JP2016114361A - Positioning method, server, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a positioning method, etc., with which it is possible to automatically raise the precision of reference reception information and realize high-accuracy FP-based positioning, in even an area where a radio wave fluctuation is severe as in an outdoor environment.SOLUTION: In positioning based on a network assisted FP scheme, a management unit 45 in a server 9 on a network, regardless of whether up-oriented positioning or down-oriented positioning or both, periodically or randomly updates the reference reception information vector of a storage unit 43 using a plurality of known beacon tags disposed in a space and an AP connected to the network, whereby it is made possible to flexibly respond to a change in an indoor radio wave situation and realize highly accurate positioning based on the network assisted scheme. Furthermore, the server 9 enables the plurality of beacon tags to be automatically and integratedly managed.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a positioning method, a server, and a program, and more particularly, to a positioning method in a positioning system that estimates the position of a positioning target terminal.

  A typical technique of positioning technology is positioning using GPS. GPS positioning has already been widely put into practical use and has become an indispensable tool in people's daily lives. However, radio waves from satellites forming GPS cannot be received indoors or in valleys of high-rise buildings, and high-precision positioning in the area has long been a problem.

  If the positioning method is classified, it can be classified into network positioning and terminal positioning. Hereinafter, details of each classification will be described.

  Network positioning means that a radio wave such as a beacon signal emitted by a positioning target terminal is received by a plurality of access points (hereinafter also referred to as “APs”), and these are aggregated by a server. This is a technique for performing positioning (position estimation). Network positioning is positioning using an uplink radio wave emitted from a terminal at an AP. Therefore, hereinafter, network positioning is also referred to as uplink-oriented positioning.

  As a positioning algorithm for network positioning, a Nearest Neighbor method, a triangulation method, a three-point survey method, a FingerPrint method (hereinafter also referred to as “FP method”), and the like are known. In the FP method, information received by each AP or the like is aggregated to generate a reception information vector, which is compared with a reference reception information vector collected in advance for each known positioning candidate point. The position of the positioning candidate point closest to the place where is installed is taken as the positioning result of the terminal. The FP method is said to be accurate in a complicated indoor radio wave propagation environment. Non-Patent Document 1 describes performing network positioning by the FP method.

  On the other hand, terminal positioning is a method in which a terminal receives radio waves such as a beacon signal transmitted from each AP, and the terminal itself estimates its own position from these. Terminal positioning is positioning using radio waves on the downlink. Therefore, in the following, terminal positioning is also referred to as downlink-oriented positioning.

  Terminal positioning is further divided into a terminal self-supporting system and a network support system. In the terminal complete independence method, the terminal itself performs position estimation. Positioning by GPS or IMES is considered to be a kind of terminal self-supporting method. In the network support method, the radio wave reception intensity or the like for each AP measured by the terminal is transmitted to a server on the network, and the server performs positioning of the terminal. A positioning method using Wi-Fi radio waves adopted in smartphones is considered a kind of network support method.

  As a positioning algorithm for terminal positioning, a Nearest Neighbor method, a triangulation method, a three-point survey method, an FP method, or the like can be applied as in the case of network positioning.

Ling Pei, 4 others, "Using Inquiry-based Bluetooth RSSI Probability Distributions for Indoor Positioning.", Journal of Global Positioning Systems (2010), Vol9, No2, p122-130

  In the FP method, it is necessary to generate a precise reference reception information vector. However, the indoor floor plan is easy to change, and it is difficult to maintain the precision of the reference reception information vector.

  Further, for example, IMES is known as positioning using a known beacon transmission source. For high-accuracy positioning, it is necessary to increase the installation granularity of each beacon transmission source and accurately grasp the installation location information. However, particularly in an indoor environment where a floor plan change occurs, it is difficult to centrally manage a large number of beacon transmission sources and always maintain and manage correct installation location information.

  Therefore, the present invention provides a positioning method and the like that can realize highly accurate FP positioning by automatically refining the reference received information vector even in an area where the radio wave fluctuation is severe such as in an indoor environment. The purpose is to propose.

  A first aspect of the present invention is a positioning method in a positioning system for estimating a position of a positioning target terminal in a space, wherein the positioning system includes a plurality of access points installed in the space, A plurality of beacon tags installed in the server and a server capable of communicating with each of the access points, and the server stores the installation position information of each of the beacon tags and a reference reception information vector corresponding to each of the beacon tags. Storage means, management means for managing the storage means, and terminal positioning means for estimating the position of the positioning target terminal, and the tag vector generating means sends the tag radio wave issued by each beacon tag to each access Each beacon tag receives AP reception information obtained by receiving points and / or AP radio waves emitted by each access point. A reference reception information vector generation step for generating a reference reception information vector corresponding to each beacon tag using the received tag reception information, and the management means uses the reference reception information vector generated by the tag vector generation means. An update step for updating the storage means, and a terminal vector generation means for receiving information obtained by each access point and / or receiving the terminal radio wave emitted by the positioning target terminal and / or The reception information vector generation step of generating the reception information vector of the positioning target terminal using the reception information obtained by receiving the AP radio wave by the positioning target terminal, and the terminal positioning means are similar to the reception information vector Identify one or more of the reference received information vectors Is intended to include terminal positioning step of estimating the position of the positioning target terminal using the installation position information of the beacon tag corresponding to the reference received information vectors.

