JP2011117879A - Position specifying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inexpensive position specifying device capable of precisely specifying a position of a mobile terminal moving along a long side in a rectangular service area by providing a relay station. <P>SOLUTION: A start point signal and a direction measurement signal are transmitted from a reference station 101. In the relay station 102, a position specifying signal synchronized with the received and reproduced start point signal and a direction measurement signal that is separately generated are transmitted. In the mobile terminal 103, the phase of the direction measurement signal transmitted from the reference station 101 is measured, and the phase of the distance measurement signal and the phase of the direction measurement signal received and reproduced from the relay station 102 are measured based on the start point signal directly received and reproduced from the reference station 101 as a reference. The position of the own-station is specified from the measurement results of the phases by a triangular method. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

The present invention is to provide a position specifying device for specifying a position of a mobile terminal moving along a long side in a rectangular service area with high accuracy at a low cost by providing a relay station.

2. Description of the Related Art Conventionally, there has been proposed an apparatus for specifying a position of a transmitting unit by relaying a radio signal transmitted from a transmitting unit using a relay station and receiving the signal using a receiving unit. (For example, see Patent Documents 1 to 6)
JP H06-003428 A JP H11-148800 A JP H11-21118A JP H08-233937 JP H10-268028 JP 2008-304192 A

FIG. 8 shows a conventional “position evaluation method” described in Patent Document 1. In FIG. 8, the first measurement signal from one mobile station is received by the master station and a plurality of relay stations, and each relay station transmits the second measurement signal at the same frequency after a unique delay time that does not overlap. Then, the master station receives the first measurement signal from the mobile station and the second measurement signal from the relay station, and measures the arrival time difference or the phase difference to obtain the first measurement signal as the master station. The relative time difference between the time received by each relay station and the time received by each relay station is calculated, and the position of the mobile station is calculated by hyperbolic navigation.
However, although it is described that each relay station transmits the second measurement signal at the same frequency after a unique delay time that does not overlap, a specific configuration and method are not described, and there is a problem of feasibility. There is.

In Patent Document 2, a central station c and relay stations a and b are arranged so as to surround a landmine source. The positioning signal S transmitted from the mine device 1 is received by the central station c and the relay stations a and b at timings corresponding to the distance from the mine device 1, respectively. The central station c is supposed to determine the position of the mine device 1 by hyperbolic navigation based on the reception timing information tc at the local station and the reception timing information ta and tb notified from the relay stations a and b.
However, although the delay time data ta and tb (or phase data) detected by the relay stations a and b are reported to the central station c via a wireless route, there is a specific configuration for detecting the delay time with high accuracy. Since it is not described and requires a separate wireless route, there is a problem of feasibility.

Further, in Patent Document 3, the transmitter 1 at the position B transmits a transmission signal modulated by the reference signal, and the relay 2 at the position A that receives this transmits a relay signal whose frequency has been converted. The distance measuring device 3 at the position C receives both the transmission signal of the transmitter 1 having a different frequency and the relay signal of the relay device 2, demodulates the original reference signal, detects the phase difference, and thereby detects the distance x , The distance y is calculated.
However, the repeater 2 is a frequency division simultaneous transmission / reception method in which the frequency is converted, and it is necessary to install the repeater 2 separately from the transmitter 1 and cannot be applied when the repeater 2 is a time division method. There is a problem that distance measurement cannot be performed in a place where the repeater 2 is not installed.

Moreover, in patent document 4, from the carrying side apparatus 2 toward the installation side apparatus 1 with which the pin 7 standingly arranged by the cup 3 arrange | positioned on the green 8 for every hole of a golf course is mounted | worn. The radio wave 4 of a predetermined pulse code string is transmitted, the radio wave 4 of another pulse code string transmitted from the installation side device 1 toward the return carrying side device 2 is received, and the transmission radio wave 4 and the reception The distance between the installation side device 1 and the player or caddy is measured based on the time difference from the radio wave 5 and is displayed on the display 6 of the carrying side device 2.
However, since the time difference is measured using a pulse code string to measure the distance, there is a problem that an error occurs in the distance measurement and the measurement cannot be performed with high accuracy.

Further, in Patent Document 5, an optimum code sequence is selected by the PN code generation unit 11 based on the approximate distance value of the artificial satellite 17, a transmission PN code of the code sequence is generated, and a signal of the transmission PN code is obtained. Transmit to the artificial satellite, receive the folded signal, select the received PN code from the optimum code sequence based on the approximate distance value, and use the selected received PN code and the transmitted PN code, the artificial satellite 17 It is said that it is comprised so that the distance of may be measured.
However, when a PN code is turned back in time division by an artificial satellite, synchronization is established in a short time and with high accuracy, and it is difficult to maintain synchronization for a long time after the PN code disappears. There are problems that become complicated, feasible and expensive.

  Further, in Patent Document 6, a carrier wave having a frequency f1 is QPSK modulated by a rectangular wave DT having a frequency f1 / MN and transmitted from the first transceiver 1000 to the second transceiver 2000. The second transceiver 2000 reproduces the carrier wave by the Costas loop and demodulates the rectangular wave D2. Thereafter, a carrier wave having a frequency f2 (≠ f1) is generated, and the carrier wave having the frequency f2 is QPSK-modulated with the demodulated rectangular wave, and transmitted back from the second transceiver 2000 to the first transceiver 1000.

The first transceiver 1000 demodulates the rectangular wave DR with the frequency f1 / MN from here. The rectangular wave DR is multiplied by M to detect a phase difference from the 1 / N frequency divider 14 that is an input of the 1 / M frequency divider 15 that generates the rectangular wave DT.
The phase difference is assumed to be a time difference in which radio waves have passed through twice the distance from the first transceiver 1000 to the second transceiver 2000.
However, the first transmitter / receiver 1000 and the second transmitter / receiver 2000 need to transmit and receive at different frequencies, and cannot be applied when communicating in a time division manner, resulting in problems of feasibility and cost.

The present invention provides a position specifying device that can specify a position of a mobile terminal that moves along a long side in a rectangular service area with a relay station at a low cost, at low cost.

