the position coordinates of the sampling points to be performed, and the positioning terminal communicates with the positioning unit and each base station that can communicate A measurement unit that measures each base station signal, position coordinates of a positioning position measured by the positioning unit on the server, and measurement information that is information measured by the measuring unit during positioning by the positioning unit; A new sampling information providing unit that provides the new sampling information, and an estimated position notified by the terminal position estimating unit of the server by transmitting measurement information that is information measured by the measuring unit to the server A positioning system including an estimated position acquisition unit that acquires the position as an estimated position of the own positioning terminal may be configured.

  Hereinafter, an example of an embodiment suitable for the present invention will be described with reference to the drawings. However, embodiments to which the present invention can be applied are not limited to this.

1. System Configuration FIG. 1 is a diagram showing a schematic configuration of a positioning system 1 in the present embodiment. The positioning system 1 includes a mobile phone 2 that is an electronic device including a positioning device, a server system 3, a base station BS (BS1, BS2, BS3,...), And a plurality of GPS satellites SV (SV1, SV2). , SV3, SV4,...).

  The mobile phone 2 is an electronic device for a user to send and receive calls and mails, and performs original functions as a mobile phone such as calls and mails by performing base station communication with a base station BS. In addition, it has a positioning function for positioning based on the GPS satellite signal received from the GPS satellite SV.

  When positioning by GPS is possible, the mobile phone 2 displays a positioning position obtained by GPS positioning (hereinafter referred to as “GPS positioning position”) on the screen as an output position. In addition, the mobile phone 2 determines the signal strength by measuring the base station signal of the base station BS that was communicable at the time of GPS positioning. And the data which matched the measured signal strength and GPS positioning position are produced | generated, and it transmits to the server system 3 (upload).

  On the other hand, when positioning by GPS is impossible, the mobile phone 2 measures the signal strength of the base station signal received from the currently communicable base station BS. Then, the measured signal strength is transmitted to request an estimated terminal position where the position of the mobile phone 2 is estimated. And an estimated terminal position is received from the server system 3, and it displays on a screen as an output position.

  The server system 3 is a computer system having a function of receiving a request from the mobile phone 2 and estimating the terminal position of the mobile phone 2 and providing it to the mobile phone 2. The server system 3 accumulates and stores a GPS positioning position as a sampling position and the signal strength of each base station signal of each base station BS that can communicate at the GPS positioning position as sampling information in a database. The signal strength of the base station signal is an example of measurement information obtained by measuring the base station signal.

  The server system 3 receives the signal strength data of the base station signal of each base station BS with which the mobile phone 2 can communicate from the mobile phone 2, and stores the mobile phone from the stored database. The data of the signal strength that matches the signal strength received from 2 is extracted. Then, the position coordinates of the actual position of the mobile phone 2 are estimated using the GPS positioning position stored in the extracted data, and transmitted to the mobile phone 2. The server system 3 may be configured by a single computer system or may be configured by a plurality of computer systems.

  The base station BS is a radio base station installed by a mobile phone service provider, and transmits a base station signal to the mobile phone 2 to perform base station communication with the mobile phone 2. This enables the mobile phone 2 to perform functions such as calling and sending / receiving mails.

2. 2. Mobile phone 2-1. Functional Configuration FIG. 2 is a block diagram showing a functional configuration of the mobile phone 2 in the present embodiment. The mobile phone 2 includes a GPS antenna 205, a GPS receiving unit 210, a host CPU (Central Processing Unit) 220, an operation unit 230, a display unit 240, a mobile phone antenna 250, and a mobile phone wireless communication circuit. A unit 260, a ROM (Read Only Memory) 270, a flash ROM 280, and a RAM (Random Access Memory) 290 are configured.

  The GPS antenna 205 is an antenna that receives an RF (Radio Frequency) signal including a GPS satellite signal transmitted from the GPS satellite SV, and outputs the received signal to the GPS receiving unit 210. The GPS satellite signal is a 1.57542 [GHz] communication signal modulated by a direct spread spectrum system with a PRN (Pseudo Random Noise) code which is a kind of spreading code different for each satellite. The PRN code is a pseudo-random noise code having a repetition period of 1 ms with a code length of 1023 chips as one PN frame.

  The GPS receiving unit 210 is a positioning circuit that performs positioning based on a signal output from the GPS antenna 205, and is a functional block corresponding to a so-called GPS receiver. The GPS receiving unit 210 includes an RF (Radio Frequency) receiving circuit unit 211 and a baseband processing circuit unit 213. The RF receiving circuit unit 211 and the baseband processing circuit unit 213 can be manufactured as separate LSIs (Large Scale Integration) or as a single chip.

  The RF receiving circuit unit 211 is an RF signal processing circuit block, and generates an oscillation signal for RF signal multiplication by dividing or multiplying a predetermined local oscillation signal. Then, by multiplying the generated oscillation signal by the RF signal output from the GPS antenna 205, the RF signal is down-converted to an intermediate frequency signal (hereinafter referred to as an “IF (Intermediate Frequency) signal”). Then, after amplifying the IF signal, it is converted into a digital signal by an A / D (Analog Digital) converter and output to the baseband processing circuit unit 213.

