JP2019090759A - Setting method for reference position for indoor positioning, indoor positioning system, and indoor positioning method - Google Patents

Abstract

To provide a setting method for high-precision reference position for indoor positioning, an indoor positioning system, and an indoor positioning method.SOLUTION: The present invention relates to a method of setting reference positions P1-P3 for indoor positioning in a building 1 using a satellite signal receiver 10 receiving satellite signals from a plurality of positioning satellites, the method comprising the steps of: installing the satellite signal receiver 10 on the roof 2 or outer wall 3 of the building 1; acquiring installation position information on the satellite signal receiver 10; setting the reference positions P1-P3 for indoor positioning right below the installation position of the satellite signal receiver 10; measuring a height L from the set reference positions P1-P3 to the installation position of the satellite signal receiver 10; and acquiring position information on the reference positions P1-P3 based upon the measured height L and the acquired installation position information on the satellite signal receiver 10.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a method of setting a reference position for indoor positioning utilizing a positioning satellite system such as a Global Navigation Satellite System (GNSS), an indoor positioning system, and an indoor positioning method.

  Conventionally, for example, the following methods (1) to (5) are known as an indoor positioning method for measuring the indoor position.

(1) Wi-Fi (registered trademark) positioning This is a method of calculating the own position by calculating from differences in radio wave intensity from a plurality of Wi-Fi base stations. Apple and Google have already constructed location information databases of Wi-Fi stations all over the world, and can be used with iPhone (registered trademark) and Android (registered trademark) smartphones (smartphones). Even in buildings and underground malls, you can find self-location that will be practical to some extent. This method has the advantage that no new investment is required because it uses the Wi-Fi mechanism that is already widespread. Since the coverage area of a typical Wi-Fi base station has a radius of several tens of meters, base stations need to be present at a considerable density in order to obtain a highly accurate position.

(2) Beacon positioning A beacon transmitter of the same format as Bluetooth (registered trademark) is installed indoors, and the smartphone side estimates its own position based on signal strength discrimination of a communication scheme called BLE (Bluetooth Low Energy). is there. Since the signal of Bluetooth (registered trademark) reaches at most a radius of about 10 meters, the transmitter needs to be densely installed, but the positioning accuracy is improved compared to Wi-Fi. Apple calls this mechanism iBeacon (registered trademark) and implements it on iOS 7 (iOS is a registered trademark), and Android (registered trademark) has been implemented in 4.3 and later.

(3) Pedestrian autonomous navigation Pedestrian autonomous navigation is also called PED (Pedestrian Dead Reckoning), and utilizes the sensor functions such as acceleration, magnetism and angular velocity that most current smartphones have, and travel direction and movement of oneself It is a method to estimate quantity. The main advantage of this method is that there is no additional cost. However, even if the starting point is at the correct position, errors gradually accumulate. For this reason, it is suitable to combine with other methods instead of performing indoor positioning only by PDR.

(4) IMES Positioning IMES (Indoor MEssaging System) is a technology unique to Japan that JAXA has proposed in cooperation with a private company in the process of developing the quasi-zenith satellite "Michibiki". A transmitter with the same method (protocol and frequency) as GPS (Global Positioning System) is installed indoors, and indoor and outdoor positioning can be seamlessly performed by utilizing the GPS reception function of the existing smartphone. Therefore, there is an advantage that the cost is low for the user side. However, it is necessary to update the firmware of the smartphone built-in chip to be compatible with IMES.

(5) Geomagnetic positioning It is a method of measuring the geomagnetic pattern generated from the iron material of a structure such as a building on site and creating a database beforehand, and knowing its own position by the geomagnetic sensor of the smartphone and it. If there is no major change in the structure, the data measured once is relatively stable. This method is advantageous in cost because it does not require capital investment and does not use electricity. However, when there is an object that disturbs the geomagnetism, such as a railway car or a large car, there is a weak point that the pattern can not be recognized incorrectly and the position can not be measured accurately.