  In the position specifying device according to the present invention, a wireless signal including a position specifying request signal is intermittently transmitted from a portable terminal or a reference station, a relay station is provided, a starting point signal is reproduced from the received position specifying request signal, and a reproduced starting point is obtained. Signal and synchronous oscillating means are established with high accuracy, holding the synchronization even after the origin signal disappears, a single or a plurality of distance measurement signals synchronized with or orthogonal to the output signal of the synchronous oscillator, A position specifying signal including a separately generated direction measurement signal is generated, and a radio signal including the generated position specifying signal is relayed or retransmitted in a time division manner to the reference station or the mobile terminal.

The reference station or portable terminal reproduces the received origin signal, establishes synchronization between the reproduced origin signal and the synchronous oscillating means with high accuracy, and maintains synchronization with high accuracy even after the origin signal disappears. A clock signal for measurement is generated, the position specifying signal received from the plurality of relay stations is reproduced, and the phase of the distance measurement signal and the direction measurement signal included in the position specifying signal is determined using the clock signal. The position of the portable terminal can be specified with high accuracy by measuring with high accuracy and in real time and applying the trigonometry from the measurement result.

In the position specifying device of the present invention, there is an advantage that the position of the mobile terminal moving along the long side in the rectangular service area can be specified with high accuracy using an inexpensive device.

  As shown in FIG. 1, FIG. 4, FIG. 5 and claim 1, the position specifying device according to the present invention receives a radio signal which is an ultrasonic signal, a high frequency signal or an optical signal, as shown in the first embodiment of the present invention. In the position identification device used, the reference station 101 for transmitting the radio signal, and the relay station 102 for receiving the radio signal transmitted from the reference station 101 and relaying or retransmitting at the same frequency and time division And a radio signal transmitted from or relayed from the reference station 101 and the relay station 102 while moving in the long sides 22a and 22b of the rectangular service area to identify the position of the own station Terminal 103,

The reference station 101 includes at least a control unit 11a, a transmission unit 12a, an antenna switching unit 14a, and a plurality of antennas or transducers 2a and 2b.
The control unit 11a generates a starting signal, the antenna switching unit 14a periodically switches the plurality of antennas or the transducers 2a and 2b, and the transmitting unit 12a generates at least separately from the starting signal. A radio signal including a direction measurement signal is transmitted as a burst signal intermittently toward the space via the plurality of antennas or transducers 2a and 2b, and the plurality of antennas or transducers 2a and 2b. However, it is installed along the direction of the long side of the rectangular service area at an interval of one wavelength or less of the direction measurement signal and directing each directivity horizontally, diagonally downward, or downward.

The relay station 102 has at least receiving means 13c, control means 11c, transmitting means 12c, antenna switching means 14c, and a plurality of antennas or transducers 2c and 2d,
The receiving unit 13c receives a radio signal transmitted from the reference station 101 from the space via the plurality of antennas or transducers 2c and 2d, and the control unit 11c receives the radio signal received from the reference station 101. The start signal included in the signal is reproduced, the rising point, falling point, or zero crossing timing of the starting signal is detected, and synchronization with the starting signal is established instantaneously at the timing, and the synchronization is maintained. Generate the clock signal,

  A distance measurement signal that is synchronized with or orthogonal to the clock signal is generated, and the plurality of antennas or transducers 2c and 2d are arranged at intervals of one wavelength or less of the direction measurement signal and each directivity is set in the horizontal direction. , Facing diagonally downward, or downward, along the direction of the long side of the rectangular service area, so as to face or couple with a plurality of antennas or transducers 2a, 2b of the reference station 101, The antenna switching unit 14c periodically switches the plurality of antennas or the transducers 2c and 2d, and the transmitting unit 12c includes at least a distance measurement signal generated by the control unit 11c and a direction measurement signal generated separately. A radio signal including a signal is directed to space through the plurality of antennas or the transducers 2c and 2d as a burst signal at time-division intervals. The sending,

The portable terminal 103 has at least a receiving unit 13b, a control unit 11b, and an antenna or a transducer 2e,
The receiving means 13b receives radio signals transmitted from the reference station 101 and the relay station 102 from space via an antenna or a transducer 2e, and the control means 11b receives radio signals received from the relay station 102. From the reference station 101 and the relay station 102, the direction measurement signal received from the reference station 101 corresponding to a plurality of antennas or transducers of each station, and the origin received from the reference station 101. Play the signal,

The timing of the rising point, the falling point, or the zero crossing point of the reproduced starting point signal is detected, and the clock signal is generated while the synchronization is established instantaneously with the starting point signal at the timing, and the clock is generated. From the result of measuring the phase of the distance measurement signal received and reproduced from the relay station 102 with reference to the signal, and the result of measuring the phase of the direction measurement signal received and reproduced from the reference station 101 and the relay station 102, trigonometry To identify the location of the local station.

  Further, as shown in FIGS. 2, 4, 5 and 2 according to the second embodiment of the present invention, in the position specifying device using a radio signal which is an ultrasonic signal, a high frequency signal or an optical signal, The mobile terminal 103 for transmitting a radio signal while moving in the long sides 22a and 22b of the rectangular service area, and the radio signal transmitted from the mobile terminal 103 are received and relayed at the same frequency and in a time division manner. Alternatively, a relay station 102 for re-transmission and a reference station 101 for receiving a radio signal transmitted or relayed from the mobile terminal 103 and the relay station 102 and specifying the position of the mobile terminal 103 And

The portable terminal 103 includes at least a control unit 11b, a transmission unit 12b, and an antenna or a transducer 2e,
The control unit 11b generates a starting point signal, and the transmitting unit 12b transmits a radio signal including at least the starting point signal and a separately generated direction measurement signal as a burst signal intermittently to the antenna or transmission / reception wave. To the space via the device 2e,

The relay station 102 includes at least a plurality of antennas or transducers 2c and 2d, an antenna switching unit 14c, a receiving unit 13c, a control unit 11c, and a transmitting unit 12c.
The plurality of antennas or transducers 2c and 2d are installed at an interval of one wavelength or less of the direction measurement signal, and the directivity of each is directed in a horizontal direction, a diagonally downward direction, or a downward direction. The switching unit 14c switches the plurality of antennas or the transducers 2c and 2d in a time-sharing and periodic manner, and the reception unit 13c transmits a radio signal transmitted from the portable terminal 101 to the plurality of antennas or the transmission / reception units. The control means 11c reproduces the origin signal and the direction measurement signal included in the radio signal received from the portable terminal 101, and receives the reproduced direction measurement signal. Generate the phase measurement result as phase measurement data,