  A second aspect of the present invention is the positioning method according to the first aspect, wherein the management means cannot receive any of the access points for tag radio waves issued by a certain beacon tag, and / or When the beacon tag cannot receive any AP radio wave emitted by the access point, it includes a tag management step for determining that the beacon tag is abnormal and / or defective in the installation location.

  A third aspect of the present invention is the positioning method according to the first or second aspect, wherein the beacon tag issues the tag radio wave, and the positioning target terminal receives the tag radio wave. A terminal tag radio wave reception step for obtaining terminal tag radio wave reception information, wherein, in the terminal positioning step, the positioning target terminal specifies one or a plurality of beacon tags using the received terminal tag radio wave reception information. Positioning and / or the terminal positioning means estimates the position of the positioning target terminal using the terminal tag radio wave reception information.

  A fourth aspect of the present invention is the positioning method according to any one of the first to third aspects, wherein, in the terminal positioning step, the terminal positioning means has a minimum distance from the received information vector. A reference reception information vector is determined, and the installation position information of the beacon tag corresponding to the reference reception information vector is used as the position of the positioning target terminal.

  A fifth aspect of the present invention is the positioning method according to any one of the first to third aspects, wherein, in the terminal positioning step, the terminal positioning means provides a reference to each beacon tag having a received information vector as an argument. The reception information vector match function is calculated using the reception information vector distribution function, and the position information of the beacon tag having the highest match probability is used as the position of the positioning target terminal.

  According to a sixth aspect of the present invention, there is provided a positioning method according to any one of the first to third aspects, wherein the terminal positioning means applies the sampled group of reference reception information vectors and each reference reception information vector. Generates a grouping function for grouping received information vectors using machine learning algorithm with corresponding beacon tag information, and the grouped function receives received information vectors as arguments and receives received received information vectors To which the beacon tag belongs, and in the terminal positioning step, the terminal positioning means is a beacon of an output result obtained by inputting the received information vector to the grouping function From the tag information, the position information of the beacon tag is used as the position of the positioning target terminal. That.

  A seventh aspect of the present invention is the positioning method according to any one of claims 1 to 6, wherein each of the beacon tags has a sensor function to form a sensor network and / or has an actuator function. And forming an actuator network.

  An eighth aspect of the present invention is the positioning method according to any one of the first to seventh aspects, wherein, in the update step, the management means is configured when installation position information of a certain beacon tag has not changed. The reference reception information vector stored in the storage means is deleted, or the reference reception information vector generated before the storage time and / or more than the storage number is deleted with respect to the installation position information, and a new When the installation position information of a certain beacon tag is changed, the reference reception information vector corresponding to the previous installation position information is deleted and the new installation position information is added. Thus, a reference reception information vector is generated and stored in the storage means.

  A ninth aspect of the present invention is the positioning method according to any one of the first to eighth aspects, wherein, in the reference reception information vector generation step, each beacon tag issues the tag radio wave, The access point measures the reception information of the tag radio wave and transmits it to the server. The tag vector generation means provided in the server generates the reference reception information vector. In the reception information vector generation step, each access The point is that the reception information of the terminal radio wave emitted from the positioning target terminal is measured and transmitted to the server, and the terminal vector generation means provided in the server generates the reception information vector.

  A tenth aspect of the present invention is the positioning method according to any one of the first to seventh aspects, wherein, in the reference reception information vector generation step, each beacon tag includes an AP radio wave emitted by each access point. The reception vector is measured, and the tag vector generation means included in the beacon tag generates the reference reception information vector and transmits it to the server. In the reception circuit vector generation step, the positioning target terminal is connected to each access point. The reception information of the AP radio wave to be emitted is measured, and the terminal vector generation means provided in the positioning target terminal generates the reception information vector and transmits it to the server.

  An eleventh aspect of the present invention is a server for estimating a position of a positioning target terminal in a space, and a plurality of beacon tags and a plurality of access points capable of communicating with the server are installed in the space. Storage means for storing the installation position information of each beacon tag and reference reception information vector corresponding to each beacon tag, management means for managing the storage means, and terminal positioning for estimating the position of the positioning target terminal The management means includes AP reception information obtained by the access points receiving tag radio waves issued by the beacon tags and / or AP radio waves emitted by the access points. The storage means using a reference reception information vector corresponding to each beacon tag generated using tag reception information obtained by receiving The terminal positioning means updates the received information obtained by each access point receiving the terminal radio wave emitted by the positioning target terminal and / or the AP radio wave emitted by each access point by the positioning target terminal. One or a plurality of reference reception information vectors similar to the reception information vector obtained by reception are specified, and the positioning target is used by using the installation position information of the beacon tag corresponding to the specified reference reception information vector The position of the terminal is estimated.

  A twelfth aspect of the present invention is a program for causing a computer to function as a server according to an eleventh aspect.

  Note that the present invention may be regarded as a computer-readable recording medium in which the program according to the eleventh aspect is recorded (steadily).