By the way, in said (1), the indoor reference coordinate is set using the positional infomation database of a Wi-Fi station. In the above (2), the indoor reference coordinates are set by installing the beacon transmitter indoors. In the above (3), the indoor reference coordinates are set by utilizing the sensor functions such as acceleration, magnetism and angular velocity which most smartphones have.
However, in any of the above indoor positioning methods, the accuracy of reference coordinates indoors is generally poor, and the accuracy of positioning is at most 10 several centimeters at the most.

  On the other hand, although indoor position measurement using a radar or a laser has also expanded, it is desirable for the measurement to have high precision reference coordinates indoors. Especially in the latter case, generally, survey coordinates during design and construction and coordinates are acquired through new public surveys, but survey coordinates and measurement coordinates are different due to coordinate conversion that degrades accuracy, etc. Over several years In the case of long-term measurement, it is necessary to re-measure, for example, the reference point each time because the crustal deformation of the Japanese Archipelago and the newly measured survey coordinates cause a shift. Furthermore, there is also the disadvantage of the convenience that the reference coordinates of the building do not exist on each floor.

  The present invention has been made in view of the above, and an object thereof is to provide a method of setting a reference position for indoor positioning with high accuracy, an indoor positioning system, and an indoor positioning method.

  In order to solve the problems described above and to achieve the object, a method of setting a reference position for indoor positioning according to the present invention is for indoor positioning using a satellite signal receiver that receives satellite signals from a plurality of positioning satellites. A method of setting a reference position indoors of a building, comprising the steps of: installing a satellite signal receiver on the roof or the outer wall of a building; acquiring installation position information of the satellite signal receiver; and installing a satellite signal receiver The steps of setting a reference position for indoor positioning directly under the position, measuring the height from the set reference position to the installation position of the satellite signal receiver, the measured height, and the acquired satellite signal receiver Acquiring position information of the reference position based on the installation position information.

  In the method for setting a reference position for indoor positioning according to the present invention, in the above-mentioned invention, a vertical passage extending in the vertical direction is provided directly under the installation position of the satellite signal receiver, and for indoor positioning in the vertical passage. Setting the reference position of

  In the method for setting a reference position for indoor positioning according to the present invention, in the above-mentioned invention, the reference position for indoor positioning is set on the floor of a predetermined floor, and is directly under the installation position of the satellite signal receiver. A predetermined height section above the floor surface of the longitudinally extending longitudinal passages is characterized in that it is configured to be detachable from the longitudinal passage main body.

  The indoor positioning system according to the present invention is characterized in that indoor positioning is performed based on position information of the reference position set by the setting method of the reference position for indoor positioning described above.

  Further, the indoor positioning method according to the present invention is characterized in that indoor positioning is performed based on the position information of the reference position set by the setting method of the reference position for indoor positioning described above.

  According to the method of setting a reference position for indoor positioning according to the present invention, there is provided a method of setting a reference position for indoor positioning in a building indoors using a satellite signal receiver that receives satellite signals from a plurality of positioning satellites. Installing the satellite signal receiver on the roof or the outer wall of the building, acquiring the installation position information of the satellite signal receiver, and setting the reference position for indoor positioning directly under the installation position of the satellite signal receiver The position of the reference position on the basis of the step of measuring, the step of measuring the height from the set reference position to the installation position of the satellite signal receiver, the measured height, and the acquired installation position information of the satellite signal receiver Since the step of acquiring information is provided, it is possible to provide a reference position with high accuracy indoors.

  Further, according to another method of setting a reference position for indoor positioning according to the present invention, a vertical passage extending in the vertical direction is provided immediately below the installation position of the satellite signal receiver, and the reference position for indoor positioning is provided in the vertical passage. Thus, the reference position can be easily provided by using the vertical passage.

  Moreover, according to the setting method of the reference position for indoor positioning which concerns on this invention, the reference position for indoor positioning is set to the floor surface of a predetermined floor, and is directly under the installation position of a satellite signal receiver vertically. Since a predetermined height section above the floor surface of the extending vertical passage is configured to be removable from the vertical passage main body, the measurement operation performed by installing the measuring instrument at the vertical passage position on the floor surface The effect of improving the quality is exhibited.

