JP2010216811A - Positioning system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To calculate the position coordinates of a mobile terminal even in cases where the number of base stations capable of receiving a radiowave from a mobile terminal is smaller than a number necessary for calculating the position coordinates owing to an obstacle, etc. <P>SOLUTION: In this radio positioning system, radiowave information from the respective base stations is acquired by a positioning server 500. In cases where the number of base stations capable of transmission/reception to/from a mobile terminal is less than a stipulated number, the position of the mobile terminal is calculated by a position coordinate calculator 560b based on positioning information including the position of the mobile terminal measured in the past and time at which the measurement is made, information from a sensor installed on the mobile terminal or map information, and the radiowave information. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a positioning device that measures position coordinates of a mobile terminal.

  In recent years, a wireless positioning system has been devised that measures the position coordinates of a mobile terminal by transmitting and receiving radio waves between a plurality of base stations and the mobile terminal. As a method for measuring the position coordinates of the mobile terminal by this wireless positioning system, there are a TDOA (Time Deference Of Arrival) method, a TWR-TOA (Two Way Ranging Time Of Arrival) method, and the like.

  Among these, the TDOA method is a method in which a plurality of base stations receive radio waves from the mobile terminals and calculate the position coordinates of the mobile terminals based on the difference in radio wave reception times of the respective base stations. FIG. 36 is a diagram for explaining a conventional TDOA system.

  In FIG. 36, when the base stations 10 to 30 receive the radio wave from the mobile terminal 50 at time T1, the hyperbola 1 is obtained from the time difference between the base station 10 and the base station 20, and the base station 10 and the base station 30 are obtained. The hyperbola 2 is obtained from the time difference between and. And the intersection A of the hyperbola 1 and the hyperbola 2 can be calculated as the position of the mobile terminal 50 at time T1.

  Further, the TWR-TOA scheme obtains the round trip time of radio waves between a plurality of base stations and a mobile terminal, and calculates the distance between the base station and the mobile terminal from the round trip time of the radio waves. This is a method for calculating coordinates. FIG. 37 is a diagram for explaining a conventional TWR-TOA system.

  In FIG. 37, when the base station 10 receives radio waves from the mobile terminal 50 at time T1, a circle 1 centered on the base station 10 is obtained from the measurement result, and the base station 20 receives radio waves from the mobile terminal 50. When received at time T1, a circle 2 centered on the base station 20 is obtained from the measurement result. Then, the intersection A between the circle 1 and the circle 2 can be calculated as the position of the mobile terminal 50 at the time T1.

  In addition, the position of the moving body that should be present is estimated based on the measurement position history from the past to the present by measuring the position of the moving body with the wireless communication function and the travel meter and the plurality of wireless base stations. Is also known (see, for example, Patent Document 1).

JP 2005-274364 A

  However, in the above-described conventional technology, when the number of base stations that can receive radio waves from the mobile terminal due to obstacles or the like is less than the number necessary for calculating the position coordinates, the position coordinates of the mobile terminal are measured. There was a problem that I could not.

  For example, when calculating the position coordinates of a mobile terminal by the TDOA method, if the radio wave is blocked by an obstacle and the number of base stations that can receive the radio wave from the mobile terminal becomes less than three, the mobile terminal of the mobile terminal is The position coordinates cannot be calculated. FIG. 38 is a diagram for explaining a problem of the conventional TDOA method.

  In FIG. 38, if the base stations 10 to 30 can receive the radio wave from the mobile terminal 50 at the time T2, the hyperbola 3 and 4 are obtained. Therefore, the position coordinates of the mobile terminal 50 at the time T2 are the hyperbola 3, This is the intersection B of 4. However, when the base station 30 cannot receive radio waves from the mobile terminal 50 due to an obstacle, the hyperbola 4 cannot be obtained and the position coordinates of the mobile terminal 50 cannot be calculated.

  Also, when calculating the position coordinates of a mobile terminal by the TWR-TOA method, if the radio wave is blocked by an obstacle or the like and the number of base stations that can receive the radio wave from the mobile terminal becomes less than two, this method The position coordinates of the mobile terminal cannot be calculated. FIG. 39 is a diagram for explaining a problem of the conventional TWR-TOA method.

  In FIG. 39, if the base stations 10 and 20 can receive the radio wave from the mobile terminal 50 at time T2, circles 3 and 4 are obtained. Therefore, the position coordinates of the mobile terminal 50 at time T2 are circle 3 , 4 is the intersection point B. However, when the base station 20 cannot receive the radio wave from the mobile terminal 50 due to an obstacle, the circle 4 cannot be obtained and the position coordinates of the mobile terminal 50 cannot be calculated.

  The present invention has been made to solve the above-described problems caused by the prior art, and the number of base stations capable of receiving radio waves from a mobile terminal by an obstacle or the like is the number necessary for calculating position coordinates. It is an object of the present invention to provide a positioning device that can calculate the position coordinates of a mobile terminal even when it falls below.

  In order to solve the above-described problems and achieve the object, the positioning device is configured such that the time at which radio waves are received from the mobile terminal or the distance from the mobile terminal from a base station where the position of transmitting / receiving radio waves to / from the mobile terminal is known. The position of the mobile terminal measured in the past when the number of base stations capable of transmitting / receiving radio waves to / from the mobile terminal is less than a prescribed number, And positioning information including the measured time, sensor information or map information installed in the mobile terminal, and calculation means for calculating the position of the mobile terminal based on the radio wave information. To do.

  According to this positioning device, the position coordinates of the mobile terminal can be calculated even when the number of base stations that can transmit and receive radio waves to and from the mobile terminal is less than a specified number.

FIG. 1 is a diagram for explaining the outline and features of the wireless positioning system according to the first embodiment. FIG. 2 is a functional block diagram of the configuration of the base station according to the first embodiment. FIG. 3 is a functional block diagram of the configuration of the mobile terminal according to the first embodiment. FIG. 4 is a functional block diagram of the configuration of the positioning server according to the first embodiment. FIG. 5 is a diagram illustrating an example of the data structure of the reception time management table according to the first embodiment. FIG. 6 is a diagram illustrating an example of the data structure of the position coordinate management table according to the first embodiment. FIG. 7 is a flowchart of the process procedure of the positioning server according to the first embodiment. FIG. 8 is a diagram for explaining the outline and features of the wireless positioning system according to the second embodiment. FIG. 9 is a functional block diagram of the configuration of the positioning server according to the second embodiment. FIG. 10 is a flowchart of the processing procedure of the positioning server according to the second embodiment. FIG. 11 is a diagram for explaining the outline and features of the wireless positioning system according to the third embodiment. FIG. 12 is a functional block diagram of the configuration of the positioning server according to the third embodiment. FIG. 13 is a flowchart of the process procedure of the positioning server according to the third embodiment. FIG. 14 is a diagram for explaining the outline and features of the wireless positioning system according to the fourth embodiment. FIG. 15 is a functional block diagram of the configuration of the positioning server according to the fourth embodiment. FIG. 16 is a diagram illustrating an example of the data structure of the reception time management table according to the fourth embodiment. FIG. 17 is a flowchart of the process procedure of the positioning server according to the fourth embodiment. FIG. 18 is a diagram for explaining the outline and features of the wireless positioning system according to the fifth embodiment. FIG. 19 is a functional block diagram of the configuration of the mobile terminal according to the fifth embodiment. FIG. 20 is a functional block diagram of the configuration of the positioning server according to the fifth embodiment. FIG. 21 is a diagram illustrating an example of the data structure of the acceleration / angular acceleration management table according to the fifth embodiment. FIG. 22 is a flowchart of the process procedure of the positioning server according to the fifth embodiment. FIG. 23 is a diagram for explaining the outline and features of the wireless positioning system according to the sixth embodiment. FIG. 24 is a functional block diagram of the configuration of the mobile terminal according to the sixth embodiment. FIG. 25 is a functional block diagram of the configuration of the positioning server according to the sixth embodiment. FIG. 26 is a diagram illustrating an example of the data structure of the step count management table according to the sixth embodiment. FIG. 27 is a flowchart of the process procedure of the positioning server according to the sixth embodiment. FIG. 28 is a diagram for explaining the outline and features of the wireless positioning system according to the seventh embodiment. FIG. 29 is a functional block diagram of the configuration of the positioning server according to the seventh embodiment. FIG. 30 is a flowchart of the process procedure of the positioning server according to the seventh embodiment. FIG. 31 is a diagram for explaining the outline and features of the wireless positioning system according to the ninth embodiment. FIG. 32 is a diagram of the configuration of the base station according to the eighth embodiment. FIG. 33 is a functional block diagram of the configuration of the positioning server according to the eighth embodiment. FIG. 34 is a diagram illustrating an example of the data structure of the distance management table according to the eighth embodiment. FIG. 35 is a diagram illustrating a hardware configuration of a computer configuring the positioning server according to the embodiment. FIG. 36 is a diagram for explaining a conventional TDOA system. FIG. 37 is a diagram for explaining a conventional TWR-TOA system. FIG. 38 is a diagram for explaining a problem of the conventional TDOA method. FIG. 39 is a diagram for explaining a problem of the conventional TWR-TOA method.

  Exemplary embodiments of a positioning apparatus according to the present invention will be explained below in detail with reference to the accompanying drawings.

  First, the outline and features of the wireless positioning system according to the first embodiment will be described. FIG. 1 is a diagram for explaining the outline and features of the wireless positioning system according to the first embodiment. As shown in FIG. 1, this wireless positioning system includes base stations 100 to 300, a mobile terminal 400, and a positioning server 500.

  Among these, the base stations 100 to 300 are devices that, when receiving radio waves from the mobile terminal 400, specify the time when the radio waves are received and output information on the specified reception time to the positioning server 500. In the following description, reception time information is referred to as reception time data.

  Positioning server 500 is a device that calculates the position coordinates of mobile terminal 400 based on reception time data acquired from base stations 100 to 300. When the base stations 100 to 300 can receive radio waves from the mobile terminal 400, the positioning server 500 calculates the position coordinates of the mobile terminal 400 based on the well-known TDOA method.

  For example, when the base stations 100 to 300 can receive radio waves from the mobile terminal 400 at the time T1, and the positioning server 500 acquires the reception time data from the base stations 100 to 300, the reception time of the base station 100 and the base station 100 The hyperbola 1 is obtained from the time difference from the reception time of the station 200, and the hyperbola 2 is obtained from the time difference between the reception time of the base station 100 and the reception time of the base station 300 (the positioning server 500 determines the position coordinates of the base stations 100 to 300). Hold it). Then, the positioning server 500 calculates the intersection A between the hyperbola 1 and the hyperbola 2 as the position coordinates of the mobile terminal 400 at time T1.

  On the other hand, when any of the base stations 100 to 300 cannot receive radio waves from the mobile terminal 400 due to an obstacle or the like (when the number of base stations that can receive radio waves is less than the prescribed number “3”). Then, the position coordinates of the mobile terminal 400 are calculated based on the reception time data transmitted from the base station that has received the radio wave and the movement direction of the mobile terminal 400 at a past time point.

  For example, a case where the base station 300 cannot receive the radio wave of the mobile terminal 400 at the time T2 (for example, a case where the hyperbola 4 cannot be obtained) will be described. The positioning server 500 acquires reception time data from the base stations 100 and 200, and calculates the hyperbola 3 from the time difference between the reception time of the base station 100 and the reception time of the base station 200.

  Then, the positioning server 500 obtains the intersection B between the hyperbola 3 and the line extended in the movement direction of the mobile terminal 400 from the position coordinate A at time T1, and uses the obtained intersection B as the position coordinate of the mobile terminal 400 at time T2. calculate. However, as a precondition, the base stations 100 to 300 can transmit and receive radio waves with the mobile terminal 400 at time T1, and the positioning server 500 calculates the position coordinate A and the moving direction of the mobile terminal 400 at time T1. It shall be.

  As described above, the radio positioning system according to the first embodiment calculates the position coordinates of the mobile terminal 400 based on the movement direction of the mobile terminal 400 and the reception time data at the past time point. Even if the number of base stations capable of receiving radio waves is less than the prescribed number, the position coordinates of the mobile terminal 400 can be calculated.

  Next, configurations of base stations 100 to 300, mobile terminal 400, and positioning server 500 shown in FIG. 1 will be described in order. FIG. 2 is a functional block diagram of the configuration of the base stations 100 to 300 according to the first embodiment. Since the base stations 100 to 300 have the same configuration, only the configuration of the base station 100 will be described here.

  As shown in FIG. 2, the base station 100 includes a band pass filter unit (BPF) 101, a low noise amplifier unit (LNA) 102, a pulse detection unit 103, a PN sequence generation unit 104, a correlator 105, A reception time holding unit 106, a timer 107, a PPM (Pulse Position Modulation) data demodulation unit 108, and an MPU (Micro Processing Unit) 109.

  Among these, when the band-pass filter unit 101 receives an impulse radio wave from the mobile terminal 400 via the antenna, the band-pass filter unit 101 includes an extra frequency component (for example, a component of 3.4 GHz or lower and a component of 3.4 GHz or less included in the received impulse radio wave). This is a means for removing 8 GHz or higher components. The bandpass filter unit 101 outputs an impulse radio wave from which an extra frequency component is removed to the low noise amplifier unit 102.

  The low noise amplifier unit 102 is a unit that amplifies the impulse radio wave input from the band pass filter unit 101. The low noise amplifier unit 102 outputs the amplified impulse radio wave to the pulse detection unit 103.

  The pulse detection unit 103 is means for detecting a pulse included in the impulse radio wave. The pulse detector 103 is realized by a known diode envelope detection circuit and a comparator. The pulse detection unit 103 outputs the detected pulse to the correlator 105.

