JP2019095267A - Output device, position measurement system, program and method for measuring coordinate of fixed station position - Google Patents

Abstract

To provide a fixed station position measurement system or the like capable of accurately measuring a position of a fixed station in a positioning system without receiving influence of multipath in a space radio propagation.SOLUTION: Disclosed is an output device which includes a fixed station and a mobile station, and outputs fixed station image data to derive a distance between an own office and the fixed station of a positioning system in which a position of the mobile station is calculated on the basis of propagation time of radio signals to be transmitted and received between two stations. This output device includes: two lenses arranged opposite to each other; and an output part for outputting the image data incident from each lens, which includes the fixed station.SELECTED DRAWING: Figure 5

Description

  The present invention is an output for measuring the position of a fixed station of a positioning system which comprises a plurality of fixed stations and a mobile station and calculates the position of the mobile station based on the propagation time of a radio signal transmitted and received between the two stations. The present invention relates to an apparatus, a position measurement system, a computer program, and a method of measuring coordinates of a position of a fixed station.

  There is a positioning system that receives radio signals (radio waves) transmitted from a plurality of fixed stations and calculates the position of the mobile station. The mobile station calculates the time difference between the transmission and reception times of the radio signal, that is, the propagation time of the radio signal between the fixed station and the mobile station. The propagation time corresponds to the distance between each fixed station and the mobile station. Coordinates of each fixed station are known, and simultaneous equations obtained by receiving radio signals from three fixed stations, with three values including the coordinates of the mobile station and the error of the clock included in the mobile station as unknowns The position of the mobile station can be calculated by the GPS positioning method by solving or the hyperbolic navigation method.

  In constructing a position measurement system, in order to make the coordinates of each fixed station known, it is necessary to measure the coordinates of each fixed station. In order to measure the coordinates of each fixed station, a plurality of fixed transmitters are arranged at known coordinates, and the propagation time of radio waves transmitted from each of the plurality of fixed transmitters to each fixed station (base station) and the fixed transmitter A fixed station position calculation method is known which calculates the position of each fixed station based on each known position (see, for example, Patent Document 1).

International Publication No. 2008/126694

  However, in radio wave propagation in space, there may be a case where two or more propagation paths may be generated due to reflection of radio waves or the like, so there is a problem that it is difficult to accurately measure the coordinates of a fixed station.

  The present invention has been made in view of such circumstances, and an object thereof is to accurately measure the position of a fixed station in a positioning system without being affected by multipath in radio wave propagation in space. It is in providing a position measurement system etc. of a fixed station.

  An output device according to an aspect of the present disclosure includes a fixed station and a mobile station, and a fixed station of a positioning system that calculates a position of the mobile station based on a propagation time of a radio signal transmitted and received between both stations, and an own device. An output device for outputting fixed station image data for deriving a distance between the two, wherein two lenses arranged opposite to each other and image data including the fixed station incident from each of the lenses are output. And an output unit.

  In this aspect, the output device includes an output unit that outputs image data of an object including two lenses and a fixed station incident from the lenses. Therefore, it is possible to obtain data for deriving the distance from the output device to the fixed station without being affected by multipath in the radio wave propagation in space.

  An output device according to an aspect of the present disclosure includes: an azimuth angle detection unit that detects an azimuth angle between the fixed station and the own device; and an elevation angle detection unit that detects an elevation angle between the fixed station and the own device. The output unit is characterized by outputting data relating to the azimuth detected by the azimuth detection unit and the elevation angle detected by the elevation detection unit.

  In this aspect, since the output unit outputs data on the azimuth angle and elevation angle between the fixed station and the own apparatus, even if the azimuth angle and elevation angle between the fixed station and the own apparatus are other than 0 °, the output unit is fixed. It is possible to acquire position measurement data for measuring the position of a station.

  A position measurement system according to an aspect of the present disclosure performs the image processing of the output device according to the aspect of the present disclosure and the image data output from the output unit of the output device, and the output device based on the result of the image processing The distance from the fixed station to the fixed station is derived, and based on the derived distance to the fixed station, the azimuth angle and elevation angle output from the output unit of the output device, and the coordinates at which the output device is installed, And a derivation unit for deriving coordinates of the position of the fixed station.

  In this aspect, the position measurement system of the fixed station performs image processing of the image data of the subject output from the output unit of the output device, and derives the distance from the output device to the fixed station based on the image processing result. Equipped with The deriving unit derives the coordinates of the fixed station based on the distance from the output device to the fixed station, the azimuth angle with the fixed station, and the elevation angle. Therefore, by measuring the coordinates by optical means, it is possible to accurately measure the position of the fixed station without being affected by multipath in the radio wave propagation in space.