  In addition, reception information such as AP reception information, tag reception information, and reference reception information includes, for example, reception power, RTT (Round Trip Time), observation amount by sensors such as a human sensor, a temperature sensor, an illuminance sensor, and a humidity sensor, And variations of these various quantities. When a sensor is built in a beacon tag or a positioning target terminal, the observation amount sensed by the sensor is included in the radio wave emitted from the sensor. When the reception information is formed using a plurality of types of quantities, for example, the reception power and the delay time may be expressed by complex numbers having a real part and an imaginary part (or vice versa), respectively. In the following embodiments, description will be made taking received power as an example. The positioning target terminal may be the same wireless interface as the beacon tag.

  Further, the positioning target terminal may directly receive the tag radio wave emitted from the beacon tag, and the terminal positioning means may perform positioning using this. Further, tag radio waves emitted from a large number of beacon tags may be observed at the terminal, and the terminal itself may autonomously perform positioning based on the received information.

  Each beacon tag may include its own ID in the tag radio wave. Furthermore, you may include own installation position. Furthermore, various kinds of unique information can be transmitted together. This unique information is so-called information linked to the position. Therefore, when the information processing terminal receives the information, it is possible to easily provide a service linked to the current position of the terminal.

  Moreover, each beacon tag and AP are good also as what can mutually communicate. As a result, the server installed on the network can freely manage and correct the installation position and the like recorded by each beacon tag. As a result, even when the location of the beacon tag needs to be corrected due to the floor plan change, it is possible to easily notify the target beacon tag of the new location information. Furthermore, it is possible to provide a dynamic location-linked service by periodically changing the unique information for each beacon tag.

  According to each aspect of the present invention, in uplink and / or downlink-oriented positioning of a network support system, a plurality of known beacon tags arranged in space and APs connected to the network are used regularly / irregularly. By updating the reference reception information vector on the server and positioning the target terminal using the FP method, it is possible to realize highly accurate positioning using the network support method while flexibly responding to changes in indoor radio wave conditions. Is possible.

  Furthermore, according to the second aspect of the present invention, it is possible to detect the possibility of a beacon tag failure using the reception status of the beacon tag, and to manage a plurality of beacon tags in an integrated manner. become.

  Furthermore, according to the third aspect of the present invention, a positioning target terminal receives a radio wave from a beacon tag and performs positioning using this information as well, thereby realizing more accurate positioning. .

  Furthermore, according to the 4th viewpoint of this invention, the positioning process by FP system can be performed using Euclidean distance etc.

  Furthermore, according to the fifth aspect of the present invention, by using a distribution function, it is possible to realize more reliable estimation even with a limited number of reference received information vector groups.

  Furthermore, according to the sixth aspect of the present invention, it is possible to realize advanced positioning processing by the FP method using machine learning.

  Furthermore, according to the seventh aspect of the present invention, it is possible to form a sensor and actuator network by providing a beacon tag with these complex functions.

  Furthermore, according to the 8th viewpoint of this invention, it becomes possible to implement | achieve unified management, even if there is no change in the position of a beacon tag.

In the Example of this invention, it is the figure which showed the outline | summary of the positional relationship of the access point arrange | positioned in an indoor environment, a reference beacon tag, a positioning object terminal, and a server. It is a block diagram which shows an example of the beacon tag of FIG. 1, a positioning object terminal, an access point, and a server. It is a block diagram which shows an example of a structure in the case of (a) Upward directional positioning and (b) Downward directional measurement. It is a flowchart which shows an example of the process regarding (a) reference reception information vector and (b) reception information vector. It is a figure which shows the outline | summary of an example of an up-directed positioning. It is a figure which shows the outline | summary of an example of a downlink pointing positioning. It is a figure which shows an example of the reference reception information vector in the case of using uplink and downlink pointing positioning simultaneously. It is a figure which shows an example of the positioning using machine learning.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to this embodiment.

  FIG. 1 shows an access point (AP) arranged in an indoor environment, a reference beacon tag (Tag, hereinafter also referred to as “beacon tag”), and a positioning target terminal (terminal) in an embodiment of the present invention. It is the figure which showed the outline | summary of the positional relationship of a server. The server only needs to be able to communicate with the AP, and may be disposed indoors or outdoors. Beacon tags not only have a simple beacon signal transmission function, but also have various sensor functions such as human sensor, temperature sensor, illuminance sensor, humidity sensor, etc. and actuator functions such as servo motors. There is. It is possible to form a sensor and actuator network by giving these complex functions to the beacon tag.

  A plurality of APs are arranged in the indoor environment 101. Each AP can communicate with a server that performs positioning of a positioning target terminal by a network support method. The positioning target terminal and the beacon tag can communicate wirelessly with the AP if necessary, and can communicate with an information processing apparatus in an external network such as the Internet via the AP. The positioning target terminal and the beacon tag may communicate with the server via the AP, or may not communicate unless necessary.

  In the indoor environment 101, a plurality of beacon tags are arranged. The installation position of each beacon tag is known, and the server manages the installation position information of each beacon tag. When the installation position of the beacon tag is changed, the server is notified. Each beacon tag can wirelessly communicate with the AP or communicate with the server via the AP if necessary. Each beacon tag can have a simple structure by omitting the function of performing wireless communication with the AP if not necessary, as in the case where only tag-directed positioning is performed by issuing a tag radio wave, for example.

