JP2021135123A - Location positioning device and location positioning method - Google Patents

Abstract

To suppress reduction of location positioning accuracy.SOLUTION: A location positioning device 1 comprises: a storage part for storing device positional information indicating a position of each communication unit 2 out of a plurality of communication units performing radio communication; a calculation part for, when the number of the communication units 2 performing radio communication with a communication terminal 3 is greater than the number of the communication units 2 required for location positioning, calculating an evaluation value indicating accuracy of positioning when two communication units are used, on the device of the device position information, for all combinations of the two communication units 2 which may be generated from the plurality of communication units 2; a selecting part for excluding any of the two communication units 2 corresponding to a combination in which the evaluation value calculated is relatively low, for selecting the number of communication units 2 required for location positioning; and a location positioning part for performing positioning, on the basis of an arrival time difference of a radio signal when the radio signal transmitted from the communication unit 2 selected by the selecting part, is received on the communication terminal 3.SELECTED DRAWING: Figure 1

Description

The present invention relates to a positioning device and a positioning method.

As a three-dimensional positioning method using wireless access technology, a positioning method using the arrival time difference (TDOA: Time Difference of Arrival) of a wireless signal is known (see, for example, Patent Document 1).

In the two-dimensional positioning method using TDOA, the communication terminal is installed at the TDOA of each signal when receiving the signal transmitted from the communication device installed at the three known positions, or at the three known positions. When the communication device receives the signal transmitted from the communication terminal, the TDOA of each signal is used to perform two-dimensional positioning of the communication terminal. Further, in the three-dimensional positioning method using TDOA, the communication terminal is installed at the TDOA of each signal when receiving the signals transmitted from the communication devices installed at the four known positions, or at the four known positions. The communication device to be used performs three-dimensional positioning of the communication terminal by using the TDOA of each signal when the signal transmitted from the communication terminal is received.

The positioning method using TDOA will be briefly described below. FIG. 6 is a diagram showing an example of a communication device 200 installed around the communication terminal 300.

For example, as shown in FIG. 6, it is assumed that communication devices 200A to 200C exist as three communication devices 200 installed at known positions around the communication terminal 300. Further, it is assumed that the communication terminal 300 can communicate with the positioning device 100 via the communication device 200. The communication terminal 300 receives the radio signals transmitted from the three communication devices 200A to 200C, and observes the TDOA of the signals transmitted from each of the two communication devices 200 among the three communication devices 200. The communication terminal 300 observes the TDOA for all combinations of the two communication devices 200 that the three communication devices 200 can take.

The communication terminal 300 associates the observed TDOA with the information indicating the combination of the two communication devices 200 corresponding to the TDOA and transmits the information indicating the combination of the two communication devices 200 corresponding to the TDOA to the positioning device 100 via the communication device 200.

The positioning device 100 positions the communication terminal 300 based on the received TDOA and the information indicating the combination of the two communication devices 200 corresponding to the TDOA. Specifically, the positioning device 100 identifies a candidate for a position where the TDOA can be taken based on the positions of the two communication devices 200 and the TDOA corresponding to the two communication devices 200. In the case of two-dimensional positioning, the candidate for the position where the TDOA can be taken is represented by a hyperbola, and in the case of three-dimensional positioning, the candidate for the position where the TDOA can be taken is represented by a hyperboloid.

When performing two-dimensional positioning, the positioning device 100 identifies two hyperbolas based on the two TDOAs and calculates the two-dimensional position of the intersection of the two hyperbolas as the position of the communication terminal 300. When performing three-dimensional positioning, the positioning device 100 identifies three hyperboloids based on the three TDOAs and calculates the three-dimensional position of the intersection of the three hyperboloids as the position of the communication terminal 300. ..

FIG. 7 shows an example in which two hyperbolas are identified by two TDOAs. In Figure 7, the communication device 200A, and the hyperbola _{H AB} based on TDOA of the communication device 200B, a communication device 200A, and the hyperbola _{H AC} based on the TDOA between the communication device 200C is shown. Positioning device 100, by calculating the position of an intersection P of the hyperbola H _AB and hyperbola H _AC shown in FIG. 7, it is possible to specify the position of communication terminal 300.

Japanese Unexamined Patent Publication No. 2006-071389

By the way, when the number of communication devices capable of communicating with the communication terminal is larger than the number of communication devices used for positioning, there is a problem that the accuracy of positioning is lowered depending on the selection of the communication device used for positioning. There is.

FIG. 8 is a diagram showing another example of the communication device 200 installed around the communication terminal 300. In the example shown in FIG. 8, it can be confirmed that four communication devices 200 are installed around the communication terminal 300 and that the distance between the communication device 200C and the communication device 200D is relatively close. For example, it is assumed that the communication device 200A, the communication device 200C, and the communication device 200D are selected as the communication device 200 for observing the TDOA.

FIG. 9 shows an example in which two hyperbolas are identified by two TDOAs corresponding to three communication devices 200 including a communication device 200 that is relatively close to each other. As shown in FIG. 9, the two hyperbolas _{H AC} and hyperbola _{H AD,} it can be confirmed that similar than two hyperbolas _{H AB} and hyperbola _{H AC} shown in FIG. As a result, due to various factors such as noise contained in the radio signal and the time resolution of the radio signal receiver, the intersection position of the hyperbola, which is the estimated position, is greatly deviated even if the TDOA fluctuates slightly, resulting in positioning. The accuracy will decrease. Such cases where the communication devices are close to each other can be seen when the macrocell base station and the picocell base station in the mobile network are close to each other.