  In the position measurement system according to one aspect of the present disclosure, the image processing by the derivation unit relatively moves the image data of each of the objects incident from each of the two lenses in units of pixels and compares them. The sum total of the absolute value of the difference of the pixel corresponding to each fixed station includes the processing which outputs the movement which becomes the minimum value, and the derivation unit outputs the movement, the focal length of the lens, and the center of each lens. The distance from the output device to the fixed station is derived on the basis of the distance between and the pitch of the pixel of the image sensor disposed at the focal position of the lens.

  In this aspect, the image data of each of the objects incident from each of the two lenses are relatively moved in units of pixels and compared, and the amount of movement derived based on the comparison result, the focal length of the lens, and the center of each lens Since the distance from the output device to the fixed station is derived based on the distance between the two and the pixel pitch of the image sensor, the distance to the fixed station can be derived by a simple method.

  The position measurement system according to an aspect of the present disclosure is characterized in that the output device includes a housing, and the lead-out portion is provided in the housing.

  In the aspect, in the position measurement system, the output device includes the housing, and the lead-out portion is disposed in the housing, so that the position measurement system can be efficiently moved or installed.

In the position measurement system according to an aspect of the present disclosure, the fixed station is provided with a mark portion, and the deriving portion outputs the movement amount based on image data regarding the mark portion. I assume.

  In the present embodiment, the fixed station is provided with the mark portion, and the deriving portion outputs the movement amount based on the image data regarding the mark portion, so that the comparison accuracy in the pixel unit relatively moved is set. It is possible to improve and output more accurate movement amount.

  According to an embodiment of the present disclosure, there is provided a program comprising: acquiring, on a computer, image data of an object including a fixed station incident from each of two lenses disposed facing each other on the side, and an output device including the two lenses The data on the azimuth and elevation with the fixed station is acquired, the distance from the output device to the fixed station is derived based on the acquired image data of the subject, and the derived distance, the acquired azimuth and elevation The process of deriving the coordinates of the position of the fixed station is executed based on the data relating to and the coordinates at which the output device is installed.

  In this aspect, the program can cause the computer to function as the above-described position measurement system, and can measure the position of the fixed station without being affected by multipath in radio wave propagation in space.

  According to one aspect of the present disclosure, a method of measuring coordinates of a position of a fixed station includes a fixed station and a mobile station, and calculates a position of the mobile station based on a propagation time of a radio signal transmitted and received between both stations. In the method of measuring the coordinates of the position of the fixed station, image data of an object including the fixed station incident from each of two lenses disposed facing each other on the side surface is acquired, and an output device including the two lenses The data on the azimuth and elevation with the fixed station is acquired, the distance from the output device to the fixed station is derived based on the acquired image data of the subject, and the derived distance, the acquired azimuth and elevation The coordinates of the position of the fixed station are derived on the basis of the data on and the coordinates at which the output device is installed.

  In this aspect, the method of acquiring image data of an object including a fixed station and measuring the coordinates of the position of the fixed station based on the acquired image data etc. The position of the fixed station can be measured without receiving it.

  It is possible to provide a position measurement system and the like of a fixed station that can accurately measure the position of a fixed station of a positioning system without being affected by multipath in radio wave propagation in space.

FIG. 1 is a schematic view showing one configuration example of a positioning system according to a first embodiment. FIG. 2 is a block diagram showing an example of configuration of a fixed station according to Embodiment 1. FIG. 2 is a block diagram showing an exemplary configuration of a mobile station according to Embodiment 1. FIG. 1 is a block diagram illustrating an exemplary configuration of an output device according to a first embodiment. 1 is a block diagram showing an example of the configuration of a position measurement system according to Embodiment 1. FIG. It is explanatory drawing regarding measurement of the position of the fixed station by a position measurement system. It is a schematic perspective view of a fixed station. It is explanatory drawing regarding the image data of the fixed station by each lens. 5 is a flowchart showing the processing procedure of the computing unit according to the first embodiment.

  The position measurement system S of the fixed station 42 of the positioning system 40 according to the present embodiment is used to construct the positioning system 40 in a predetermined area such as a warehouse, a factory, etc. I will elaborate on the basis of.

(Embodiment 1)
FIG. 1 is a schematic view showing one configuration example of the positioning system according to the first embodiment. The present invention measures the coordinates of a plurality of fixed stations 42 included in the positioning system 40 when constructing the positioning system 40. Therefore, first, an outline of the positioning system 40 will be described based on FIG.

