JP2019113366A - Measurement program and measurement system - Google Patents

Abstract

To accurately and efficiently measure the distance between a base station and a moving body.SOLUTION: Based on the radio field strength from a moving body 10 measured by base stations 12A, 12B, 12C in order to reduce the error due to fluctuation components such as noise and the radio field strength from the base station measured by the moving body, the radio field strength is filtered and processed (change of the radio wave strength equal to or more than a predetermined threshold, out of the radio field strength, is cut, the moving body is averaged, and scale conversion is performed). Based on the filtered and processed radio field strength, the distance between the base station and the moving body is measured.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a measurement program and a measurement system.

  There is a technology for performing positioning of a mobile object and determination of performance using the measured radio wave intensity of radio.

  For example, there is a technology for determining the performance of the mobile phone by comparing the received radio wave strength of the mobile phone and the received radio wave strength of the base station at the maintenance station.

Japanese Patent Application Publication No. 2003-23384

  However, in the prior art, in order to reduce an error due to a fluctuation component such as noise, it is necessary to carry out a filtering process on data of radio wave intensity of radio wave, but using data of radio wave intensity measured a certain number of times or more. It was necessary to make the error converge.

  In one aspect, the present invention aims to measure the distance between a base station and a moving object accurately and efficiently.

  In one aspect, the radio wave intensity is filtered based on the radio wave intensity from the mobile unit measured by the base station and the radio wave intensity from the base station measured by the mobile unit. The distance between the base station and the mobile unit is measured based on the filtered radio wave intensity.

  In one aspect, the distance between the base station and the moving body can be measured accurately and efficiently.

It is a figure which shows an example of the positioning method of the conventional positioning. It is a figure which shows an example of the positioning method of the conventional positioning. It is a block diagram showing a schematic structure of a measurement system concerning a 1st embodiment of the present invention. It is a block diagram which shows schematic structure of a positioning device. It is a figure which shows an example of the filter processing of a filter part. It is a figure which shows an example of the synthetic | combination process of a filter part. It is a figure which shows an example in the case of measuring a position by three-point positioning. It is a figure which shows an example of position information DB. It is a block diagram showing a schematic structure of a computer which functions as a positioning device. It is a flow chart which shows an example of measurement processing of a mobile of a 1st embodiment. It is a flowchart which shows an example of a measurement process of the fixed base station of 1st Embodiment. It is a flowchart which shows an example of the positioning process of the positioning device of 1st Embodiment. It is a block diagram which shows schematic structure of the measurement system which concerns on 2nd Embodiment of this invention. It is a flow chart which shows an example of measurement processing of a mobile of a 2nd embodiment. It is a flowchart which shows an example of a measurement process of the fixed base station of 2nd Embodiment. It is a flowchart which shows an example of the positioning process of the positioning device of 2nd Embodiment. It is a figure which shows an example in the case of mounting a positioning apparatus in a moving body.

  First, the problems in the prior art, which are the premise of this embodiment, will be described. In addition, although the case where position determination of a moving body is performed using radio wave intensity of radio | wireless is demonstrated, it is the same as when performing performance determination etc. using radio wave intensity of radio | wireless.

  There are the following two positioning methods for measuring the position using the radio wave intensity of the radio wave.

  First, as shown in FIG. 1, the radio base stations 92A to 92C receive radio waves transmitted from the mobile unit 90, and the radio base stations 92A to 92C use the radio wave intensity of the radio waves received. , And the method of measuring the position of the moving body by the positioning device 94.

  The other is, as shown in FIG. 2, that the mobile unit 90 receives radio waves transmitted from a plurality of fixed base stations 92A to 92C and uses the radio wave intensity of the radio waves received by the mobile unit 90. , And a method of measuring the position of the moving body by the moving body 10.

  However, in these methods, the position is measured using radio wave intensity in one direction. Therefore, in order to reduce an error due to fluctuation components such as noise, it is not possible to perform position measurement with sufficient accuracy unless position measurement is performed using data obtained by performing filter processing on data of radio wave intensity measured a plurality of times. was there.

  Therefore, in each embodiment of the present invention, the distance between the mobile unit and each fixed base station is measured using the radio wave intensity measured by both the mobile unit and the fixed base station to measure the position of the mobile unit. explain. As described above, if the amount of data of the field intensity that can be used for position measurement can be increased per unit time by measuring the field intensity in both the mobile unit and the fixed base station, as a result, in a short time and It becomes possible to measure the position of the moving body with high accuracy.