Therefore, the present invention has been made in view of these points, and an object of the present invention is to provide a positioning device and a positioning method capable of improving the accuracy of positioning.

The positioning device according to the first aspect of the present invention is a positioning device that performs positioning using the arrival time difference of wireless signals, and indicates the position of each of a plurality of communication devices that perform wireless communication. The communication is performed when the number of the communication devices that perform wireless communication between the storage unit that stores information and the communication terminal that is the target for positioning the position is larger than the number of the communication devices required for the position positioning. When the two communication devices are used based on the device position information stored in the storage unit for all combinations of the two communication devices that can be taken by the plurality of communication devices that perform wireless communication with the terminal. Excludes one of the calculation unit that calculates the evaluation value indicating the high accuracy of the positioning and the two communication devices corresponding to the combination in which the evaluation value calculated by the calculation unit is relatively low. Thereby, the selection unit for selecting the number of the communication devices required for the positioning and the radio when the communication terminal receives the radio signal transmitted from the communication device selected by the selection unit. It is provided with a positioning unit that performs positioning based on the arrival time difference of signals.

The positioning device includes an acquisition unit that acquires downlink reception signal strength information indicating downlink reception signal strength, which is the reception signal strength of the radio signal when the communication terminal receives a radio signal transmitted from the communication device. Further, the calculation unit performs wireless communication with the communication terminal when the number of the communication devices that perform wireless communication with the communication terminal is larger than the number of the communication devices required for the positioning. For all combinations of the two communication devices that can be taken by the plurality of communication devices, the evaluation value is calculated based on the downlink reception signal strength indicated by the downlink reception signal strength information specified by the acquisition unit, and the evaluation value is calculated. The selection unit excludes the communication device having a relatively low downlink reception signal strength from the two communication devices corresponding to the combination having a relatively low evaluation value calculated by the calculation unit. Therefore, the number of the communication devices required for the positioning may be selected.

The positioning device further includes an acquisition unit that acquires communication quality information indicating communication quality in communication between the communication terminal and the communication device, and the calculation unit is a communication device that performs wireless communication with the communication terminal. When the number of the communication devices is larger than the number of the communication devices required for the positioning, the combination of the two communication devices that can be taken by the plurality of communication devices that perform wireless communication with the communication terminal is described. The evaluation value is calculated based on the communication quality indicated by the communication quality information acquired by the acquisition unit, and the selection unit corresponds to the combination in which the evaluation value calculated by the calculation unit is relatively low. By excluding the corresponding communication device having a relatively low communication quality from the two communication devices, the number of the communication devices required for the positioning may be selected.

When the number of the communication devices that perform wireless communication with the communication terminal is larger than the number of the communication devices required for the positioning, the calculation unit performs a plurality of said communication devices that perform wireless communication with the communication terminal. For all combinations of the two communication devices that the communication device can take, the two communication devices are provided based on the device position information and the terminal position information indicating the position of the communication terminal positioned by the positioning unit. A second evaluation value indicating the high accuracy of positioning when used is calculated, and the selection unit corresponds to the combination in which the second evaluation value calculated by the calculation unit is relatively low. By excluding any of the two communication devices, the number of the communication devices required for the positioning is reselected, and the positioning unit transmits from the communication device reselected by the selection unit. Positioning may be performed based on the arrival time difference of the radio signal when the communication terminal receives the radio signal.

The positioning device according to the second aspect of the present invention is a positioning device that performs positioning using the arrival time difference of radio signals, and indicates the position of each of a plurality of communication devices that perform wireless communication. The communication is performed when the number of the communication devices that perform wireless communication between the storage unit that stores information and the communication terminal that is the target for positioning the position is larger than the number of the communication devices required for the position positioning. When the two communication devices are used based on the device position information stored in the storage unit for all combinations of the two communication devices that can be taken by the plurality of communication devices that perform wireless communication with the terminal. Excludes one of the calculation unit that calculates the evaluation value indicating the high accuracy of the positioning and the two communication devices corresponding to the combination in which the evaluation value calculated by the calculation unit is relatively low. Thereby, the selection unit for selecting the number of the communication devices required for the positioning and the radio when the communication device selected by the selection unit receives the radio signal transmitted from the communication terminal. It is provided with a positioning unit that performs positioning based on the arrival time difference of signals.

The positioning device includes an acquisition unit that acquires uplink reception signal strength information indicating uplink reception signal strength, which is the reception signal strength of the radio signal when the communication device receives a radio signal transmitted from the communication terminal. Further, the calculation unit performs wireless communication with the communication terminal when the number of the communication devices that perform wireless communication with the communication terminal is larger than the number of the communication devices required for the positioning. For all combinations of the two communication devices that can be taken by the plurality of communication devices, the evaluation value is calculated based on the uplink reception signal strength indicated by the uplink reception signal strength information specified by the acquisition unit, and the evaluation value is calculated. The selection unit excludes the communication device having a relatively low uplink received signal strength from the two communication devices corresponding to the combination having a relatively low evaluation value calculated by the calculation unit. Therefore, the number of the communication devices required for the positioning may be selected.

The positioning method according to the third aspect of the present invention is the number of communication devices that perform wireless communication with a communication terminal to be positioned, which is executed by a computer that performs positioning using the arrival time difference of radio signals. However, when the number of the communication devices is larger than the number of the communication devices required for the positioning, the communication is performed for all of the combinations of the two communication devices that can be taken by the plurality of communication devices that perform wireless communication with the communication terminal. Based on the device position information indicating the position of the device, the step of calculating the evaluation value indicating the high accuracy of the positioning when the two communication devices are used and the calculated evaluation value are relatively low. By excluding one of the two communication devices corresponding to the combination, the step of selecting the number of the communication devices required for the positioning and the communication terminal select the communication device. Based on the arrival time difference of the radio signal when the radio signal transmitted from is received, or the arrival time difference of the radio signal when the selected communication device receives the radio signal transmitted from the communication terminal. It has a step of performing positioning and a step of performing positioning.