  Further, according to the indoor positioning system of the present invention, indoor positioning is performed based on the position information of the reference position set by the setting method of the reference position for indoor positioning described above, so indoor positioning can be performed with high accuracy. The effect of being able to

  Further, according to the indoor positioning method according to the present invention, since indoor positioning is performed based on the position information of the reference position set by the setting method of the indoor positioning reference position described above, indoor positioning is performed with high accuracy. The effect of being able to

FIG. 1 is a schematic side sectional view of a building showing an embodiment of an indoor positioning reference position setting method, an indoor positioning system, and an indoor positioning method according to the present invention. FIG. 2 (1) is an explanatory view of the antenna bottom surface height, and FIG. 2 (2) is an explanatory view of an offset value.

  Hereinafter, embodiments of a method of setting a reference position for indoor positioning, an indoor positioning system, and an indoor positioning method according to the present invention will be described in detail based on the drawings. The present invention is not limited by the embodiment.

(How to set the reference position for indoor positioning)
First, an embodiment of a method of setting a reference position for indoor positioning according to the present invention will be described.

  In the method for setting a reference position for indoor positioning according to the present embodiment, a reference point (reference position) for indoor positioning is set using a GNSS receiver (satellite signal receiver) that receives satellite signals from a plurality of positioning satellites. It is set indoors in a multi-story building. In the present embodiment, although the case where the building is three stories is described as an example, the present invention is not limited to this.

  As shown in FIG. 1, first, the GNSS receiver 10 is installed on the roof 2 of the building 1, and position coordinates (latitude, longitude, altitude z0 or ellipsoid height z0 of the observation point P0) which is installation location information of the GNSS receiver 10 Get). In this case, position coordinates of the GNSS receiver 10 are acquired regularly or constantly by performing static positioning, RTK positioning, and the like with an electronic reference point or the like (not shown) around the building 1. About the acquired position coordinate, it is preferable to perform the removal process (smoothing), such as white noise, using a 3-hour moving average method, for example.

  Next, an opening 14 with a lid, for example, is provided in the ceiling 12 directly below the central bottom of the GNSS receiver 10, and a vertical pipe 16 (longitudinal passage) leading from the opening 14 to the lower floor is provided. Instead of the vertical pipe 16, a vertical shaft with a shaft structure may be provided.

  The vertical piping 16 may be provided to penetrate each floor from the ceiling 12 to the floor 20 on the first floor as shown in the figure, or provided to the bottom 20 of the floor where the reference point is to be set such as the second floor or the third floor. May be In the present embodiment, the case where the reference points P1 to P3 are respectively set on the floor surfaces 20 of the first to third floors directly under the observation point P0 through the vertical piping 16 will be described as an example.

  Next, the rope 18 is connected to the central bottom of the GNSS receiver 10 (the part immediately below the observation point P0), and the vertical piping 16 vertically hangs down to the floor 20 of the first floor to measure the length L of the rope 18 Do.

  Here, when there is an accessory device on the bottom of the GNSS receiver 10, the antenna bottom height H is acquired. At that time, the offset value is also considered. An example of the method for acquiring the antenna bottom height H and the offset value is shown in FIGS. 2 (1) and 2 (2), respectively. FIG. 2 shows an example in which the GNSS receiver 10 is installed on a tripod. As shown in FIG. 2 (1), the antenna bottom height H is expressed as a vertical distance from the physical lowest surface (antenna bottom height reference surface B) of the antenna body of the GNSS receiver 10 to the top surface of the stone etc. Ru. In the present embodiment, the position of the upper end of the rope 18 (the center of the bottom surface of the GNSS receiver 10) corresponds to the position of the top surface of the stone or the like. Further, as shown in FIG. 2 (2), the offset value is the length from the antenna bottom height reference plane B to the phase center G of the L1 and L2 frequencies.