  The positioning system 40 is suitably installed in a region, mounted on a transmission control device 44 and a carrier device 41 for controlling transmission of radio signals by the three fixed stations 42 transmitting radio signals, controlling the transmission of radio signals by the respective fixed stations 42 And a mobile station 43 for receiving a radio signal from In the positioning system 40, the transport device 41 measures its own position based on the propagation time of the radio signal transmitted from the fixed station 42 and the coordinates indicating the position of the fixed station 42.

  The fixed stations 42 are appropriately spaced apart from each other so as not to interfere with the movement path of the transfer device 41. Each fixed station 42 is communicably connected to the transmission control device 44 in a wired manner. Each fixed station 42 operates according to the control of the transmission control device 44. The fixed station 42 transmits radio signals necessary for position calculation of the mobile station 43 at different timings in a predetermined order. The coordinates indicating the position of each of the fixed stations 42 are measured when constructing the positioning system 40, and the measured coordinates are stored in a storage unit 17 or the like that can be read by the control unit of the positioning system 40.

  FIG. 2 is a block diagram showing one configuration example of the fixed station 42 according to the first embodiment. Since the plurality of fixed stations 42 have the same configuration, the configuration of one fixed station 42 will be described. The fixed station 42 comprises a transmitting antenna 421, a reference clock 423, a spreading code generator 424, a carrier generator 426, a multiplier 425 and an amplifier 427.

  The reference clock 423 oscillates a clock signal corresponding to the current time, and outputs it to the spreading code generator 424. The reference clock 423 of the fixed station 42 is synchronized under the control of the transmission control device 44.

  The spreading code generator 424 generates a spreading code for spectrum-spreading the signal in synchronization with the timing signal oscillated by the reference clock 423 and outputs the generated spreading code signal to the multiplier 425. The spreading code is, for example, a pseudo noise code, and the spreading code generator 424 refers to the clock signal oscillated by the reference clock 423, starts generation of the spreading code starting from a predetermined time, and outputs a signal of the spreading code. . The spreading code is common to a plurality of fixed stations 42, and each fixed station 42 transmits radio waves in a time division manner.

  Carrier wave generator 426 generates a signal related to a millimeter wave carrier, and outputs the generated carrier wave signal to multiplier 425. The millimeter wave is a radio wave with a frequency of 30 to 300 GHz. The carrier wave generator 426 according to the first embodiment outputs, for example, a signal relating to a carrier wave of 60 GHz.

The multiplier 425 generates a spread spectrum modulated signal by multiplying the spread code signal output from the spread code generator 424 and the carrier signal output from the carrier generator 426 to generate a spread spectrum signal. The modulated signal is output to the amplifier 427.
Since the spread spectrum modulated signal is a signal modulated using a spread code generated in synchronization with the reference clock 423, it includes information at the time of transmission in which the signal is transmitted from the fixed station 42. If there is auxiliary information necessary to calculate the position of the mobile station 43 correctly, the signal including the information may be spread spectrum modulated and output.

  The amplifier 427 amplifies the signal output from the multiplier 425 and outputs the amplified signal to the transmitting antenna 421 to transmit the spread spectrum modulated millimeter wave to the mobile station 43.

  FIG. 3 is a block diagram showing one configuration example of the mobile station 43 according to the first embodiment. The mobile station 43 is mounted on, for example, the carrier device 41, and the mobile station 43 moves together with the carrier device 41. The mobile station 43 includes a receiving antenna 431, an amplifier 432, an oscillator 434, a mixer 433, a clock 437, a despreading code generator 436, a correlator 435, and a control unit 438.

  The receiving antenna 431 is connected to the amplifier 432, receives the radio wave transmitted from each fixed station 42, and outputs the signal obtained by receiving to the amplifier 432.

  The amplifier 432 amplifies the signal obtained by the reception antenna 431 receiving the radio wave, and outputs the amplified signal to the mixer 433.

  The oscillator 434 is an element that oscillates a signal for converting the frequency of the signal received by the receiving antenna 431 to the mixer 433.

  The mixer 433 performs frequency conversion by mixing the signal output from the amplifier 432 and the signal output from the oscillator 434. The signal frequency-converted by mixer 433 is amplified and output to correlator 435 through a filter (not shown).

  The clock 437 oscillates a clocking signal corresponding to the current time in synchronization with the reference clock 423 of the fixed station 42 and outputs the clock signal to the despreading code generator 436. However, since the clock 437 of the mobile station 43 is not necessarily exactly synchronized with the reference clock 423 of the fixed station 42, time correction is required.