  The PN sequence generation unit 104 is a means for generating a PN sequence (refer to Japanese Unexamined Patent Application Publication No. 2008-2888 for an explanation of the PN sequence). The PN sequence generation unit 104 outputs the generated PN sequence to the correlator 105.

  Correlator 105 is means for detecting the preamble part of the pulse and establishing synchronization by comparing the pulse input from pulse detection section 103 with the RN sequence input from PN sequence generation section 104.

  When the correlator 105 detects the preamble part of the pulse, the reception time holding part 106 detects the data part that follows the preamble part of the pulse and specifies the information (reception time data) of the time when the data part is detected It is a means to hold. Reception time holding unit 106 outputs reception time data to MPU 109. The timer 107 is a means (timer) for outputting time information to the reception time holding unit 106. The timer 107 operates in synchronization with the clock from the positioning server 500.

  The PPM data demodulator 108 demodulates the PPM (pulse position modulated signal) of the data part following the preamble part of the pulse when the correlator 105 detects the preamble part of the pulse, and generates reception data It is. The PPM data demodulation unit 108 outputs the generated reception data to the MPU 109.

  The MPU 109 has an internal memory for storing programs defining various processing procedures and control data, and is a control means for executing various processing procedures by these. Particularly, as closely related to the present invention, the MPU 109 outputs the reception time data input from the reception time holding unit 106 to the positioning server 500. It is assumed that the reception time data includes data for identifying the base station.

  Next, the configuration of mobile terminal 400 shown in FIG. 1 will be described. FIG. 3 is a functional block diagram of the configuration of the mobile terminal 400 according to the first embodiment. As shown in the figure, the mobile terminal 400 includes an MPU 401, a PN sequence generation unit 402, a PPM data modulation unit 403, an impulse generation unit 404, a band pass filter unit (BPF) 405, a power amplifier unit ( PA) 406.

  Among these, the MPU 401 has a built-in memory for storing programs and control data defining various processing procedures, and is a control means for executing various processing procedures by these. For example, the MPU 409 generates transmission data to be transmitted to the destination terminal device, and outputs the generated transmission data to the PPM data modulation unit 403.

  The PN sequence generation unit 402 is a means for generating a PN sequence. PN sequence generation section 402 outputs the generated PN signal to PPM data modulation section 403.

  PPM data modulation section 403 is means for pulse position modulation of transmission data using the PN signal input from PN sequence generation section 402. The PPM data modulation section 403 outputs a pulse position modulated transmission data signal to the impulse generation section 404.

  The impulse generator 404 is means for generating an impulse radio wave based on the signal input from the PPM data modulator 403. The impulse generation unit 404 outputs the generated impulse signal to the band pass filter unit 405.

  The band pass filter unit 405 is means for removing an extra frequency component included in the acquired impulse radio wave when the impulse radio wave is acquired from the impulse generation unit 404. The bandpass filter unit 405 outputs the impulse radio wave from which the extra frequency component is removed to the power amplifier unit 406.

  The power amplifier unit 406 is means for amplifying the input impulse radio wave when the impulse radio wave is input from the band pass filter unit 405. The power amplifier unit 406 transmits the amplified impulse radio wave to the base stations 100 to 300 via the antenna.

  Next, the configuration of the positioning server 500 shown in FIG. 1 will be described. FIG. 4 is a functional block diagram of the configuration of the positioning server 500 according to the first embodiment. As shown in the figure, the positioning server 500 includes an input unit 510, an output unit 520, a communication control IF unit 530, an input / output control IF unit 540, a storage unit 550, and a control unit 560.

  Among these, the input unit 510 is an input unit for inputting various types of information, and corresponds to a keyboard, a mouse, a microphone, and the like. A display (output unit 520) described later also realizes a pointing device function in cooperation with the mouse.

  The output unit 520 is an output unit that outputs various types of information, and corresponds to a display (or a monitor, a touch panel), a speaker, and the like. The communication control IF unit 530 is means for controlling data communication with the base stations 100 to 300. The input / output control IF unit 540 is a unit that controls data input / output by the input unit 510, the output unit 520, the communication control IF unit 530, the storage unit 550, and the control unit 560.

  The storage unit 550 is a storage unit that stores data and programs necessary for various processes performed by the control unit 560. In particular, as closely related to the present invention, the storage unit 550 stores a reception time management table 550a and a position coordinate management table 550b.

  The reception time management table 550a is a table for managing reception time data transmitted from the base stations 100 to 300. FIG. 5 is a diagram illustrating an example of a data structure of the reception time management table 550a according to the first embodiment.

  As shown in FIG. 5, this reception time management table 550a has base station identification information for identifying a base station, and reception time (corresponding to reception time data). For example, the base station identification information “1001” corresponds to the base station 100, the base station identification information “1002” corresponds to the base station 200, and the base station identification information “1003” corresponds to the base station 300, respectively. In FIG. 5, when there is no reception time data corresponding to the base station identification information, the corresponding base station has not received the radio wave from the mobile terminal 400.

  For example, when there is no reception time data corresponding to the base station identification information “1003”, it indicates that the base station 300 cannot receive the radio wave from the mobile terminal 400 due to the influence of an obstacle or the like.

  The position coordinate management table 550 b is a table that manages information related to the position coordinates of the mobile terminal 400. FIG. 6 is a diagram illustrating an example of a data structure of the position coordinate management table 550b according to the first embodiment. As shown in FIG. 6, the position coordinate management table 550b includes mobile terminal identification information for identifying the mobile terminal 400, the time when the position coordinates are measured, and the position coordinates.

  Returning to the description of FIG. 4, the control unit 560 has an internal memory for storing programs and control data defining various processing procedures, and is a means for executing various processes. In particular, as closely related to the present invention, the control unit 560 includes a data management unit 560a and a position coordinate calculation unit 560b.

  The data management unit 560a is a means for managing data stored in the storage unit 550. For example, when the reception time data is acquired from the base stations 100 to 300, the data management unit 560a registers the acquired reception time data in the reception time management table 550a. Note that the data management unit 560a deletes the data registered in the reception time management table 550a when acquiring information indicating that the calculation of the position coordinates is completed from the position coordinate calculation unit 560b.

  The position coordinate calculation unit 560b is means for measuring (calculating) the position coordinates of the mobile terminal 400 based on the reception time management table 550a and the position coordinate management table 550b. The position coordinate calculation unit 560b registers the measurement results (measured time and position coordinates) in the position coordinate management table 550b.

  Hereinafter, the processing of the position coordinate calculation unit 560b will be specifically described. First, the position coordinate calculation unit 560b refers to the reception time management table 550a and determines whether or not the number of base stations that can receive radio waves from the mobile terminal 400 is less than a specified number (for example, 3). .

  When the number of base stations that can receive radio waves from the mobile terminal 400 is equal to or greater than the specified number, the position coordinate calculation unit 560b uses the same technique as the TDOA method, which is a well-known technique, to detect the position coordinates of the mobile terminal 400. Is calculated.

  That is, the position coordinate calculation unit 560b obtains the hyperbola 1 from the time difference between the reception time of the base station 100 and the reception time of the base station 200, and the hyperbola 2 from the time difference between the reception time of the base station 100 and the reception time of the base station 300. (The position coordinates of the base stations 100 to 300 are assumed to be held by the position coordinate calculation unit 560b). And the position coordinate calculation part 560b calculates the intersection A of the hyperbola 1 and the hyperbola 2 as a position coordinate of the mobile terminal 400 (refer FIG. 1).

  On the other hand, when the number of base stations that can receive radio waves from the mobile terminal 400 is less than the specified number, the position coordinate calculation unit 560b receives the reception time data transmitted from the base station that has received radio waves, The position coordinates of the mobile terminal 400 are calculated based on the coordinate management table 550b.

  Here, as an example, the processing of the position coordinate calculation unit 560b when the base station 300 cannot receive radio waves from the mobile terminal 400 will be described. The position coordinate calculation unit 560b specifies the moving direction of the mobile terminal 400 based on the position coordinate management table 550b.

  The position coordinate calculation unit 560b may calculate the moving direction of the mobile terminal 400 in any way. For example, the position coordinate calculation unit 560b uses the position coordinate last registered (the position coordinate “C” in FIG. 6) immediately before the position coordinate last registered in the position coordinate management table 550b (FIG. 6). The direction of the position coordinates “A”) can be specified as the moving direction of the mobile terminal 400.

  The position coordinate calculation unit 560b obtains an intersection between a line extended in the moving direction of the mobile terminal, a hyperbola calculated from a difference between the reception time of the base station 100 and the reception time of the base station 200, and the obtained intersection is obtained. The position coordinates of the mobile terminal 400 are calculated. Then, the position coordinate calculation unit 560b registers the calculated position coordinates and the calculated time in the position coordinate management table 550b, and outputs information indicating that the calculation of the position coordinates is completed to the data management unit 560a.

  Next, a processing procedure of the positioning server 500 according to the first embodiment will be described. FIG. 7 is a flowchart of a process procedure performed by the positioning server 500 according to the first embodiment. As shown in the figure, in the positioning server 500, the data management unit 560a acquires the reception time data from each base station (step S101), and registers the reception time data in the reception time management table 550a (step S102).

  Then, the position coordinate calculation unit 560b determines whether or not the position coordinates can be calculated only from the reception time data (step S103), and if it can be calculated (step S104, Yes), from the reception time data. The position coordinates of the mobile terminal 400 are calculated based on the calculated hyperbola (step S105).

  On the other hand, when the position coordinates cannot be calculated only from the reception time data (No in step S104), the position coordinate calculation unit 560b uses the hyperbola calculated from the reception time data and the moving direction of the mobile terminal 400. The position coordinates of the mobile terminal 400 are calculated (step S106).

  As described above, in the wireless positioning system according to the first embodiment, the positioning server 500 calculates the position coordinates of the mobile terminal 400 based on the movement direction of the mobile terminal 400 at the past time point and the reception time data. Even if the number of base stations that can receive radio waves from the mobile terminal 400 is less than the specified number, the position coordinates of the mobile terminal 400 can be calculated.

  Next, the outline and features of the wireless positioning system according to the second embodiment will be described. FIG. 8 is a diagram for explaining the outline and features of the wireless positioning system according to the second embodiment. As shown in FIG. 8, this wireless positioning system includes base stations 100 to 300, a mobile terminal 400, and a positioning server 600.

  Among these, when receiving radio waves from the mobile terminal 400, the base stations 100 to 300 are devices that specify the time when the radio waves are received and output information on the specified reception time to the positioning server 600. In the following description, reception time information is referred to as reception time data.

  The positioning server 600 is a device that calculates the position coordinates of the mobile terminal 400 based on the reception time data from the base stations 100 to 300. When the base station 100 to 300 can receive radio waves from the mobile terminal 400, the positioning server 600 calculates the position coordinates of the mobile terminal 400 based on the well-known TDOA method.

  For example, when the base stations 100 to 300 can receive radio waves from the mobile terminal 400 at the time T1, and the positioning server 600 acquires the reception time data from the base stations 100 to 300, the reception time and the base station 100 The hyperbola 1 is obtained from the time difference from the reception time of the station 200, and the hyperbola 2 is obtained from the time difference between the reception time of the base station 100 and the reception time of the base station 300 (the positioning server 600 determines the position coordinates of the base stations 100 to 300). Hold it). Then, the positioning server 600 calculates the intersection A between the hyperbola 1 and the hyperbola 2 as the position coordinates of the mobile terminal 400 at time T1.

  On the other hand, when any of the base stations 100 to 300 cannot receive radio waves from the mobile terminal 400 due to an obstacle or the like (when the number of base stations that can receive radio waves is less than the prescribed number “3”). The position coordinates of the mobile terminal 400 are calculated based on the reception time data transmitted from the base station that has received the radio wave and the movement speed of the mobile terminal 400 at the past time point.

  For example, a case where the base station 300 cannot receive the radio wave of the mobile terminal 400 at time T2 will be described. The positioning server 600 acquires reception time data from the base stations 100 and 200, and calculates the hyperbola 3 from the time difference between the reception time of the base station 100 and the reception time of the base station 200.

  Then, the positioning server 600 calculates a circle 1 having a radius V (T2-T1) with the position coordinate A of the mobile terminal 400 at the time T1 as the center. Here, “V” is the speed (movement speed) of the mobile terminal 400 at time T1.

  The positioning server 600 obtains the intersection B between the hyperbola 3 and the circle 1 and computes the obtained intersection B as the position coordinates of the mobile terminal 400 at time T2. However, as a precondition, the base stations 100 to 300 can transmit and receive radio waves with the mobile terminal 400 at time T1, and the positioning server 600 calculates the position coordinate A and the moving speed of the mobile terminal 400 at time T1. It shall be.

  As described above, the wireless positioning system according to the second embodiment calculates the position coordinates of the mobile terminal 400 based on the movement speed and the reception time data of the mobile terminal 400 at the past time point. Even if the number of base stations capable of receiving radio waves is less than the prescribed number, the position coordinates of the mobile terminal 400 can be calculated.

  Next, the configuration of base stations 100 to 300, mobile terminal 400, and positioning server 600 shown in FIG. 8 will be described. The configuration of base stations 100 to 300 is the same as that of base station 100 shown in FIG. 2, and the configuration of mobile terminal 400 is the same as the configuration of mobile terminal 400 shown in FIG. .

  FIG. 9 is a functional block diagram of the configuration of the positioning server 600 according to the second embodiment. As shown in the figure, the positioning server 600 includes an input unit 610, an output unit 620, a communication control IF unit 630, an input / output control IF unit 640, a storage unit 650, and a control unit 660.