  The baseband processing circuit unit 213 is a circuit unit that performs correlation processing or the like on the IF signal output from the RF reception circuit unit 211 to capture and extract a GPS satellite signal. The baseband processing circuit unit 213 includes a CPU 215 as a processor, and a ROM 217 and a RAM 219 as memories.

  The host CPU 220 is a processor that comprehensively controls each unit of the mobile phone 2 according to various programs such as a positioning program and a system program stored in the ROM 270. In accordance with the positioning program, the host CPU 220 decodes data from the GPS satellite signal captured and extracted by the baseband processing circuit unit 213, extracts a navigation message, time information, etc., and performs a positioning calculation. And the navigation part which plotted the output position calculated | required by positioning calculation is displayed on the display part 240. FIG.

  The operation unit 230 is an input device configured by, for example, a touch panel or a button switch, and outputs a signal of a pressed icon or button to the host CPU 220. By operating the operation unit 230, various instructions such as a call request, a mail transmission / reception request, and a GPS activation request are input.

  The display unit 240 is configured by an LCD (Liquid Crystal Display) or the like, and is a display device that performs various displays based on display signals input from the host CPU 220. The display unit 240 displays a navigation screen, time information, and the like.

  The mobile phone antenna 250 is an antenna that transmits and receives mobile phone radio signals to and from each base station BS.

  The mobile phone wireless communication circuit unit 260 is a mobile phone communication circuit unit configured by an RF conversion circuit, a baseband processing circuit, and the like. Realize transmission / reception and so on.

  The ROM 270 is a read-only nonvolatile storage device, and includes a system program for the host CPU 220 to control the mobile phone 2, a positioning program for realizing a positioning calculation, various programs for realizing a navigation function, Data etc. are memorized.

  The flash ROM 280 is a readable / writable nonvolatile storage device, and stores various programs, data, and the like for the host CPU 220 to control the mobile phone 2, similarly to the ROM 270. The data stored in the flash ROM 280 is not lost even when the power of the mobile phone 2 is turned off.

  The RAM 290 is a readable / writable volatile storage device, and forms a work area for temporarily storing a system program executed by the host CPU 220, a positioning program, various processing programs, processing data of various processing, processing results, and the like. is doing.

2-2. Data Configuration FIG. 3 is a diagram illustrating an example of data stored in the ROM 270. The ROM 270 stores a main program 271 that is read by the host CPU 220 and executed as main processing (see FIG. 7). The main program 271 includes a positioning program 2711 executed as a positioning process (see FIG. 8) as a subroutine.

  The main process is a process in which the host CPU 220 performs a positioning process and measures the position of the mobile phone in addition to a process for calling and sending / receiving mails, which are the original functions of the mobile phone 2.

  In the positioning process, first, the host CPU 220 attempts base station communication with each base station BS, and receives a base station signal received from a base station BS capable of communication (hereinafter referred to as “communication base station”). To measure communication signal station data.

  In a situation where positioning by GPS is possible, the host CPU 220 performs GPS positioning, acquires a GPS positioning position, and causes the display unit 240 to display the GPS positioning position as an output position. In this case, the host CPU 220 generates terminal data including the generated communication base station data, and transmits (uploads) the data to the server system 3 as new sampling data.

  On the other hand, in a situation where positioning by GPS is impossible, the host CPU 220 transmits a request signal for the estimated terminal position including the generated communication base station data to the server system 3. And an estimated terminal position is received from the server system 3, and the said estimated terminal position is displayed on the display part 240 as an output position. These processes will be described later in detail using a flowchart.

  FIG. 4 is a diagram illustrating an example of data stored in the flash ROM 280. Terminal data 281 is stored in the flash ROM 280.

  FIG. 6 is a diagram illustrating an example of the data configuration of the terminal data 281. The terminal data 281 stores a terminal ID 2811, a GPS positioning position 2812, a positioning reliability 2813, and communication base station data 2814.

  The terminal ID 2811 is identification information (ID) for identifying a terminal assigned to each mobile phone 2. In addition, it is good also considering the telephone number and mail address of the portable telephone 2 instead of ID as identification information.

  The GPS positioning position 2812 is a positioning position obtained by the host CPU 220 performing GPS positioning processing, and stores, for example, three-dimensional position coordinates in the earth reference coordinate system. Note that latitude, longitude, and altitude data may be stored instead of the three-dimensional position coordinates.

The positioning reliability 2813 is an index value indicating the degree of reliability of the GPS positioning position 2812. In the present embodiment, the positioning reliability 2813 is calculated using an index value called a position sigma “σ _P ”.

The position sigma “σ _P ” indicates the standard deviation of the error of the GPS positioning position, and the standard deviation “σ” of the error of the pseudorange calculated for each captured GPS satellite SV and the sky arrangement of the captured GPS satellite SV It can be calculated according to the following equation (1) using PDOP (Position Dilution of Precision) which is a kind of index value.
σ _P = σ · PDOP (1)
Note that a method for calculating the standard deviation “σ” of the pseudo-range error and the PDOP is well known, and thus detailed description thereof is omitted here.

In this case, if the positioning reliability 2813 is expressed as “α”, the positioning reliability “α” can be calculated according to the following equation (2) using the position sigma “σ _P ”.
α = 1 / (1+ (σ _P / A)) (2)
However, “A” is a constant determined according to the numerical range of the position sigma “σ _P ”.