According to the present invention, there is an effect that the accuracy of positioning can be improved.

It is a figure explaining the outline of the positioning apparatus which concerns on 1st Embodiment. It is a figure which shows the structure of the positioning apparatus which concerns on 1st Embodiment. It is a figure which shows an example of the position information table. It is a figure which shows the example which calculated the evaluation value corresponding to each combination in the case where there are five communication devices which perform wireless communication with a communication terminal. It is a flowchart which shows the flow of processing when the positioning apparatus which concerns on 1st Embodiment generates a feature vector of an item. It is a figure which shows the example of the communication device installed around the communication terminal. An example is shown in which two hyperbolas are identified by two TDOAs. It is a figure which shows another example of the communication apparatus installed around a communication terminal. An example is shown in which two hyperbolas are identified by two TDOAs corresponding to three communication devices including relatively close communication devices.

<First Embodiment>
[Overview of Positioning Device 1]
FIG. 1 is a diagram illustrating an outline of the positioning device 1 according to the first embodiment. The positioning device 1 is a computer that performs three-dimensional positioning of the communication terminal 3 by using TDOA, which is the arrival time difference of radio signals transmitted at the same timing.

The positioning device 1 is communicably connected to a plurality of communication devices 2 that perform wireless communication with the communication terminal 3 that is the target of positioning the position. The communication device 2 is, for example, a macro cell base station or a pico cell base station in a mobile network, and it is assumed that the installation position is predetermined.

The positioning device 1 provides combination information indicating the combination of the TDOA of each radio signal when the communication terminal 3 receives the radio signal transmitted from the communication device 2 and the two communication devices 2 used for calculating the TDOA. , Obtained from the communication terminal 3 via the communication device 2 ((1) in FIG. 1).

The positioning device 1 has two communication devices 2 indicated by the acquired combination information when the number of communication devices 2 that perform wireless communication with the communication terminal 3 is larger than the number of communication devices 2 required for positioning. For the combination of, an evaluation value indicating the high accuracy of positioning when the two communication devices 2 are used is calculated ((2) in FIG. 1). In the present embodiment, the positioning device 1 calculates an evaluation value based on the position information indicating the position of the communication device 2. For example, the positioning device 1 calculates the evaluation value so that the closer the positions of the two communication devices 2 are, the lower the accuracy of the positioning when the two communication devices 2 are used.

The positioning device 1 selects the number of communication devices 2 required for positioning by excluding one of the two communication devices 2 corresponding to the combination in which the calculated evaluation value is relatively low (FIG. 1). (3)). In the example shown in FIG. 1, the positioning device 1 selects the communication device 2A, the communication device 2B, the communication device 2C, and the communication device 2E as the number of communication devices 2 required for the positioning.

The positioning device 1 performs positioning based on the TDOA of the radio signal when the communication terminal 3 receives the radio signal transmitted from the selected communication device 2 ((4) in FIG. 1). By doing so, the positioning device 1 can perform positioning by excluding any communication device 2 from the two communication devices 2 that are close to each other, so that the accuracy of positioning can be improved. Can be improved.
Subsequently, the configuration of the positioning device 1 will be described.

[Configuration example of positioning device 1]
FIG. 2 is a diagram showing a configuration of a positioning device 1 according to the first embodiment. The positioning device 1 includes a communication unit 11, a storage unit 12, and a control unit 13.

The communication unit 11 is an interface for connecting to a communication network such as a mobile phone line.
The storage unit 12 is, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), or the like. The storage unit 12 stores various programs for operating the positioning device 1. For example, the storage unit 12 stores a positioning program that causes the control unit 13 of the positioning device 1 to function as an acquisition unit 131, a calculation unit 132, a selection unit 133, a positioning unit 134, and an output unit 135.

Further, the storage unit 12 stores device position information indicating the respective positions of the plurality of communication devices 2. Specifically, the storage unit 12 stores a position information table in which the device ID as the device identification information for identifying the communication device 2 and the device position information are associated with each other. FIG. 3 is a diagram showing an example of a position information table. As shown in FIG. 3, it can be confirmed that the device ID and the device position information are associated with each other in the position information table. Further, the device position information is information indicating, for example, the latitude and longitude of the installation location of the communication device 2 and the altitude of the installation location of the communication device 2.

The control unit 13 is, for example, a CPU (Central Processing Unit). The control unit 13 controls the function related to the positioning device 1 by executing various programs stored in the storage unit 12. The control unit 13 functions as an acquisition unit 131, a calculation unit 132, a selection unit 133, a position positioning unit 134, and an output unit 135 by executing the positioning program stored in the storage unit 12.

The acquisition unit 131 acquires the TDOA information indicating the TDOA and the combination information indicating the combination of the two communication devices 2 used for calculating the TDOA from the communication terminal 3 via the communication unit 11. Specifically, first, the communication terminal 3 receives radio signals transmitted by the plurality of communication devices 2 at the same timing from a plurality of communication devices 2 capable of communicating. The communication terminal 3 calculates the TDOA of the received radio signal for all combinations of the two communication devices 2 that can be taken by the plurality of communication devices 2. The communication terminal 3 transmits the TDOA information indicating the TDOA and the combination information indicating the combination of the two communication devices 2 used for calculating the TDOA to the positioning device 1 via the communication device 2. Here, the combination information is the device ID of the two communication devices 2 corresponding to the combination. The acquisition unit 131 acquires TDOA information and combination information from the communication terminal 3 via the communication device 2.