  The despreading code generator 436 generates a despreading code for despreading the spread spectrum modulated signal in synchronization with the clocking signal generated by the clock 437, and generates the despreading code signal generated by the correlator 435. Output to The despreading code generator 436 can generate despreading codes for despreading the spread spectrum modulated signals at each of the plurality of fixed stations 42, and outputs the despreading code signal to the correlator 435. . The despreading code is, for example, a signal obtained by time-reversing the spreading code used in each fixed station 42, and the despreading code generator 436 refers to a clocking signal oscillated by the clock 437 and despreads from a predetermined time point. The generation of the spreading code is started, and the signal of the despreading code is output.

  The correlator 435 compares the signal output from the mixer 433 with the signal of the despreading code output from the despreading code generator 436, thereby despreading the spread code superimposed on the received signal; The correlation with the despreading code output from the spreading code generator 436 is taken. Then, the correlator 435 determines the time difference between transmission and reception of the received radio wave, that is, the propagation time of the radio wave between the fixed station 42 and the mobile station 43 by finding the time when the correlation of each code is maximum , And outputs the identified propagation time to the control unit 438. The correlator 435 also outputs a correlation value indicating the magnitude of the correlation when the correlation of each code is maximum to the control unit 438. Further, the correlator 435 outputs, to the control unit 438, information indicating the fixed station 42 which is the transmission source of the radio wave. The fixed station 42 sequentially transmits radio waves at a predetermined timing, and the mobile station 43 specifies the fixed station 42 that is the transmission source of the radio wave related to the maximum correlation value from the reception timing of the radio waves transmitted from the fixed station 42 can do. In addition, when each fixed station 42 transmits a radio wave subjected to spread spectrum modulation with a unique spread code, the correlator 435 determines the despreading code that maximizes the correlation value, thereby causing the radio wave source to be transmitted. A certain fixed station 42 may be specified. Further, the identifier of the fixed station 42 may be included in the radio wave, and the correlator 435 may be configured to specify the fixed station 42 that is the transmission source of the radio wave based on the identifier included in the radio wave.

  The control unit 438 is a computer including, for example, a central processing unit (CPU), a random access memory (RAM), a storage unit, an input / output port, and the like. The storage unit is a non-volatile memory such as an EEPROM (Electrically Erasable Programmable ROM), and stores a computer program for causing the CPU to execute processing related to position calculation and time correction of the mobile station 43. The control unit 438 executes the computer program to calculate the position of the mobile station 43 based on the information such as the propagation time and the correlation value.

  FIG. 4 is a block diagram showing one configuration example of the output device 1 according to the first embodiment. The output device 1 includes a housing 15, and in the housing 15, two lenses 10, two image sensors 11 disposed at focal positions of the lenses 10, and image data of a subject incident on the image sensor 11 Two output units 12 for output, an azimuth sensor 13 and an elevation sensor 14 are provided.

  Each lens 10 is an optical lens such as a convex lens, for example. The respective lenses 10 are disposed in the housing 15 such that the side surfaces of the respective lenses 10 face each other so that the central axes thereof are parallel to each other, and the distance between the two centers is a predetermined distance (L). Each lens 10 is arrange | positioned in the housing | casing 15 so that the output device 1 may be installed in parallel right and left or up and down by a plain view, when installed in a floor or the ground.

  Each of the image sensors 11 is disposed in the housing 15 so as to be at the focal position of each of the lenses 10. The image sensor 11 is, for example, a complementary metal oxide semiconductor (CMOS) sensor or the like, which receives light incident from the lens 10 and captures an image by exposing the light received by a plurality of pixels, and outputs the captured image Output to 12. The number of pixels of the image sensor 11 and the pitch of the pixels are appropriately determined in accordance with the resolution of the image to be captured.

  The output unit 12 includes an AD conversion unit 121 that converts an image (analog signal) output from the image sensor 11 into a digital form, and a memory unit 122 that stores image data (digital signal) converted by the AD conversion unit 121.

  The AD conversion unit 121 divides and samples the input analog signal at regular intervals, quantizes the sampled value so that it can be converted to a digital signal, and quantizes the quantized value in a predetermined number of binary digits. Output with In the AD conversion unit 121, a method such as a flash type or a pipeline type is appropriately determined according to the sampling rate and the resolution.