  The positioning target terminal is subjected to positioning processing. The positioning target terminal can have a simple structure by omitting the function of performing wireless communication with the AP if not necessary, as in the case where only terminal-directed positioning is performed by emitting terminal radio waves, for example. The positioning target terminal may be one that wirelessly communicates with the AP or communicates with the server via the AP, such as a smartphone.

  FIG. 2 is a block diagram illustrating an example of the beacon tag, the positioning target terminal, the access point, and the server in FIG. For simplicity, only one beacon tag, positioning target terminal, and access point are shown.

  The positioning system 1 includes a beacon tag 3, a positioning target terminal 5, an access point 7, and a server 9. The beacon tag 3 includes a tag radio wave report unit 11, a tag measurement unit 13, a tag communication unit 15, and a tag vector generation unit 17. The positioning target terminal 5 includes a terminal measurement unit 21, a terminal communication unit 23, and a terminal vector generation unit 25. The access point 7 includes an AP communication unit 31 and an AP measurement unit 33. The server 9 includes a server communication unit 41, a storage unit 43, a management unit 45, a server tag vector generation unit 47, a server terminal vector generation unit 49, and a positioning unit 51.

  The tag radio wave reporting unit 11 emits radio waves. The radio waves issued by the tag radio wave reporting unit 11 are referred to as tag radio waves. The tag radio wave reporting unit 11 may periodically issue a tag radio wave at a predetermined cycle. Further, the tag radio wave may be issued irregularly according to an instruction from an administrator or the like. The tag radio wave includes an ID number unique to each beacon tag 3, a time stamp, and the like. Therefore, when the tag radio wave is received, the issued beacon tag can be specified. The tag radio wave may include installation position information of each beacon tag 3. Thereby, when the tag radio wave is received, the installation position of the beacon tag 3 can be specified. Further, the installation position information of each beacon tag may not be included in the tag radio wave. Information unique to each beacon tag 3 is held. The unique information is, for example, that the position is the entrance of a building or a store. Furthermore, for example, in addition to being an entrance, a map of a building may be included, or in addition to being a store, a coupon of the store may be included.

  The tag measuring unit 13 measures received power of radio waves emitted from the access point 7. The radio wave emitted by the access point 7 is called AP radio wave. The access point 7 includes a wireless interface that can communicate with a beacon tag, a positioning target terminal, and the like. The beacon tag and the positioning target terminal may or may not be the same wireless interface. For example, both the beacon tag and the positioning target terminal may use a Bluetooth (registered trademark) Low Energy (BLE) interface, the beacon tag may use BLE, and the positioning target terminal may use Wi-Fi.

  The tag communication unit 15 performs wireless communication with the access point 7 and transmits data from the beacon tag 3 to the server 9 via the access point 7.

  The tag vector generation unit 17 generates a downlink reference reception information vector using the reception power of the AP radio wave measured by the tag measurement unit 13.

  The terminal measurement unit 21 measures received power of AP radio waves.

  The terminal communication unit 23 performs wireless communication with the access point 7 and transmits data from the beacon tag 3 to the server 9 via the access point 7. A radio wave emitted from the positioning target terminal 5 is referred to as a terminal radio wave.

  The terminal vector generation unit 25 generates a downlink reception information vector using the reception power of the AP radio wave measured by the terminal measurement unit 13.

  The AP communication unit 31 transmits data to the server 9. In addition, wireless communication is performed with the tag communication unit 15 and the terminal communication unit 23.

  The AP measurement unit 33 measures the received power of the tag radio wave and the terminal radio wave.

  The server communication unit 41 communicates with the access point 7.

  The storage unit 43 stores installation position information of each beacon tag 3. Further, a reference reception information vector is stored corresponding to each beacon tag 3.

  The management unit 45 manages the storage unit 43. Further, the unique information of each beacon tag 3 is managed, or a failure of the beacon tag 3 is detected.

  The server tag vector generation unit 47 uses the received power of the tag radio wave measured by the AP measurement unit 33 to generate an uplink reference reception information vector.

  The server terminal vector generation unit 49 uses the received power of the terminal radio wave measured by the AP measurement unit 33 to generate an uplink reception information vector.

  The positioning unit 51 compares the received information vector with the reference received information vector stored in the storage unit 43 and uses the installation position information of each beacon tag 3 stored in the storage unit 43 to determine the position of the positioning target terminal 5. Is estimated.

  FIG. 3 is an example in which uplink and downlink pointing positioning is performed. For example, when performing uplink-oriented positioning, as shown in FIG. 3A, the beacon tag 3 may include the tag radio wave reporting unit 11, and the positioning target terminal may include the terminal communication unit 23. When performing downlink-oriented positioning, as shown in FIG. 3B, the beacon tag 3 includes a tag measurement unit 13, a tag communication unit 15, and a tag vector generation unit 17, and the access point 7 The server 9 may include a server communication unit 41, a storage unit 43, a management unit 45, and a positioning unit 51.