  The positioning reliability “α” is a value in the range [0, 1] as is clear from the equation (2), “0” is the least reliable positioning result, and “1” is the reliability of the positioning result. Each indicates the highest sex.

  The communication base station data 2814 is data about a base station with which the mobile phone 2 can communicate, and is received from the communication base station and a base station ID 2815 that is identification information (ID (Identification)) of the communication base station. The signal strength 2816 of the base station signal is stored in association with it.

  For example, the terminal data 281 shown in FIG. 6 is data for the mobile phone 2 whose terminal ID 2811 is “T2”, the GPS positioning position 2812 is “P2 (X2, Y2, Z2)”, and the positioning reliability 2813 is “Α2”. Base stations with which the mobile phone 2 can communicate include “BS5”, “BS8”, and “BS10”, and the signal strength of the base station signal received from the base station “BS8” is “35 dB”. It is.

  FIG. 5 is a diagram illustrating an example of data stored in the RAM 290. In the RAM 290, the GPS positioning position obtained by the host CPU 220 through the GPS positioning process or the estimated terminal position received from the server system 3 is stored as the output position 291. The output position 291 is updated by the host CPU 220 in the positioning process.

2-3. Processing Flow FIG. 7 is a flowchart showing a flow of main processing executed in the mobile phone 2 when the main program 271 stored in the ROM 270 is read and executed by the host CPU 220.

  The main process is a process for starting execution when the host CPU 220 detects that a power-on operation has been performed by the user via the operation unit 230. Although not specifically described, during the execution of the following main processing, the RF signal is received by the GPS antenna 205, and the RF reception circuit unit 211 down-converts the RF signal into an IF signal, and the baseband processing circuit unit It is assumed that GPS satellite signals are captured and extracted from IF signals by 213 as needed.

  First, the host CPU 220 determines an instruction operation performed via the operation unit 230 (step A1), and determines that the instruction operation is a call instruction operation (step A1; call instruction operation), performs a call process. (Step A3). Specifically, base station communication with the base station BS is performed by the mobile phone wireless communication circuit unit 260 to realize a call between the mobile phone 2 and another device.

  If it is determined in step A1 that the instruction operation is a mail transmission / reception instruction operation (step A1; mail transmission / reception instruction operation), the host CPU 220 performs mail transmission / reception processing (step A5). Specifically, base station communication is performed by the mobile phone wireless communication circuit unit 260 to realize transmission / reception of mail between the mobile phone 2 and another device.

  If it is determined in step A1 that the instruction operation is a positioning instruction operation (step A1; positioning instruction operation), the host CPU 220 reads out and executes the positioning program 2711 stored in the ROM 270 to perform the positioning process. (Step A7).

FIG. 8 is a flowchart showing the flow of the positioning process.
First, the host CPU 220 tries base station communication with each base station BS via the mobile phone wireless communication circuit section 260 (step B1). And base station ID2815 of the base station which became communicable is determined (step B3).

  Further, the host CPU 220 measures and calculates the signal strength 2816 of the base station signal received from each communication base station (step B5). Then, communication base station data 2814 in which the base station ID 2815 determined in step B3 is associated with the signal strength 2816 calculated in step B5 is generated (step B7).

  Thereafter, the host CPU 220 determines whether or not positioning by GPS is possible (step B9). Specifically, in the case of three-dimensional positioning (positioning including altitude), GPS positioning is possible when the number of captured satellites captured by the baseband processing circuit unit 213 is “four or more”. Judge that there is. In the case of two-dimensional positioning (positioning not including altitude), it is determined that GPS positioning is possible when the number of captured satellites is “three or more”.

If it is determined in step B9 that GPS positioning is possible (step B9; Yes), the host CPU 220 performs GPS positioning processing (step B11). Specifically, the GPS positioning position 2812 is obtained by executing a known positioning calculation using, for example, the least square method or the Kalman filter, using the GPS satellite signal captured and extracted by the baseband processing circuit unit 213. . Further, the position sigma “σ _P ” is calculated according to the equation (1), and the positioning reliability “α” is calculated according to the equation (2).

  Next, the host CPU 220 stores the GPS positioning position 2812 obtained by the GPS positioning process in the RAM 290 as the output position 291 and displays the output position 291 on the display unit 240 (step B13).

  Then, the host CPU 220 associates the terminal ID 2811 of the mobile phone 2 with the GPS positioning position 2812 and positioning reliability 2813 obtained in step B11 and the communication base station data 2814 generated in step B7. Is stored in the flash ROM 280 (step B15).

  Thereafter, the host CPU 220 establishes communication connection with the server system 3 (step B17), and transmits (uploads) the terminal data 281 generated at step B15 to the server system 3 (step B19). Then, the host CPU 220 ends the positioning process.

  On the other hand, when it is determined in step B9 that positioning by GPS is impossible (step B9; No), the host CPU 220 establishes communication connection with the server system 3 (step B21). Then, the estimated terminal position request signal including the communication base station data 2814 generated in step B7 is transmitted to the server system 3 (step B23).

  Next, the host CPU 220 determines whether or not the estimated terminal position has been received from the server system 3 (step B25). If it is determined that it has been received (step B25; Yes), the received estimated terminal position is stored in the RAM 290 as the output position 291 and the output position 291 is displayed on the display unit 240 (step B27). Then, the host CPU 220 ends the positioning process.