  Finally, by subtracting the value obtained by adding the length L of the rope 18 and the height H of the antenna bottom from the elevation z0 (or ellipsoidal height) of the observation point P0 by the GNSS receiver 10, the reference point of the first floor 20 Get the elevation z1 (or ellipsoidal height) of P1. That is, the altitude z1 can be obtained by the equation z1 = z0− (L + H). The position (latitude, longitude) of the observation point P0 is adopted as the position of the reference point P1 in the east, south, north, and south directions. By doing this, it is possible to easily provide the reference point P1 having highly accurate position coordinates on the floor surface 20 of the first floor which is indoors.

  Next, heights h1 to h3 between the floor surfaces 20 of each floor are acquired. In this case, for example, a scale for height measurement may be inscribed in the vertical pipe 16 in advance, and the heights h1 to h3 may be obtained from the difference in scale read at the position of the floor surface 20 of each floor. Moreover, since the height h1-h3 between the floor surfaces 20 of each floor can be grasped | ascertained by a construction drawing etc. when the building 1 is a general building, you may acquire using it.

  By adding the heights h1 to h3 between the floor surfaces 20 of the floors thus acquired to the elevation z1 of the reference point P1 of the floor surface 20 of the first floor, the reference points P2 of the floor surfaces 20 of the second and third floors are added The elevations z2 and z3 of P3 can be obtained. That is, the altitude z2 can be obtained by the equation z2 = z1 + h1, and the altitude z3 can be obtained by the equation z3 = z2 + h2. By doing this, it is possible to provide the reference points P2 and P3 having highly accurate position coordinates on the floor surfaces 20 of the second and third floors.

  Alternatively, the altitudes z2 and z3 may be determined using the altitude z0 of the observation point P and the antenna bottom height H by the GNSS receiver 10 instead. In this case, the altitude z3 can be obtained by the equation z3 = z0- (h3 + H), and the altitude z2 can be obtained by the equation z2 = z3-h2.

  In the above embodiment, when the vertical piping 16 is installed and the height L of the rope 18 to the floor surface 20 of the lower floor is measured, the inside of the vertical piping 16 is a reference position, and a sensor is provided near the reference point It is expected that this will be work with equipment and the like. In this case, there is a possibility that the vertical piping 16 may be obstructive to lower the workability. Therefore, for example, a height section of several tens cm or several m from the floor surface 20 in the vertical pipe 16 may be configured by a detachable pipe such as a screw-in type vertical pipe 16 a. In this way, the vertical pipe 16a of this height section can be removed from the main body of the vertical pipe 16 and the measuring instrument etc. can be easily installed in the vicinity of the reference point of the floor surface 20, thus improving the workability of measurement. can do.

  In the above embodiment, the vertical pipe 16 and the rope 18 are used as an example, but the present invention is not limited to this. For example, the reference point is set using a laser irradiation apparatus such as a laser pointer. It may be set. In this case, for example, a laser pointer may be disposed at the center of the bottom surface of the GNSS receiver 10 and the laser light may be emitted vertically downward to set the irradiation position on the floor 20 of the lower floor as a reference point. The laser pointer may be disposed on the floor 20 of the above, and the position at which the center of the bottom of the GNSS receiver 10 can be irradiated with the laser light may be set as a reference point.

  In the above embodiment, although the GNSS receiver 10 is provided on the roof 2 of the building 1 as an example, the present invention is not limited to this. For example, the GNSS receiver 10 may be an outer wall of the building 1 The reference point may be set by providing a vertical pipe or the like immediately below it. In this case, the set reference point can be used as a reference point for indoor positioning or as a reference point for outdoor positioning near the building 1.

(Indoor positioning system)
Next, an embodiment of the indoor positioning system according to the present invention will be described.

  As shown in FIG. 1, in the indoor positioning system according to the present embodiment, starting from the reference points P1 to P3 set by the setting method for the indoor positioning reference position described above, each floor (1st to 3rd floors) It performs indoor positioning. Since the reference points P1 to P3 set on the floor surface 20 of each floor are points having highly accurate position coordinates, indoor positioning on each floor can be performed with high accuracy.

(Indoor positioning method)
Next, an embodiment of the indoor positioning method according to the present invention will be described.