  The memory unit 122 is formed of, for example, a volatile memory such as a random access memory (RAM), and stores the image data converted into a digital signal by the AD conversion unit 121. The image data stored in the memory unit 122 is output to an external device connected by a connection connector (not shown) provided in the output unit 12.

  The azimuth sensor 13 is formed of, for example, a gyroscope or a gyro sensor, and when the output device 1 is directed to the fixed station 42, the rotation angle at which the output device 1 is horizontally rotated with respect to the set reference azimuth is fixed. The azimuth angle (θ) of the station 42 is output. In order to rotate the output device 1 horizontally, the output device 1 may be provided with a rotational drive unit such as a motor.

  The elevation angle sensor 14 is formed of, for example, a gyroscope or a gyro sensor, and when turning the output device 1 to the fixed station 42, the output device 1 is rotated up and down with respect to the gravity perpendicular direction (0 °). The movement angle is output as the elevation angle (φ) of the fixed station 42. When rotating the output device 1 up and down, the output device 1 may be provided with a rotation drive unit by a motor or the like.

  As shown in FIG. 4, the external device connected to the output unit 12 includes, for example, the communication device 22 or the external storage medium 21. The communication device 22 is, for example, a portable terminal or a wireless slave device, is connected to an external network (not shown) according to a communication protocol compliant with 4G or WIFI, and the image data outputted from the output unit 12 is (Not shown) or the like. The external storage medium 21 is, for example, a USB (Universal Serial Bus) memory, etc., stores the image data output from the output unit 12 and connects it to a predetermined computer (not shown) etc. Image data can be read out.

  The communication device 22 and the external storage medium 21 are also connected to the azimuth angle sensor 13 and the elevation angle sensor 14, and data output from the azimuth angle sensor 13 and the elevation angle sensor 14 are also input to the communication device 22 and the external storage medium 21. . The communication device 22 and the external storage medium 21 also transfer the input data of the azimuth sensor 13 and the elevation sensor 14 to the computer in the same manner as the image data.

  The output device 1 configured as described above is used to derive the distance between the fixed station 42 and the output device 1, and can output image data of an object including the fixed station 42 incident from each of the lenses 10. it can.

  Image data and data from the azimuth sensor 13 and elevation sensor 14 are transferred to a computer or the like having an image processing function via the communication device 22 connected to the output device 1 or the external storage medium 21. Processing is performed to measure the coordinates of the position of the fixed station 42. The calculation for measuring the coordinates of the position of the fixed station 42 will be described later.

  In the present embodiment, although two output units 12 are provided, the present invention is not limited to this. The output unit 12 is one, the one output unit 12 receives the output from each of the image sensors 11, and distinguishes the output from any one of the image sensors 11 and stores it in the memory unit 122 for communication. It may be configured to output to the device 22 or the external storage medium 21.

  FIG. 5 is a block diagram showing one configuration example of the position measurement system S according to the first embodiment. The position measurement system S includes an output device 1, an operation unit 16 that performs image processing and the like, a storage unit 17, and an input / output interface 18. The arithmetic unit 16, the storage unit 17, and the input / output interface 18 are provided in the housing 15 of the output device 1.

  The output device 1 is configured as a module of the position measurement system S, and is communicably connected to the calculation unit 16 so that the calculation unit 16 can process the image data, the azimuth angle, and the elevation angle output from the output device 1. ing.

  Arithmetic unit 16 is configured of a central processing unit (CPU) or a micro processing unit (MPU), etc., and reads and executes program 31P and data stored in advance in storage unit 17 to execute various control processes and Perform arithmetic processing etc. The computing unit 16 functions as a derivation unit (image processing unit and measurement unit) described later by executing the program 31P. The computing unit 16 stores the image data and the like in the storage unit 17 when processing the image data.

  The storage unit 17 is composed of a ROM (Read Only Memory), an EEPROM (Electrically Erasable Programmable ROM), a non-volatile memory such as a flash memory, or a volatile memory such as a RAM. It is stored in advance. The program 31P stored in the storage unit 17 may store the program 31P read from the recording medium 31 readable by the calculation unit 16. Alternatively, the program 31P may be downloaded from an external computer (not shown) connected to a communication network (not shown) and stored in the storage unit 17. The data stored in the storage unit 17 includes data on the coordinates of the position of the output device 1 at the time of imaging the fixed station.

  The input / output interface 18 is a group of interfaces for communicating with an external device. For example, standardized communications such as USB, Small Computer System Interface (SCSI), Recommended Standard 232 (RS232C), IEEE 802.3 and DSUB, etc. It is an interface. A display unit 32 such as a liquid crystal display is connected to the input / output interface 18, and the display unit 32 includes data concerning the operation menu, the image data, and the operation result from the operation unit 16 output via the input / output interface 18. Is displayed.