  An example of the operation of the positioning system 1 in FIG. 2 will be described with reference to FIG. FIG. 4A is a flowchart showing an example of processing related to a reference reception information vector. FIG. 4B is a flowchart showing an example of processing related to the reception information vector.

  With reference to FIG. 4A, an example of processing related to the reference reception information vector will be described. First, initial setting processing is performed (step STT1). For example, the management unit 45 acquires the installation position information of each beacon tag 3, sets an initial value of the reference reception information vector corresponding to each beacon tag, and stores it in the storage unit 43.

  Subsequently, the management unit 45 determines whether or not the beacon tag 3 whose position has been changed exists (step STT2). If there is a beacon tag 3 whose position has changed, for example, the reference reception information vector corresponding to the original installation position information is deleted, and an initial value of the reference reception information vector corresponding to the new installation position information is set (step STT3). When a new beacon tag 3 is added, installation position information is added and an initial value of a reference reception information vector is set. When the beacon tag 3 is deleted, the installation position information and the reference reception information vector are deleted. If none of the beacon tags 3 has been changed, the process proceeds to step STT4.

  Subsequently, the received power is measured (step STT4). For example, for upward pointing positioning, the tag radio wave reporting unit 11 issues a tag radio wave, the AP measurement unit 33 measures the received power of the tag radio wave, and the AP communication unit 31 measures the tag radio wave measured by the server 9. Transmit the received power. For downlink directivity measurement, the tag measurement unit 13 measures the received power of the AP radio wave emitted by the AP communication unit 31. If the measurement is not possible, or if the measurement is less than the sensitivity, the fact may be notified. For example, when the tag radio wave reporting unit 11 periodically reports the tag radio wave in the upward pointing positioning, even if it is not detected within the period of the reporting cycle, it is determined that the sensitivity is below the sensitivity. Good. Further, when the tag radio wave reporting unit 11 emits irregularly in the up-directed positioning, it is determined that the tag radio wave is below the sensitivity when each AP is informed that the tag radio wave is emitted and cannot be detected. May be. In the case of downlink-oriented positioning, determination may be made based on whether or not the tag measuring unit 13 has been able to measure.

  Subsequently, a radio wave profile is generated (step STT5). For example, for uplink-oriented positioning, the server tag vector generation unit 47 generates an uplink reference reception information vector corresponding to each beacon tag 3. For downlink-oriented positioning, the tag vector generation unit 17 generates a downlink reference reception information vector, the tag communication unit 15 performs wireless communication with the access point 7, and is transmitted to the server 9 via the access point 7. A reference reception information vector is transmitted.

  Subsequently, the management unit 45 updates the storage unit 43 (step STT6). For example, the reference reception information vector corresponding to each beacon tag in the storage unit 45 may be deleted and a newly generated reference reception information vector may be stored. Further, statistical processing such as averaging of each value of the original reference reception information vector and each value of the newly generated reference reception information vector may be performed. Further, a reference reception information vector before a predetermined time may be deleted, and a newly generated reference reception information vector may be stored. Further, reference reception information vectors exceeding a predetermined number may be deleted, and newly generated reference reception information vectors may be stored. When storing a plurality of reference reception information vectors, for example, statistical processing such as averaging may be performed and compared with the reception information vectors. For example, by reflecting the latest information, each value of the reference reception information vector is automatically and flexibly changed according to changes in the indoor environment or the like. Furthermore, it can be changed more flexibly by setting it within a predetermined time or within a predetermined number. Therefore, highly accurate positioning can be realized.

  Subsequently, the management unit 45 determines whether or not there is a beacon tag 3 that may have a failure or a defective installation location (step STT7). For example, if the management unit 45 detects the tag radio wave of a certain beacon tag 3 by any access point 9 in uplink-oriented positioning, the beacon tag 3 may have a failure or the like. to decide. Further, for example, in downlink-oriented positioning, the tag measurement unit 13 of a certain beacon tag 3 does not detect any AP radio wave, or the downlink reference reception information vector is not transmitted from the tag communication unit 15 of a certain beacon tag 3. In such a case, it is determined that there is a possibility that the beacon tag 3 is malfunctioning. If there is no possibility of failure, the process returns to step STT2. If there is a possibility of failure, for example, the beacon tag 3 that may be broken and the installation position information are displayed on a display means (not shown), and the administrator needs to check the beacon tag 3. Indicates. Then, the process returns to step STT2. Thereby, the beacon tag 3 in the space can be managed automatically and centrally.

  With reference to FIG.4 (b), an example of the process regarding a received information vector is demonstrated. First, the received power is measured (step STM1). For example, in the case of uplink-oriented positioning, the AP measurement unit 33 measures the received power of the terminal radio wave emitted by the terminal communication unit 23, and the AP communication unit 31 transmits the received power of the terminal radio wave to the server 9. In the case of downlink-oriented positioning, the terminal measurement unit 21 measures the received power of the AP radio wave.

  Subsequently, a radio wave profile is generated (step STM2). For example, in the case of uplink-oriented positioning, the server terminal vector generation unit 49 generates an uplink reception information vector for the positioning target terminal. In the case of downlink-oriented positioning, the terminal vector generation unit 25 generates a downlink reception information vector, and the terminal communication unit 23 performs wireless communication with the AP communication unit 31 and transmits it to the server 9 via the access point 7. .