  In Step B25, when it is determined that the error signal is received without receiving the estimated terminal position from the server system 3 (Step B25; No), the host CPU 220 displays an error message on the display unit 240 (Step S25). B29). Then, the host CPU 220 ends the positioning process.

  Returning to the main process of FIG. 7, after performing any one of steps A3 to A7, the host CPU 220 determines whether or not the user has performed a power-off instruction operation via the operation unit 230 (step A9). ), When it is determined that it has not been made (step A9; No), the process returns to step A1. If it is determined that the power-off instruction operation has been performed (step A9; Yes), the main process is terminated.

3. Server system 3-1. Functional Configuration FIG. 9 is a block diagram showing a functional configuration of the server system 3. The server system 3 is a computer system that includes a CPU 310, an operation unit 320, a communication unit 330, a ROM 340, a hard disk 350, and a RAM 360, and each unit is connected by a bus 370.

  The CPU 310 is a processor that comprehensively controls each unit of the server system 3 according to a system program or the like stored in the ROM 340. In the present embodiment, the CPU 310 performs a process of providing the estimated terminal position to the mobile phone 2 according to the estimated terminal position providing program 341 stored in the ROM 340.

  The operation unit 320 is an input device that receives an operation instruction from an administrator of the server system 3 and outputs a signal corresponding to the operation to the CPU 310. This function is realized by, for example, a keyboard, a button, a mouse, or the like.

  The communication unit 330 is a communication device for exchanging various data used in the system with the mobile phone 2 via a communication network configured by a wireless communication path such as the Internet network.

  The ROM 340 stores various programs such as a system program for the CPU 310 to control the server system 3 and a program for providing the estimated terminal position to the mobile phone 2, data, and the like.

  The hard disk 350 is a storage device that reads and writes data using a magnetic head or the like, and stores programs, data, and the like for realizing various functions of the server system 3, similar to the ROM 340.

  The RAM 360 is used as a work area of the CPU 310, and mainly stores data being processed in the estimated terminal position providing process.

3-2. Data Configuration FIG. 10 is a diagram illustrating an example of data stored in the ROM 340. The ROM 340 stores an estimated terminal position providing program 341 that is read by the CPU 310 and executed as estimated terminal position providing processing (see FIG. 14). Further, the estimated terminal position providing program 341 includes a terminal position estimating program 3411 executed as a terminal position estimating process (see FIG. 15) as a subroutine.

  The estimated terminal position providing process is a process of estimating the terminal position of the mobile phone 2 when the CPU 310 receives a request signal for the estimated terminal position from the mobile phone 2, and an estimated terminal that is the estimation result This is a process of transmitting the position to the mobile phone 2. The estimated terminal position providing process will be described in detail later using a flowchart.

  The terminal position estimation process is a communication in which the signal strength 2816 of the communication base station stored in the terminal data 281 that is the sampling data stored in the terminal database 351 is received from the mobile phone 2 by the CPU 310. By extracting terminal data 281 conforming to the signal strength 2816 of the base station, the GPS positioning position 2812 included in the extracted terminal data 281 is weighted and averaged by the positioning reliability 2813 included in the terminal data 281. This is a process for calculating the estimated terminal position. The terminal position estimation process will also be described in detail later using a flowchart.

  FIG. 11 is a diagram illustrating an example of data stored in the hard disk 350. A terminal database 351 is stored in the hard disk 350.

  FIG. 13 is a diagram illustrating an example of a data configuration of the terminal database 351. In the terminal database 351, terminal data 281 (281-1, 281-2, 281-3,...) As sampling data transmitted (uploaded) from each mobile phone 2 is accumulated and stored. The terminal data 281 stored and stored in the terminal database 351 is used by the CPU 310 to estimate the terminal position of the mobile phone 2 in the terminal position estimation process.

3-3. Process Flow FIG. 14 is a flowchart showing a flow of an estimated terminal position providing process executed in the server system 3 when the estimated terminal position providing program 341 stored in the ROM 340 is read and executed by the CPU 310. is there.

  First, the CPU 310 determines whether or not the terminal data 281 has been received from the mobile phone 2 (step C1). If it is determined that the terminal data 281 has not been received (step C1; No), the process proceeds to step C5. . If it is determined that it has been received (step C1; Yes), the received terminal data 281 is accumulated and stored in the terminal database 351 of the hard disk 350 (step C3).

  Next, the CPU 310 determines whether or not a request signal for the estimated terminal position has been received from the mobile phone 2 (step C5). If it is determined that it has not been received (step C5; No), the CPU 310 returns to step C1. If it is determined that it has been received (step C5; Yes), the terminal position estimation program 3411 stored in the ROM 340 is read out and executed to perform terminal position estimation processing (step C7).

FIG. 15 is a flowchart showing the flow of terminal position estimation processing.
First, the CPU 310 determines the number of communication base stations with reference to the communication base station data 2814 included in the request signal received from the mobile phone 2 (step D1). When it is determined that the number of communication base stations is three or more (step D3; three or more stations), the communication base station data 2814 included in the received request signal is referred to, and the upper three of the signal strength 2816 The station is determined (step D5).