  Hereinafter, an example of the first embodiment of the present invention will be described in detail with reference to the drawings.

  As shown in FIG. 3, the positioning system 100 according to the first embodiment includes a mobile unit 10, fixed base stations 12A to 12C, and a positioning device 14. Although the fixed base stations 12A to 12C are used, the number of fixed base stations is not limited to the example of FIG. Moreover, although it was set as fixed base station 12A-12C in this embodiment, it is not limited to this. For example, instead of the fixed base station whose position is fixed, it may be a portable base station, or a fixed base station and a portable base station may be combined. The positioning system 100 is an example of a measurement system. The positioning device 14 is an example of a measuring device. Also, each of the fixed base stations 12A to 12C may be simply referred to as an AP (access point) hereinafter.

  The mobile unit 10 is a portable terminal such as a smartphone, and transmits and receives radio waves by an internal antenna (not shown). The mobile unit 10 also receives radio waves from each of the fixed base stations 12A to 12C, and transmits the field strength measured for each of the fixed base stations 12A to 12C to the fixed base stations 12A to 12C.

  The measured radio wave strength RSSI (r) is expressed by the following equation (1).

RSSI (r) = A-10 B x log ₁₀ (r) (1)

  Here, A is the radio wave intensity when observed around 1 m from the antenna of the radio wave transmission source, B is a constant (generally 2) representing attenuation of the radio wave intensity, and r is the distance from the antenna to the observation point It is.

  The fixed base stations 12A to 12C are base stations installed in an area where wireless communication is performed, and transmit and receive radio waves using an antenna (not shown). The fixed base stations 12A to 12C receive radio waves of the mobile unit 10 and measure the radio wave intensity from the mobile unit 10. The fixed base stations 12A to 12C also receive from the moving body 10 the radio wave intensity of the own station measured by the moving body 10. Also, the fixed base stations 12A to 12C transmit the radio wave intensity measured for the mobile unit 10, the radio wave intensity of the local station measured by the mobile unit 10, and the position of the local station to the position measurement device 14. Note that the radio wave intensity of the AP measured by the mobile object 10 is not limited to the case of transmitting from the AP to the positioning device 14, and may be transmitted to the positioning device 14 by other APs or the Internet other than AP. You may do it. In this case, it is not necessary to receive the radio wave intensity of the mobile station 10 from the mobile station 10.

  The positioning device 14 measures the distance between each of the fixed base stations 12A to 12C and the mobile object 10 using the radio wave intensity received from the fixed base stations 12A to 12C and the positions of the fixed base stations 12A to 12C. , The position of the mobile unit 10 is determined.

  The positioning device 14 functionally includes a communication unit 20, a filter unit 22, a position measuring unit 24, and a position information DB 30, as shown in FIG. The position measurement unit 24 is an example of the measurement unit.

  Communication unit 20 is at least one of the radio wave strength of mobile 10 measured by fixed base stations 12A-12C and the radio wave strength of fixed base stations 12A-12C measured by mobile 10 from fixed base stations 12A-12C. And the locations of fixed base stations 12A-12C.

  The filter unit 22 applies the radio wave intensity from the mobile unit 10 measured by each of the fixed base stations 12A to 12C and the radio wave intensity from each of the fixed base stations 12A to 12C measured by the mobile unit 10, respectively. Perform filter processing. FIG. 5 shows an example of specific filter processing. The filtering process is performed on the radio wave intensity from the mobile unit 10 measured by the AP for each of the APs that are fixed base stations 12A to 12C, and to the radio wave intensity from the AP measured by the mobile unit 10 Do against. Also, filter processing is performed on the radio wave intensity measured per unit time. As shown in FIG. 5, first, with respect to the measured radio wave intensity, a change of the radio wave intensity or more by a predetermined threshold value or more is cut. Next, a moving average is calculated for the radio wave intensity after cutting. The moving average may be calculated in a predetermined unit, such as calculating an average of four radio wave intensities before and after. Next, scale conversion is performed on the calculation result of the moving average to combine the radio wave intensity from the mobile unit 10 to the AP and the radio wave intensity from the AP to the mobile unit 10. Scale conversion is performed, for example, by dividing the radio wave intensity by a predetermined value. The filter processing up to this point is performed for each of the radio wave intensity from the moving object 10 and the radio wave intensity from the AP.

  The above is an example of the filter processing of the filter unit 22.