The calculation unit 132 performs a plurality of communication devices that perform wireless communication with the communication terminal 3 when the number of communication devices 2 that perform wireless communication with the communication terminal 3 is larger than the number of communication devices 2 required for positioning. For all combinations of the two communication devices 2 that can be taken by 2, the high accuracy of position positioning when the two communication devices 2 are used is shown based on the device position information stored in the storage unit 12. Calculate the evaluation value. In the present embodiment, since the positioning device 1 performs three-dimensional positioning, the number of communication devices 2 required for positioning is four. The calculation unit 132 calculates an evaluation value when the number of communication devices 2 that perform wireless communication with the communication terminal 3 is 5 or more.

Specifically, first, the calculation unit 132 refers to the position information table stored in the storage unit 12, and is associated with the device ID included in each of the plurality of combination information acquired by the acquisition unit 131. Identify location information. The calculation unit 132 calculates the Euclidean distance of the two communication devices 2 corresponding to the combination information based on the device position information specified from the device ID for each of the plurality of combination information. The calculation unit 132 may calculate the Euclidean distance using the latitude, longitude, and altitude indicated by the device position information, or may calculate the Euclidean distance at the time of horizontal plane projection using the latitude and longitude indicated by the device position information. good.

For example, when there are five communication devices 2 that perform wireless communication with the communication terminal 3, the calculation unit 132 has two communication devices for all combinations of the two communication devices 2 that the five communication devices 2 can take. Calculate the Euclidean distance of 2.

Subsequently, the calculation unit 132 sets an evaluation value indicating the high accuracy of positioning when the two communication devices 2 are used with respect to the input of the Euclidean distance of the two communication devices 2 corresponding to the combination information. The evaluation value is calculated using the output evaluation function. This evaluation function is a function that outputs a higher evaluation value as the Euclidean distance increases. For example, the evaluation function may be a function that outputs an evaluation value proportional to the Euclidean distance.

FIG. 4 is a diagram showing an example in which evaluation values corresponding to each combination are calculated when there are five communication devices 2 that perform wireless communication with the communication terminal 3. In the example shown in FIG. 4, the evaluation value of the two communication devices 2 corresponding to the device IDs “C” and “D” is “100”, which can be confirmed to be the lowest.

The selection unit 133 selects the number of communication devices 2 required for positioning by excluding one of the two communication devices 2 corresponding to the combination in which the evaluation value calculated by the calculation unit 132 is relatively low. do. In the example shown in FIG. 4, since the evaluation value of the two communication devices 2 corresponding to the device IDs “C” and “D” is “100”, the selection unit 133 selects the device IDs “C” and “D”. Of the two communication devices 2 corresponding to the above, the communication device 2 corresponding to the device ID "D" is excluded, and the communication devices 2 required for positioning are the device IDs "A", "B", and "C". , And "E", the four communication devices 2 are selected.

The positioning unit 134 performs positioning based on the TDOA of the radio signal when the communication terminal 3 receives the radio signal transmitted from the communication device 2 selected by the selection unit 133. Specifically, the positioning unit 134 performs three-dimensional positioning based on the TDOA corresponding to the four communication devices 2 selected by the selection unit 133 among the plurality of TDOAs acquired by the acquisition unit 131.

For example, the positioning unit 134 wirelessly receives a radio signal from the communication device 2 corresponding to the device IDs "A" and "B" from the communication device 2 corresponding to the TDOA and the device IDs "A" and "C". Based on the TDOA when the signal is received and the TDOA when the wireless signal is received from the communication device 2 corresponding to the device IDs "A" and "E", three bicurved surfaces are calculated and the intersection of the three bicurved surfaces is calculated. Is calculated as the position of the communication terminal 3.

The output unit 135 outputs terminal position information indicating the position of the communication terminal 3 calculated by the position positioning unit 134. For example, the output unit 135 transmits the terminal position information calculated by the positioning unit 134 to the communication terminal 3 via the communication unit 11 and the communication device 2. As a result, the communication terminal 3 can specify its own position.

[Processing flow in positioning device 1]
Subsequently, an example of the processing flow in the positioning device 1 will be described. FIG. 5 is a flowchart showing a processing flow when the positioning device 1 according to the first embodiment generates a feature vector of an item.

First, the acquisition unit 131 acquires TDOA information indicating TDOA and combination information indicating a combination of the two communication devices 2 used for calculating the TDOA from the communication terminal 3 (S1).
Subsequently, the calculation unit 132 determines whether or not the number of communication devices 2 with which the communication terminal 3 is communicating is equal to or greater than the number required for positioning based on the TDOA information acquired from the communication terminal 3 (). S2). When the calculation unit 132 determines that the number of communication devices 2 is equal to or greater than the number required for positioning, the process is transferred to S3, and the number of communication devices 2 is less than the number required for positioning. If it is determined, the process related to this flowchart is terminated.

Subsequently, the calculation unit 132 determines whether or not the number of communication devices 2 with which the communication terminal 3 is communicating is larger than the number required for positioning based on the TDOA information acquired from the communication terminal 3. (S3). When the calculation unit 132 determines that the number of communication devices 2 is larger than the number required for positioning, the process is transferred to S4, and the number of communication devices 2 is not larger than the number required for positioning. That is, when it is determined that the number of communication devices 2 is equal to the number required for positioning, the process is transferred to S6.