  The position measurement system S has a derivation unit including an image processing unit and a measurement unit. As described above, the computing unit 16 functions as a deriving unit (image processing unit and measurement unit) by executing the program 31P.

  The image processing unit acquires image data of two objects incident from each of the two lenses 10, relatively moves both image data in pixel units, and compares them. Each subject includes a fixed station 42. The image processing unit performs a process of comparing in pixel units where the fixed station 42 is exposed, based on the shape of the fixed station 42 set in advance as a comparison target. The shape of the fixed station 42 is set, for example, by the operator of the position measurement system S operating a predetermined setting function unit (window setting unit), and the set shape of the fixed station 42 is stored in the storage unit 17 Be done.

  The image processing unit reads each of the image data stored in the storage unit 17, acquires a pixel signal corresponding to the fixed station 42 included in one image data, and transmits the pixel signal to the fixed station 42. It is a reference signal for calculating the distance. Acquisition of the pixel signal corresponding to the fixed station 42 is performed based on the shape of the fixed station 42 set in advance. Next, the image processing unit acquires a pixel signal corresponding to the fixed station 42 included in the other image data, and performs processing of comparing the pixel signal with one pixel signal (reference signal). In the comparison processing, the other pixel signal is sequentially shifted one pixel at a time with respect to one pixel signal (reference signal), and every time the shift is sequentially performed, the sum of absolute values of differences between signals of both pixels is calculated. Includes processing A plurality of sums are calculated according to the number of times of shift, and the image processing unit stores the plurality of sums as the calculation results and the shift amounts in the storage unit 17 in association with each other. After the end of the process of shifting sequentially, the image processing unit calculates the distance of shift to the fixed station 42 (n (n Determined as a pixel).

  The distance (R) to the fixed station 42 is the determined shift amount (n pixels), the distance (L) between the centers of the respective lenses 10, the focal length (f) of the lens 10, and the pixel pitch (P of the image sensor 11). It can be derived based on The pitch (P) of the pixels of the image sensor 11 is a value determined based on characteristics such as the resolution of the image sensor 11 such as resolution. In the position measurement system S of this embodiment, for example, when setting the distance to the fixed station 42 within 50 m and setting the allowable distance error within 10 cm, the image based on the resolution of the image sensor 11 capable of corresponding to the specification The pitch (P) of the pixels of the sensor 11 is appropriately determined. An equation for obtaining the distance (R) to the fixed station 42 is, for example, distance (R) = (focal distance of lens 10 (f) × distance between centers of lenses 10 (L)) / (determined shift amount (n) Pixel) × Pixel pitch (P)).

  The measurement unit is data about the distance (R) to the fixed station 42 derived by the image processing unit, the azimuth angle (θ) and the elevation angle (φ) output by the output device 1, and the output device 1 when the fixed station 42 is imaged. The coordinates of the position of the fixed residence are measured based on the coordinates (X0, Y0, Z0) of the position at which. The coordinates of the position where the output device 1 is installed are input by the operator of the position measurement system S. Alternatively, the output device 1 may output the same as the image data when imaging the fixed station 42.

An equation for obtaining coordinates (X, Y, Z) of the position of the fixed station 42 is, for example, according to the following.
X = X0 + distance to fixed station 42 (R) × cos φ × sin θ
Y = Y0 + distance to fixed station 42 (R) × cos φ × cos θ
Z = Z0 + distance to fixed station 42 (R) x sinφ

  FIG. 6 is an explanatory diagram regarding measurement of the position of the fixed station by the position measurement system. The position measurement system S measures the coordinates of the positions of the fixed station 42 (1), the fixed station 42 (2) and the fixed station 42 (3). As shown in FIG. 6, the output device 1 of the position measurement system S faces the fixed station 42 (1). When this state is used as the reference azimuth, the azimuth (θ1) of the fixed station 42 (1) is 0 °. When the output device 1 is directed to the fixed station 42 (2), the azimuth (θ 2) of the fixed station 42 (2) is determined by the rotation angle rotated horizontally from the state facing the fixed station 42 (1) Ru. The azimuth angle (θ3) of the fixed station 42 (3) is similarly determined by the rotation angle rotated horizontally from the state of facing the fixed station 42 (1).