  Then, as shown in FIG. 6, for each of the combinations of the mobile unit 10 and each of the APs which are fixed base stations 12A to 12C, the radio wave intensity from the mobile unit 10 after scale conversion and the corresponding radio power after scale conversion. Combine with the radio wave intensity from the AP. The synthesis here is a process of averaging the radio wave intensities at the same point. Note that the distance may be measured using each of the radio wave intensities in the position measurement unit 24 described later without combining, and the average distance may be calculated.

  Further, the filter unit 22 determines whether the radio wave intensity from the moving object 10 has been received from three or more APs in the above-mentioned filter processing. Also, for each of the APs, it is determined whether the radio wave intensity from the AP measured by the mobile unit 10 has been received. When the radio wave intensity from the AP is not received, the filter process described above is performed only for the radio wave intensity from the moving object 10, and the filter process of change change threshold or more, moving average, and scale conversion is performed. Although the radio wave intensity is received from three or more APs, three may not be necessary depending on the measurement environment.

  The position measurement unit 24 determines, for each of the combinations of the mobile unit 10 and each of the APs that are fixed base stations 12A to 12C, with each of the fixed base stations 12A to 12C based on the radio wave intensity synthesized by the filter unit 22. , And the distance to the moving body 10 are measured. The position measurement unit 24 also measures the position of the mobile unit 10 based on the measurement results of the distances to the fixed base stations 12A to 12C and the positions of the fixed base stations 12A to 12C.

  The principle of measuring the distance of the position measurement unit 24 will be described below.

The distance between the mobile unit 10 and the AP is obtained from the relationship between the distance in the following equation (2) and the radio wave intensity RSSI (r).

... (2)

  The radio field strength RSSI (r) uses a filtered signal. N is the number of measurements, and p and q are constants obtained from experimental measurements using logarithmic approximation. (2) The distance and the radio wave intensity RSSI (r) are approximated by using the result of measurement N times by the equation (2), and the distance D is measured.

  Next, the principle of measurement of the position of the position measurement unit 24 will be described.

  The case of measuring the position by three-point positioning will be described with reference to FIG. In FIG. 7, each AP is assumed to be fixed and located. By using the distance D measured from the radio wave intensity, an equation of a circle whose radius is the distance D from each AP is made, and the center of the intersecting portion of the circle is set as the position of the moving body. Even in the case of three or more points, the method of position measurement is the same. The position measurement unit 24 may perform filter processing such as weighting with the distance measured by the position measurement unit 24 as being more accurate as the distance decreases (see Non-Patent Document 1).

[Non-patent document 1] Tatsuya Koga, Fumi Toyose, Miyoshi Horikawa, Mitsumasa Shinohara, "Proposal of position measurement method using received signal strength", 2014

  As described above, the position measurement unit 24 measures the position of the moving body 10, and stores the measured position of the moving body 10 in the position information DB 30.

  In the position information DB 30, as shown in FIG. 8, the moving object number, the position, and the measurement time are stored in the position information table 30A.

  The positioning device 14 can be realized by, for example, a computer 40 shown in FIG. The computer 40 includes a central processing unit (CPU) 41, a memory 42 as a temporary storage area, and a non-volatile storage unit 43. The computer 40 also includes an input / output device 44, a read / write (R / W) unit 45 that controls reading and writing of data to the storage medium 49, and a communication interface (I / F) connected to a network such as the Internet. And 46). The CPU 41, the memory 42, the storage unit 43, the input / output device 44, the R / W unit 45, and the communication I / F 46 are connected to one another via a bus 47.

  The storage unit 43 can be realized by a Hard Disk Drive (HDD), a Solid State Drive (SSD), a flash memory or the like. In the storage unit 43 as a storage medium, a positioning program 50 for causing the computer 40 to function as the positioning device 14 is stored. The positioning program 50 includes a communication process 51, a filter process 52, and a position measurement process 53. The storage unit 43 also has an information storage area 59 for storing information held in the position information DB 30. The positioning program 50 is an example of a measurement program.

  The CPU 41 reads out the positioning program 50 from the storage unit 43, develops it in the memory 42, and sequentially executes the processes possessed by the positioning program 50. The CPU 41 operates as the communication unit 20 illustrated in FIG. 4 by executing the communication process 51. Further, the CPU 41 operates as the filter unit 22 shown in FIG. 4 by executing the filter process 51. Further, the CPU 41 operates as the position measurement unit 24 shown in FIG. 4 by executing the position measurement process 53. Thus, the computer 40 that has executed the positioning program 50 functions as the positioning device 14. The CPU 41 that executes the program is hardware.

  The function realized by the positioning program 50 can also be realized by, for example, a semiconductor integrated circuit, more specifically, an application specific integrated circuit (ASIC) or the like.