  Among these, the input unit 610 is an input unit for inputting various types of information, and corresponds to a keyboard, a mouse, a microphone, and the like. A display (output unit 620), which will be described later, also realizes a pointing device function in cooperation with the mouse.

  The output unit 620 is an output unit that outputs various types of information, and corresponds to a display (or a monitor, a touch panel), a speaker, and the like. The communication control IF unit 630 is means for controlling data communication with the base stations 100 to 300. The input / output control IF unit 640 is means for controlling input / output of data by the input unit 610, the output unit 620, the communication control IF unit 630, the storage unit 650, and the control unit 660.

  The storage unit 650 is a storage unit that stores data and programs necessary for various processes performed by the control unit 660. In particular, as closely related to the present invention, the storage unit 650 stores a reception time management table 650a and a position coordinate management table 650b.

  The reception time management table 650a is a table for managing reception time data transmitted from the base stations 100 to 300. The data structure of the reception time management table 650a is the same as that of the reception time management table 550a shown in FIG.

  The position coordinate management table 650b is a table for managing information related to the position coordinates of the mobile terminal 400. The data structure of the position coordinate management table 650b is the same as that of the position coordinate management table 550b shown in FIG.

  Returning to the description of FIG. 9, the control unit 660 has an internal memory for storing programs defining various processing procedures and control data, and is a means for executing various processes. In particular, as closely related to the present invention, the control unit 660 includes a data management unit 660a and a position coordinate calculation unit 660b.

  The data management unit 660a is a means for managing data stored in the storage unit 650. For example, when the reception time data is acquired from the base stations 100 to 300, the data management unit 660a registers the acquired reception time data in the reception time management table 650a. Note that the data management unit 660a deletes the data registered in the reception time management table 650a when acquiring information indicating that the calculation of the position coordinates is completed from the position coordinate calculation unit 660b.

  The position coordinate calculation unit 660b is means for measuring (calculating) the position of the mobile terminal 400 based on the reception time management table 650a and the position coordinate management table 650b. The position coordinate calculation unit 660b registers the measurement result (measured time and position coordinates) in the position coordinate management table 650b.

  Hereinafter, the processing of the position coordinate calculation unit 660b will be specifically described. First, the position coordinate calculation unit 660b refers to the reception time management table 650a and determines whether or not the number of base stations that can receive radio waves from the mobile terminal 400 is less than a specified number (for example, 3). .

  If the number of base stations that can receive radio waves from the mobile terminal 400 is greater than or equal to the specified number, the position coordinate calculation unit 660b uses the same technique as the TDOA method, which is a well-known technique, to detect the position coordinates of the mobile terminal 400. Is calculated.

  That is, the position coordinate calculation unit 660b obtains the hyperbola 1 from the time difference between the reception time of the base station 100 and the reception time of the base station 200, and the hyperbola 2 from the time difference between the reception time of the base station 100 and the reception time of the base station 300. (The position coordinates of the base stations 100 to 300 are assumed to be held by the position coordinate calculation unit 660b). And the position coordinate calculation part 660b calculates the intersection A of the hyperbola 1 and the hyperbola 2 as a position coordinate of the mobile terminal 400 (refer FIG. 8).

  On the other hand, when the number of base stations that can receive radio waves from the mobile terminal 400 is less than the specified number, the position coordinate calculation unit 660b receives the reception time data transmitted from the base station that has received radio waves, The position coordinates of the mobile terminal 400 are calculated based on the coordinate management table 650b.

  Here, as an example, the processing of the position coordinate calculation unit 660b when the base station 300 is not able to receive radio waves from the mobile terminal 400 will be described. The position coordinate calculation unit 660b specifies the moving speed of the mobile terminal 400 based on the position coordinate management table 650b.

  The position coordinate calculation unit 660b may calculate the moving speed of the mobile terminal 400 in any way. For example, the position coordinate calculation unit 660b sets the position coordinate immediately before the position coordinate last registered in the position coordinate management table 650b as b, the time when the position coordinate b is calculated as Tb, and the position coordinate registered last. And a time when the position coordinate a is calculated is Ta, the moving speed V of the mobile terminal 400 is calculated by dividing the moving distance from a to b by (Ta−Tb <moving time from a to b>). can do.

  The position coordinate calculation unit 650b calculates a circle having a radius V (Ta−T) <Ta where the position coordinate is calculated last, and T is the current time> with the radius V (Ta−T) <T as the center. And the intersection of the hyperbola calculated from the difference between the reception time of the base station 100 and the reception time of the base station 200. The position coordinate calculation unit 650b registers the calculated position coordinates and the calculated time in the position coordinate management table 650b, and outputs information indicating that the calculation of the position coordinates is completed to the data management unit 660a.

  Next, a processing procedure of the positioning server 600 according to the second embodiment will be described. FIG. 10 is a flowchart of a process procedure of the positioning server 600 according to the second embodiment. As shown in the figure, in the positioning server 600, the data management unit 660a acquires reception time data from each base station (step S201), and registers the reception time data in the reception time management table 650a (step S202).

  Then, the position coordinate calculation unit 660b determines whether or not the position coordinates can be calculated only from the reception time data (step S203). If the position coordinates can be calculated (step S204, Yes), from the reception time data. The position coordinates of the mobile terminal 400 are calculated based on the calculated hyperbola (step S205).

  On the other hand, if the position coordinates cannot be calculated only from the reception time data (step S204, No), the position coordinate calculation unit 660b uses the hyperbola calculated from the reception time data and the moving speed of the mobile terminal 400. The position coordinates of the mobile terminal 400 are calculated (step S206).

  As described above, in the wireless positioning system according to the second embodiment, the positioning server 600 calculates the position coordinates of the mobile terminal 400 based on the moving speed of the mobile terminal 400 at the past time point and the reception time data. Even if the number of base stations that can receive radio waves from the mobile terminal 400 is less than the specified number, the position coordinates of the mobile terminal 400 can be calculated.

  Next, the outline and features of the wireless positioning system according to the third embodiment will be described. FIG. 11 is a diagram for explaining the outline and features of the wireless positioning system according to the third embodiment. As shown in FIG. 11, this wireless positioning system includes base stations 100 to 300, a mobile terminal 400, and a positioning server 700.

  Among these, when receiving radio waves from the mobile terminal 400, the base stations 100 to 300 are devices that specify the time when the radio waves are received and output information on the specified reception time to the positioning server 700. In the following description, reception time information is referred to as reception time data.

  The positioning server 700 is a device that calculates the position coordinates of the mobile terminal 400 based on the reception time data from the base stations 100 to 300. When the base stations 100 to 300 can receive radio waves from the mobile terminal 400, the positioning server 700 calculates the position coordinates of the mobile terminal 400 based on the well-known TDOA method.

  For example, when the base stations 100 to 300 can receive radio waves from the mobile terminal 400 at time T1, and the positioning server 700 acquires reception time data from the base stations 100 to 300, the reception time and the base station 100 The hyperbola 1 is obtained from the time difference from the reception time of the station 200, and the hyperbola 2 is obtained from the time difference between the reception time of the base station 100 and the reception time of the base station 300 (the positioning server 700 determines the position coordinates of the base stations 100 to 300). Hold it). Then, the positioning server 700 calculates the intersection A between the hyperbola 1 and the hyperbola 2 as the position coordinates of the mobile terminal 400 at time T1.

  On the other hand, when any of the base stations 100 to 300 cannot receive radio waves from the mobile terminal 400 due to an obstacle or the like (when the number of base stations that can receive radio waves is less than the prescribed number “3”; hyperbola 4 The position coordinates of the mobile terminal 400 are calculated based on the reception time data transmitted from the base station that has received the radio wave and the velocity vector of the mobile terminal 400 at a past time point. To do.

  For example, a case where the base station 300 cannot receive the radio wave of the mobile terminal 400 at time T2 will be described. The positioning server 700 acquires reception time data from the base stations 100 and 200, and calculates a hyperbola 3 from the time difference between the reception time of the base station 100 and the reception time of the base station 200.

  Then, the positioning server 700 sets B3, which is a length V (T2-T1) extended in the moving direction of the mobile terminal 400 from the position coordinate A of the mobile terminal 400 at time T1, as a temporary position coordinate. Then, positioning server 700 draws a perpendicular line from B3 to hyperbola 3, and calculates intersection B3 'as the position coordinates of mobile terminal 400 at time T2.

  As described above, the wireless positioning system according to the third embodiment calculates the position coordinates of the mobile terminal 400 based on the speed vector and the reception time data of the mobile terminal 400 at the past time point. Even if the number of base stations capable of receiving radio waves is less than the prescribed number, the position coordinates of the mobile terminal 400 can be calculated.

  Next, the configuration of base stations 100 to 300, mobile terminal 400, and positioning server 700 shown in FIG. 11 will be described. The configuration of base stations 100 to 300 is the same as that of base station 100 shown in FIG. 2, and the configuration of mobile terminal 400 is the same as the configuration of mobile terminal 400 shown in FIG. .

  FIG. 12 is a functional block diagram of the configuration of the positioning server 700 according to the third embodiment. As shown in the figure, the positioning server 700 includes an input unit 710, an output unit 720, a communication control IF unit 730, an input / output control IF unit 740, a storage unit 750, and a control unit 760.

  Among these, the input unit 710 is an input unit for inputting various types of information, and corresponds to a keyboard, a mouse, a microphone, and the like. A display (output unit 720) described later also realizes a pointing device function in cooperation with the mouse.

  The output unit 720 is an output unit that outputs various types of information, and corresponds to a display (or a monitor, a touch panel), a speaker, and the like. The communication control IF unit 730 is a unit that controls data communication with the base stations 100 to 300. The input / output control IF unit 740 is means for controlling data input / output by the input unit 710, the output unit 720, the communication control IF unit 730, the storage unit 750, and the control unit 760.

  The storage unit 750 is a storage unit that stores data and programs necessary for various processes performed by the control unit 760. In particular, as closely related to the present invention, the storage unit 750 stores a reception time management table 750a and a position coordinate management table 750b.

  The reception time management table 750a is a table for managing reception time data transmitted from the base stations 100 to 300. The data structure of the reception time management table 750a is the same as that of the reception time management table 550a shown in FIG.

  The position coordinate management table 750 b is a table that manages information related to the position coordinates of the mobile terminal 400. The data structure of the position coordinate management table 750b is the same as that of the position coordinate management table 550b shown in FIG.

  Returning to the description of FIG. 12, the control unit 760 has an internal memory for storing programs and control data defining various processing procedures, and is a means for executing various processes using these. In particular, as closely related to the present invention, the control unit 760 includes a data management unit 760a and a position coordinate calculation unit 760b.

  The data management unit 760a is a means for managing data stored in the storage unit 750. For example, when the reception time data is acquired from the base stations 100 to 300, the data management unit 760a registers the acquired reception time data in the reception time management table 750a. Note that the data management unit 760a deletes the data registered in the reception time management table 750a when acquiring information indicating that the calculation of the position coordinates is completed from the position coordinate calculation unit 760b.

  The position coordinate calculation unit 760b is a means for measuring (calculating) the position of the mobile terminal 400 based on the reception time management table 750a and the position coordinate management table 750b. The position coordinate calculation unit 760b registers the measurement result (measured time and position coordinates) in the position coordinate management table 750b.

  Hereinafter, the processing of the position coordinate calculation unit 760b will be specifically described. First, the position coordinate calculation unit 760b refers to the reception time management table 750a and determines whether or not the number of base stations that can receive radio waves from the mobile terminal 400 is less than a specified number (for example, 3). .

  When the number of base stations that can receive radio waves from the mobile terminal 400 is equal to or greater than the specified number, the position coordinate calculation unit 760b uses the same technique as the TDOA method, which is a well-known technique, to detect the position coordinates of the mobile terminal 400. Is calculated.

  That is, the position coordinate calculation unit 760b obtains the hyperbola 1 from the time difference between the reception time of the base station 100 and the reception time of the base station 200, and the hyperbola 2 from the time difference between the reception time of the base station 100 and the reception time of the base station 300. (The position coordinates of the base stations 100 to 300 are assumed to be held by the position coordinate calculation unit 760b). And the position coordinate calculation part 760b calculates the intersection A of the hyperbola 1 and the hyperbola 2 as a position coordinate of the mobile terminal 400 (refer FIG. 11).

  On the other hand, when the number of base stations that can receive radio waves from the mobile terminal 400 is less than the specified number, the position coordinate calculation unit 760b receives the reception time data transmitted from the base station that has received radio waves, The position coordinates of the mobile terminal 400 are calculated based on the coordinate management table 750b.

  Here, as an example, the processing of the position coordinate calculation unit 760b when the base station 300 cannot receive radio waves from the mobile terminal 400 will be described. First, the position coordinate calculation unit 760b obtains the hyperbola 3 from the time difference between the reception time of the base station 100 and the reception time of the base station 200.

  The position coordinate calculation unit 760b specifies the speed vector (movement direction, movement speed) of the mobile terminal 400 based on the position coordinate management table 750b. The method by which the position coordinate calculation unit 760b obtains the moving direction is the same as the position coordinate calculation unit 560b shown in the first embodiment. Further, the position coordinate calculation unit 760b obtains the moving speed in the same manner as the position coordinate calculation unit 660b shown in the second embodiment.