  In addition, the timing of the rising point, the falling point, or the zero crossing point of the regenerated starting point signal is detected, and synchronization with the starting point signal is instantly established at the timing, and the clock signal is generated while maintaining the synchronization. , Generating a distance measurement signal that is synchronized with or orthogonal to the clock signal, and the transmitting means 12c generates at least the plurality of radio signals including the distance measurement signal and the phase measurement data generated by the control means 11c. Are transmitted as time-division intervals and burst signals via the antennas or the transducers 2c and 2d,

The reference station 101 includes at least a plurality of antennas or transducers 2a and 2b, an antenna switching unit 14a, a receiving unit 13a, and a control unit 11a.
A rectangular service area in which the plurality of antennas or transducers 2a and 2b are spaced at an interval of one wavelength or less of the direction measurement signal and each directivity is directed in the horizontal direction, the diagonally downward direction, or the downward direction. Are installed so as to face or couple with the plurality of antennas or transducers 2c and 2d of the relay station 102 along the direction of the long side of
The antenna switching unit 14a periodically switches the plurality of antennas or transducers, and the reception unit 13a transmits radio signals transmitted from the mobile terminal 101 and the relay station 102 to the plurality of antennas or transducers. Receiving from space corresponding to the devices 2a and 2b,

  The control means 11a reproduces the direction measurement signal included in the radio signal received from the mobile terminal 101, reproduces the distance measurement signal included in the radio signal received from the relay station 102, and the relay station 102 Reproduces the data of which the phase of the direction measurement signal is measured, detects the rising point, falling point, or zero crossing timing of the reproduced starting signal, and establishes the synchronization with the starting signal instantaneously at the timing; and A clock signal is generated while maintaining synchronization, and a result of measuring the phase of the distance measurement signal received and reproduced from the relay station 102 based on the clock signal, and a direction measurement signal received and reproduced from the mobile terminal 103 The position of the mobile terminal is specified by trigonometry from the phase measurement result and the phase measurement data received from the relay station 102 and reproduced.

Further, as shown in claim 3, when the mobile terminal 103 receives radio signals transmitted from a plurality of reference stations, the mobile terminal 103 receives a specific signal from the result of measuring the power or signal-to-noise ratio of the received radio signal. Select a reference station to identify the position, or load average the position identification results using a plurality of reference stations.
In addition, as described in claim 4, when a plurality of reference stations receive radio signals transmitted from the mobile terminal 103, the plurality of reference stations are connected by an ad hoc network and received by the plurality of reference stations. The radio signal power or signal-to-noise ratio data is exchanged with each other, and a specific reference station is selected from the plurality of reference stations, or a time slot is set for the plurality of reference stations and selected. The selected reference station designates the mobile terminal to instruct a relay operation to a plurality of relay stations under its control.

According to a fifth aspect of the present invention, the control means includes an origin signal reproducing means, a synchronization detecting means, a synchronous oscillating means, a position specifying signal generating means, a position specifying signal reproducing means, a phase measuring means, a position specifying means, or these It is a combination.
According to a sixth aspect of the present invention, the origin signal, the distance measurement signal, the direction measurement signal, or a combination thereof is a carrier signal, a subcarrier signal, a modulation signal, a spread spectrum code, or a combination thereof.

According to a seventh aspect of the present invention, in the portable terminal or the reference station, a radio signal is transmitted from a plurality of portable terminals or reference stations by controlling the interval at which the radio signal is intermittently transmitted using a self-excited oscillator provided therein. Is transmitted intermittently asynchronously or by controlling the interval of intermittent transmission according to the moving speed of the portable terminal, the wireless signal is efficiently utilized.
Further, as described in claim 8, when the origin signal, the direction measurement signal, the distance measurement signal, or a combination thereof is a carrier signal or a subcarrier signal of a radio signal, a band with less direct group delay distortion In the case of a modulated signal obtained by passing a pass filter or modulating a carrier signal or subcarrier signal of a radio signal, an analog demodulator with a small delay error or a digital demodulator with a small delay error using a high frequency clock signal is used. After demodulation, reproduction is performed through the band-pass filter.

  Further, according to a ninth aspect of the present invention, the synchronous oscillating means is constituted by a set or reset counter or a numerically controlled oscillator driven by a reference oscillator, received by the receiving means, and demodulated by a starting point signal reproducing means. The timing of the rising point, falling point, or zero-crossing point of the start signal reproduced or reproduced is detected using a clock signal having a frequency of at least 16 MHz by the synchronization detection means, and the counter or numerical value is detected at the detected timing. By setting or resetting the controlled oscillator, it is possible to establish synchronization with the starting signal in a short time, and to maintain synchronization for a relatively long time even after the starting signal disappears.

The mobile terminal, the relay station, the reference station, or a combination thereof includes a quality detection unit that detects quality of a propagation path of a radio signal, and the quality detection unit is configured to receive the reception signal. The channel quality is analyzed from the result of measuring the power or signal-to-noise ratio of the radio signal received by the means, and the position specifying result is filtered, corrected or supplemented.
Further, as shown in claim 11, a plurality of sets of the reference station and the relay station are installed in series back to back along the long side direction of the rectangular service area, or in series in the same direction. Installed.

Further, as shown in claim 12, a network is configured with a relay station using the reference station as a node, the network is connected to a peripheral reference station or the outside via a wired line or a wireless line, and at least, Information necessary for specifying the position of the portable terminal is exchanged.
According to a thirteenth aspect of the present invention, the long side of the rectangular service area is a sidewalk, a pedestrian crossing, or a pedestrian movement area.