  Next, the operation of the positioning system 100 according to the present embodiment will be described.

  First, measurement processing executed in the mobile object 10 will be described with reference to FIG.

  In step S100, the mobile unit 10 determines whether a radio wave from any of the fixed base stations 12A to 12C has been received. If it has been received, the process proceeds to step S102, and if it has not been received, the process proceeds to step S106.

  In step S102, the mobile unit 10 measures the radio wave intensity of each AP that has received the radio wave.

  In step S104, the mobile unit 10 transmits the radio wave strength of each AP measured in step S102 to the AP whose radio wave strength has been measured.

  In step S106, the mobile object 10 waits for a fixed time, and returns to step S100 to repeat the measurement process. The wait time may be an arbitrary time, or may be 0 (hereinafter, the same applies to the wait time).

  Next, measurement processing performed in each AP of fixed base stations 12A to 12C will be described with reference to FIG. In the following, the operation of one AP will be described.

  In step S200, the AP determines whether a radio wave from the mobile unit 10 has been received. If it has been received, the process proceeds to step S202, and if it has not been received, the process proceeds to step S210.

  In step S202, the AP measures the radio wave intensity of the mobile object 10 that has received the radio wave.

  In step S204, the AP determines whether the radio wave intensity of the AP measured by the mobile unit 10 has been received. If it has been received, the process proceeds to step S206, and if it has not been received, the process proceeds to step S208.

  In step S206, the AP transmits the radio wave intensity of the mobile object 10 measured in step S202 and the radio wave intensity of the AP measured in the mobile object 10 to the positioning device 14.

  In step S208, the AP transmits the radio wave intensity of the moving object 10 measured in step S202 to the positioning device 14.

  In step S210, the AP waits for a fixed time, and returns to step S200 to repeat the measurement process.

  Next, position measurement processing performed in each part of the position measurement device 14 will be described with reference to FIG.

  In step S300, the filter unit 22 determines whether the radio wave intensity from the moving object 10 measured by the AP has been received by the communication unit 20 from the three or more APs. If it has been received, the process proceeds to step S302, and if it has not been received, the process proceeds to step S322.

  In step S302, the filter unit 22 selects an AP to be processed among the APs that have received the radio wave intensity.

  In step S304, the filter unit 22 determines whether the radio wave intensity from the AP measured by the mobile unit 10 has been received, and if it has been received, the process proceeds to step S306, and if it has not been received, the process proceeds to step S314. Do.

  In step S306, the filter unit 22 filters the radio wave intensity from the moving object 10 measured by the AP. Specifically, changes equal to or greater than the threshold are cut, moving average, and scale conversion are performed.

  In step S308, the filter unit 22 filters the radio wave intensity from the AP measured by the moving object 10. Specifically, changes equal to or greater than the threshold are cut, moving average, and scale conversion are performed.

  In step S310, the filter unit 22 combines the radio wave intensity from the moving object 10 and the radio wave intensity from the AP, which are obtained by the filtering process in steps S306 and S308.

  In step S312, the position measurement unit 24 measures the distance between the AP and the mobile object 10 based on the radio wave intensity combined in steps S306 to S310. The distance is measured, for example, according to the above equation (2).

  In step S314, the filter unit 22 filters the radio wave intensity from the moving object 10 measured by the AP. Specifically, changes equal to or greater than the threshold are cut, moving average, and scale conversion are performed.

  In step S316, the position measurement unit 24 measures the distance between the AP and the mobile object 10 based on the radio wave intensity filtered in step S314.

  In step S318, the position measurement unit 24 determines whether measurement of distances for all APs has been completed. If completed, the process proceeds to step S320, and if not completed, the process returns to step S302 and unmeasured APs. Select and repeat the process.

  In step S320, the position measurement unit 24 measures the position of the mobile object 10 based on the measurement result of the distance to each of the APs and the position of each AP. The measured position is stored in the position information DB 30.

  In step S322, the position measurement unit 24 waits for a fixed time, and returns to step S300 to repeat the position positioning process.

  As described above, according to the positioning system of the first embodiment, the radio wave intensity from the moving body measured by each of the base stations and the radio wave intensity from each of the base stations measured by the moving body Filter the radio wave intensity based on that. The distance between each of the base stations and the mobile is measured based on the filtered radio wave strength. The position of the mobile is measured based on the distance measurement result and the position of the base station. Therefore, the position of the moving body can be measured accurately and efficiently.