Subsequently, the calculation unit 132 determines the accuracy of positioning when the two communication devices 2 are used for all combinations of the two communication devices 2 that can be taken by the plurality of communication devices 2 that perform wireless communication with the communication terminal 3. An evaluation value indicating the height of is calculated (S4).

Subsequently, the selection unit 133 excludes one of the two communication devices 2 corresponding to the combination in which the evaluation value calculated by the calculation unit 132 is relatively low, so that the number of communication devices required for positioning is obtained. 2 is selected (S5).

The positioning unit 134 performs positioning based on the TDOA corresponding to the communication device 2 selected by the selection unit 133 among the plurality of TDOAs acquired by the acquisition unit 131 (S6).
Subsequently, the output unit 135 outputs terminal position information indicating the position of the communication terminal 3 calculated by the positioning unit 134 (S7).

[simulation result]
By computer simulation, communication terminals 3 are randomly arranged at a height of 1.5 meters in a cell, and communication devices 2 used for positioning are selected in ascending order of Euclidean distance from the communication terminal 3, and the selected communication is performed. The positioning error from the actual position when the three-dimensional position was measured using the TDOA information of the device 2 was calculated. Here, the distance between the two adjacent communication devices 2 is about 2000 m. The sampling interval at the time of receiving the radio signal in the communication device 2 is 8 nanoseconds.

Here, when the communication device 2 is installed at a height of 10 meters at a point 100 meters horizontally away from the communication device 2 located in the center of the cell, that is, the position is located in the center of the cell. Consider the case where the communication device 2 to be used and the newly arranged communication device 2 are in close proximity to each other. In this case, four communication devices 2 are selected in ascending order of Euclidean distance, including two communication devices 2 that are close to each other, and the three-dimensional positioning error is calculated using the TDOA information corresponding to each of the four communication devices 2. bottom. As a result, the median calculated positioning error was 16.1 meters. From this result, it was confirmed that the positioning accuracy was lowered when the two communication devices 2 in close proximity were used for three-dimensional positioning.

After that, the communication device 2 is calculated by calculating the evaluation value using the positioning device 1 according to the present embodiment and excluding at least one of the two adjacent communication devices 2 based on the evaluation value. Three-dimensional positioning was performed by selecting. As a result, the median calculated positioning error was 10.6 meters. As a result, when the two communication devices 2 are close to each other to the extent that the positioning accuracy is reduced, it can be confirmed that the positioning accuracy is improved by excluding one of the communication devices from the target of the three-dimensional positioning. rice field.

[Modification 1]
In the first embodiment, the positioning device 1 performs three-dimensional positioning, but the present invention is not limited to this. The positioning device 1 may perform two-dimensional positioning. In this case, the number of communication devices 2 required for positioning is three. Therefore, the calculation unit 132 calculates the evaluation value when the number of communication devices 2 that perform wireless communication with the communication terminal 3 is four or more. Then, the selection unit 133 selects the three communication devices 2 by excluding any of the two communication devices 2 corresponding to the combination in which the evaluation value calculated by the calculation unit 132 is relatively low.

[Modification 2]
Further, in the first embodiment, the positioning unit 134 performs positioning based on the TDOA of the radio signal when the communication terminal 3 receives the radio signal transmitted from the communication device 2 selected by the selection unit 133. I went, but it's not limited to this. The positioning unit 134 may perform positioning based on the TDOA of the radio signal when the communication device 2 receives the radio signal transmitted from the communication terminal 3.

In this case, the acquisition unit 131 acquires and receives reception time information indicating the time when the communication device 2 receives the wireless signal transmitted by the communication terminal 3 from each of the plurality of communication devices 2 that communicate with the communication terminal 3. Based on the time information, the TDOA information and the combination information indicating the combination of the two communication devices 2 used in the calculation of the TDOA are acquired. Then, the positioning unit 134 performs positioning based on the TDOA corresponding to the communication device 2 selected by the selection unit 133 among the plurality of TDOAs acquired by the acquisition unit 131. By doing so, the positioning device 1 can perform positioning as in the case of performing positioning based on the TDOA of the radio signal when the radio signal transmitted from the communication device 2 is received. ..

[Effect in the first embodiment]
As described above, in the positioning device 1 according to the present embodiment, the number of communication devices 2 that perform wireless communication with the communication terminal 3 that is the target of positioning is larger than the number of communication devices 2 required for positioning. In many cases, all combinations of the two communication devices 2 that can be taken by the plurality of communication devices 2 that perform wireless communication with the communication terminal 3 are the two based on the device position information stored in the storage unit 12. An evaluation value indicating the high accuracy of positioning when using a communication device is calculated. Then, the positioning device 1 selects the number of communication devices 2 required for positioning by excluding one of the two communication devices corresponding to the combination in which the calculated evaluation value is relatively low. , The arrival time difference of the radio signal when the communication terminal 3 receives the radio signal transmitted from the selected communication device 2, or the selected communication device 2 receives the radio signal transmitted from the communication terminal 3. Positioning is performed based on the arrival time difference of the radio signal at that time. By doing so, the positioning device 1 can improve the accuracy of positioning.

<Second Embodiment>
[Calculate the evaluation value based on the received signal strength]
Subsequently, the second embodiment will be described. When the signal strength of the wireless signal received from the communication device 2 by the communication terminal 3 is low, it is considered that an error occurs in the detection timing of the reception of the wireless signal due to the influence of the noise contained in the wireless signal. If an error occurs in the detection timing, an error also occurs in the TDOA, and the accuracy of positioning becomes low. On the other hand, the positioning device 1 according to the second embodiment is different from the first embodiment in that the communication terminal 3 calculates an evaluation value based on the received signal strength of the radio signal received from the communication device 2. .. Hereinafter, the positioning device 1 according to the second embodiment will be described. The same parts as those in the first embodiment will be omitted as appropriate.