  The elevation angles (φ1, φ2, φ3) of the fixed station 42 (1), the fixed station 42 (2), and the fixed station 42 (3) are determined on the basis of the direction perpendicular to the direction of gravity. The distances (R1, R2, R3) of the fixed station 42 (1), the fixed station 42 (2), and the fixed station 42 (3) are derived by the image processing unit. Coordinates (X1, Y1, Z1) of the position of the fixed station 42 (1), coordinates (X2, Y2, Z2) of the position of the fixed station 42 (2), coordinates (X3, Y3) of the position of the fixed station 42 (3) , Z3 can be derived using the above equations based on the distances (R1, R2, R3), elevation angles (φ1, φ2, φ3) and azimuth angles (θ1, θ2, θ3), respectively.

  FIG. 7 is a schematic perspective view of the fixed station 42. As shown in FIG. FIG. 8 is an explanatory diagram of image data of the fixed station 42 by the respective lenses 10. The fixed station 42 is in the form of a rectangular box, and the end face on the short side is mounted on a flat table and used. Three transmitting antennas 421 project from the top of one side. The transmitting antenna 421 is a directional horn antenna, and is provided toward a region in which the carrier device 41 having the mobile station 43 moves. A mark 422 is supported by a support bar and provided on the upper short end face. It is desirable that the mark portion 422 is a short cylinder, and the outer peripheral surface of the cylinder is painted or the like so as to have a bright color such as red and yellow. The transmitting antenna 421 is not limited to the directional horn antenna, and may be a nondirectional antenna.

  As shown in FIG. 8, when the image data of the subject including the fixed station 42 incident from the two lenses 10 is compared, the pixels exposed corresponding to the fixed station 42 are at different positions. On the other hand, by setting the pixel signal corresponding to the mark portion 422 as the reference signal by making the color of the mark portion 422 brighter, such as red or yellow, different from the background image, the difference between the pixel signals is remarkable. And the pixel comparison accuracy can be improved.

  FIG. 9 is a flowchart of the processing procedure of the computing unit according to the first embodiment. The computing unit 16 of the position measurement system S starts the processing described below by executing the program 31P stored in the storage unit 17.

  The calculation unit 16 acquires the image data of the fixed station 42 output from the output device 1 (S101). From the output device 1 of the position measurement system S, image data of an object incident from each of the two lenses 10 is output. The subject includes the fixed station 42. The operation unit 16 obtains each of the image data output by the output device 1 and stores the image data in the storage unit 17.

  The calculation unit 16 acquires the azimuth of the fixed station 42 (S102). From the output device 1, data on the azimuth is output based on the rotation angle horizontally rotated to direct the output device 1 to the fixed station 42 with respect to the set reference azimuth. The calculation unit 16 acquires data on the azimuth angle output by the output device 1 and stores the acquired data in the storage unit 17.

  The calculation unit 16 acquires the elevation angle of the fixed station 42 (S103). The output device 1 outputs data relating to the elevation angle based on the rotation angle at which the output device 1 is turned up and down with respect to the direction perpendicular to the gravity. The calculation unit 16 acquires data on the elevation angle output by the output device 1 and stores the acquired data in the storage unit 17.

  The calculation unit 16 reads from the storage unit 17 the coordinates of the position of the output device 1 stored in the storage unit 17 (S104). The coordinates of the position of the output device 1 are stored in advance in the storage unit 17 by the operation of the operator or the like. Alternatively, the coordinates of the position of the output device 1 may be output together when the output device 1 outputs image data.

  The calculation unit 16 performs image processing of the acquired image data, and derives the distance between the output device 1 and the fixed station 42 (S105). Arithmetic unit 16 specifies the shape of mark portion 422 provided in fixed station 42 or fixed station 42 from each of the acquired image data, and compares the pixels corresponding to the specified fixed station 42 etc. between both image data Do the process. In the process of comparison, the pixel (pixel signal) of one image data is used as a reference signal, the other pixel is sequentially shifted by one pixel, and the sum of absolute values of differences between signals of both pixels is calculated. In order to shift the order, the shift amount of the pixel when the total sum of the absolute values is minimum is determined as the shift amount (n pixels) for calculating the distance to the fixed station.

  From the storage unit 17, the computation unit 16 calculates the distance (L) between the centers of the lenses 10, the focal distance (f) of the lens 10, and the pixel pitch (P) of the image sensor 11 stored in the storage unit 17. read out. The calculation unit 16 is a fixed station based on the determined shift amount (n pixels), the spacing (L) of the centers of the respective lenses 10, the focal length (f) of the lenses 10, and the pixel pitch (P) of the image sensor 11. Deriving the distance (R) up to 42

  The calculation unit 16 is based on the derived distance (R) to the fixed station 42, the data related to the azimuth angle (θ) and the elevation angle (φ) stored in the storage unit 17, and the coordinates of the position of the output device 1 Coordinates of the position of the fixed station 42 are derived (S106).