  Next, an example of the second embodiment of the present invention will be described in detail. The same parts as those in the first embodiment will be assigned the same reference numerals and descriptions thereof will be omitted.

  The second embodiment is different from the first embodiment in that the radio wave intensity of the moving object whose position has already been measured is also used. As such, by using more radio wave intensity data, the accuracy and efficiency of position measurement can be increased.

  As shown in FIG. 13, the positioning system 200 according to the second embodiment includes a mobile unit 10A, a mobile unit 10B, fixed base stations 12A to 12C, and a position measurement device 214.

  The mobile bodies 10A and 10B are portable terminals such as smartphones, and transmit and receive radio waves using an internal antenna (not shown). Here, it is assumed that the position of the mobile body 10A has already been measured by the method of the first embodiment. The mobile unit 10A is an example of another mobile unit in the present invention.

  The mobile unit 10B receives a radio wave from the mobile unit 10A, measures the radio wave intensity of the mobile unit 10A, and transmits it to the mobile unit 10A.

  The mobile unit 10A receives a radio wave from the mobile unit 10B and measures the radio wave intensity of the mobile unit 10A. Also, the mobile unit 10A receives the radio wave intensity of the mobile unit 10A itself measured by the mobile unit 10B from the mobile unit 10B. Among the fixed base stations 12A to 12C, the moving body 10A includes the radio wave intensity between the moving bodies including each of the measured radio wave intensity from the moving body 10B and the radio wave intensity of the moving body 10A itself measured by the moving body 10B. It transmits to the nearest fixed base station (in the example of FIG. 13, fixed base station 12B).

  When the fixed base stations 12A to 12C receive the radio wave strength measured between the moving bodies in addition to the radio wave strength between the AP and the moving bodies transmitted in the first embodiment, they are measured between the moving bodies The radio wave intensity is also transmitted to the positioning device 214.

  The positioning device 214 functionally includes a communication unit 20, a filter unit 222, a position measuring unit 224, and a position information DB 30, as shown in FIG. The position information DB 30 is assumed to store the position of the mobile unit 10A that has already been measured. However, instead of using the position of the mobile unit 10A stored in the position information DB 30, the position of the mobile unit 10A may be transmitted from the mobile unit 10A each time.

  When the filter unit 222 receives the radio wave intensity measured between the moving bodies in addition to the radio wave strength between the AP and the moving bodies filtered in the first embodiment, it is measured between the moving bodies. The radio wave intensity is also filtered. In the filtering process, cut of a change equal to or more than a threshold, moving average, and scale conversion may be performed, and each of the scale-converted radio wave intensities may be synthesized.

  The position measurement unit 224 measures the distance between each of the fixed base stations 12A to 12C and the mobile object 10B based on the radio wave intensity between the AP and the mobile object filtered by the filter unit 222. Further, the position measurement unit 224 measures the distance between the moving body 10A and the moving body 10B based on the radio wave intensity between the moving bodies filtered by the filter unit 222.

  Further, position measurement unit 224 is based on the measurement result of the distance to each of AP, the position of each of AP, the measurement result of the distance between mobiles, and the position of mobile 10A stored in position information DB 30. To measure the position of the mobile unit 10B.

  The positioning device 214 can be realized, for example, by the computer 40 shown in FIG. The computer 40 includes a CPU 41, a memory 42 as a temporary storage area, and a non-volatile storage unit 43. The computer 40 also includes an input / output device 44, an R / W unit 45 that controls reading and writing of data to the storage medium 49, and a communication I / F 46 connected to a network such as the Internet. The CPU 41, the memory 42, the storage unit 43, the input / output device 44, the R / W unit 45, and the communication I / F 46 are connected to one another via a bus 47.

  The storage unit 43 can be realized by an HDD, an SSD, a flash memory, or the like. In the storage unit 43 as a storage medium, a positioning program 250 for causing the computer 40 to function as the positioning device 214 is stored. The positioning program 250 includes a communication process 51, a filter process 252, and a position measurement process 253. The storage unit 43 also has an information storage area 59 held in the position information DB 30. The positioning program 250 is an example of a measurement program.

  The CPU 41 reads out the positioning program 250 from the storage unit 43, develops it in the memory 42, and sequentially executes the processes possessed by the positioning program 250. The CPU 41 operates as the communication unit 20 illustrated in FIG. 4 by executing the communication process 51. Further, the CPU 41 operates as the filter unit 222 illustrated in FIG. 4 by executing the filter process 251. In addition, the CPU 41 operates as the position measurement unit 224 illustrated in FIG. 4 by executing the position measurement process 253. Thus, the computer 40 executing the positioning program 250 functions as the positioning device 214. The CPU 41 that executes the program is hardware.