In the second embodiment, the acquisition unit 131 obtains downlink reception signal strength information indicating downlink reception signal strength, which is the reception signal strength of the radio signal when the communication terminal 3 receives the radio signal transmitted from the communication device 2. get. Specifically, the acquisition unit 131 acquires downlink reception signal strength information associated with the device ID of the communication device 2 as well as TDOA information and combination information from the communication terminal 3.

The calculation unit 132 performs a plurality of communication devices that perform wireless communication with the communication terminal 3 when the number of communication devices 2 that perform wireless communication with the communication terminal 3 is larger than the number of communication devices 2 required for positioning. For all combinations of the two communication devices 2 that can be taken by 2, based on the device position information stored in the storage unit 12 and the downlink reception signal strength indicated by the downlink reception signal strength information acquired by the acquisition unit 131. Calculate the evaluation value.

Specifically, first, as in the first embodiment, the calculation unit 132 corresponds to the combination information for each of the plurality of combination information acquired by the acquisition unit 131 based on the device position information specified from the device ID. Calculate the Euclidean distance between the two communication devices 2.

Subsequently, the calculation unit 132 identifies the downlink reception signal strength information associated with the device IDs of the two communication devices 2 corresponding to the combination information. Then, the calculation unit 132 communicates with respect to the input of the Euclidean distance corresponding to the combination information and the downlink reception signal strength information associated with the device IDs of the two communication devices 2 corresponding to the combination information. The evaluation value is calculated by using an evaluation function that outputs an evaluation value indicating the high accuracy of positioning when the device 2 is used.

This evaluation function outputs a higher evaluation value as the Euclidean distance increases. Further, this evaluation function outputs a higher evaluation value as the sum of the two downlink reception signal strengths indicated by the two downlink reception signal strength information is larger.

The selection unit 133 is a communication device in which the downlink reception signal strength indicated by the corresponding downlink reception signal strength information is relatively small among the two communication devices 2 corresponding to the combination in which the evaluation value calculated by the calculation unit 132 is relatively low. By excluding 2, the number of communication devices 2 required for positioning is selected. By doing so, the positioning device 1 can exclude the communication device 2 which is easily affected by noise due to the low downlink reception signal strength and is likely to have a low TDOA observation accuracy.

Similar to the first embodiment, the positioning unit 134 performs positioning based on the TDOA of the radio signal when the communication terminal 3 receives the radio signal transmitted from the communication device 2 selected by the selection unit 133. conduct.

[Modification example]
In the second embodiment, when the positioning unit 134 performs position positioning based on the TDOA of the radio signal when the communication device 2 receives the radio signal transmitted from the communication terminal 3, the acquisition unit 131 May acquire uplink reception signal strength information indicating uplink reception signal strength, which is the reception signal strength of the radio signal when the communication device 2 receives the radio signal transmitted from the communication terminal 3. Then, the calculation unit 132 performs a plurality of wireless communication with the communication terminal 3 when the number of the communication devices 2 that perform wireless communication with the communication terminal 3 is larger than the number of the communication devices 2 required for positioning. For all combinations of the two communication devices 2 that the communication device 2 can take, based on the device position information stored in the storage unit 12 and the uplink reception signal strength indicated by the uplink reception signal strength information acquired by the acquisition unit 131. The evaluation value may be calculated.

Then, the selection unit 133 has a relatively low downlink reception signal strength indicated by the corresponding downlink reception signal strength information among the two communication devices 2 corresponding to the combination in which the evaluation value calculated by the calculation unit 132 is relatively low. By excluding the communication device 2, the number of communication devices 2 required for positioning is selected. By doing so, the positioning device 1 can exclude the communication device 2 which is easily affected by noise due to the low uplink received signal strength and is likely to have a low TDOA observation accuracy.

[Effect in the second embodiment]
As described above, the positioning device 1 according to the second embodiment shows the downlink reception signal strength which is the reception signal strength of the radio signal when the communication terminal 3 receives the radio signal transmitted from the communication device 2. The device position information stored in the storage unit 12 and the acquisition unit for all combinations of the two communication devices 2 that can be taken by the plurality of communication devices 2 that acquire the received signal strength information and perform wireless communication with the communication terminal 3. The evaluation value is calculated based on the downlink reception signal strength indicated by the downlink reception signal strength information acquired by 131. Then, the positioning device 1 is a communication device 2 in which the downlink reception signal strength indicated by the corresponding downlink reception signal strength information is relatively small among the two communication devices 2 corresponding to the combination in which the calculated evaluation value is relatively low. By excluding, the number of communication devices 2 required for positioning is selected.

By doing so, the positioning device 1 can perform positioning by excluding the communication device 2 which has a low downlink reception signal strength and is easily affected by noise contained in the radio signal. The accuracy of positioning can be improved.

<Third Embodiment>
[Calculate the evaluation value based on the communication quality]
Subsequently, the third embodiment will be described. When the communication quality of the wireless signal received by the communication terminal 3 from the communication device 2 is low, it is considered that an error occurs in the detection timing of the reception of the wireless signal due to the influence of the noise contained in the wireless signal. On the other hand, the positioning device 1 according to the third embodiment is different from the first embodiment in that the communication terminal 3 calculates an evaluation value based on the communication quality of the radio signal received from the communication device 2.