  Subsequently, the positioning unit 51 detects the position of the positioning target terminal 5 using the received information vector (step STM3). For the detection, for example, a distance such as a minimum Euclidean distance between the reception information vector and each reference reception information vector may be used. Moreover, you may utilize the machine learning demonstrated concretely with reference to FIG. 8 later.

  A method using the minimum Euclidean distance will be specifically described. A reference reception information vector that minimizes the Euclidean distance between the reference reception information vector recorded in the storage unit 43 and the reception information vector for the positioning target terminal is determined, and the position of the beacon tag 3 with respect to the reference reception information vector is determined as the positioning target The position of the terminal 5 is determined.

  Specifically, the number of access points is N, and the number of beacon tags is M. At this time, the degree of the uplink or downlink reception information vector is N. The order of the uplink or downlink reference received information vector is N. There are M uplink or downlink reference reception information vectors corresponding to M beacon tags. In uplink or downlink-oriented positioning, the Nth-order uplink or downlink received information vector (Rv) is compared with M Nth-order uplink or downlink reference received information vectors (RRv_i, i = 1 to M), and the minimum Positioning is performed by determining i that becomes the Euclidean distance Min_i (| Rv-RRv_i |) and setting the position of the positioning target terminal as the position of the beacon tag i. Note that elements below the sensitivity may or may not be counted in the distance calculation. In addition, when counting, it is set to be equal to or lower than the reception sensitivity level.

  FIG. 5 is a diagram showing an outline of uplink-oriented positioning. (A) shows the outline of the order of processing regarding the uplink reference reception information vector, (b) shows an example of the uplink reference reception information vector, and (c) shows the order of processing regarding the uplink reception information vector.

  Referring to FIG. 5A, it is assumed that there are a server, N APs, and M beacon tags in the positioning system. Each of the N APs measures the received power of the tag radio wave issued by each beacon tag. The N APs transmit the received power of the tag radio wave of each beacon tag to the server. The server aggregates the received power of the received tag radio wave of each beacon tag, and automatically generates an uplink reference reception information vector corresponding to each beacon tag.

  FIG. 5B shows an example of the uplink reference reception information vector. "-" Indicates a location that cannot be received because of sensitivity or less. The numerical value indicates the received power for each beacon tag received by each AP. The numerical value may be obtained by statistical processing such as average or median.

  With reference to FIG.5 (c), N AP measures the receiving power of the terminal radio wave which a positioning object terminal emits. N APs transmit the received power of terminal radio waves to the server. The server aggregates the received power of the received terminal radio waves, automatically generates an uplink reception information vector, and performs a positioning process.

  FIG. 6 is a diagram showing an outline of downlink-oriented positioning. (A) shows the outline of the processing order regarding the downlink reference reception information vector, (b) shows an example of the downlink reference reception information vector, and (c) shows the order of processing regarding the downlink reception information vector.

  Referring to FIG. 6A, it is assumed that there are a server, N APs, and M beacon tags in the positioning system. Each of the M beacon tags measures the received power of the AP radio wave emitted by the N APs. The AP performs wireless communication and may use the radio waves. Each beacon tag receives an AP radio wave issued from each AP, generates a downlink reference reception information vector, transmits the downlink reception information vector to the server via the AP, and the server receives the downlink reference reception information. Automatically generate a database of vectors.

  In FIG. 6B, “−” indicating an example of the downlink reference reception information vector indicates a location that cannot be received because of sensitivity or less. The numerical value indicates the received power for each beacon tag received by each AP. The numerical value may be obtained by statistical processing such as average or median.

  With reference to FIG.6 (c), a positioning object terminal measures and aggregates the reception power of AP radio wave which each AP emits, produces | generates a downlink received information vector, and transmits to a server. The server performs a positioning process using the downlink reception information vector.

  In addition, regarding downlink-oriented positioning, the case where a tag or terminal generates a downlink reference reception information vector or downlink reception information vector has been described. However, the tag or terminal measures received power and transmits it to the server, and the server receives downlink reference reception information. An information vector or a downlink reception information vector may be generated.

  FIG. 7 shows a reference reception information vector when uplink and downlink pointing positioning are used simultaneously. The reception power is generally different between upstream and downstream. Therefore, it is possible to realize more accurate positioning by increasing the dimension of the vector. In this case, positioning is performed by comparing a reception information vector obtained by combining the uplink reception information vector and the downlink reception information vector with a reference reception information vector obtained by combining the uplink reference reception information vector and the downlink reference reception information vector.

  A plurality of reference reception information vectors are recorded for one beacon tag. Using these, the distribution function with the received information vector as an argument is derived, and with the received information vector of the positioning target terminal as an argument, the value of the distribution function (match probability) is calculated for all beacon tags. The installation position of the high beacon tag can be set as the position of the positioning target terminal. The distribution function is defined by a joint probability of some probability distribution model such as a normal distribution, an exponential distribution, or a Rayleigh distribution, and a parameter characterizing the probability distribution is estimated in advance from a measured reference received information vector group. By using such a distribution function, more reliable estimation can be realized even with a limited number of reference reception information vector groups.