  The function realized by the positioning program 250 can also be realized by, for example, a semiconductor integrated circuit, more specifically, an ASIC or the like.

  Next, the operation of the positioning system 200 according to the present embodiment will be described.

  First, measurement processing performed in each of the mobile bodies 10A and 10B will be described with reference to FIG. The following describes the case of the mobile unit 10A whose position has been measured. Steps S <b> 100 to S <b> 106 are the same as in the first embodiment, and thus the description thereof is omitted. After processing step S104, the following step S1100 is processed.

  In step S1100, mobile unit 10A determines whether the radio wave of mobile unit 10B and the radio wave intensity of mobile unit 10A measured by mobile unit 10B have been received. If it has been received, the process proceeds to step S1102, and if it has not been received, the process proceeds to step S106.

  At step S1102, the mobile unit 10A measures the radio wave intensity of the mobile unit 10B.

  In step S1104, the mobile unit 10A transmits the radio wave intensity of the mobile unit 10B measured in step S1102 and the radio wave intensity of the mobile unit 10A measured by the mobile unit 10B to the closest AP.

  Next, measurement processing performed in each AP of fixed base stations 12A to 12C will be described with reference to FIG. In the following, the operation of one AP will be described. Steps S200 to S210 are the same as those in the first embodiment, and thus the description thereof is omitted. After processing step S206 (or S208), the following step S2200 is processed.

  In step S2200, the AP determines whether the radio wave intensity between the moving objects measured by the moving object 10 has been received. If it has been received, the process proceeds to step S2202, and if it has not been received, the process proceeds to step S210.

  In step S2202, the AP transmits the radio wave intensity between the moving objects measured by the moving object 10 (here, the moving object 10A) to the positioning device 214.

  Next, position measurement processing performed in each part of the position measurement device 214 will be described with reference to FIG. Steps S300 to S322 are the same as those in the first embodiment, and thus the description thereof is omitted.

  In step S3300, the filter unit 222 determines whether the communication unit 20 has received three or more APs and the radio wave intensity measured by the moving object. If it has been received, the process proceeds to step S302, and if it has not been received, the process proceeds to step S322. Then, after processing steps S302 to S318, step S3302 is processed. As described above, if it is determined by three or more APs and mobiles, for example, even if the radio base station 12C can not measure the radio wave intensity, the mobile station moves by a known position via the fixed base station 12B. If the radio wave intensity between mobiles transmitted from the body can be received, the position can be measured.

  After processing step S318, the following step S3302 is processed.

  In step S3302, the filter unit 222 determines whether the radio wave intensity measured between moving objects has been received. If it has been received, the process proceeds to step S3304, and if it has not been received, the process proceeds to step S3310.

  In step S3304, the filter unit 222 filters the radio wave intensity measured between the moving objects. More specifically, the filter processing is a cut of a change equal to or more than a threshold for each of the radio wave intensity from the moving body 10B measured by the moving body 10A and the radio wave intensity from the moving body 10A measured by the moving body 10B. Perform moving average, scale conversion.

  In step S3306, the filter unit 222 combines each of the radio wave intensities filtered in step S3304.

  In step S3308, the position measurement unit 224 measures the distance between the moving object 10A and the moving object 10B based on the radio wave intensity between the moving objects combined in step S3306.

  In step S3310, based on the measurement result of the distance to each of AP, the position of each AP, the measurement result of the distance between mobiles, and the position of mobile 10A stored in position information DB 30, Measure the position.

  As described above, according to the positioning system of the second embodiment, the radio wave intensity from the moving body measured by each of the base stations and the radio wave intensity from each of the base stations measured by the moving body are obtained. Filter the radio wave intensity based on that. The distance between each of the base stations and the mobile is measured based on the filtered radio wave strength. The position of the mobile unit is measured based on the measurement result of the distance of the base station or mobile unit and the position of the base station or mobile unit. Therefore, the position of the moving body can be measured accurately and efficiently.

  Next, modifications of the above-described embodiments will be described.

  In each embodiment mentioned above, although a case where a positioning system was provided independently in a positioning system was explained to an example, it is not limited to this. For example, as shown in FIG. 17, the positioning device 14 may be mounted on the mobile object 10. In this case, each of the fixed base stations 12A to 12C transmits to the moving body 10 the radio wave intensity of the radio wave received from the moving body 10. The mobile unit 10 moves from each of the fixed base stations 12A to 12C received from the fixed base stations 12A to 12C from the radio wave intensity from the mobile unit 10 to each of the fixed base stations 12A to 12C and each of the fixed base stations 12A to 12C measured by the mobile unit 10. The radio wave intensity to the body 10 is input to the mounted positioning device 14. The mounted position measurement device 12 performs position measurement as in the above embodiments.