  Since the position measurement system S measures the distance to the fixed station 42 based on the image data including the fixed station 42 captured by the two lenses 10, positioning is performed without being affected by multipath in space radio wave propagation. The position of the fixed station 42 of the system 40 can be measured accurately.

  The fixed station 42 is provided with the mark portion 422, and the image processing unit outputs the movement amount based on the image data related to the mark portion 422. Therefore, the accuracy of the comparison in pixel units relatively moved is improved. Can output more accurate movement amount.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is indicated not by the meaning described above but by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims.

S position measurement system 1 output device 10 lens 11 image sensor 12 output unit 121 AD conversion unit 122 memory unit 13 azimuth sensor (azimuth detection unit)
14 Elevation sensor (elevation detector)
15 case 16 operation unit (derivation unit)
Reference Signs List 17 storage unit 18 input / output interface 21 external storage medium 22 communication device 31 recording medium 31 P program 32 display unit 40 positioning system 41 transport device 42 fixed station 421 transmission antenna 422 mark portion 423 reference clock 424 spreading code generator 425 multiplier 426 carrier wave Generator 427 Amplifier 43 Mobile station 431 Reception antenna 432 Amplifier 433 Mixer 434 Oscillator 435 Correlator 436 Despreading code generator 437 Clock 438 Control unit 44 Transmission control unit

Claims (8)

A fixed station image for deriving the distance between a fixed station of a positioning system that has a fixed station and a mobile station and calculates the position of the mobile station based on the propagation time of a radio signal transmitted and received between the two stations and a local station An output device for outputting data,
With two lenses arranged opposite to each other,
An output unit that outputs image data including the fixed station incident from each of the lenses. An azimuth detection unit for detecting an azimuth between the fixed station and the own apparatus;
And an elevation angle detection unit that detects an elevation angle between the fixed station and the own apparatus,
The output device according to claim 1, wherein the output unit outputs data on an azimuth detected by the azimuth detection unit and an elevation angle detected by the elevation detection unit. An output device according to claim 2;
The image processing of the image data output from the output unit of the output device is performed, the distance from the output device to the fixed station is derived based on the result of the image processing, and the derived distance to the fixed station, the output And a derivation unit that derives the coordinates of the position of the fixed station based on the azimuth and elevation angles output from the output unit of the device and the coordinates at which the output device is installed. system. The image processing by the deriving unit relatively moves the image data of each subject incident from each of the two lenses in pixel units, compares them, and compares the absolute value of the difference between the pixels corresponding to each fixed station included in the subject Including the process of outputting the movement amount at which the sum of
The deriving unit is configured to output the displacement from the output device based on the output movement amount, the focal length of the lens, the distance between the centers of the respective lenses, and the pixel pitch of the image sensor disposed at the focal position of the lens. The position measurement system according to claim 3, wherein a distance to a fixed station is derived. The output device comprises a housing;
The position measurement system according to claim 3, wherein the lead-out portion is provided in the housing. The fixed station is provided with a mark portion,
The position measurement system according to claim 4, wherein the derivation unit outputs the movement amount based on image data regarding the mark portion. On the computer
Acquiring image data of an object including a fixed station incident from each of two lenses disposed with the side facing each other,
Obtaining data on azimuth and elevation angles between an output device including the two lenses and the fixed station;
The distance from the output device to the fixed station is derived based on the acquired image data of the subject,
A program for executing processing of deriving coordinates of the position of the fixed station based on the derived distance, the acquired data on the azimuth angle and elevation angle, and the coordinates at which the output device is installed. A method of measuring coordinates of a position of a fixed station of a positioning system, comprising a fixed station and a mobile station and calculating the position of the mobile station based on the propagation time of a radio signal transmitted and received between both stations.
Acquiring image data of an object including the fixed station, which is incident from each of two lenses disposed facing each other at the side,
Obtaining data on azimuth and elevation angles between an output device including the two lenses and the fixed station;
The distance from the output device to the fixed station is derived based on the acquired image data of the subject,
A coordinate measurement method of a position of a fixed station, the coordinate of the position of the fixed station is derived based on the derived distance, the acquired data on the azimuth angle and elevation angle, and the coordinates at which the output device is installed.

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