  Next, the CPU 310 calculates the square root of the square sum of the signal strength 2816 of the upper three stations determined in step D5 and sets it to “S1” (step D7). Then, the CPU 310 refers to the terminal database 351 stored in the hard disk 350, extracts the terminal data 281 that is the same as the upper three stations determined by the upper three stations of the signal strength 2816 in step D5, and the target terminal data (Step D9). And CPU310 performs the process of the loop A about each object terminal data (step D11-D17).

  In the loop A, the CPU 310 refers to the communication base station data 2814 of the target terminal data, calculates the square root of the square sum of the signal strengths of the upper three stations, and sets it to “S2” (step D13). The CPU 310 calculates the absolute value of the difference between “S1” calculated in step D7 and “S2” calculated in step D13 (step D15), and then shifts the processing to the next target terminal data.

  After performing the processing of steps D13 and D15 for all target terminal data, the CPU 310 ends the processing of loop A (step D17). After completing the process of loop A, the CPU 310 extracts 100 target terminal data in ascending order of the absolute value of the difference calculated in step D15 for each target terminal data (step D19).

  Then, the CPU 310 performs a weighted average calculation in which the GPS positioning position 2812 included in the target terminal data extracted in step D19 is weighted with the positioning reliability 2813, calculates the estimated terminal position 361, and stores it in the RAM 360 (step D21). .

Specifically, the GPS positioning position 2812 and the positioning reliability 2813 included in the extracted 100 target terminal data are represented by “P ₁ , P ₂ ,..., P ₁₀₀ ” and “α ₁ , α ₂ , ..., Α ₁₀₀ ”, the estimated terminal position“ P ”is calculated according to the following equations (3) and (4).
N = α ₁ + α ₂ +... + Α ₁₀₀ (3)
P = (α ₁ / N) · P ₁ + (α ₂ / N) · P ₂ +... + (Α ₁₀₀ / N) · P ₁₀₀ (4)

  Then, after calculating the estimated terminal position in step D21, the CPU 310 ends the terminal position estimation process.

  On the other hand, when it is determined in step D3 that the number of communication base stations is two (step D3; two stations), the CPU 310 refers to the communication base station data 2814 included in the received request signal, and the 2 The square root of the sum of squares of the station signal strength 2816 is calculated as “S3” (step D23).

  Next, the CPU 310 refers to the terminal database 351 stored in the hard disk 350, extracts terminal data 281 having only the two stations as communication base stations, and sets it as target terminal data (step D25). And CPU310 performs the process of the loop B about each object terminal data (step D27-D33).

  In the loop B, the CPU 310 refers to the communication base station data 2814 of the target terminal data, calculates the square root of the square sum of the signal strengths of the two stations, and sets it to “S4” (step D29). Then, the CPU 310 calculates the absolute value of the difference between “S3” calculated in step D23 and “S4” calculated in step D29 (step D31), and shifts the processing to the next target terminal data.

  After performing the processing of steps D29 and D31 for all the target terminal data, the CPU 310 ends the processing of loop B (step D33). After completing the process of loop B, the CPU 310 extracts 100 target terminal data in order of increasing absolute value of the difference calculated in step D31 for each target terminal data (step D35).

  Then, the CPU 310 performs a weighted average calculation in which the GPS positioning position 2812 included in the target terminal data extracted in step D35 is weighted with the positioning reliability 2813, calculates the estimated terminal position 361, and stores it in the RAM 360 (step D37). . The estimated terminal position “P” can be calculated according to the equations (3) and (4) as in step D21. Then, the CPU 310 ends the terminal position estimation process.

  If it is determined in step D3 that the number of communication base stations is 1 or less (step D3; 1 station or less), CPU 310 determines that the terminal position cannot be estimated (step D39). Then, the CPU 310 ends the terminal position estimation process.

  Returning to the estimated terminal position providing process in FIG. 14 and performing the terminal position estimating process, the CPU 310 determines whether or not the terminal position has been estimated (step C9). And when it determines with having been able to be estimated (step C9; Yes), after transmitting an estimated terminal position to the request | requirement portable telephone 2 (step C11), it returns to step C1.

  If it is determined in step C9 that the terminal position cannot be estimated, that is, if it is determined in step D39 that the terminal position cannot be estimated (step C9; No), the CPU 310 requests an error signal. After transmitting to the original portable telephone 2 (step C13), the process returns to step C1.

4). In the positioning system 1, the server system 3 stores a terminal database that stores and stores terminal data in which the GPS positioning position and the signal strength of each base station signal of each base station BS that can communicate at the GPS positioning position are associated with each other. Have. Then, the signal strength of the base station signal of each base station BS that can communicate at the actual location of the mobile phone 2 is received from the mobile phone 2, and the base station received from the mobile phone 2 from the terminal database. Terminal data is extracted by selecting a signal strength that matches the signal strength of the signal. And the position coordinate of the portable telephone 2 is estimated using the GPS positioning position memorize | stored in the extracted terminal data, and it transmits to the portable telephone 2.

  If the actual location of the mobile phone 2 and the GPS positioning location stored in the terminal database match or are close to each other, the combination of base stations BS with which the mobile phone 2 can communicate at the location should be the same. Yes, the signal strength of the base station signal of each base station BS included in the combination should be an approximate value. Therefore, it is possible to estimate the actual position of the mobile phone 2 more accurately by estimating the position of the mobile phone 2 using the position coordinates of the GPS positioning position that matches the signal strength of the base station signal. .