  The position coordinate calculation unit 760b sets B3, which is a length V × (T2−T1) extended in the moving direction of the mobile terminal 400 from the position coordinate A of the mobile terminal 400 at the time T1, as a temporary position coordinate. Here, V is the moving speed of the mobile terminal 400. Then, positioning server 700 draws a perpendicular line from B3 to hyperbola 3, and calculates intersection B3 'as the position coordinates of mobile terminal 400 at time T2. The position coordinate calculation unit 760b registers the calculated position coordinates and the calculated time in the position coordinate management table 750b, and outputs information indicating that the calculation of the position coordinates is completed to the data management unit 760a.

  Next, a processing procedure of the positioning server 700 according to the third embodiment will be described. FIG. 13 is a flowchart of the process procedure of the positioning server 700 according to the third embodiment. As shown in the figure, in the positioning server 700, the data management unit 760a acquires the reception time data from each base station (step S301), and registers the reception time data in the reception time management table 750a (step S302).

  Then, the position coordinate calculation unit 760b determines whether or not the position coordinates can be calculated only from the reception time data (step S303). If the position coordinates can be calculated (step S304, Yes), the position coordinate calculation unit 760b determines from the reception time data. The position coordinates of the mobile terminal 400 are calculated based on the calculated hyperbola (step S305).

  On the other hand, when the position coordinates cannot be calculated only from the reception time data (No in step S304), the position coordinate calculation unit 760b uses the hyperbola calculated from the reception time data and the velocity vector of the mobile terminal 400. The position coordinates of the mobile terminal 400 are calculated (step S306).

  As described above, in the wireless positioning system according to the third embodiment, the positioning server 700 calculates the position coordinates of the mobile terminal 400 based on the speed vector and the reception time data of the mobile terminal 400 at the past time. Even if the number of base stations that can receive radio waves from the mobile terminal 400 is less than the specified number, the position coordinates of the mobile terminal 400 can be calculated.

  Next, the outline and features of the wireless positioning system according to the fourth embodiment will be described. FIG. 14 is a diagram for explaining the outline and features of the wireless positioning system according to the fourth embodiment. As shown in FIG. 14, this wireless positioning system includes base stations 100 to 300, a mobile terminal 400, and a positioning server 800.

  Among these, the base stations 100 to 300 are devices that, when receiving radio waves from the mobile terminal 400, specify the time when the radio waves are received and output information on the specified reception time to the positioning server 800. In the following description, reception time information is referred to as reception time data.

  The positioning server 800 is a device that calculates the position coordinates of the mobile terminal 400 based on the reception time data from the base stations 100 to 300. When the base stations 100 to 300 can receive radio waves from the mobile terminal 400, the positioning server 800 calculates the position coordinates of the mobile terminal 400 based on the well-known TDOA method.

  For example, when the base stations 100 to 300 can receive radio waves from the mobile terminal 400 at the time T1, and the positioning server 800 acquires reception time data from the base stations 100 to 300, the reception time and the base station 100 The hyperbola 1 is obtained from the time difference from the reception time of the station 200, and the hyperbola 2 is obtained from the time difference between the reception time of the base station 100 and the reception time of the base station 300 (the positioning server 800 determines the position coordinates of the base stations 100 to 300). Hold it). Then, the positioning server 800 calculates the intersection A between the hyperbola 1 and the hyperbola 2 as the position coordinates of the mobile terminal 400 at time T1.

  On the other hand, when any of the base stations 100 to 300 cannot receive radio waves from the mobile terminal 400 due to an obstacle or the like (when the number of base stations that can receive radio waves is less than the prescribed number “3”). The position coordinates of the mobile terminal 400 are calculated based on the reception time data transmitted from the base station that has received the radio wave and the reception time data at the past time point.

  For example, a case where the base station 300 cannot receive the radio wave of the mobile terminal 400 at time T2 will be described. The positioning server 800 acquires reception time data from the base stations 100 and 200, and calculates the hyperbola 3 from the time difference between the reception time of the base station 100 and the reception time of the base station 200.

  Then, the positioning server 800 calculates the hyperbola 2 from the time difference between the reception time of the base station 100 and the reception time of the base station 300 at time T1, and determines the intersection B4 of the hyperbola 2 and hyperbola 3 of the mobile terminal 400 at time T2. Calculate as position coordinates.

  As described above, since the wireless positioning system according to the fourth embodiment calculates the position coordinates of the mobile terminal 400 based on the reception time data acquired in the past, the base station capable of receiving radio waves from the mobile terminal 400 is calculated. Even if the number is less than the specified number, the position coordinates of the mobile terminal 400 can be calculated.

  Next, the configuration of base stations 100 to 300, mobile terminal 400, and positioning server 800 shown in FIG. 14 will be described. The configuration of base stations 100 to 300 is the same as that of base station 100 shown in FIG. 2, and the configuration of mobile terminal 400 is the same as the configuration of mobile terminal 400 shown in FIG. .

  FIG. 15 is a functional block diagram of the configuration of the positioning server 800 according to the fourth embodiment. As shown in the figure, the positioning server 800 includes an input unit 810, an output unit 820, a communication control IF unit 830, an input / output control IF unit 840, a storage unit 850, and a control unit 860.

  Among these, the input unit 810 is an input unit for inputting various types of information, and corresponds to a keyboard, a mouse, a microphone, and the like. A display (output unit 820), which will be described later, also realizes a pointing device function in cooperation with the mouse.

  The output unit 820 is an output unit that outputs various types of information, and corresponds to a display (or a monitor, a touch panel), a speaker, and the like. The communication control IF unit 830 is means for controlling data communication with the base stations 100 to 300. The input / output control IF unit 840 is means for controlling data input / output by the input unit 810, the output unit 820, the communication control IF unit 830, the storage unit 850, and the control unit 860.

  The storage unit 850 is a storage unit that stores data and programs necessary for various processes performed by the control unit 860. In particular, as closely related to the present invention, the storage unit 850 stores a reception time management table 850a and a position coordinate management table 850b.

  The reception time management table 850a is a table for managing reception time data transmitted from the base stations 100 to 300. FIG. 16 is a diagram illustrating an example of a data structure of the reception time management table 850a according to the fourth embodiment.

  As shown in FIG. 16, this reception time management table 850a includes time information indicating the time at which the positioning server 800 received reception time data from each base station, base station identification information, and reception time (corresponding to reception time information). Have.

  The position coordinate management table 850 b is a table that manages information related to the position coordinates of the mobile terminal 400. The data structure of the position coordinate management table 850b is the same as that of the position coordinate management table 550b shown in FIG.

  Returning to the description of FIG. 15, the control unit 860 has an internal memory for storing programs and control data that define various processing procedures, and is a means for executing various processes using these. In particular, as closely related to the present invention, the control unit 860 includes a data management unit 860a and a position coordinate calculation unit 860b.

  The data management unit 860a is a means for managing data stored in the storage unit 850. For example, when the reception time data is acquired from the base stations 100 to 300, the data management unit 860a registers the reception time data in the reception time management table 850a in association with the acquired time.

  The position coordinate calculation unit 860b is means for measuring (calculating) the position of the mobile terminal 400 based on the reception time management table 850a. Then, the position coordinate calculation unit 860b registers the measurement result (measured time and position coordinates) in the position coordinate management table 850b.

  Hereinafter, the processing of the position coordinate calculation unit 860b will be specifically described. First, the position coordinate calculation unit 860b can receive radio waves from the mobile terminal 400 with reference to the reception time management table 850a and the latest time information (in the example shown in FIG. 16, the latest time information is T2). It is determined whether or not the number of base stations that are present is less than a prescribed number (for example, 3).

  When the number of base stations that can receive radio waves from the mobile terminal 400 is greater than or equal to the specified number, the position coordinate calculation unit 860b uses the same technique as the TDOA method, which is a well-known technique, to detect the position coordinates of the mobile terminal 400. Is calculated.

  That is, the position coordinate calculation unit 860b obtains the hyperbola 1 from the time difference between the reception time of the base station 100 and the reception time of the base station 200, and the hyperbola 2 from the time difference between the reception time of the base station 100 and the reception time of the base station 300. (The position coordinates of the base stations 100 to 300 are assumed to be held by the position coordinate calculation unit 860b). And the position coordinate calculation part 860b calculates the intersection A of the hyperbola 1 and the hyperbola 2 as a position coordinate of the mobile terminal 400 (refer FIG. 14).

  On the other hand, when the number of base stations that can receive radio waves from the mobile terminal 400 is less than the specified number, the position coordinate calculation unit 860b uses the past reception time data transmitted from the base stations that can receive the radio waves. Based on this, the position coordinates of the mobile terminal 400 are calculated.

  Here, as an example, the process of the position coordinate calculation unit 860b when the base station 300 cannot receive the radio wave from the mobile terminal 400 at time T2 will be described. The position coordinate calculation unit 860b first calculates the hyperbola 3 from the time difference between the reception time of the base station 100 and the reception time of the base station 200 at time T2.

  Then, the positioning server 800 calculates the hyperbola 2 from the time difference between the reception time of the base station 100 and the reception time of the base station 300 at time T1, and determines the intersection B4 of the hyperbola 2 and hyperbola 3 of the mobile terminal 400 at time T2. Calculate as position coordinates.

  Next, a processing procedure of the positioning server 800 according to the fourth embodiment will be described. FIG. 17 is a flowchart of the process procedure of the positioning server 800 according to the fourth embodiment. As shown in the figure, in the positioning server 800, the data management unit 860a acquires the reception time data from each base station (step S401), and registers the reception time data in the reception time management table 850a (step S402).

  Then, the position coordinate calculation unit 860b determines whether or not the position coordinates can be calculated using only the current reception time data (step S403). If the position coordinates can be calculated (step S404, Yes), the reception time is determined. Based on the hyperbola calculated from the data, the position coordinates of the mobile terminal 400 are calculated (step S405).

  On the other hand, when the position coordinates cannot be calculated using only the current reception time data (No in step S404), the position coordinate calculation unit 860b calculates the hyperbola calculated from the reception time data and the previous reception time data. Based on the hyperbola, the position coordinates of the mobile terminal 400 are calculated (step S406).

  As described above, in the wireless positioning system according to the fourth embodiment, since the positioning server 800 calculates the position coordinates of the mobile terminal 400 based on the past reception time data, the radio wave from the mobile terminal 400 can be received. Even if the number of such base stations is less than the prescribed number, the position coordinates of the mobile terminal 400 can be calculated.

  Next, the outline and features of the wireless positioning system according to the fifth embodiment will be described. FIG. 18 is a diagram for explaining the outline and features of the wireless positioning system according to the fifth embodiment. As shown in FIG. 18, this wireless positioning system includes base stations 100 to 300, a mobile terminal 450, and a positioning server 900.

  Among these, the base stations 100 to 300 are devices that, when receiving radio waves from the mobile terminal 450, specify the time when the radio waves are received and output information on the specified reception time to the positioning server 900. In the following description, reception time information is referred to as reception time data. In addition, when the base stations 100 to 300 according to the fifth embodiment acquire acceleration information (hereinafter, referred to as acceleration data) and angular velocity information (hereinafter, angular velocity data) of the mobile terminal 450, the acceleration Data and angular velocity data are output to the positioning server 900.

  The positioning server 900 is a device that calculates the position coordinates of the mobile terminal 450 based on the reception time data from the base stations 100 to 300. When the base stations 100 to 300 can receive radio waves from the mobile terminal 450, the positioning server 900 calculates the position coordinates of the mobile terminal 450 based on the well-known TDOA method.

  For example, when the base stations 100 to 300 can receive radio waves from the mobile terminal 450 at the time T1, and the positioning server 900 acquires the reception time data from the base stations 100 to 300, the reception time of the base station 100 and the base station The hyperbola 1 is obtained from the time difference from the reception time of the station 200, and the hyperbola 2 is obtained from the time difference between the reception time of the base station 100 and the reception time of the base station 300 (the positioning server 900 determines the position coordinates of the base stations 100 to 300). Hold it). Then, the positioning server 900 calculates the intersection A of the hyperbola 1 and the hyperbola 2 as the position coordinates of the mobile terminal 450 at time T1.

  On the other hand, when any of the base stations 100 to 300 cannot receive radio waves from the mobile terminal 450 due to the influence of an obstacle or the like (when the number of base stations that can receive radio waves is less than the prescribed number “3”). The position coordinates of the mobile terminal 450 are calculated based on the reception time data transmitted from the base station that has received the radio wave, the acceleration data, and the angular velocity data.

  For example, a case where the base station 300 cannot receive radio waves from the mobile terminal 450 at time T2 (a case where the hyperbola 4 cannot be obtained) will be described. The positioning server 900 acquires reception time data from the base stations 100 and 200, and calculates the hyperbola 3 from the time difference between the reception time of the base station 100 and the reception time of the base station 200.

  Then, the positioning server 900 acquires acceleration data and angular velocity data that change every moment from time T1 to time T2, and integrates the acceleration and angular velocity with the acceleration and angular velocity at time T1 as initial values. A temporary position coordinate B6 of the mobile terminal 450 is calculated. The positioning server 900 draws a perpendicular from B6 to the hyperbola 3, and calculates the intersection B6 'as the position coordinates of the mobile terminal 450 at time T2.

  As described above, since the wireless positioning system according to the fifth embodiment calculates the position coordinates of the mobile terminal 450 based on the acceleration data, the angular velocity data, and the reception time data, the radio wave from the mobile terminal 450 can be received. Even if the number of such base stations is less than the prescribed number, the position coordinates of the mobile terminal 450 can be calculated.

  Next, configurations of base stations 100 to 300, mobile terminal 450, and positioning server 900 shown in FIG. 18 will be described. Note that the configurations of the base stations 100 to 300 are the same as those of the base station 100 shown in FIG. However, when receiving acceleration data and angular velocity data from the mobile terminal 450, the base stations 100 to 300 output the received acceleration data and angular velocity data to the positioning server 900.