(Embodiment 1)
1, FIG. 4, and FIG. 5 are configuration diagrams of a position specifying device according to the first embodiment of the present invention. 1, 4, and 5, 101 is a reference station, 102 is a relay station, 103 is a portable terminal, 21a to 21d are radio signal propagation paths, 22a and 22b are service area boundaries, and 11a to 11c are control means. , 12a to 12c are transmitting means, 13a to 13c are receiving means, 14a and 14b are antenna switching means, 2a and 2b are antennas of the reference station 101, 2c and 2d are antennas of the relay station, 2e is an antenna of the mobile terminal 103,

  31 is a reference oscillator, 32 is a position specifying means, 33 is a phase measuring means, 34 is a position specifying signal reproducing means, 35 is a starting signal generating means, 36 is a synchronous oscillator, 37 is a position specifying signal generating means, and 38 is a phase synchronous oscillator. , 39 are synchronization detection means, 40 is a starting point signal reproduction means, and 41 and 42 are connection terminals.

  In a position specifying device using a radio signal, a reference station 101 for transmitting the radio signal and a radio signal transmitted from the reference station 101 are received and relayed or retransmitted at the same frequency and in time division To receive the relay station 102 and the radio signals transmitted or relayed from the reference station 101 and the relay station 102 while moving in the long sides 22a and 22b of the rectangular service area, and to identify the position of the own station Mobile terminal 103,

The reference station 101 includes at least a control unit 11a including a starting point signal generation unit 35, a plurality of antennas 2a and 2b, an antenna switching unit 14a, and a transmission unit 12a.
The starting signal generating means 35 generates a starting signal, the antenna switching means 14a periodically switches the plurality of antennas 2a and 2b, and the transmitting means 12a is generated by at least the starting signal generating means 35. A radio signal including an origin signal, a separately generated system synchronization signal and an identification signal is transmitted as a burst signal intermittently toward the space via the plurality of antennas 2a and 2b, and the plurality of antennas 2a. 2b is installed along the long side direction of the rectangular service area at intervals of one wavelength or less of the direction measurement signal and directing each directivity horizontally, obliquely downward, or downward. And

The relay station 102 includes at least a receiving unit 13c, a starting point signal reproducing unit 35, a synchronous detecting unit 39, a synchronous oscillating unit 36, and a position specifying signal generating unit 37, a transmitting unit 12c, An antenna switching means 14c and a plurality of antennas 2c, 2d;
The receiving unit 13c receives a radio signal transmitted from the reference station 101 from the space via the plurality of antennas 2c and 2d, and the origin signal reproducing unit 35 is included in the radio signal received from the reference station. The starting point signal is reproduced, the synchronization detecting unit 39 detects the timing of the rising point, the falling point, or the zero crossing point of the reproduced starting point signal, and the synchronous oscillating unit 36 instantaneously synchronizes with the starting point signal at the timing. To establish and maintain synchronization, generate a clock signal,

    The position specifying signal generation unit 37 generates a distance measurement signal that is synchronized with or orthogonal to the clock signal, and the plurality of antennas 2c and 2d are spaced at an interval of one wavelength or less of the direction measurement signal and each directivity The antenna is installed so as to face or couple with the plurality of antennas 2a and 2b of the reference station 101 along the direction of the long side of the rectangular service area. The antenna switching unit 14c switches the plurality of antennas 2c and 2d in a time-sharing and periodic manner, and the transmission unit 12c generates at least a distance measurement signal and a direction measurement signal generated by the position specifying signal generation unit 37. A radio signal including a system synchronization signal and an identification signal as a burst signal at time-division intervals and through the plurality of antennas 2c and 2d. Disseminating to,

A control in which the portable terminal comprises at least a receiving means 13b, an origin signal reproducing means 40, a position specifying signal reproducing means 34, a synchronization detecting means 39, a synchronous oscillation means 36, a phase measuring means 33, and a position specifying means 32. Means 11b and antenna 2e;
The receiving unit 13b receives a radio signal transmitted from the reference station 101 and the relay station 102 from space via the antenna 2e, and the position specifying signal reproducing unit 34 receives the radio signal received from the relay station 102. A distance measurement signal is reproduced, and a direction measurement signal is reproduced from the received radio signal corresponding to a plurality of antennas of each station from the reference station 101 and the relay station 102, and the origin signal reproduction means 40 includes Reproduce the origin signal from the radio signal received from the reference station 101,

  The synchronization detection means 39 detects the timing of the rising point, falling point, or zero crossing of the reproduced starting signal, and the synchronous oscillating means 36 instantly establishes synchronization with the starting signal at the timing, The phase measurement unit 33 measures the phase of the distance measurement signal received from the relay unit and reproduced using the clock signal as a reference, and the reference station 101 From the result of measuring the phase of the direction measurement signal received and reproduced from the relay station 102, the position specifying means 32 specifies the position of the own station by trigonometry.

When the mobile terminal receives radio signals transmitted from a plurality of reference stations, the position of the position is determined by selecting a specific reference station from the result of measuring the power of the received radio signal or the signal-to-noise ratio. It is possible to improve the position specifying accuracy by performing or performing load average of the position specifying results using a plurality of reference stations.
Further, the mobile terminal 103 or the reference station 101 asynchronously transmits a radio signal from a plurality of mobile terminals or a plurality of reference stations by controlling the interval at which the radio signal is intermittently transmitted using a self-excited oscillator provided therein. Alternatively, by controlling the interval of intermittent transmission according to the moving speed of the portable terminal, it is possible to efficiently use the radio signal.
The origin signal, the distance measurement signal, the direction measurement signal, or a combination thereof is a carrier signal, a subcarrier signal, a modulation signal, a spread spectrum code, or a combination thereof.

  Further, in the starting point signal reproducing means 40 or the position specifying signal reproducing means 34, when the starting point signal or the position specifying signal is a carrier signal or subcarrier signal of a radio signal, a band pass filter with less direct group delay distortion is provided. Or a modulated signal obtained by modulating a carrier signal or subcarrier signal of a radio signal, demodulated by an analog demodulator with a small delay error or a digital demodulator with a small delay error using a high-frequency clock signal The position specifying accuracy can be improved by reproducing through the band pass filter later.