  Further, in the present embodiment, the terminal data stored and stored in the terminal database is stored in association with a positioning reliability that is an index value of the reliability of the GPS positioning position. The server system 3 estimates the position of the mobile phone 2 by weighting and averaging the GPS positioning position stored in the extracted terminal data with the positioning reliability. A more accurate position as close as possible to the true position can be calculated by a weighted average calculation in which the weighting of the highly reliable GPS positioning position is increased.

  Further, in the present embodiment, when positioning by GPS is possible, the mobile phone 2 includes a GPS positioning position obtained by positioning and communication base station data related to a base station that can communicate at the time of positioning. The terminal data is uploaded to the server system 3 as sampling data. As a result, the server system 3 can accumulate and store more terminal data in the database as sampling data, which can be used for estimating the position of the mobile phone 2.

5). Modified example 5-1. Positioning Terminal In the above-described embodiment, a mobile phone has been described as an example of a positioning terminal. However, any electronic device that can communicate with a base station may be used, and a PDA (Personal Digital Assistant) or the like may be used.

5-2. In the above-described embodiment, the GPS has been described as an example of the satellite positioning system. However, WAAS (Wide Area Augmentation System), QZSS (Quasi Zenith Satellite System), GLONASS (GLObal NAvigation Satellite System), GALILEO Other satellite positioning systems may be used.

5-3. Processing Differentiation Part or all of the processing performed by the host CPU 220 may be performed by the CPU 215 of the baseband processing circuit unit 213. For example, in the above-described embodiment, the host CPU 220 is described as executing the positioning calculation. However, it is needless to say that the CPU 215 may execute the positioning calculation.

5-4. Sampling information In the above-described embodiment, the mobile phone 2 uses the GPS positioning position obtained by the GPS positioning process and the signal strength of each base station BS that can communicate at the GPS positioning position as new sampling information. Although described as being provided to the server system 3, the provided sampling position is not necessarily a GPS positioning position. For example, the dead reckoning navigation calculation position obtained by a known dead reckoning calculation process may be provided to the server system 3 as a sampling position.

  In addition, on the management system side of the server system 3, a large number of sampling points are defined by dividing each region into a mesh shape, and combinations of base stations BS that can communicate at each sampling point and each of the combinations included in the combination The communication base station data may be generated by measuring the signal strength of the base station signal received from the base station BS in advance and stored in the database of the server system 3.

5-5. Base Station Signal Measurement Information In the embodiment described above, the signal strength of a base station signal is used as an example of measurement information obtained by measuring a base station signal. However, for example, a round-trip delay time (hereinafter referred to as RTT (Round Trip time)) or the so-called signal propagation time, which is the time from when the base station BS transmits a signal to when the mobile phone 2 receives it, instead of the signal strength of the base station signal, It may be estimated.

  FIG. 16 is a diagram illustrating an example of the data configuration of the terminal data 283 in this case. Note that the same components as those of the terminal data 281 in FIG. 6 are denoted by the same reference numerals and description thereof is omitted.

  In the terminal data 283, as the communication base station data 2834, the base station ID 2835 of the communication base station and the RTT 2836 between the communication base stations are stored in association with each other. Although illustration is omitted, terminal data 283 (283-1, 283-2, 283-3,...) In which this communication base station data 2834 is stored is sampled in the terminal database 351 of the server system 3. Accumulated and stored as data.

  FIG. 17 is a flowchart showing the flow of the second positioning process which is a process performed by the mobile phone 2 in this case. Note that the same steps as those in the positioning process of FIG. 8 are denoted by the same reference numerals and description thereof will be omitted, and description will be made focusing on parts different from the positioning process.

  In the second positioning process, after determining the base station ID 2835 of the communication base station in step B3, the host CPU 220 transmits a confirmation signal to the communication base station and returns a confirmation response from the communication base station. Is measured (RTT) (step E5). Then, the host CPU 220 generates communication base station data 2834 in which the base station ID 2835 of the communication base station is associated with the RTT 2836 (step E7).

  FIG. 18 is a flowchart showing a flow of second terminal position estimation processing which is processing performed by the server system 3 in this case. Note that the same steps as those in the terminal position estimation process of FIG. 15 are denoted by the same reference numerals and description thereof will be omitted, and description will be made focusing on parts different from the terminal position estimation process.

  In the second terminal position estimation process, when the number of communication base stations is 3 or more (step D3; 3 or more), the CPU 310 performs communication base station data included in the request signal received from the mobile phone 2. Referring to 2814, the top three stations of RTT2836 are determined (step F5). Then, the square root of the square sum of the determined RTT 2836 of the top three stations is calculated and set to “R1” (step F7).

  Further, in the process of Loop C, the square root of the sum of squares of the RTT 2836 of the upper three stations is calculated by referring to the communication base station data 2834 of the target terminal data to be “R2” (Step F13). The absolute value of the difference between the calculated “R1” and “R2” calculated in step F13 is calculated (step F15).

  When the number of communication base stations is two (step D3; two stations), the communication base station data 2834 included in the request signal received from the mobile phone 2 is referred to, and the RTT 2836 of the two stations is referred to. The square root of the sum of squares is calculated to be “R3” (step F23).