  FIG. 19 is a functional block diagram of the configuration of the mobile terminal 450 according to the fifth embodiment. As shown in the figure, the mobile terminal 450 includes an acceleration sensor 451, a gyro sensor 452, an MPU 453, a PN sequence generation unit 454, a PPM data modulation unit 455, an impulse generation unit 456, and a bandpass filter unit. (BPF) 457 and a power amplifier (PA) 458 are included.

  Among these, the acceleration sensor 451 is a means (sensor) that measures the acceleration of the mobile terminal 450. The acceleration sensor 451 outputs the measured acceleration information (acceleration data) to the MPU 453.

  The gyro sensor 452 is a means (sensor) that measures the angular velocity of the terminal device 450. The gyro sensor 452 outputs the measured angular velocity information (angular velocity data) to the MPU 453.

  The MPU 453 has an internal memory for storing a program defining various processing procedures and control data, and is a control means for executing various processing procedures by these. In particular, as closely related to the present invention, the MPU 453 stores acceleration data and angular velocity data in transmission data and outputs them to the base stations 100 to 300. It is assumed that the acceleration data and the angular velocity data include the time when the acceleration is measured and the time when the angular velocity is measured.

  The PN sequence generation unit 454 is means for generating a PN sequence. The PN sequence generation unit 454 outputs the generated PN signal to the PPM data modulation unit 455.

  PPM data modulation section 455 is means for pulse position modulating transmission data using the PN signal input from PN sequence generation section 454. The PPM data modulation unit 455 is a unit that outputs a pulse position modulated transmission data signal to the impulse generation unit 456.

  The impulse generator 456 is means for generating an impulse radio wave based on the signal input from the PPM data modulator 455. The impulse generation unit 456 outputs the generated impulse signal to the band pass filter unit 457.

  The band pass filter unit 457 is means for removing an extra frequency component included in the acquired impulse radio wave when the impulse radio wave is acquired from the impulse generator 456. The band pass filter unit 457 outputs the impulse radio wave from which the extra frequency component is removed to the power amplifier unit 458.

  The power amplifier unit 458 is means for amplifying the input impulse radio wave when the impulse radio wave is input from the band pass filter unit 457. The power amplifier unit 458 transmits the amplified impulse radio wave to the base stations 100 to 300 via the antenna.

  FIG. 20 is a functional block diagram of the configuration of the positioning server 900 according to the fifth embodiment. As shown in the figure, the positioning server 900 includes an input unit 910, an output unit 920, a communication control IF unit 930, an input / output control IF unit 940, a storage unit 950, and a control unit 960.

  Among these, the input unit 910 is an input unit for inputting various types of information, and corresponds to a keyboard, a mouse, a microphone, and the like. A display (output unit 920) described later also realizes a pointing device function in cooperation with the mouse.

  The output unit 920 is an output unit that outputs various types of information, and corresponds to a display (or a monitor, a touch panel), a speaker, and the like. The communication control IF unit 930 is means for controlling data communication with the base stations 100 to 300. The input / output control IF unit 940 is means for controlling data input / output by the input unit 910, output unit 920, communication control IF unit 930, storage unit 950, and control unit 960.

  The storage unit 950 is a storage unit that stores data and programs necessary for various processes performed by the control unit 960. In particular, as closely related to the present invention, the storage unit 950 stores a reception time management table 950a, an acceleration / angular velocity management table 950b, and a position coordinate management table 950c.

  The reception time management table 950a is a table for managing reception time data transmitted from the base stations 100 to 300. The data structure of the reception time management table 950a is the same as that of the reception time management table 550a shown in FIG.

  The acceleration / angular velocity management table 950b is a table for managing the acceleration and angular velocity of the mobile terminal 450 at each time. FIG. 21 is a diagram illustrating an example of a data structure of the acceleration / angular acceleration management table 950b according to the fifth embodiment. As shown in FIG. 21, the acceleration / angular velocity management table 950b includes time information obtained by measuring acceleration and angular velocity, acceleration, and angular velocity.

  The position coordinate management table 950 c is a table for managing information related to the position coordinates of the mobile terminal 450. The data structure of the position coordinate management table 950b is the same as that of the position coordinate management table 550b shown in FIG.

  Returning to the description of FIG. 20, the control unit 960 has an internal memory for storing programs and control data that define various processing procedures, and is a means for executing various processes using these. In particular, as closely related to the present invention, the control unit 960 includes a data management unit 960a and a position coordinate calculation unit 960b.

  The data management unit 960a is a means for managing data stored in the storage unit 950. For example, when the reception time data is acquired from the base stations 100 to 300, the data management unit 960a registers the acquired reception time data in the reception time management table 950a. When the data management unit 960a acquires acceleration data and angular velocity data from the base stations 100 to 300, the data management unit 960a registers the acquired acceleration data and angular velocity data in the acceleration / angular velocity management table 950b.

  In addition, when the data management unit 960a acquires information indicating that the calculation of the position coordinates is completed from the position coordinate calculation unit 960b, the data management unit 960a deletes the data registered in the reception time management table 950a.

  The position coordinate calculation unit 960b is a means for measuring (calculating) the position of the mobile terminal 450 based on the reception time management table 950a and the acceleration / angular velocity management table 950b. The position coordinate calculation unit 960b registers the measurement results (measured time and position coordinates) in the position coordinate management table 950c.

  Hereinafter, the processing of the position coordinate calculation unit 960b will be specifically described. First, the position coordinate calculation unit 960b refers to the reception time management table 950a and determines whether or not the number of base stations that can receive radio waves from the mobile terminal 450 is less than a specified number (for example, 3). .

  When the number of base stations that can receive radio waves from the mobile terminal 450 is greater than or equal to the specified number, the position coordinate calculation unit 960b uses the same technique as the TDOA method, which is a well-known technique, to detect the position coordinates of the mobile terminal 450. Is calculated.

  That is, the position coordinate calculation unit 960b obtains the hyperbola 1 from the time difference between the reception time of the base station 100 and the reception time of the base station 200, and the hyperbola 2 from the time difference between the reception time of the base station 100 and the reception time of the base station 300. (The position coordinates of the base stations 100 to 300 are assumed to be held by the position coordinate calculation unit 960b). And the position coordinate calculation part 960b calculates the intersection A of the hyperbola 1 and the hyperbola 2 as a position coordinate of the mobile terminal 450 (refer FIG. 18).

  On the other hand, when the number of base stations that can receive radio waves from the mobile terminal 450 is less than the specified number, the position coordinate calculation unit 960b receives the reception time data transmitted from the base station that can receive radio waves, and the acceleration. / The position coordinates of the mobile terminal 450 are calculated based on the angular velocity management table 950b.

  Here, as an example, the processing of the position coordinate calculation unit 960b when the base station 300 is not able to receive radio waves from the mobile terminal 450 will be described. First, the position coordinate calculation unit 960a obtains the hyperbola 3 from the time difference between the reception time of the base station 100 and the reception time of the base station 200.

  When the current time is T2, the position coordinate calculation unit 960a refers to the acceleration / angular velocity management table 950b, and extracts acceleration data and angular velocity data from time T2 to a predetermined time before (for example, T1). The position coordinate calculation unit 960a calculates a temporary position coordinate B6 of the mobile terminal 450 at time T2 by integrating the acceleration and angular velocity that change from time T1 to T2 every moment.

  The position coordinate calculation unit 960b draws a perpendicular line from B6 to the hyperbola 3, and calculates the intersection B6 'as the position coordinate of the mobile terminal 450 at time T2. The position coordinate calculation unit 950b registers the calculated position coordinates and the calculated time in the position coordinate management table 950c, and outputs information indicating that the calculation of the position coordinates is completed to the data management unit 960a.

  Next, a processing procedure of the positioning server 900 according to the fifth embodiment will be described. FIG. 22 is a flowchart of the process procedure of the positioning server 900 according to the fifth embodiment. As shown in the figure, in the positioning server 900, the data management unit 960a acquires reception time data from each base station (step S501), and registers the reception time data in the reception time management table 950a (step S502).

  Then, the position coordinate calculation unit 960b determines whether or not the position coordinates can be calculated only from the reception time data (step S503). If the position coordinates can be calculated (step S504, Yes), the position coordinate calculation unit 960b determines from the reception time data. The position coordinates of the mobile terminal 450 are calculated based on the calculated hyperbola (step S505).

  On the other hand, when the position coordinates cannot be calculated only from the reception time data (step S504, No), the position coordinates of the mobile terminal 450 are estimated based on the acceleration data and the angular velocity data (step S506), and the estimated position coordinates are calculated. Then, the position coordinates of the mobile terminal 450 are calculated based on the hyperbola calculated from the reception time data (step S507).

  As described above, in the wireless positioning system according to the fifth embodiment, the positioning server 900 calculates the position coordinates of the mobile terminal 450 based on the acceleration data / angular velocity data of the mobile terminal 450 and the reception time data. Even if the number of base stations that can receive radio waves from the mobile terminal 450 is less than the specified number, the position coordinates of the mobile terminal 450 can be calculated.

  Next, the outline and features of the wireless positioning system according to the sixth embodiment will be described. FIG. 23 is a diagram for explaining the outline and features of the wireless positioning system according to the sixth embodiment. As shown in FIG. 23, this wireless positioning system includes base stations 100 to 300, a mobile terminal 460, and a positioning server 1000.

  Among these, the base stations 100 to 300 are devices that specify the time when the radio wave is received and output the information of the specified reception time to the positioning server 1000 when receiving the radio wave from the mobile terminal 460. In the following description, reception time information is referred to as reception time data.

  The positioning server 1000 is a device that calculates the position coordinates of the mobile terminal 460 based on the reception time data from the base stations 100 to 300. When the base stations 100 to 300 can receive radio waves from the mobile terminal 460, the positioning server 1000 calculates the position coordinates of the mobile terminal 460 based on the well-known TDOA method.

  For example, when the base stations 100 to 300 can receive radio waves from the mobile terminal 460 at the time T1, and the positioning server 1000 acquires the reception time data from the base stations 100 to 300, the reception time and the base station 100 The hyperbola 1 is obtained from the time difference from the reception time of the station 200, and the hyperbola 2 is obtained from the time difference between the reception time of the base station 100 and the reception time of the base station 300 (the positioning server 1000 determines the position coordinates of the base stations 100 to 300). Hold it). Then, the positioning server 1000 calculates the intersection A between the hyperbola 1 and the hyperbola 2 as the position coordinates of the mobile terminal 460 at time T1.

  On the other hand, when any of the base stations 100 to 300 cannot receive radio waves from the mobile terminal 460 due to the influence of an obstacle or the like (when the number of base stations that can receive radio waves is less than the prescribed number “3”). Based on the reception time data transmitted from the base station that has received the radio wave and the pedometer data of the pedometer installed in the mobile terminal 460 (the number of steps of the user carrying the mobile terminal 460), Calculate the position coordinates.

  For example, a case where the base station 300 cannot receive the radio wave of the mobile terminal 460 at time T2 will be described. Positioning server 1000 acquires reception time data from base stations 100 and 200, and calculates hyperbola 3 from the time difference between the reception time of base station 100 and the reception time of base station 200.

  Then, the positioning server 1000 calculates the movement distance L of the mobile terminal 460 from the number of steps from the time T1 to the time T2, and obtains the circle 2 having the radius L with the coordinate A as the center. The positioning server 1000 calculates the intersection B5 between the hyperbola 3 and the circle 2 as the position coordinates of the mobile terminal 460 at time T2.

  As described above, since the wireless positioning system according to the sixth embodiment calculates the position coordinates of the mobile terminal 460 based on the step count data and the reception time data, the base station that can receive radio waves from the mobile terminal 460. Even if the number is less than the prescribed number, the position coordinates of the mobile terminal 460 can be calculated.

  Next, the configuration of base stations 100 to 300, mobile terminal 460, and positioning server 1000 shown in FIG. 23 will be described. Note that the configurations of the base stations 100 to 300 are the same as those of the base station 100 shown in FIG. However, when the base stations 100 to 300 receive the step count data from the mobile terminal 460, the base stations 100 to 300 output the received step count data to the positioning server 1000.

  FIG. 24 is a functional block diagram of the configuration of the mobile terminal 460 according to the sixth embodiment. As shown in the figure, the mobile terminal 460 includes a step number sensor 461, an MPU 462, a PN sequence generation unit 463, a PPM data modulation unit 464, an impulse generation unit 465, a band pass filter unit (BPF) 466, And a power amplifier unit (PA) 467.

  Among these, the step sensor 461 is a means (sensor) that measures the number of steps of the user carrying the mobile terminal 460. The step count sensor 461 outputs information on the measured step count (step count data) to the MPU 462.

  The MPU 462 has an internal memory for storing programs and control data defining various processing procedures, and is a control means for executing various processing procedures by these. In particular, as closely related to the present invention, the MPU 462 stores the step count data in the transmission data and outputs it to the base stations 100 to 300. It is assumed that the step count data includes the time (period) at which the step count data was measured.

  The PN sequence generator 463 is means for generating a PN sequence. The PN sequence generator 463 outputs the generated PN signal to the PPM data modulator 464.

  The PPM data modulation unit 464 is means for pulse position modulation of transmission data using the PN signal input from the PN sequence generation unit 463. The PPM data modulation unit 463 is means for outputting a pulse position modulated transmission data signal to the impulse generation unit 465.