  As shown in FIG. 1, in the indoor positioning method according to the present embodiment, the reference points P1 to P3 set by the setting method of the indoor positioning reference position described above are used as starting points for each floor (1st to 3rd floors). It performs indoor positioning. Since the reference points P1 to P3 set on the floor surface 20 of each floor are points having highly accurate position coordinates, indoor positioning on each floor can be performed with high accuracy.

  As described above, according to the method of setting a reference position for indoor positioning according to the present invention, the reference position for indoor positioning can be used indoors in a building using a satellite signal receiver that receives satellite signals from a plurality of positioning satellites. Setting the satellite signal receiver on the roof or the outer wall of the building, acquiring the installation position information of the satellite signal receiver, and indoor positioning directly under the installation position of the satellite signal receiver. Setting the reference position for the satellite, measuring the height from the set reference position to the installation position of the satellite signal receiver, the measured height, and the acquired installation position information of the satellite signal receiver And the step of acquiring position information of the reference position, so that a highly accurate reference position can be provided indoors.

  Further, according to another method of setting a reference position for indoor positioning according to the present invention, a vertical passage extending in the vertical direction is provided immediately below the installation position of the satellite signal receiver, and the reference position for indoor positioning is provided in the vertical passage. Because of this, it is possible to easily provide the reference position by using the vertical passage.

  Moreover, according to the setting method of the reference position for indoor positioning which concerns on this invention, the reference position for indoor positioning is set to the floor surface of a predetermined floor, and is directly under the installation position of a satellite signal receiver vertically. Since a predetermined height section above the floor surface of the extending vertical passage is configured to be removable from the vertical passage main body, the measurement operation performed by installing the measuring instrument at the vertical passage position on the floor surface It is possible to improve the quality.

  Further, according to the indoor positioning system of the present invention, indoor positioning is performed based on the position information of the reference position set by the setting method of the reference position for indoor positioning described above, so indoor positioning can be performed with high accuracy. Can.

  Further, according to the indoor positioning method according to the present invention, since indoor positioning is performed based on the position information of the reference position set by the setting method of the indoor positioning reference position described above, indoor positioning is performed with high accuracy. Can.

  As described above, the method of setting the indoor positioning reference position, the indoor positioning system, and the indoor positioning method according to the present invention are useful for indoor position measurement, and in particular, perform indoor position measurement with higher accuracy. Suitable for

1 Building 2 Roof Top 3 Exterior Wall 10 GNSS Receiver (Satellite Signal Receiver)
12 ceiling 14 opening 16 16, 16a vertical piping (vertical passage)
18 Rope 20 Floor P1, P2, P3 Reference point (reference position)

Claims (5)

A method of setting a reference position for indoor positioning in a building indoor using a satellite signal receiver that receives satellite signals from a plurality of positioning satellites,
Installing a satellite signal receiver on the roof or the outer wall of a building, acquiring installation position information of the satellite signal receiver, and setting a reference position for indoor positioning directly under the installation position of the satellite signal receiver And the step of measuring the height from the set reference position to the installation position of the satellite signal receiver, the measured height, and the position information of the reference position based on the acquired installation position information of the satellite signal receiver. And a step of acquiring the reference position setting method for indoor positioning.   The indoor positioning reference position according to claim 1, wherein a vertical passage extending in the vertical direction is provided immediately below the installation position of the satellite signal receiver, and a reference position for indoor positioning is set in the vertical passage. Setting method.   The reference position for indoor positioning is set on the floor of a predetermined floor, and a predetermined height section above the floor of the vertical aisle extending vertically below the installation position of the satellite signal receiver is the longitudinal aisle The method for setting a reference position for indoor positioning according to claim 2, wherein the method is detachably configured with respect to the position sensor.   The indoor positioning system characterized by performing indoor positioning based on the positional information on the reference (standard) position set by the setting method of the reference (standard) position for indoor positioning as described in any one of Claims 1-3.   The indoor positioning method characterized by performing indoor positioning based on the positional information on the reference position set by the setting method of the reference position for indoor positioning as described in any one of Claims 1-3.

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