  Then, in the process of loop D, the communication base station data 2834 of the target terminal data is referred to, and the square root of the square sum of the RTT 2836 of the two stations is calculated as “R4” (step F29). The absolute value of the difference between the calculated “R3” and “R4” calculated in step F29 is calculated (step F31).

5-6. Terminal data extraction conditions In the above-described embodiment, it has been described that 100 target terminal data are extracted in ascending order of absolute value of the square root difference of the sum of squares of the signal strength of the base station signal. However, the number of data to be extracted Is not limited to 100, and can be changed as appropriate.

  Further, the target terminal data may be extracted as follows. That is, for each communication base station (each base station signal), the difference between the signal strength received from the mobile phone 2 and the signal strength stored in the terminal database is calculated. Then, the absolute values of the signal strength differences calculated for all the communication base stations are added together, and a predetermined number (eg, 100) of data is extracted in ascending order of the added value. In this case, instead of extracting a predetermined number of data, it is also possible to extract target terminal data whose combined value is equal to or less than a predetermined threshold (for example, 5 dB or less).

  Further, for each communication base station, it is determined whether or not the absolute value of the calculated difference in signal strength is equal to or less than a predetermined threshold (for example, 2 dB or less), and the number of communication base stations that are equal to or less than the threshold (base station If the number of signals has reached a predetermined number (for example, three stations), the target terminal data may be extracted. Of course, when there is even one communication base station whose absolute value of the difference in signal strength exceeds the threshold, the target terminal data may not be extracted.

5-7. In the above-described embodiment, the position reliability “α” is calculated using the position sigma “σ _P ” calculated according to the equation (1). However, the position sigma “σ _P ” is used. Instead, for example, it may be calculated using the average value of the signal strength of the GPS satellite signal received from the PDOP or the captured satellite.

When PDOP is used, the smaller the value of PDOP is, the better the sky arrangement of the satellite is, and the reliability of the positioning result is considered to increase. Therefore, the positioning reliability “ α ”should be approximated. For example, the positioning reliability “α” is calculated according to the following equation (5).
α = 1 / (1+ (PDOP / B)) (5)
However, “B” is a constant determined according to the numerical range of PDOP.

Further, when the signal strength of the GPS satellite signal is used, it is considered that the reliability of the positioning result increases as the average value of the signal strength of the GPS satellite signal of the captured satellite increases. Therefore, the average value “P _A ” of the signal strength is The positioning reliability “α” may be approximated using a function that increases as the value increases. For example, the positioning reliability “α” is calculated according to the following equation (6).
α = 1−1 / (1+ (P _A / C)) (6)
However, “C” is a constant determined according to the numerical range of the average value of the signal intensity.

5-8. Error Determination In the above-described embodiment, it has been described that the server system 3 transmits an error signal to the mobile phone 2 when the number of communication base stations is one or less. However, the number of communication base stations is one. If it is below the station, the mobile phone 2 may determine that it is impossible to estimate the terminal position, and the server system 3 may not be requested for the terminal position.

  FIG. 19 is a flowchart showing a flow of a third positioning process which is a process performed by the mobile phone 2 in this case. Note that the same steps as those in the positioning process of FIG. 8 are denoted by the same reference numerals, description thereof will be omitted, and portions different from the positioning process will be described.

  In the third positioning process, if the host CPU 220 determines in step A9 that positioning by GPS is impossible, the host CPU 220 determines whether or not the number of base stations that can communicate is one or less ( Step G20). And when it determines with it not being 1 station or less (step G20; No), it connects with the server system 3 (step A21), and transmits a terminal position request signal (step A23).

  When it is determined in step G20 that the number of base stations is one or less (step G20; Yes), the host CPU 220 displays an error message on the display unit 240 (step G27) and performs the third positioning process. finish.

5-9. Terminal Data In the above-described embodiment, the terminal data 281 is described as including the terminal ID 2811. However, if the terminal ID 2811 is recognized as a kind of personal information, the terminal data 281 should not include the terminal ID 2811. It may be. In this case, it is only necessary to manage the mobile phone 2 with other information that can be identified by the server system 3 (for example, assign identification numbers in the order of the mobile phone 2 that made the inquiry). Alternatively, the terminal ID 2811 may be encrypted and transmitted to the server system 3. With such a configuration, terminal data can be collected while protecting the information of the terminal ID, which is a kind of personal information, which is also preferable from the viewpoint of personal information protection.

The figure which shows schematic structure of a positioning system. The block diagram which shows the function structure of a portable telephone. The figure which shows an example of the data stored in ROM of a mobile telephone. The figure which shows an example of the data stored in flash ROM of a portable telephone. The figure which shows an example of the data stored in RAM of a mobile telephone. The figure which shows an example of a data structure of terminal data. The flowchart which shows the flow of a main process. The flowchart which shows the flow of a positioning process. The block diagram which shows the function structure of a server system. The figure which shows an example of the data stored in ROM of a server system. The figure which shows an example of the data stored in the hard disk of a server system. The figure which shows an example of the data stored in RAM of a server system. The figure which shows an example of a data structure of a terminal database. The flowchart which shows the flow of an estimated terminal position provision process. The flowchart which shows the flow of a terminal position estimation process. The figure which shows an example of the data structure of the terminal data in a modification. The flowchart which shows the flow of a 2nd positioning process. The flowchart which shows the flow of a 2nd terminal position estimation process. The flowchart which shows the flow of a 3rd positioning process.