  The impulse generator 465 is means for generating an impulse radio wave based on the signal input from the PPM data modulator 464. The impulse generation unit 465 outputs the generated impulse signal to the band pass filter unit 466.

  The band pass filter unit 466 is means for removing an extra frequency component included in the acquired impulse radio wave when the impulse radio wave is acquired from the impulse generator 465. The bandpass filter unit 466 outputs an impulse radio wave from which an extra frequency component is removed to the power amplifier unit 467.

  The power amplifier unit 467 is means for amplifying the input impulse radio wave when the impulse radio wave is input from the band pass filter unit 466. The power amplifier unit 467 transmits the amplified impulse radio wave to the base stations 100 to 300 via the antenna.

  FIG. 25 is a functional block diagram of the configuration of the positioning server 1000 according to the sixth embodiment. As shown in the figure, the positioning server 1000 includes an input unit 1010, an output unit 1020, a communication control IF unit 1030, an input / output control IF unit 1040, a storage unit 1050, and a control unit 1060.

  Among these, the input unit 1010 is input means for inputting various types of information, and corresponds to a keyboard, a mouse, a microphone, and the like. A display (output unit 1020) described later also realizes a pointing device function in cooperation with the mouse.

  The output unit 1020 is an output unit that outputs various types of information, and corresponds to a display (or a monitor, a touch panel), a speaker, and the like. The communication control IF unit 1030 is means for controlling data communication with the base stations 100 to 300. The input / output control IF unit 1040 is means for controlling data input / output by the input unit 1010, output unit 1020, communication control IF unit 1030, storage unit 1050, and control unit 1060.

  The storage unit 1050 is a storage unit that stores data and programs necessary for various processes performed by the control unit 1060. In particular, as closely related to the present invention, the storage unit 1050 stores a reception time management table 1050a, a step count management table 1050b, and a position coordinate management table 1050c.

  The reception time management table 1050a is a table for managing reception time data transmitted from the base stations 100 to 300. The data structure of the reception time management table 1050a is the same as that of the reception time management table 550a shown in FIG.

  The step count management table 1050b is a table for managing the number of steps of the user carrying the mobile terminal 460. FIG. 26 is a diagram illustrating an example of the data structure of the step count management table 1050b according to the sixth embodiment. As shown in the figure, the step count management table 1050b includes time information indicating a period in which the number of steps is measured, and the number of steps.

  The position coordinate management table 1050b is a table for managing information related to the position coordinates of the mobile terminal 460. The data structure of the position coordinate management table 1050b is the same as that of the position coordinate management table 550b shown in FIG.

  Returning to the description of FIG. 25, the control unit 1060 has an internal memory for storing programs and control data defining various processing procedures, and is a means for executing various processes using these. In particular, as closely related to the present invention, the control unit 1060 includes a data management unit 1060a and a position coordinate calculation unit 1060b.

  The data management unit 1060a is a means for managing data stored in the storage unit 1050. For example, when the reception time data is acquired from the base stations 100 to 300, the data management unit 1060a registers the acquired reception time data in the reception time management table 1050a. In addition, when acquiring the step count data from the base stations 100 to 300, the data management unit 1060a registers the acquired step count data in the step count management table 1050b.

  In addition, when the data management unit 1060a acquires information indicating that the calculation of the position coordinates is completed from the position coordinate calculation unit 1060b, the data management unit 1060a deletes the data registered in the reception time management table 1050a.

  The position coordinate calculation unit 1060b is means for measuring (calculating) the position of the mobile terminal 460 based on the reception time management table 1050a and the step count management table 1050b. The position coordinate calculation unit 1060b registers the measurement result (measured time and position coordinates) in the position coordinate management table 1050c.

  Hereinafter, the processing of the position coordinate calculation unit 1060b will be specifically described. First, the position coordinate calculation unit 1060b refers to the reception time management table 1050a and determines whether or not the number of base stations that can receive radio waves from the mobile terminal 460 is less than a specified number (for example, 3). .

  When the number of base stations that can receive radio waves from the mobile terminal 460 is equal to or greater than the specified number, the position coordinate calculation unit 1060b uses the same method as the TDOA method that is a well-known technique to detect the position coordinates of the mobile terminal 460. Is calculated.

  That is, the position coordinate calculation unit 1060b obtains the hyperbola 1 from the time difference between the reception time of the base station 100 and the reception time of the base station 200, and the hyperbola 2 from the time difference between the reception time of the base station 100 and the reception time of the base station 300. (The position coordinates of the base stations 100 to 300 are assumed to be held by the position coordinate calculation unit 1060b). And the position coordinate calculation part 1060b calculates the intersection A of the hyperbola 1 and the hyperbola 2 as a position coordinate of the mobile terminal 460 (refer FIG. 23).

  On the other hand, when the number of base stations that can receive radio waves from the mobile terminal 460 is less than the specified number, the position coordinate calculation unit 1060b receives the reception time data transmitted from the base station that can receive the radio waves, and the number of steps. The position coordinates of the mobile terminal 460 are calculated based on the management table 1050b.

  Here, as an example, the processing of the position coordinate calculation unit 1060b when the base station 300 is not able to receive radio waves from the mobile terminal 460 will be described. First, the position coordinate calculation unit 1060a obtains the hyperbola 3 from the time difference between the reception time of the base station 100 and the reception time of the base station 200.

  When the current time is T2, the position coordinate calculation unit 1060a refers to the step count management table 1050b and extracts the step counts from time T1 to T2. The position coordinate calculation unit 1060a calculates a distance L obtained by multiplying the average step length of the user by the number of steps, and obtains a circle 2 having a radius L centered on the position coordinate A of the mobile terminal 460 at time T1 (movement at time T1). It is assumed that the position coordinates of the terminal 460 have been calculated).

  The positioning server 1000 calculates the intersection B5 between the hyperbola 3 and the circle 2 as the position coordinates of the mobile terminal 460 at time T2. The position coordinate calculation unit 1060b registers the calculated position coordinates and the calculated time in the position coordinate management table 1050c, and outputs information indicating that the calculation of the position coordinates is completed to the data management unit 1060a.

  Next, a processing procedure of the positioning server 1000 according to the sixth embodiment will be described. FIG. 27 is a flowchart of the process procedure of the positioning server 1000 according to the sixth embodiment. As shown in the figure, in the positioning server 1000, the data management unit 1060a acquires the reception time data from each base station (step S601), and registers the reception time data in the reception time management table 1050a (step S602).

  Then, the position coordinate calculation unit 1060b determines whether or not the position coordinates can be calculated only from the reception time data (step S603). If the position coordinates can be calculated (step S604, Yes), the position coordinate calculation unit 1060b determines from the reception time data. Based on the calculated hyperbola, the position coordinates of the mobile terminal 460 are calculated (step S605).

  On the other hand, when the position coordinates cannot be calculated only from the reception time data (No in step S604), the position coordinates of the mobile terminal 460 are calculated based on the step count data and the hyperbola calculated from the reception time data (step S606). ).

  As described above, in the wireless positioning system according to the sixth embodiment, since the positioning server 1000 calculates the position coordinates of the mobile terminal 460 based on the step count data and the reception time data of the mobile terminal 460, the mobile terminal 460 Even if the number of base stations that can receive radio waves from the mobile station is less than the prescribed number, the position coordinates of the mobile terminal 460 can be calculated.

  Next, the outline and features of the wireless positioning system according to the seventh embodiment will be described. FIG. 28 is a diagram for explaining the outline and features of the wireless positioning system according to the seventh embodiment. As shown in FIG. 28, this wireless positioning system includes base stations 100 to 300, a mobile terminal 400, and a positioning server 1100.

  Among these, when receiving radio waves from the mobile terminal 400, the base stations 100 to 300 are devices that specify the time when the radio waves are received and output information on the specified reception time to the positioning server 1100. In the following description, reception time information is referred to as reception time data.

  The positioning server 1100 is a device that calculates the position coordinates of the mobile terminal 400 based on the reception time data from the base stations 100 to 300. When the base stations 100 to 300 can receive radio waves from the mobile terminal 400, the positioning server 1100 calculates the position coordinates of the mobile terminal 400 based on the well-known TDOA method.

  For example, when the base stations 100 to 300 can receive radio waves from the mobile terminal 400 at time T1, and the positioning server 1100 acquires reception time data from the base stations 100 to 300, the reception time of the base station 100 and the base The hyperbola 1 is obtained from the time difference from the reception time of the station 200, and the hyperbola 2 is obtained from the time difference between the reception time of the base station 100 and the reception time of the base station 300 (the position coordinates of the base stations 100 to 300 are determined by the positioning server 1100). Hold it). Then, the positioning server 1100 calculates the intersection A between the hyperbola 1 and the hyperbola 2 as the position coordinates of the mobile terminal 400 at time T1.

  On the other hand, when any of the base stations 100 to 300 cannot receive radio waves from the mobile terminal 400 due to an obstacle or the like (when the number of base stations that can receive radio waves is less than the prescribed number “3”). The position coordinates of the mobile terminal 440 are calculated based on the reception time data transmitted from the base station that has received the radio wave and the map data.

  For example, a case where the base station 300 cannot receive the radio wave of the mobile terminal 400 at time T2 will be described. The positioning server 1100 acquires reception time data from the base stations 100 and 200, and calculates the hyperbola 3 from the time difference between the reception time of the base station 100 and the reception time of the base station 200.

  Then, the positioning server 1100 compares the map data and the position coordinate A of the mobile terminal 400 at time T1 to determine the route that the mobile terminal 400 moves, and determines the intersection B7 between the determined route and the hyperbola 3. Calculated as the position coordinates of the mobile terminal 400 at time T2.

  Thus, since the wireless positioning system according to the seventh embodiment calculates the position coordinates of the mobile terminal 400 based on the map data and the reception time data, the base station that can receive radio waves from the mobile terminal 400 Even if the number is less than the prescribed number, the position coordinates of the mobile terminal 400 can be calculated.

  Next, the configuration of base stations 100 to 300, mobile terminal 400, and positioning server 1100 shown in FIG. 28 will be described. The configuration of base stations 100 to 300 is the same as that of base station 100 shown in FIG. 2, and the configuration of mobile terminal 400 is the same as the configuration of mobile terminal 400 shown in FIG. .

  FIG. 29 is a functional block diagram of the configuration of the positioning server 1100 according to the seventh embodiment. As shown in the figure, the positioning server 1100 includes an input unit 1110, an output unit 1120, a communication control IF unit 1130, an input / output control IF unit 1140, a storage unit 1150, and a control unit 1160.

  Among these, the input unit 1110 is an input unit for inputting various types of information, and corresponds to a keyboard, a mouse, a microphone, and the like. A display (output unit 1120), which will be described later, also realizes a pointing device function in cooperation with the mouse.

  The output unit 1120 is an output unit that outputs various types of information, and corresponds to a display (or a monitor, a touch panel), a speaker, and the like. The communication control IF unit 1130 is means for controlling data communication with the base stations 100 to 300. The input / output control IF unit 1140 is a unit that controls input / output of data by the input unit 1110, the output unit 1120, the communication control IF unit 1130, the storage unit 1150, and the control unit 1160.

  The storage unit 1150 is a storage unit that stores data and programs necessary for various processes performed by the control unit 1160. In particular, as closely related to the present invention, the storage unit 1150 stores a reception time management table 1150a, map data 1150b, and a position coordinate management table 1150c.

  The reception time management table 1150a is a table for managing reception time data transmitted from the base stations 100 to 300. The data structure of the reception time management table 1150a is the same as that of the reception time management table 550a shown in FIG. The map data 1150b is data including information on the map (for example, road coordinates and routes).

  The position coordinate management table 1150 c is a table for managing information related to the position coordinates of the mobile terminal 400. The data structure of the position coordinate management table 1150c is the same as that of the position coordinate management table 550b shown in FIG.

  Returning to the description of FIG. 29, the control unit 1160 has an internal memory for storing programs and control data that define various processing procedures, and is a means for executing various processes. In particular, as closely related to the present invention, the control unit 1160 includes a data management unit 1160a and a position coordinate calculation unit 1160b.

  The data management unit 1160a is a means for managing data stored in the storage unit 1150. For example, when the reception time data is acquired from the base stations 100 to 300, the data management unit 1160a registers the acquired reception time data in the reception time management table 1150a. Note that the data management unit 1160a deletes the data registered in the reception time management table 1150a when acquiring information indicating that the calculation of the position coordinates is completed from the position coordinate calculation unit 1160b.

  The position coordinate calculation unit 1160b is means for measuring (calculating) the position of the mobile terminal 400 based on the reception time management table 1150a and the map data 1150b. The position coordinate calculation unit 1160b registers the measurement results (measured time and position coordinates) in the position coordinate management table 1150c.

  Hereinafter, the processing of the position coordinate calculation unit 1160b will be specifically described. First, the position coordinate calculation unit 1160b refers to the reception time management table 1150a and determines whether or not the number of base stations that can receive radio waves from the mobile terminal 400 is less than a specified number (eg, 3). .

  When the number of base stations that can receive radio waves from the mobile terminal 400 is greater than or equal to the specified number, the position coordinate calculation unit 1160b uses the same technique as the TDOA method, which is a well-known technique, to detect the position coordinates of the mobile terminal 400. Is calculated.

  That is, the position coordinate calculation unit 1160b obtains the hyperbola 1 from the time difference between the reception time of the base station 100 and the reception time of the base station 200, and the hyperbola 2 from the time difference between the reception time of the base station 100 and the reception time of the base station 300. (The position coordinates of the base stations 100 to 300 are assumed to be held by the position coordinate calculation unit 1160b). And the position coordinate calculation part 1160b calculates the intersection A of the hyperbola 1 and the hyperbola 2 as a position coordinate of the mobile terminal 400 (refer FIG. 28).