  In each embodiment mentioned above, although a case where position measurement was performed was explained to an example in a positioning system, it is not limited to this. For example, instead of measuring the position, the performance of the moving object may be determined using the measured distance.

  Further, the following appendices will be disclosed regarding each of the above embodiments.

(Supplementary Note 1)
Performing filtering on each of the radio wave intensity from the moving body measured by the base station and the radio wave intensity from the base station measured by the moving body;
Measuring a distance between the base station and the mobile object based on each of the filtered radio wave intensities;
Measurement program.

(Supplementary Note 2)
The measurement program according to Appendix 1, wherein each of the filtered radio wave intensities is combined, and the distance between the base station and the mobile object is measured based on the combined radio wave intensities.

(Supplementary Note 3)
There are a plurality of base stations,
The measurement program according to Appendix 1 or 2, wherein the position of the mobile unit is measured based on the measurement result of the distance to each of a plurality of base stations and the position of each of the base stations.

(Supplementary Note 4)
Filtering the radio wave intensity from the moving body measured by another moving body different from the moving body and the radio wave intensity from the other moving body measured by the moving body; The measurement program according to any one of appendices 1 to 3, wherein the distance between the mobile unit and the other mobile unit is measured based on each of the filtered radio wave intensities.

(Supplementary Note 5)
The measurement results of the distance to the other mobile body, and usually three or more measurement results of the measurement of the distance to the base station, the positions measured for the other mobile body, and the position of the base station The measurement program according to appendix 4, wherein the position of the mobile object is determined based on.

(Supplementary Note 6)
A mobile that measures radio wave intensity from a base station and transmits radio waves to the base station;
A base station which measures the radio wave intensity from the moving body and transmits the measured radio wave intensity from the moving body to a measuring device;
A filter unit for performing filter processing on each of the radio wave intensity from the moving body measured by the base station and the radio wave intensity from the base station measured by the moving body; A measurement apparatus comprising a measurement unit that measures the distance between the base station and the mobile object based on each of the intensities;
Measurement system including:

(Appendix 7)
The measurement system according to claim 6, wherein the measurement unit synthesizes each of the filtered radio wave intensities, and measures a distance between the base station and the mobile body based on the synthesized radio wave intensities.

(Supplementary Note 8)
There are a plurality of base stations,
The measurement system according to Appendix 6 or 7, wherein the measurement unit measures the position of the mobile based on the measurement result of the distance to each of a plurality of base stations and the position of each of the base stations.

(Appendix 9)
The measurement unit is configured for each of the radio wave intensity from the moving body measured by another moving body different from the moving body and the radio wave intensity from the other moving body measured by the moving body. Filtering and measuring the distance between the mobile unit and the other mobile unit based on each of the filtered radio wave intensities;
The measurement results of the distance to the other mobile body, and usually three or more measurement results of the measurement of the distance to the base station, the positions measured for the other mobile body, and the position of the base station The measurement system according to any one of appendices 6 to 8, wherein the position of the mobile object is determined based on.

(Supplementary Note 10)
The measurement system according to any one of appendices 6 to 9, wherein the measurement apparatus is mounted on the movable body.

(Supplementary Note 11)
A filter unit that performs filter processing on each of the radio wave intensity from the mobile unit measured by the base station and the radio wave intensity from the base station measured by the mobile unit;
A measurement unit that measures the distance between the base station and the mobile object based on each of the filtered radio wave intensities;
Measuring device comprising:

(Supplementary Note 12)
10. The measurement apparatus according to appendix 11, wherein the filter unit combines each of the filtered radio wave intensities, and measures a distance between the base station and the mobile body based on the combined radio wave intensities.

(Supplementary Note 13)
There are a plurality of base stations,
11. The measurement apparatus according to appendix 11 or 12, wherein the measurement unit measures the position of the mobile based on the measurement result of the distance to each of a plurality of base stations and the position of each of the base stations.

(Supplementary Note 14)
The measurement unit is configured for each of the radio wave intensity from the moving body measured by another moving body different from the moving body and the radio wave intensity from the other moving body measured by the moving body. The measuring device according to any one of appendices 11 to 13, which performs filtering and measures the distance between the moving object and the other moving object based on each of the filtered radio wave intensities.