  The synchronous oscillating means 36 is composed of a counter with a set or reset or a numerically controlled oscillator driven by a reference oscillator 31. The synchronous oscillating means 36 is received by the receiving means 13c and demodulated or reproduced by a starting signal reproducing means 40. The timing of the rising point, falling point, or zero crossing of the starting point signal is detected by the synchronization detecting means 39 using a sampling frequency of at least 16 MHz, and the counter or numerically controlled oscillator is set at the detected timing. Alternatively, by resetting, the synchronization with the starting signal can be established in a short time, and the synchronization can be maintained for a relatively long time after the starting signal disappears.

In addition, the mobile terminal 103, the relay station 102, the reference station 101, or a combination thereof includes quality detection means for detecting the quality of the propagation path of the radio signal, and the quality detection means receives the radio signal received by the reception means. The line quality is analyzed from the result of measuring the signal power or the signal-to-noise ratio, and the position determination result is filtered, corrected, or supplemented.
Further, a plurality of sets of the reference station 101 and the relay station 102 are installed in series back to back along the direction of the long side of the rectangular service area, or in series in the same direction. Can serve a wide area.

Further, a plurality of sets of the reference station 101 and the relay station 102 can form an ad hoc network and exchange information necessary for the location specification. It is also possible to link to an external communication line by providing a node.
In addition, the reference station 101 and the reference station 101, the reference station 101 and the relay station 102, the relay station 102 and the relay station 102, or a combination of a plurality of these sets may be back-to-back along the long side direction of the rectangular service area, or By installing in series, a wider area can be covered.

The long sides 22a and 22b of the rectangular service area are sidewalks on the road, pedestrian crossings, indoor passages or hallways, or pedestrian movement areas.

In addition, when the mobile terminal 103 receives radio signals transmitted from a plurality of reference stations, the mobile terminal 103 selects a specific reference station from the result of measuring the power of the received radio signal or the signal-to-noise ratio and specifies the position. Or load average the results of location determination using multiple reference stations.

(Embodiment 2)
2, 4 and 5 are configuration diagrams of a position specifying device according to the second embodiment of the present invention. 2, 4, and 5, 101 is a reference station, 102 is a relay station, 103 is a portable terminal, 21a to 21d are radio signal propagation paths, 22a and 22b are long lines of service areas, and 11a to 11c. Is a control means, 12a to 12c are transmission means, 13a to 13c are reception means, 14a and 14b are antenna switching means, 2a and 2b are antennas of the reference station 101, 2c and 2d are antennas of the relay station, 2e is an antenna of the mobile terminal 103 antenna,

  21a to 21c are radio signal propagation paths, 31 is a reference oscillator, 32 is position specifying means, 33 is phase measuring means, 34 is position specifying signal reproducing means, 35 is origin signal generating means, 36 is a synchronous oscillator, and 37 is position. The specific signal generating means, 38 is a phase-locked oscillator, 39 is a synchronization detecting means, 40 is a starting point signal reproducing means, and 41 and 42 are connection terminals.

  In the position specifying device using the radio signal, the mobile terminal 103 for transmitting the radio signal while moving in the long sides 22a and 22b of the rectangular service area, and the radio signal transmitted from the mobile terminal are received. Relay station 102 for relaying or retransmitting at the same frequency and in time division, and receiving a radio signal transmitted or relayed from portable terminal 103 and relay station 102 to identify the position of the portable terminal And a reference station 101 for

The mobile terminal 102 includes at least a control unit 11b including a starting point signal generating unit 35, a transmitting unit 12b, and an antenna 2e. The starting point signal and the direction measurement signal transmitted from the portable terminal 103 are: Carrier signal, subcarrier signal, modulation signal, spread spectrum code, or a combination thereof,
The starting signal generating unit 35 generates a starting point signal, and the transmitting unit 12b includes at least a starting point signal generated by the starting point signal generating unit 35, a separately generated direction measurement signal, a system synchronization signal, and an identification signal. A radio signal is transmitted as a burst signal intermittently toward the space via the antenna 2e,

The relay station 102 includes at least a plurality of antennas 2c, 2d, antenna switching means 14c, receiving means 13c, position specifying signal reproducing means 37, phase measuring means 33, position specifying means 32, and origin signal reproducing means 40. A control unit 1c including a synchronization detection unit 39, a synchronization oscillation unit 36, and a position specifying signal generation unit 34; and a transmission unit 12c.
The plurality of antennas 2c and 2d are installed with an interval of one wavelength or less of the direction measurement signal and with each directivity oriented in a horizontal direction, a diagonally downward direction, or a downward direction, and the antenna switching unit 14c includes: The plurality of antennas 2c and 2d are switched in a time-sharing and periodic manner, and the receiving means 13c receives a radio signal transmitted from the mobile terminal 103 from a space corresponding to the plurality of antennas 2c and 2d. ,

  The position specifying signal reproducing means 37 reproduces the direction measurement signal included in the radio signal received from the mobile terminal 103, the phase measuring means 33 measures the phase of the reproduced direction measuring signal, and the position specifying means 32. Converts the phase of the measured direction measurement signal into data, while the origin signal reproduction means 40 reproduces the origin signal from the radio signal received from the portable terminal 103, and the synchronization detection means 39 Detect the rising point, falling point, or zero crossing timing of the replayed origin signal,

  The synchronous oscillating means 36 instantly establishes synchronization with the starting point signal at the timing, and maintains the synchronization with high accuracy even after the starting point signal disappears, generates a clock signal, and the position specifying signal generating means 34 Generates a distance measurement signal that is synchronized with or orthogonal to the clock signal, and the transmitting means 12c has at least the distance measurement signal generated by the position specifying signal generating means 34 and the phase converted by the position specifying means 32. A radio signal including data is transmitted toward the space through the plurality of antennas 2c and 2d as time-division intervals and burst signals.