  On the other hand, when the number of base stations that can receive radio waves from the mobile terminal 400 is less than the specified number, the position coordinate calculation unit 1160b receives the reception time data transmitted from the base station that has received radio waves, the map The position coordinates of the mobile terminal 400 are calculated based on the data 1150b.

  Here, as an example, the processing of the position coordinate calculation unit 1160b when the base station 300 cannot receive radio waves from the mobile terminal 400 will be described. First, the position coordinate calculation unit 1160b calculates the hyperbola 3 from the time difference between the reception time of the base station 100 and the reception time of the base station 200.

  Then, the positioning server 1100 compares the map data 1150b and the position coordinate A of the mobile terminal 400 at time T1, determines the path of movement of the mobile terminal 400, and the intersection B7 between the determined path and the hyperbola 3. Is calculated as the position coordinates of the mobile terminal 400 at time T2.

  The position coordinate calculation unit 1160b registers the calculated position coordinates and the calculated time in the position coordinate management table 1150c, and outputs information indicating that the calculation of the position coordinates is completed to the data management unit 1160a.

  Next, a processing procedure of the positioning server 1100 according to the seventh embodiment will be described. FIG. 30 is a flowchart of the process procedure of the positioning server 1100 according to the seventh embodiment. As shown in the figure, in the positioning server 1100, the data management unit 1160a acquires reception time data from each base station (step S701), and registers the reception time data in the reception time management table 1150a (step S702).

  Then, the position coordinate calculation unit 1160b determines whether the position coordinates can be calculated only from the reception time data (step S703). If the position coordinates can be calculated (step S704, Yes), the position coordinate calculation unit 1160b determines from the reception time data. The position coordinates of the mobile terminal 400 are calculated based on the calculated hyperbola (step S705).

  On the other hand, when the position coordinates cannot be calculated only from the reception time data (step S704, No), the position coordinates of the mobile terminal 400 are calculated based on the map data and the hyperbola calculated from the reception time data (step S706). ).

  As described above, in the wireless positioning system according to the seventh embodiment, since the positioning server 1100 calculates the position coordinates of the mobile terminal 400 based on the map data of the mobile terminal 400 and the reception time data, the mobile terminal 400 Even if the number of base stations that can receive radio waves from the mobile station is less than the prescribed number, the position coordinates of the mobile terminal 400 can be calculated.

  Next, the outline and features of the wireless positioning system according to the eighth embodiment will be described. FIG. 31 is a diagram for explaining the outline and features of the wireless positioning system according to the eighth embodiment. As shown in FIG. 31, this wireless positioning system includes base stations 110 and 210, a mobile terminal 480, and a positioning server 1200.

  Among these, the base stations 110 and 210 are devices that calculate the distance to the mobile terminal 480 by transmitting and receiving radio waves to and from the mobile terminal 400 and output the calculated distance information to the positioning server 1200. is there. In the following description, the distance between the base station (110 or 210) and the mobile terminal 480 is expressed as distance data.

  The positioning server 1200 is a device that calculates the position coordinates of the mobile terminal 480 based on the distance data acquired from the base stations 110 and 210. When the base stations 110 and 210 can receive radio waves from the mobile terminal 480, the positioning server 1200 calculates the position coordinates of the mobile terminal 480 based on the well-known TWR-TOA method.

  For example, when the base stations 110 and 120 can transmit and receive radio waves to and from the mobile terminal 480 at time T1, and the positioning server 1200 acquires distance data from the base stations 110 and 210, circles 1 and 2 are obtained.

  Circle 1 is a circle centered on the position coordinates of the base station 110 and a radius of the distance between the base station 110 and the mobile terminal 480. Circle 2 is centered on the position coordinates of the base station 210 and It is a circle whose radius is the distance from the mobile terminal 480. The positioning server 1200 calculates the intersection A between the circle 1 and the circle 2 as the position coordinates of the mobile terminal 480.

  On the other hand, when one of the base stations 110 and 220 cannot receive radio waves from the mobile terminal 480 due to an obstacle or the like (when the number of base stations that can receive radio waves is less than the prescribed number “2”). The position coordinates of the mobile terminal 480 are calculated based on the distance data transmitted from the base station that has received the radio wave and the moving direction of the mobile terminal 480 at the past time point.

  For example, a case where the base station 210 cannot transmit / receive radio waves to / from the mobile terminal 480 at time T2 will be described. The positioning server 1200 acquires distance data from the base station 110 and calculates a circle 3 centered on the position coordinates of the base station 110.

  Then, the positioning server 1200 obtains an intersection point B8 between the line 3 extended from the position coordinate A at time T1 in the movement direction of the mobile terminal 480 and the circle 3, and the obtained intersection point B8 is used as the position coordinate of the mobile terminal 480 at time T2. calculate. However, as a precondition, the base stations 110 and 210 can transmit and receive radio waves to and from the mobile terminal 480 at time T1, and the positioning server 1200 calculates the position coordinates A and the moving direction of the mobile terminal 480 at time T1. It shall be.

  As described above, the radio positioning system according to the eighth embodiment calculates the position coordinates of the mobile terminal 480 based on the movement direction and distance data of the mobile terminal 480 at the past time point. Even if the number of base stations capable of transmitting and receiving is less than the prescribed number, the position coordinates of the mobile terminal 480 can be calculated.

  Next, configurations of base stations 110 to 210, mobile terminal 480, and positioning server 1200 shown in FIG. 31 will be described in order. FIG. 32 is a functional block diagram of the configuration of the base stations 110 and 210 according to the eighth embodiment. Since the base stations 110 and 210 have the same configuration, only the configuration of the base station 110 will be described here.

  As shown in FIG. 32, this base station 110 includes an MPU 111, a PN sequence generation unit 112, a PPM data modulation unit 113, an impulse generation unit 114, bandpass filter units (BPF) 115 and 119, a power amplifier Unit (PA) 116, transmission time holding unit 117, timer 118, low noise amplifier unit (LNA) 120, correlator 122, reception time holding unit 123, and PPM data demodulation unit 124.

  Among these, the MPU 111 is a control unit that has an internal memory for storing programs and control data that define various processing procedures, and executes various processing procedures by these. In particular, as closely related to the present invention, the MPU 111 calculates the distance between the base station 110 and the mobile terminal 400 and outputs the calculated distance information (distance data) to the positioning server 1200.

  The MPU 111 acquires the transmission time when the radio wave is transmitted to the mobile terminal 400 from the transmission time holding unit 117, acquires the reception time when the radio wave is received from the mobile terminal 400 from the reception time holding unit 123, and sets the transmission time and the reception time. Based on the difference and the speed of light, the distance between the base station 110 and the mobile terminal 400 is calculated.

  The PN sequence generation unit 112 is means for generating a PN sequence when transmitting transmission data. The PN sequence generation unit 112 outputs the generated PN sequence to the PPM data modulation unit 113, the transmission time holding unit 117, and the correlator 122.

  PPM data modulation section 113 is means for pulse position modulation of transmission data using a PN signal input from PN sequence generation section 112. The PPM data modulation unit 113 outputs a pulse position modulated transmission data signal to the impulse generation unit 114.

  The impulse generator 114 is means for generating an impulse radio wave based on the signal input from the PPM data modulator 113. The impulse generation unit 114 outputs the generated impulse signal to the band pass filter unit 115.

  The band-pass filter unit 115 is a means for removing an extra frequency component included in the acquired impulse radio wave when the impulse radio wave is acquired from the impulse generator 114. The bandpass filter unit 115 outputs an impulse radio wave from which an extra frequency component is removed to the power amplifier unit 116.

  The transmission time holding unit 117 is means for specifying a transmission time of a radio wave transmitted to the mobile terminal 400 and outputting information on the specified transmission time to the MPU 111. For example, the transmission time holding unit 117 specifies the time when the PN sequence is acquired from the PN sequence generation unit 112 as the transmission time. The timer 118 is means (timer) for outputting time information to the transmission time holding unit 117 and the reception time holding unit 123. The timer 118 operates in synchronization with the clock from the positioning server 1200.

  The band pass filter unit 119 is means for removing an extra frequency component included in the received impulse radio wave when the impulse radio wave is received from the mobile terminal 400 via the antenna. The band pass filter unit 119 outputs an impulse radio wave from which an extra frequency component is removed to the low noise amplifier unit 120.

  The low noise amplifier unit 120 is a unit that amplifies the impulse radio wave input from the band pass filter unit 119. The low noise amplifier unit 120 outputs the amplified impulse radio wave to the pulse detection unit 121.

  The pulse detector 121 is means for detecting a pulse included in the impulse radio wave. The pulse detector 121 is realized by a known diode envelope detection circuit and a comparator. The pulse detector 121 outputs the detected pulse to the correlator 122.

  The correlator 122 is a means for detecting the preamble part of the pulse and establishing synchronization by comparing the pulse input from the pulse detection unit 121 with the RN sequence input from the PN sequence generation unit 112.

  When the correlator 122 detects the preamble part of the pulse, the reception time holding part 123 detects the data part following the preamble part of the pulse, and specifies the information (reception time) of the time when the data part is detected. It is a means to hold. Reception time holding section 123 outputs reception time information to MPU 111.

  The PPM data demodulator 124 demodulates the PPM (pulse position modulated signal) of the data part that follows the preamble part of the pulse when the correlator 122 detects the preamble part of the pulse, and generates reception data It is. The PPM data demodulation unit 124 outputs the generated reception data to the MPU 111.

  The configuration of mobile terminal 480 is the same as that of base station 110 shown in FIG. However, when the mobile terminal 480 receives radio waves from the base stations 110 and 210, the mobile terminal 480 returns a radio wave as a response to the received radio wave to the transmission source.

  FIG. 33 is a functional block diagram of the configuration of the positioning server 1200 according to the eighth embodiment. As shown in the figure, the positioning server 1200 includes an input unit 1210, an output unit 1220, a communication control IF unit 1230, an input / output control IF unit 1240, a storage unit 1250, and a control unit 1260.

  Among these, the input unit 1210 is an input unit that inputs various types of information, and corresponds to a keyboard, a mouse, a microphone, and the like. A display (output unit 1220) described later also realizes a pointing device function in cooperation with the mouse.

  The output unit 1220 is an output unit that outputs various types of information, and corresponds to a display (or a monitor, a touch panel), a speaker, and the like. The communication control IF unit 1230 is means for controlling data communication with the base stations 110 and 210. The input / output control IF unit 1240 is a unit that controls input / output of data by the input unit 1210, the output unit 1220, the communication control IF unit 1230, the storage unit 1250, and the control unit 1260.

  The storage unit 1250 is a storage unit that stores data and programs necessary for various processes performed by the control unit 1260. In particular, as closely related to the present invention, the storage unit 1250 stores a distance management table 1250a and a position coordinate management table 1250b.

  The distance management table 1250a is a table for managing distance data transmitted from the base stations 110 and 210. FIG. 34 is a diagram illustrating an example of the data structure of the distance management table 1250a according to the eighth embodiment.

  As shown in FIG. 34, the distance management table 1250a includes base station identification information for identifying a base station, distance information (corresponding to distance data), and time information that is information on the time at which the distance data was measured. .

  For example, the base station identification information “1001” corresponds to the base station 110, and the base station identification information “1002” corresponds to the base station 210, respectively. Also, if there is no distance data corresponding to the base station identification information “1002”, it indicates that the base station 210 cannot transmit / receive radio waves to / from the mobile terminal 400 due to an obstacle or the like. .

  The position coordinate management table 1250b is a table for managing information related to the position coordinates of the mobile terminal 400. The data structure of the position coordinate management table 1250b is the same as that of the position coordinate management table 550b shown in FIG.

  Returning to the description of FIG. 33, the control unit 1260 has an internal memory for storing programs and control data defining various processing procedures, and is a means for executing various processes. In particular, as closely related to the present invention, the control unit 1260 includes a data management unit 1260a and a position coordinate calculation unit 1260b.

  The data management unit 1260a is a means for managing data stored in the storage unit 1250. For example, if the data management unit 1260a acquires distance data from the base stations 110 and 210, the data management unit 1260a registers the acquired distance data in the distance management table 1250a. If the data management unit 1260a acquires information indicating that the calculation of the position coordinates is completed from the position coordinate calculation unit 1260b, the data management unit 1260a deletes the data registered in the distance management table 1250a.

  The position coordinate calculation unit 1260b is means for measuring (calculating) the position of the mobile terminal 400 based on the distance management table 1250a and the position coordinate management table 1250b. The position coordinate calculation unit 1260b registers the measurement result (measured time and position coordinates) in the position coordinate management table 1250b.

  Hereinafter, the processing of the position coordinate calculation unit 1260b will be specifically described. First, the position coordinate calculation unit 1260b refers to the distance management table 1250a and determines whether or not the number of base stations that can transmit and receive radio waves from the mobile terminal 400 is less than a specified number (for example, 2).

  When the number of base stations that can receive radio waves from the mobile terminal 400 is greater than or equal to the specified number, the position coordinate calculation unit 1260b uses the same technique as the TWR-TOA method, which is a well-known technique, of the mobile terminal 400. Calculate the position coordinates.

  That is, the position coordinate calculation unit 1260b obtains circles 1 and 2 based on the distance data acquired from the base station 110 and the distance data acquired from the base station 210, and the intersection A between the circle 1 and the circle 2 is determined as the mobile terminal 400. Is calculated as the position coordinates.