FIG. 8 is a diagram illustrating an example of positioning using machine learning in the case of uplink-oriented positioning. ○ is a calculator. If the index of the calculator is j, the input vector is x, and the output (vector) is y, a function given by y = f _j (x) is shown. An input value is given from the outside to the first stage calculator. In the learning stage, the value of the reference reception information vector is given. In the position estimation stage, the value of the reception information vector is given. Arrows indicate connectors. Each connector is distinguished by an index i. Each connector can have a unique weight. This weighting is updated by learning. The input indicates elements Rv [1]... Rv [N] of received power of terminal radio waves measured at each AP. Outputs P_1... P_M indicate the accuracy of positioning candidate points. Each connector learns the weight of each connector so that the most likely positioning point has the largest value. Note that M is the number of positioning candidate points, and is usually the number of beacon tags, but may be other values. Each beacon tag is associated with at least one of the output values. Each output value can be understood as a match probability of each beacon tag.

In FIG. 8, for example, the terminal positioning unit optimizes the function f _j (x) used in each calculator j and the weight of each connector based on the reference reception information vector for a plurality of beacon tags whose installation locations are known. For example, given a certain function used in the calculator j in advance, the output value P_k of the machine learning network corresponding to the tag k is maximum compared to other output values P_u (u ≠ k) for a certain beacon tag k. The weight of each connector i is updated repeatedly so that And a terminal positioning part calculates | requires the positioning candidate point which becomes the largest value using a machine learning network with respect to a received information vector, and performs positioning.

  The machine learning network in FIG. 8 can be regarded as a grouping function that determines and outputs to which beacon tag an input received information vector belongs, using the received information vector as an argument. Then, for example, the terminal positioning unit generates a grouping function for grouping received information vectors using a machine learning algorithm based on a group of reference received information vectors and beacon tag information corresponding to each reference received information vector. . Then, the terminal positioning unit performs positioning by using, for example, the installation position information of the beacon tag as the position of the positioning target terminal from the output result beacon tag information obtained by inputting the reception information vector to the grouping function. be able to.

  In addition, as a machine learning algorithm, a known method such as SVM (Support Vector Machine), its application method, or deep learning may be used.

  In the present embodiment, reception power is used as reception information. However, for example, a physical quantity sensed by RTT or various sensors may be used. A change amount of these amounts may be used. In addition, the positioning target terminal may perform positioning using, for example, the installation position information of one or a plurality of beacon tags that are present nearby by receiving the tag radio wave. For example, the position measured by network positioning may be corrected using the installation position information of the beacon tag.

  According to the present invention, since the installation location of the beacon tag is known, a reference reception information vector for each positioning candidate point can be easily generated. In addition, even if the floor plan changes, the reference reception information vector can be corrected automatically and immediately without taking time and effort.

  Further, for example, the reception intensity of the beacon signal emitted by each beacon tag in uplink-oriented positioning is measured by the AP, and the server manages the beacon tag centrally in the server so that these are notified to the server. Is possible.

  Further, by combining uplink-oriented positioning and downlink-oriented positioning, FP positioning based on the uplink received information vector measured on the AP side and FP positioning based on the downlink received output vector measured by the positioning target terminal itself are combined. Thus, the positioning accuracy can be further improved.

  Furthermore, the positioning target terminal has the function of directly receiving the tag radio waves emitted from the beacon tag, so that the terminal itself observes the radio waves generated from a large number of beacon tags, and the terminal itself becomes autonomous based on the received information. Positioning can also be performed.

  Each beacon tag can transmit not only its own installation position but also various unique information. Since the information is so-called information linked to the position, the terminal can easily provide a service linked to the current position of the terminal by receiving the information. For example, a beacon tag located in front of a certain store can actively transmit information about the store, such as issuing a coupon at the store.

  Assuming that each beacon tag and AP can communicate with each other, it is possible to freely manage and modify the installation position and the like recorded by each beacon tag from a server installed on the network. This makes it possible to easily notify the target tag of new location information even when the location of the tag needs to be corrected due to a floor plan change. It is also possible to provide location-linked services.

  1 positioning system, 3 beacon tag, 5 positioning target terminal, 7 access point, 9 server, 11 tag radio wave reporting unit, 13 tag measuring unit, 15 tag communication unit, 17 tag vector generating unit, 21 terminal measuring unit, 23 terminal Communication unit, 25 terminal vector generation unit, 31 AP communication unit, 33 AP measurement unit, 41 server communication unit, 43 storage unit, 45 management unit, 47 server tag vector generation unit, 49 server terminal vector generation unit, 51 positioning unit, 101 Indoor environment

Claims (12)