Explanation of symbols

1 Positioning system 2 Mobile phone 3 Server system
205 GPS antenna, 210 GPS receiving unit, 211 RF receiving circuit unit,
213 Baseband processing circuit unit, 215 CPU, 217 ROM,
219 RAM, 220 host CPU, 230 operation unit, 240 display unit,
250 antenna for mobile phone, 260 wireless communication circuit for mobile phone,
270 ROM, 280 Flash ROM, 290 RAM, 310 CPU,
320 operation unit, 330 communication unit, 340 ROM, 350 hard disk,
360 RAM, 370 bus, BS base station, SV GPS satellite

Claims (8)

Each of the base stations that can communicate at an arbitrary point is stored in a database in which the position coordinates of the sampling point and the measurement information obtained by measuring the base station signal of each base station that can communicate at the sampling point are stored in association with each other. Extracting measurement information that matches the measurement information obtained by measuring the base station signal;
Using the position coordinates of the sampling point corresponding to each of the extracted measurement information, estimating the position coordinates of the arbitrary point;
A position estimation method including: The database further stores the reliability of the position coordinates of the sampling point in association with each other,
The estimation is performed by performing weighted averaging of the position coordinates of the sampling points corresponding to each of the extracted measurement information using the reliability stored in the database in association with the position coordinates of the arbitrary points. Is to estimate
The position estimation method according to claim 1. The measurement information is signal strength of a base station signal,
The database stores the position coordinates of the sampling point and the combination of the signal strengths of the base station signals of each base station that can communicate at the sampling point,
The extracting is extracting, from the database, a combination of signal strengths that matches a combination of signal strengths of base station signals of each base station that can communicate at the arbitrary point;
The estimation is to estimate the position coordinates of the arbitrary point using the position coordinates of the sampling point corresponding to each of the combinations of the extracted signal strengths.
The position estimation method according to claim 1 or 2.   The extraction is performed by extracting any of the number of communicable base stations, identification information of communicable base stations, and the number of base station signals satisfying a predetermined signal strength condition as an extraction condition. The position estimation method according to claim 3. The measurement information is a signal propagation time between the sampling point and the base station,
The database is stored in association with the position coordinates of the sampling point and a combination of signal propagation times between each base station that can communicate at the sampling point,
The extracting is extracting, from the database, a combination of signal propagation times that matches a combination of signal propagation times with each base station that can communicate at the arbitrary point;
The estimation is to estimate the position coordinates of the arbitrary point using the position coordinates of the sampling point corresponding to each of the combinations of the extracted signal propagation times.
The position estimation method according to claim 1 or 2. A storage unit that associates and stores position coordinates of a sampling point and measurement information obtained by measuring each base station signal of each base station that can communicate at the sampling point;
A receiving unit that receives measurement information obtained by measuring a base station signal of each base station that can communicate at a location of the positioning terminal, from a positioning terminal;
An extraction unit that extracts measurement information that matches measurement information received by the reception unit from the storage unit;
An estimation unit that estimates the position coordinates of the positioning terminal using the position coordinates of the sampling points corresponding to the measurement information extracted by the extraction unit;
A transmission unit for transmitting the position coordinates estimated by the estimation unit to the positioning terminal;
A server with A positioning unit;
A measurement unit for measuring a base station signal of each base station capable of communication;
Positioning is performed by the positioning unit on a server including a storage unit that stores sampling information in which the position coordinates of the sampling point and the measurement information obtained by measuring the base station signal of each base station that can communicate at the sampling point are associated with each other. A new sampling information providing unit that provides, as new sampling information, the position coordinates of the positioning position and the measurement information that is the information measured by the measuring unit during positioning by the positioning unit;
Self-positioning estimated based on the sampling position of the extracted sampling information by transmitting measurement information that is information measured by the measurement unit to the server, extracting sampling information suitable for the measurement information from the storage unit An estimated position acquisition unit that acquires an estimated position of the terminal from the server;
Positioning terminal equipped with. A positioning system comprising a positioning terminal and a server,
The server
A storage unit that stores sampling information in which position coordinates of the sampling point are associated with measurement information obtained by measuring each base station signal of each base station that can communicate at the sampling point;
The storage unit receives, as new sampling information, a positioning position measured by the positioning terminal and measurement information obtained by measuring a base station signal of each base station that can communicate at the positioning position. A new sampling information acquisition unit to be stored in
From the positioning terminal, the measurement information obtained by measuring the base station signal of each base station that can communicate at the location of the positioning terminal is received, and the measurement information suitable for the measurement information is extracted from the storage unit and extracted. Using the position coordinates of the sampling points corresponding to each of the measurement information, the terminal position estimation unit that estimates the position coordinates of the positioning terminal and notifies the positioning terminal;
With
The positioning terminal is
A positioning unit;
A measurement unit for measuring a base station signal of each base station capable of communication;
New sampling information that provides the server with the position coordinates of the positioning position measured by the positioning unit and the measurement information that is the information measured by the measuring unit during positioning by the positioning unit as the new sampling information A providing department;
An estimated position acquisition unit that transmits measurement information that is information measured by the measurement unit to the server, and acquires an estimated position notified by the terminal position estimation unit of the server as an estimated position of the self-positioning terminal; ,
With
Positioning system.

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