The reference station 101 has at least a plurality of antennas 2a, 2b, antenna switching means 14a, receiving means 13a, origin signal reproducing means 40, synchronization detecting means 39, synchronous oscillating means 36, position specifying signal reproducing means 34, and phase. A control unit 11a including a measuring unit 33 and a position specifying unit 32;
The plurality of antennas 2a and 2b are spaced at an interval of one wavelength or less of the direction measurement signal, and each directivity is directed in the horizontal direction, the diagonally downward direction, or the downward direction, and the long side 22a of the rectangular service area. , 22b along the direction of 22b, so as to face or couple with the plurality of antennas of the relay means 102,

  The antenna switching unit 14a periodically switches the plurality of antennas 2a and 2b, and the reception unit 13a transmits a radio signal transmitted from the mobile terminal 103 and the relay station 102 to the plurality of antennas 2a and 2b. The position specifying signal reproducing means 34 reproduces the received direction measurement signal from the portable terminal 103 corresponding to the plurality of antennas or the transducers 2a and 2b, and Reproducing the distance measurement signal received from the relay station 102, and reproducing the phase data of the direction measurement signal measured by the relay station 102,

  The origin signal reproduction means 40 reproduces the origin signal included in the radio signal received from the portable terminal 103, and the synchronization detection means 39 detects the rising point, the falling point, or the zero crossing point of the reproduced origin signal. When the timing is detected, the synchronous oscillating means 36 instantaneously establishes synchronization with the starting signal at the timing and maintains the synchronization to generate a clock signal, and the phase measuring means 33 generates the clock signal. Measuring the phase of the distance measurement signal received and reproduced from the relay means 102 as a reference,

Note that when a plurality of reference stations receive radio signals transmitted from the mobile terminal, the plurality of reference stations are connected by an ad hoc network, and the power or signal-to-noise of the radio signals received by the plurality of reference stations Ratio data is mutually exchanged, and a specific reference station is selected from among the plurality of reference stations, or a time slot is set for a plurality of reference stations, and the selected reference station is selected by a plurality of subordinate stations. By designating the mobile terminal and instructing the relay operation to the relay station, the mobile terminal 103 is put into a sleep state except for intermittent transmission, thereby avoiding battery consumption and extending the life.

  FIG. 3 is an explanatory diagram of position calculation according to the first and second embodiments of the present invention, where 101 is a reference station, 102 is a relay station, 103 is a mobile terminal, and 201a is a distance between the reference station and the relay station ( La), 201b is the distance (Lb) between the reference station and the mobile terminal, 201c is the distance (Lc) between the relay station and the mobile terminal, 202a is the direction (αa) of the mobile terminal viewed from the reference station, 202b is The direction (αb) of the mobile terminal viewed from the relay station, 203x is the X-axis coordinate (Lx) with the base station as the base point, and 203y is the Y-axis coordinate (Ly) with the base station as the base point.

  1 and 2, the difference ΔL between the distance (La + Lc) from the reference station 101 via the relay station 102 to the portable terminal 103 and the distance Lb from the reference station 101 to the portable terminal 103, and the direction (αa) , And the direction (αb) can be measured, ΔL = (La + Lc) − (Lb), and the coordinates (Lx) and (Ly) based on the reference station 101 are calculated by the following equations.

(Lx) = (La) −ΔL {Cos (αa) * Cos (αb)} / {Cos (αa) + Cos (αb)}
(Ly) = (La) * tan (αa) −ΔL {Sin (αa) * Cos (αb)} / {Cos (αa) + Cos (αb)}
= ΔL {Cos (αa) * Sin (αb)} / {Cos (αa) + Cos (αb)}
Note that (Ly) can be calculated for both equations, and the average value can be obtained to reduce the position specifying error.

On the other hand, in the rectangular service area, both directions (αa) and (αb) are close to 0 degrees, and therefore the following approximate expression can be applied.
(Lx) = (La) −ΔL / 2
(Ly) = Sin (αa) {(La) −ΔL / 2} = Sin (αb) {ΔL / 2}
Further, if there are obstacles or reflectors in the vicinity, an error occurs in the direction measurement. Therefore, it is necessary to reduce the error by obtaining a moving average from a plurality of measurements.

  FIG. 6 is a timing chart of the position specifying apparatus according to the present invention, in which 71a is a starting point signal generated by the reference station 101, 71b is a starting point signal reproduced by the relay station 102, and 71c is a starting point signal reproduced by the mobile terminal 103. , 72a is a propagation path from the reference station 101 to the relay station 102, 72b is a propagation path from the reference station 101 to the portable terminal 103,

  73a is a position specifying signal transmitted from the relay station 102 after elapse of the time-division simultaneous transmission / reception interval 77a, 73b is a position specifying signal reproduced by the mobile terminal 103, and 74 is a propagation path from the relay station 102 to the mobile terminal 103. , 75 are phase differences between the origin signal received from the reference station 101 and the position specifying signal received from the relay station 102, 81a to 81c are time axes of the origin signal, and 81a and 82b are time axes of the position specifying signal.

Assuming that the starting signal 71a transmitted from the reference station 101 is ASin (2πf1t), the starting signal 71a propagates through the propagation path 72a of the distance La (m) and is reproduced by the relay station 102, so that BSin {2πf1t + The phase changes to (2πLa (f1 / C)}.
When the position specifying signal 73a synchronized with the reproduced starting signal 71b and the synchronization establishment error is zero is generated, the generated position specifying signal 73a is also represented by BSin {2πf1t + (2πL1 (fa / C)}. .

  After the time division interval 77a, the generated position specifying signal 73a is transmitted from the relay station 102, propagates through the propagation path 74a of the distance Lc (m), and is reproduced by the mobile terminal 103. 75a is represented by CSin {2πf1t + (La + Lc) (2πf1) / C)}. Here, C is the speed of light.

On the other hand, the clock signal 71d that is transmitted from the portable terminal 101, propagates through the propagation path 72c of the wireless line of the distance Lb (m), and is synchronized with the origin signal received by the portable terminal 103 is CSin {2πf1t + (2πLbf1) / C)}, the phase difference 76a is measured when the phase of the reproduced position specifying signal 75a is measured using the clock signal, and ΔΦ = {4π (La + Lc−Lb) (f1 / C )}, The distance (La + Lc−Lb) (m) can be calculated from (La + Lc−Lb) = CΔΦ / 4πf1.
It is assumed that La (m) is a fixed value and is downloaded and stored as internal information of the mobile terminal 103.

  In the above description, the case of transmitting a distance measurement signal having a single frequency has been described. In this case, it is necessary to limit the change in ΔΦ to 0 <ΔΦ <2π. Precise distance measurement is possible by measuring the distance in multiple ranges using the origin signal and distance measurement signal or multiple distance measurement signals synchronized with or orthogonal to the reproduced origin signal 71b and at least different in frequency. The merit that becomes is obtained.