  On the other hand, when one of the base stations 110 and 220 cannot receive radio waves from the mobile terminal 400 due to the influence of an obstacle or the like (when the number of base stations that can receive radio waves is less than the prescribed number “2”). The position coordinates of the mobile terminal 400 are calculated based on the distance data transmitted from the base station that has received the radio wave and the movement direction of the mobile terminal 400 at the past time point.

  Here, as an example, the processing of the position coordinate calculation unit 1260b when the base station 210 cannot receive radio waves from the mobile terminal 400 is described. First, the position coordinate calculation unit 1260b obtains the circle 3 based on the distance data received from the base station 110. And the position coordinate calculation part 1260b specifies the moving direction of the mobile terminal 400 based on the position coordinate management table 1250b.

  The position coordinate calculation unit 1260b may calculate the moving direction of the mobile terminal 400 in any way. For example, the position coordinate calculation unit 1260b lastly registers a position coordinate (FIG. 6) from a position coordinate immediately before the position coordinate last registered in the position coordinate management table 1250b (position coordinate “C” in FIG. 6). The direction of the position coordinates “A”) can be specified as the moving direction of the mobile terminal 400.

  Then, the positioning server 1200 obtains an intersection B8 between the line 3 extended from the position coordinate A in the movement direction of the mobile terminal 400 and the circle 3, and calculates the obtained intersection B8 as the position coordinate of the mobile terminal 400 at time T2. However, as a precondition, the base stations 110 and 210 can transmit and receive radio waves with the mobile terminal 400 at time T1, and the positioning server 1200 calculates the position coordinate A and the moving direction of the mobile terminal 400 at time T1. It shall be.

  As described above, since the wireless positioning system according to the eighth embodiment calculates the position coordinates of the mobile terminal 400 based on the movement direction and distance data of the mobile terminal 400 at the past time point, the radio wave from the mobile terminal 400 is calculated. Even if the number of base stations capable of transmitting and receiving is less than the prescribed number, the position coordinates of the mobile terminal 400 can be calculated.

  Here, the wireless positioning system shown in Example 8 is an example when the position coordinate specifying method of the mobile terminal according to Example 1 is applied to the TWR-TOA method. Similarly, the position coordinate specifying method of the mobile terminal described in the second to seventh embodiments can be applied to the TWR-TOA method.

  By the way, as for the method of calculating the position coordinates of the mobile terminal shown in the first to eighth embodiments, any one may be selected to calculate the position coordinates of the mobile terminal, or several methods may be combined. May be. For example, when m types of methods are combined, the position coordinates (Xt, Yt) may be calculated as an average value appropriately weighted.

For example, when the position coordinates calculated by the method 1 are (X1, Y1),... And the position coordinates calculated by the method m are (Xm, Ym), the weights W1,.
Xt = W1X1 + W2Y2 + ... + WmXm
Yt = W1Y1 + W2Y2 + ... + WmYm
It becomes. However, W1 + W2 +... + Wm = 1.

  The weights W1 to Wm may be set in any way. For example, when the necessary number of base stations (for example, three) can be received in the past and positioning is possible, An optimum weight may be calculated from the position information, and the weight may be used when the required number cannot be obtained (for example, time T2).

That is, the measurement results (positional coordinates) obtained at times T1,..., Tn are Xt (T1), Yt (T1),..., Xt (Tn), Yt (Tn), and the method m Assuming that the position coordinates at Xm (T1), Ym (T1),..., Xm (Tn), Ym (Tn), Xt (T1), Yt (T1) to Xt (T1), Yt (T1) And Xm (T1), Ym (T1) to Xm (Tn), and Ym (Tn) can be expressed by the following equations using weights W1 to Wm.

Moreover, Formula (1) can be replaced with the following formula.

Ｐを

Ｗを

とすると、式（２）は、
Ｐｔ＝ＰＷによって表すことができる。 And Pt

P

W

Then, equation (2) becomes
Pt = PW can be represented.

Therefore, the weight W is
W = (P ^T P) ⁻¹ P ^T Pt
Can be obtained. However, ^AT is a transposed matrix of A, and A ^-1 is an inverse matrix of A. The position coordinate calculation unit of the positioning server calculates the weight using the above formula, and calculates the position coordinates of the mobile terminal.

  By the way, among the processes described in the present embodiment, all or a part of the processes described as being automatically performed can be manually performed, or the processes described as being performed manually can be performed. All or a part can be automatically performed by a known method. In addition, the processing procedure, control procedure, specific name, and information including various data and parameters shown in the above-described document and drawings can be arbitrarily changed unless otherwise specified.

  Further, each component of the positioning servers 500 to 1200 shown in the first to eighth embodiments is functionally conceptual, and does not necessarily need to be physically configured as illustrated. In other words, the specific form of distribution / integration of each device is not limited to that shown in the figure, and all or a part thereof may be functionally or physically distributed or arbitrarily distributed in arbitrary units according to various loads or usage conditions. Can be integrated and configured. Furthermore, each processing function performed by each device may be realized by a CPU and a program that is analyzed and executed by the CPU, or may be realized as hardware by wired logic.

  FIG. 35 is a diagram illustrating a hardware configuration of a computer 60 configuring the positioning server according to the embodiment. As shown in FIG. 35, the computer (positioning server) 60 includes an input device 61, a display 62, a RAM (Random Access Memory) 63, a ROM (Read Only Memory) 64, and a communication control device 65 that performs data communication with the base station. A medium reader 66 that reads data from a storage medium, a CPU (Central Processing Unit) 67, and an HDD (Hard Disk Drive) 68 are connected by a bus 69.

  The HDD 68 stores a position coordinate calculation program 68b that exhibits the same functions as the functions of the measurement servers 500 to 1200 described above. When the CPU 67 reads and executes the position coordinate calculation program 68b, the position coordinate calculation process 67a is activated. Here, the position coordinate calculation process 67a corresponds to the data management units 560a to 1260a and the position coordinate calculation units 560b to 1260a described in the first to eighth embodiments.

  The HDD 68 stores various data 68a corresponding to the data stored in the storage units 550 to 1250 of the first to eighth embodiments. The CPU 67 reads various data 68a stored in the HDD 68 into the RAM 63, and calculates the position coordinates of the mobile terminal based on the various data 63a and data transmitted from the base station.

  Incidentally, the position coordinate calculation program 68b shown in FIG. 35 is not necessarily stored in the HDD 68 from the beginning. For example, a “portable physical medium” such as a flexible disk (FD), a CD-ROM, a DVD disk, a magneto-optical disk, or an IC card inserted into a computer, or a hard disk drive (HDD) provided inside or outside the computer. The position coordinate calculation program 68b is stored in the “fixed physical medium” of FIG. 1, and further, “another computer (or server)” connected to the computer via a public line, the Internet, a LAN, a WAN, or the like. The computer may read out and execute the position coordinate calculation program 68b from these.

  Regarding the embodiment including the above Examples 1 to 8, the following additional notes are further disclosed.

(Supplementary note 1) Acquisition means for acquiring radio wave information including information on a time at which radio waves are received from the mobile terminal or a distance from the mobile terminal from a base station where a position for transmitting and receiving radio waves with the mobile terminal is known
When the number of base stations capable of transmitting / receiving radio waves to / from the mobile terminal is less than a specified number, positioning information including the position of the mobile terminal measured in the past and the measured time is installed in the mobile terminal A positioning device comprising: calculating means for calculating the position of the mobile terminal based on the information or map information of the sensor and the radio wave information.

(Additional remark 2) The said calculation means calculates the moving direction of the said mobile terminal in the past time based on the said positioning information, and calculates the position of the said mobile terminal based on the calculated moving direction and the said electromagnetic wave information The positioning apparatus according to Supplementary Note 1, wherein

(Additional remark 3) The said calculation means calculates the moving speed of the said mobile terminal in the past time based on the said positioning information, and calculates the position of the said mobile terminal based on the calculated moving speed and the said electromagnetic wave information The positioning device according to appendix 1 or 2, characterized in that:

(Additional remark 4) The said calculation means calculates the speed vector of the said mobile terminal in the past time based on the said positioning information, and calculates the position of the said mobile terminal based on the calculated speed vector and the said electromagnetic wave information 4. The positioning device according to appendix 1, 2 or 3, wherein

(Supplementary Note 5) The calculation means calculates the position of the mobile terminal based on the radio wave information and the radio wave information acquired from the base station before acquiring the radio wave information from the base station. 5. The positioning device according to any one of Supplementary notes 1 to 4, which is characterized.

(Additional remark 6) The said calculation means calculates the estimated position of the said mobile terminal by integrating the acceleration and angular velocity of the said mobile terminal contained in the information of the said sensor, and based on the calculated estimated position and the said radio wave information The positioning device according to any one of appendices 1 to 5, wherein the position of the mobile terminal is calculated.

(Additional remark 7) The said calculation means calculates the movement amount of the said mobile terminal based on the number-of-steps information of the user contained in the information of the said sensor, Based on the calculated movement amount and the said radio wave information, the said mobile terminal's The positioning device according to any one of appendices 1 to 6, wherein the position is calculated.

(Additional remark 8) The said calculation means calculates the position of the said mobile terminal based on the movement path | route of the said mobile terminal contained in the said map information, and the said electromagnetic wave information, The any one of Additional remarks 1-7 characterized by the above-mentioned. The positioning device according to one.

(Supplementary note 9) The calculation means includes a first position of the mobile terminal calculated based on the positioning information and radio wave information, and a second position of the mobile terminal calculated based on the sensor information and radio wave information. And the third position of the mobile terminal calculated on the basis of the map information and the radio wave information, and a value obtained by weighting and averaging the first, second, and third positions The positioning device according to any one of appendices 1 to 8, wherein the positioning device calculates the position of the terminal.

(Appendix 10) A positioning system having a base station whose position for transmitting / receiving radio waves to / from a mobile terminal is known, and a positioning device that communicates with the base station and measures the position of the mobile terminal,
The positioning device is
An acquisition means for acquiring radio wave information including information on a time at which radio waves are received from the mobile terminal or distance from the mobile terminal from the base station;
When the number of base stations capable of transmitting / receiving radio waves to / from the mobile terminal is less than a specified number, positioning information including the position of the mobile terminal measured in the past and the measured time is installed in the mobile terminal A positioning system comprising: calculating means for calculating the position of the mobile terminal based on the information or map information of the sensor and the radio wave information.

10, 20, 30, 100, 110, 200, 300 Base station 50, 400, 450, 460 Mobile terminal 60 Computer 61 Input device 62 Display 63 RAM
63a, 68a Various data 64 ROM
65 Communication Control Device 66 Medium Reading Device 67 CPU
67a Position coordinate calculation process 68 HDD
68b Position coordinate calculation program 69 Bus 101, 115, 119, 405, 457, 466 BPF
102,120 LNA
103, 121 Pulse detection unit 104, 112, 402, 454, 463 PN sequence generation unit 105, 122 Correlator 106, 123 Reception time holding unit 107, 118 Timer 108 PPM data demodulation unit 109, 111, 401, 453, 462 MPU
113, 403, 455, 464 PPM data modulation section 114, 404, 456, 465 Impulse generation section 116, 406, 458, 467 PA
124 PPM data demodulation unit 117 Transmission time holding unit 451 Acceleration sensor 452 Gyro sensor 461 Step sensor 500, 600, 700, 800, 900, 1000, 1100, 1200 Positioning server 510, 610, 710, 810, 910, 1010, 1110, 1210 Input unit 520, 620, 720, 820, 920, 1020, 1120, 1220 Output unit 530, 630, 730, 830, 930, 1030, 1130, 1230 Communication control IF unit 540, 640, 740, 840, 940, 1040 , 1140, 1240 Input / output control IF unit 550, 650, 750, 850, 910, 1050, 1150, 1250 Storage unit 550a, 650a, 750a, 850a, 950a, 1050a, 1150a, 1250a Reception time tube Table 550b, 650b, 750b, 850b, 950c, 1050c, 1150c, 1250b Position coordinate management table 560, 660, 760, 860, 960, 1060, 1160, 1260 Control unit 560a, 660a, 760a, 860a, 960a, 1060a, 1160a , 1260a Data management unit 560b, 660b, 760b, 860b, 960b, 1060b, 1160b, 1260b Position coordinate calculation unit 950b Acceleration / angular velocity management table 1050b Step count management table 1150b Map data 1250a Distance management table

Claims (5)

An acquisition means for acquiring radio wave information including information on a time at which radio waves are received from the mobile terminal or distance from the mobile terminal, from a base station where a position for transmitting and receiving radio waves with the mobile terminal is known;
When the number of base stations capable of transmitting / receiving radio waves to / from the mobile terminal is less than a specified number, positioning information including the position of the mobile terminal measured in the past and the measured time is installed in the mobile terminal A positioning device comprising: calculating means for calculating the position of the mobile terminal based on the information or map information of the sensor and the radio wave information.   The calculating means calculates a moving direction of the mobile terminal at a past time point based on the positioning information, and calculates a position of the mobile terminal based on the calculated moving direction and the radio wave information. The positioning device according to claim 1.   The calculating means calculates a moving speed of the mobile terminal at a past time point based on the positioning information, and calculates a position of the mobile terminal based on the calculated moving speed and the radio wave information. The positioning device according to claim 1 or 2.   The calculating means calculates a velocity vector of the mobile terminal at a past time point based on the positioning information, and calculates a position of the mobile terminal based on the calculated velocity vector and the radio wave information. The positioning device according to claim 1, 2, or 3.   The calculation means calculates the position of the mobile terminal based on the radio wave information and the radio wave information acquired from the base station before acquiring the radio wave information from the base station. Item 5. The positioning device according to any one of Items 1 to 4.

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