A positioning method in a positioning system for estimating a position of a positioning target terminal in space,
The positioning system is
A plurality of access points installed in the space;
A plurality of beacon tags installed in the space;
A server capable of communicating with each access point;
The server
Storage means for storing a reference reception information vector corresponding to each beacon tag installation position information and each beacon tag;
Management means for managing the storage means;
Comprising terminal positioning means for estimating the position of the positioning target terminal;
The tag vector generation means receives the AP reception information obtained when each access point receives the tag radio wave issued by each beacon tag and / or the beacon tag receives the AP radio wave emitted by each access point. Using the received tag information, a reference received information vector generating step for generating a reference received information vector corresponding to each beacon tag,
An update step in which the management means updates the storage means using the reference reception information vector generated by the tag vector generation means;
Terminal vector generation means receives the reception information obtained by each access point receiving a terminal radio wave emitted by the positioning target terminal and / or the AP radio wave emitted by each access point received by the positioning target terminal. A reception information vector generation step for generating a reception information vector of the positioning target terminal using the obtained reception information;
The terminal positioning means specifies one or a plurality of the reference reception information vectors similar to the reception information vector, and uses the installation position information of the beacon tag corresponding to the specified reference reception information vector A positioning method including a terminal positioning step for estimating a position of a positioning target terminal.   When the management means cannot receive any tag radio waves issued by a certain beacon tag, and / or when any beacon tag cannot receive any AP radio waves emitted by the access point, the beacon The positioning method according to claim 1, further comprising a tag management step that determines that an abnormality and / or a poor installation location have occurred in the tag. The beacon tag is for issuing the tag radio wave,
A terminal tag radio wave reception step in which the positioning target terminal receives the tag radio wave and obtains terminal tag radio wave reception information;
In the terminal positioning step, the positioning target terminal performs positioning by specifying one or a plurality of beacon tags using the received terminal tag radio wave reception information, and / or the terminal positioning means includes the terminal tag The positioning method according to claim 1 or 2, wherein the position of the positioning target terminal is estimated using radio wave reception information.   In the terminal positioning step, the terminal positioning means determines the reference reception information vector that minimizes the distance to the reception information vector, and sets the beacon tag installation position information corresponding to the reference reception information vector to the positioning The positioning method according to claim 1, wherein the position is a position of a target terminal.   In the terminal positioning step, the terminal positioning means calculates a match probability of the received information vector using a distribution function of the reference received information vector for each beacon tag having the received information vector as an argument, and the highest match probability The positioning method according to any one of claims 1 to 3, wherein the position information of the beacon tag having a high value is set as the position of the positioning target terminal. The terminal positioning means generates a grouping function for grouping received information vectors by using a machine learning algorithm based on the sampled received reference received information vectors and beacon tag information corresponding to each reference received information vector. Is what
The grouping function is to determine and output to which beacon tag the input received information vector belongs, using the received information vector as an argument,
In the terminal positioning step, the terminal positioning means obtains the position information of the positioning target terminal from the beacon tag information of the output result obtained by inputting the reception information vector to the grouping function. The positioning method according to any one of claims 1 to 3.   The positioning method according to claim 1, wherein each beacon tag has a sensor function to form a sensor network and / or has an actuator function to form an actuator network. In the updating step, the management means includes
When the installation position information of a certain beacon tag has not changed, the reference reception information vector stored in the storage means is deleted, or the storage position information is stored before and / or before the storage time. Delete the reference reception information vector generated more than a few, add the newly generated reference reception information vector and record it,
When the installation position information of a certain beacon tag is changed, the reference reception information vector corresponding to the previous installation position information is deleted, and the reference reception information vector is stored in the storage unit for the new installation position information. The positioning method according to any one of claims 1 to 7. In the reference reception information vector generation step, each beacon tag issues the tag radio wave, and each access point measures reception information of the tag radio wave and transmits it to the server, and the tag included in the server A vector generation means generates the reference reception information vector,
In the reception information vector generation step, each access point measures reception information of a terminal radio wave emitted by the positioning target terminal and transmits it to the server, and the terminal vector generation means provided in the server uses the reception information vector. The positioning method according to claim 1, wherein the positioning method is generated. In the reference reception information vector generation step, each beacon tag measures reception information of an AP radio wave emitted by each access point, and the tag vector generation unit included in the beacon tag generates the reference reception information vector, Send to the server,
In the reception electric path vector generation step, the positioning target terminal measures reception information of AP radio waves emitted from each access point, the terminal vector generation means provided in the positioning target terminal generates the reception information vector, and the server The positioning method according to claim 1, wherein the positioning method is transmitted to. A server that estimates the position of a positioning target terminal in space,
In the space, a plurality of beacon tags and a plurality of access points with which the server can communicate are installed,
Storage means for storing a reference reception information vector corresponding to each beacon tag installation position information and each beacon tag;
Management means for managing the storage means;
Comprising terminal positioning means for estimating the position of the positioning target terminal;
The management means is configured so that each beacon tag receives AP reception information obtained by each access point receiving tag radio waves issued by each beacon tag and / or AP radio waves emitted by each access point. Updating the storage means using a reference reception information vector corresponding to each beacon tag generated using the tag reception information obtained,
The terminal positioning unit receives the reception information obtained by each access point receiving a terminal radio wave emitted by the positioning target terminal and / or the AP radio wave emitted by each access point. Specify one or a plurality of reference reception information vectors similar to the obtained reception information vector, and use the installation position information of the beacon tag corresponding to the specified reference reception information vector to determine the position of the positioning target terminal Estimate the server.   The program for functioning a computer as a server of Claim 11.

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