In the second embodiment, the acquisition unit 131 acquires channel quality information (CQI: Channel Quality Indicator) as communication quality information indicating the communication quality in the communication between the communication terminal 3 and the communication device 2. Specifically, the acquisition unit 131 acquires the channel quality information associated with the device ID of the communication device 2 together with the TDOA information and the combination information from the communication terminal 3. In this embodiment, an example in which the channel quality information is used as the communication quality information will be described, but the communication quality information is not limited to the channel quality information. The acquisition unit 131 may acquire other indexes such as a rank index (RI: Rank Indicator) and a recording matrix index (PMI: Precoding Matrix Indicator) as channel quality information.

The calculation unit 132 performs a plurality of communication devices that perform wireless communication with the communication terminal 3 when the number of communication devices 2 that perform wireless communication with the communication terminal 3 is larger than the number of communication devices 2 required for positioning. For all combinations of the two communication devices 2 that can be taken by 2, the evaluation value is calculated based on the device position information stored in the storage unit 12 and the communication quality indicated by the channel quality information acquired by the acquisition unit 131. do.

Specifically, first, as in the first embodiment, the calculation unit 132 corresponds to the combination information for each of the plurality of combination information acquired by the acquisition unit 131 based on the device position information specified from the device ID. Calculate the Euclidean distance between the two communication devices 2.

Subsequently, the calculation unit 132 identifies the channel quality information associated with the device IDs of the two communication devices 2 corresponding to the combination information. Then, the calculation unit 132 receives the input of the Euclidean distance corresponding to the combination information and the channel quality information associated with the device IDs of the two communication devices 2 corresponding to the combination information. The evaluation value is calculated by using an evaluation function that outputs an evaluation value indicating the high accuracy of positioning when using.

This evaluation function outputs a higher evaluation value as the Euclidean distance increases. Further, this evaluation function outputs a higher evaluation value as the sum of the two channel qualities indicated by the two channel quality information is larger.

The selection unit 133 positions the position by excluding the communication device 2 having a relatively low communication quality from the two communication devices 2 corresponding to the combination in which the evaluation value calculated by the calculation unit 132 is relatively low. Select the number of communication devices 2 required for. By doing so, the positioning device 1 can exclude the communication device 2 which is easily affected by noise due to the low communication quality and is likely to have a low TDOA observation accuracy.

Similar to the first embodiment, the positioning unit 134 performs positioning based on the TDOA of the radio signal when the communication terminal 3 receives the radio signal transmitted from the communication device 2 selected by the selection unit 133. conduct.

[Effect in the third embodiment]
As described above, the positioning device 1 according to the third embodiment acquires communication quality information indicating the communication quality in the communication between the communication terminal 3 and the communication device 2, and performs wireless communication with the communication terminal 3. For all combinations of the two communication devices 2 that can be taken by 2, the evaluation value is calculated based on the device position information stored in the storage unit 12 and the communication quality indicated by the channel quality information acquired by the acquisition unit 131. do. Then, the positioning device 1 is used for positioning by excluding the communication device 2 having a relatively low communication quality from the two communication devices 2 corresponding to the combination in which the calculated evaluation value is relatively low. Select the required number of communication devices 2.

By doing so, the positioning device 1 can perform positioning by excluding the communication device 2 which has poor communication quality and is easily affected by noise contained in the wireless signal. The accuracy can be improved.

<Fourth Embodiment>
[Calculate the evaluation value based on the positional relationship between the position of the communication terminal 3 and the communication device 2]
Subsequently, the fourth embodiment will be described. In the first embodiment, the evaluation value is calculated so that the evaluation value becomes lower when the positions of the two communication devices 2 corresponding to the combination information are close to each other. It is preferable to calculate not only the Euclidean distance but also the heights of these communication devices 2 and the communication terminal 3. For example, even if the positions of the two communication devices 2 corresponding to the combination information are relatively close to each other, if the Euclidean distance between these communication devices 2 and the communication terminal 3 is relatively large, these communication devices The hyperboloids required by 2 and the other communication device 2 are similar to each other, and positioning cannot be performed with high accuracy. On the other hand, the positioning device 1 according to the fourth embodiment is different from the first embodiment in that the evaluation value is calculated based on the positional relationship between the position of the communication terminal 3 and the communication device 2.

The calculation unit 132 according to the fourth embodiment is in the case where the number of communication devices 2 that perform wireless communication with the communication terminal 3 that is the target of positioning is larger than the number of communication devices 2 required for positioning. , The device position information stored in the storage unit 12 and the communication terminal positioned by the positioning unit 134 for all combinations of the two communication devices 2 that can be taken by the plurality of communication devices 2 that perform wireless communication with the communication terminal 3. Based on the terminal position information of No. 3, a second evaluation value indicating the high accuracy of position positioning when the two communication devices are used is calculated.

Specifically, after the positioning unit 134 calculates the terminal position information, the calculation unit 132 sets each of the two communication devices 2 corresponding to the combination information and the communication terminal 3 based on the terminal position information. Calculate the Euclidean distance.

Subsequently, the calculation unit 132 receives the two communications with respect to the input of the Euclidean distance of the two communication devices 2 corresponding to the combination information and the Euclidean distance between each of the two communication devices 2 and the communication terminal 3. The second evaluation value is calculated by using an evaluation function that outputs a second evaluation value indicating the high accuracy of positioning when the device 2 is used. This evaluation function outputs a higher evaluation value as the Euclidean distance between the two communication devices 2 corresponding to the combination information is larger, and the smaller the Euclidean distance between each of the two communication devices 2 and the communication terminal 3 is. The smaller the value, the higher the evaluation value.