Further, the position specifying signal transmitted from the relay station can be transmitted simultaneously by the frequency division multiplexing method.
Moreover, an ultrasonic signal, a high frequency signal, or an optical signal can be used as the wireless signal. In the case of an ultrasonic signal or an optical signal, a transducer is used instead of an antenna.

  In addition, by using an ultra-wideband communication method (ultra-wide band), a high-frequency modulated signal or a high chip rate spreading code can be adopted, so that multiple modulated signals or spreading codes that are synchronized or orthogonal can be assigned. Thus, since a plurality of measurement ranges can be set, the position specifying accuracy at a short distance of 30 m or less can be improved.

  Further, if the frequency assigned to GPS or a frequency in the vicinity thereof can be assigned as the frequency of the radio signal, the position of the portable terminal can be specified with high accuracy even indoors with little interference with GPS. Therefore, GPS seamlessness can be realized.

In addition, it is possible to specify a two-dimensional or three-dimensional position within a rectangular service area by attaching a portable terminal as an RF tag to a container or distribution cargo and carrying it to a child attending school or mounting it on a vehicle. It becomes.

According to the present invention, since it is configured as described above, it is possible to specify the two-dimensional or three-dimensional position of the mobile terminal with high accuracy within the rectangular service area, which has convenience and utility value. It gets even higher.
In addition, the plurality of reference stations and the plurality of relay stations are discretely installed, a radio signal transmitted from the reference station is relayed and received by the portable terminal, thereby widening the three-dimensional or three-dimensional position of the portable terminal. It can be identified with high accuracy across areas.

In addition, there is the merit that the position of the child who walks along the sidewalk by the side of the road can be specified by carrying the portable terminal to the child who is going to school as an RF tag and installing the reference station and the relay station on the power pole or street light pole. can get.
Also,
Note that the position specifying technique of the present invention is a basic technique, and can be expected to be used in various fields other than the above.

The block diagram of the position identification apparatus by the 1st Embodiment of this invention The block diagram of the position identification apparatus by the 2nd Embodiment of this invention Explanatory drawing of position calculation by 1st and 2nd embodiment of this invention Configuration diagram of position specifying device according to first and second embodiments of the present invention The block diagram of the control means by the 1st and 2nd embodiment of this invention Timing chart of position specifying device of the present invention Configuration diagram showing a conventional example

101 reference station 102 relay station 103 portable terminal 21a propagation path 21b from reference station 101 or portable terminal 103 propagation path 21c from relay station 101 other propagation path 21d from relay station 102 or to relay station 102 from reference station 101 Or another propagation path to the reference station 101

Claims (13)