(Supplementary Note 15)
The measurement results of the distance to the other mobile body, and usually three or more measurement results of the measurement of the distance to the base station, the positions measured for the other mobile body, and the position of the base station The measurement device according to appendix 4, wherein the position of the moving body is determined based on.

(Supplementary Note 16)
Performing filtering on each of the radio wave intensity from the moving body measured by the base station and the radio wave intensity from the base station measured by the moving body;
Measuring a distance between the base station and the mobile object based on each of the filtered radio wave intensities;
Measuring method.

(Supplementary Note 17)
17. The measurement method according to appendix 16, wherein each of the radio wave intensities subjected to the filter processing is combined, and the distance between the base station and the mobile object is measured based on the combined radio wave intensity.

(Appendix 18)
There are a plurality of base stations,
The measurement method according to Appendix 16 or 17, wherein the position of the mobile is measured based on the measurement result of the distance to each of a plurality of base stations and the position of each of the base stations.

(Appendix 19)
Filtering the radio wave intensity from the moving body measured by another moving body different from the moving body and the radio wave intensity from the other moving body measured by the moving body; The measuring method according to any one of appendices 16 to 18, wherein the distance between the mobile unit and the other mobile unit is measured based on each of the filtered radio wave intensities.

(Supplementary Note 20)
The measurement results of the distance to the other mobile body, and usually three or more measurement results of the measurement of the distance to the base station, the positions measured for the other mobile body, and the position of the base station 24. The measurement method according to appendix 19, wherein the position of the mobile object is determined based on.

10, 10A, 10B, 90 Mobile units 12A to 12C, 92A to 92C Fixed base stations 14, 94, 214 Position positioning device 20 Communication unit 22, 222 Filter unit 24, 224 Position measurement unit 30 Position information DB
40 computer 41 CPU
42 Memory 43 Storage Unit 49 Storage Medium 50, 250 Positioning Program 100, 200 Positioning System

Claims (10)

Performing filtering on each of the radio wave intensity from the moving body measured by the base station and the radio wave intensity from the base station measured by the moving body;
Measuring a distance between the base station and the mobile object based on each of the filtered radio wave intensities;
Measurement program.   The measurement program according to claim 1, wherein each of the filtered radio wave intensities is combined, and the distance between the base station and the mobile object is measured based on the combined radio wave intensities. There are a plurality of base stations,
The measurement program according to claim 1 or 2, wherein the position of the mobile unit is measured based on the measurement result of the distance to each of a plurality of base stations and the position of each of the base stations.   Filtering the radio wave intensity from the moving body measured by another moving body different from the moving body and the radio wave intensity from the other moving body measured by the moving body; The measurement program according to any one of claims 1 to 3, wherein the distance between the mobile unit and the other mobile unit is measured based on each of the filtered radio wave intensities.   The measurement results of the distance to the other mobile body, and usually three or more measurement results of the measurement of the distance to the base station, the position measured for the other mobile body, and the position of the base station The measurement program according to claim 4, wherein the position of the mobile body is determined based on. A mobile that measures radio wave intensity from a base station and transmits radio waves to the base station;
A base station which measures the radio wave intensity from the moving body and transmits the measured radio wave intensity from the moving body to a measuring device;
A filter unit for performing filter processing on each of the radio wave intensity from the moving body measured by the base station and the radio wave intensity from the base station measured by the moving body; A measurement apparatus comprising a measurement unit that measures the distance between the base station and the mobile object based on each of the intensities;
Measurement system including:   The measurement system according to claim 6, wherein the measurement unit combines each of the filtered radio wave intensities, and measures a distance between the base station and the mobile body based on the combined radio wave intensity. There are a plurality of base stations,
The measurement system according to claim 6 or 7, wherein the measurement unit measures the position of the mobile based on the measurement result of the distance to each of a plurality of base stations and the position of each of the base stations. The measurement unit is configured for each of the radio wave intensity from the moving body measured by another moving body different from the moving body and the radio wave intensity from the other moving body measured by the moving body. Filtering and measuring the distance between the mobile unit and the other mobile unit based on each of the filtered radio wave intensities;
The measurement results of the distance to the other mobile body, and usually three or more measurement results of the measurement of the distance to the base station, the positions measured for the other mobile body, and the position of the base station The measurement system according to any one of claims 6 to 8, wherein the position of the movable body is determined based on   The measurement system according to any one of claims 6 to 9, wherein the measurement device is mounted on the movable body.