In a position identification device using a radio signal which is an ultrasonic signal, a high frequency signal or an optical signal,
A reference station for transmitting the radio signal;
A relay station for receiving a radio signal transmitted from the reference station, relaying or retransmitting at the same frequency and time division; and
A radio signal transmitted or relayed from the reference station and the relay station is received while moving within a long side of the rectangular service area, and is configured with a mobile terminal for specifying the position of the own station,
The reference station is at least:
Having a control means, a transmission means, an antenna switching means, and a plurality of antennas or transducers;
The control means generates a starting signal;
The antenna switching means periodically switches the plurality of antennas or transducers,
The transmitting means transmits a radio signal including at least the origin signal and a separately generated direction measurement signal as a burst signal intermittently toward the space via the plurality of antennas or transducers,
The long sides of the rectangular service area, wherein the plurality of antennas or transducers are spaced at an interval of one wavelength or less of the direction measurement signal and each directivity is directed horizontally, obliquely downward, or downward. Installed along the direction of
The relay station is at least
Receiving means, control means, transmitting means, antenna switching means, and a plurality of antennas or transducers;
The reception means receives a radio signal transmitted from the reference station from space via the plurality of antennas or transducers,
The control means reproduces a starting point signal included in a radio signal received from the reference station, detects a rising point, a falling point, or a zero crossing timing of the starting point signal, and instantaneously with the starting point signal at the timing. Establishing synchronization and generating a clock signal while maintaining synchronization, generating a distance measurement signal that is synchronized with or orthogonal to the clock signal,
The long sides of the rectangular service area, wherein the plurality of antennas or transducers are spaced at an interval of one wavelength or less of the direction measurement signal and each directivity is directed horizontally, obliquely downward, or downward. Is installed so as to face or couple with a plurality of antennas or transducers of the reference station along the direction of
The antenna switching means switches the plurality of antennas or transducers in a time-sharing and periodic manner,
The transmitting means transmits a radio signal including at least a distance measurement signal generated by the control means and a separately generated direction measurement signal at time-division intervals and as a burst signal, and the plurality of antennas or transducers. Through the space,
The portable terminal is at least
A receiving means, a control means, an antenna or a transducer;
The receiving means receives a radio signal transmitted from the reference station and the relay station from space via an antenna or a transducer,
The control means reproduces the distance measurement signal from the radio signal received from the relay station, and from the reference station and the relay station, the direction from the received radio signal corresponding to the plurality of antennas or transducers of each station Reproducing the measurement signal and reproducing the origin signal from the radio signal received from the reference station, detecting the timing of the rising point, the falling point, or the zero crossing of the reproduced origin signal, and at the timing, Instantaneously establish and maintain synchronization, generate a clock signal, measure the phase of the distance measurement signal received and regenerated from the relay means with reference to the clock signal, and relay with the reference station A position identifying device characterized by identifying a position of the own station by trigonometry from a result of measuring a phase of a direction measurement signal received and reproduced from the station.
In a position identification device using a radio signal which is an ultrasonic signal, a high frequency signal or an optical signal,
A mobile terminal for transmitting a radio signal while moving within a long side of a rectangular service area;
A relay station for receiving a radio signal transmitted from the mobile terminal, relaying or retransmitting at the same frequency and time division; and
Receiving a radio signal transmitted or relayed from the mobile terminal and the relay station, and comprising a reference station for specifying the position of the mobile terminal,
The portable terminal is at least
Having a control means, a transmission means, an antenna or a transducer;
The control means generates a starting signal;
The transmitting means transmits a radio signal including at least the generated starting point signal and a separately generated direction measurement signal as a burst signal intermittently toward the space via the antenna or the transducer,
The relay station is at least
A plurality of antennas or transducers, antenna switching means, receiving means, control means, and transmitting means;
The plurality of antennas or transducers are installed with an interval of one wavelength or less of the direction measurement signal and with each directivity directed horizontally, obliquely downward, or downward. , Switching the plurality of antennas or transducers in a time-sharing and periodic manner,
The receiving means receives a radio signal transmitted from the mobile terminal from a space corresponding to the plurality of antennas or transducers,
The control means reproduces an origin signal and a direction measurement signal from a radio signal received from the portable terminal, generates a result of measuring a phase of the reproduced direction measurement signal as phase measurement data, and reproduces the reproduction Detecting the timing of the rising point, falling point, or zero-crossing point of the generated starting signal, instantaneously establishing synchronization with the starting signal at the timing, and maintaining the synchronization, generating the clock signal, and A distance measurement signal that is synchronized or orthogonal to
The transmitting means generates a radio signal including at least a distance measurement signal and phase measurement data generated by the control means as a burst signal at a time division interval via the plurality of antennas or transducers. To send to the space,
The reference station is at least:
A plurality of antennas or transducers, antenna switching means, receiving means, and control means;
The long sides of the rectangular service area, wherein the plurality of antennas or transducers are spaced at an interval of one wavelength or less of the direction measurement signal and each directivity is directed horizontally, obliquely downward, or downward. Is installed so as to face or couple with a plurality of antennas or transducers of the relay station along the direction of
The antenna switching means periodically switches the plurality of antennas or transducers,
The receiving means receives a radio signal transmitted from the mobile terminal and a relay station from a space corresponding to the plurality of antennas or transducers,
The control means reproduces the direction measurement signal included in the radio signal received from the mobile terminal, reproduces the distance measurement signal contained in the radio signal received from the relay station, and the direction measured by the relay station Reproduce the measurement data of the phase of the measurement signal, reproduce the origin signal included in the radio signal received from the mobile terminal, and detect the timing of the rising point, falling point, or zero crossing of the reproduced origin signal The result of measuring the phase of the distance measurement signal received from the relay station and reproduced based on the clock signal, in which the clock signal is generated while the synchronization is instantaneously established at the timing and the synchronization is maintained. And a result of measuring the phase of the direction measurement signal received and reproduced from the mobile terminal and the phase measurement data received and reproduced from the relay station by trigonometry. , The position specifying device and identifies the position of the portable terminal.
When the mobile terminal receives radio signals transmitted from a plurality of reference stations, from the result of measuring the power of the received radio signal or the signal-to-noise ratio, select a specific reference station to identify the position, 2. The wide area location system according to claim 1, wherein a result of location identification using a plurality of reference stations is weighted.
When radio signals transmitted from the mobile terminal are received by a plurality of reference stations, the plurality of reference stations are connected by an ad hoc network, and the power of a radio signal received by the plurality of reference stations or a signal-to-noise ratio Data is mutually exchanged, and a specific reference station is selected from the plurality of reference stations, or a time slot is set for the plurality of reference stations, and the selected reference station is connected to a plurality of relay stations under its control. The wide area location system according to claim 2, wherein a relay operation is instructed to a station by designating the portable terminal.
The control means is a starting point signal reproducing means, a synchronization detecting means, a synchronous oscillation means, a position specifying signal generating means, a position specifying signal reproducing means, a phase measuring means, a position specifying means, or a combination thereof. Item 1. The position specifying device according to item 1 or item 2.
The origin signal, distance measurement signal, direction measurement signal, or a combination thereof is a carrier signal, a subcarrier signal, a modulation signal, a spread spectrum code, or a combination thereof. Item 3. The position specifying device according to item 2.
In the portable terminal or the reference station, by intermittently transmitting a radio signal by using a self-excited oscillator provided therein, a radio signal is asynchronously intermittently transmitted from a plurality of portable terminals or reference stations, or the portable The position specifying device according to claim 1 or 2, wherein a radio signal is efficiently used by controlling an interval of intermittent transmission according to a moving speed of a terminal.
When the origin signal, the direction measurement signal, the distance measurement signal, or the combination thereof is a carrier signal or subcarrier signal of a radio signal, the signal is directly passed through a band pass filter with little group delay distortion, or the radio signal carrier In the case of a modulated signal obtained by modulating a signal or a subcarrier signal, the signal is demodulated by an analog demodulator with a small delay error or a digital demodulator with a small delay error using a high frequency clock signal, and then reproduced through the band pass filter. The position specifying device according to claim 1 or 2, characterized by the above-mentioned.
The synchronous oscillating means is constituted by a counter with a set or reset or a numerically controlled oscillator driven by a reference oscillator, received by the receiving means, and demodulated or reproduced by a starting signal reproducing means, the rising point of the starting signal By detecting the timing of the falling point or the zero crossing point by using a clock signal having a frequency of at least 16 MHz by the synchronization detecting means, and setting or resetting the counter or the numerically controlled oscillator at the detected timing 6. The position specifying device according to claim 5, wherein synchronization is established with the starting signal in a short time, and the synchronization can be maintained for a relatively long time after the starting signal disappears.
The portable terminal, the relay station, the reference station, or a combination thereof has quality detection means for detecting the quality of the propagation path of the radio signal, and the quality detection means receives the power or signal of the radio signal received by the reception means. 3. The position specifying apparatus according to claim 1, wherein a line quality is analyzed from a result of measuring a noise-to-noise ratio, and the position specifying result is filtered, corrected, or supplemented. .
The plurality of sets of the reference station and the relay station are installed in series back to back along the direction of the long side of the rectangular service area or in series in the same direction. The position specifying device according to item 1 or item 2.
In order to configure a network with a relay station using the reference station as a node, connect the network to a peripheral reference station or the outside via a wired line or a wireless line, and at least identify the position of the mobile terminal The position specifying device according to claim 1 or 2, wherein necessary information is exchanged.
  3. The position specifying device according to claim 1, wherein the long side of the rectangular service area is a sidewalk, a pedestrian crossing, or a pedestrian movement area. .

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