The selection unit 133 excludes one of the two communication devices 2 corresponding to the combination in which the second evaluation value calculated by the calculation unit 132 is relatively low, so that the number of communication devices required for positioning is obtained. Reselect 2.

After that, the positioning unit 134 is based on the TDOA of the radio signal when the communication terminal 3 receives the radio signal transmitted from the communication device 2 reselected by the selection unit 133 based on the second evaluation value. Positioning is performed.

[Effect in the fourth embodiment]
As described above, the positioning device 1 according to the fourth embodiment provides device position information and positioning for all combinations of the two communication devices 2 that can be taken by a plurality of communication devices 2 that perform wireless communication with the communication terminal 3. Based on the terminal position information indicating the position of the communication terminal 3 positioned by the unit 134, a second evaluation value indicating the high accuracy of the position positioning when the two communication devices are used is calculated. Then, the positioning device 1 excludes one of the two communication devices 2 corresponding to the combination in which the calculated second evaluation value is relatively low, so that the number of communication devices 2 required for positioning is obtained. Is reselected, and positioning is performed based on the arrival time difference of the wireless signal when the wireless signal transmitted from the communication device is received. By doing so, the positioning device 1 can further improve the accuracy of positioning in consideration of the positional relationship between the position of the communication terminal 3 and the communication device 2.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes can be made within the scope of the gist thereof. .. For example, all or a part of the device can be functionally or physically distributed / integrated in any unit. Also included in the embodiments of the present invention are new embodiments resulting from any combination of the plurality of embodiments. The effect of the new embodiment produced by the combination has the effect of the original embodiment.

1 ... Positioning device, 11 ... Communication unit, 12 ... Storage unit, 13 ... Control unit, 131 ... Acquisition unit, 132 ... Calculation unit, 133 ... Selection unit, 134 ... Positioning unit, 135 ... Output unit, 2 ... Communication device, 3 ... Communication terminal

Claims (7)

It is a positioning device that performs positioning using the arrival time difference of wireless signals.
A storage unit that stores device position information indicating the position of each of a plurality of communication devices that perform wireless communication,
When the number of the communication devices that perform wireless communication with the communication terminal to be positioned is larger than the number of the communication devices required for the position positioning, a plurality of communication devices that perform wireless communication with the communication terminal. For all combinations of the two communication devices that the communication device can take, the accuracy of the positioning when the two communication devices are used is high based on the device position information stored in the storage unit. A calculation unit that calculates the evaluation value indicating the value, and
By excluding one of the two communication devices corresponding to the combination having a relatively low evaluation value calculated by the calculation unit, the number of the communication devices required for the positioning is selected. Selection part and
A positioning unit that performs positioning based on the arrival time difference of the radio signal when the communication terminal receives the radio signal transmitted from the communication device selected by the selection unit.
Positioning device. The communication terminal further includes an acquisition unit that acquires downlink reception signal strength information indicating downlink reception signal strength, which is the reception signal strength of the radio signal when the communication terminal receives the radio signal transmitted from the communication device.
When the number of the communication devices that perform wireless communication with the communication terminal is larger than the number of the communication devices required for the positioning, the calculation unit performs a plurality of said communication devices that perform wireless communication with the communication terminal. For all combinations of the two communication devices that the communication device can take, the evaluation value is calculated based on the downlink reception signal strength indicated by the downlink reception signal strength information specified by the acquisition unit.
The selection unit excludes the communication device having a relatively low downlink reception signal strength from the two communication devices corresponding to the combination having a relatively low evaluation value calculated by the calculation unit. Thereby, the number of the communication devices required for the positioning is selected.
The positioning device according to claim 1. Further, an acquisition unit for acquiring communication quality information indicating the communication quality in the communication between the communication terminal and the communication device is provided.
When the number of the communication devices that perform wireless communication with the communication terminal is larger than the number of the communication devices required for the positioning, the calculation unit performs a plurality of said communication devices that perform wireless communication with the communication terminal. For all combinations of the two communication devices that the communication device can take, the evaluation value is calculated based on the communication quality indicated by the communication quality information acquired by the acquisition unit.
The selection unit excludes the communication device having a relatively low communication quality from the two communication devices corresponding to the combination having a relatively low evaluation value calculated by the calculation unit. , Select the number of the communication devices required for the positioning.
The positioning device according to claim 1 or 2. When the number of the communication devices that perform wireless communication with the communication terminal is larger than the number of the communication devices required for the positioning, the calculation unit performs a plurality of the communication devices that perform wireless communication with the communication terminal. For all combinations of the two communication devices that the communication device can take, the two communication devices are provided based on the device position information and the terminal position information indicating the position of the communication terminal positioned by the positioning unit. Calculate a second evaluation value that indicates the high accuracy of positioning when used,
The selection unit is required for the positioning by excluding any of the two communication devices corresponding to the combination in which the second evaluation value calculated by the calculation unit is relatively low. Reselect the number of said communication devices and
The positioning unit performs positioning based on the arrival time difference of the radio signal when the communication terminal receives the radio signal transmitted from the communication device reselected by the selection unit.
The positioning device according to any one of claims 1 to 3. It is a positioning device that performs positioning using the arrival time difference of wireless signals.
A storage unit that stores device position information indicating the position of each of a plurality of communication devices that perform wireless communication,
When the number of the communication devices that perform wireless communication with the communication terminal to be positioned is larger than the number of the communication devices required for the position positioning, a plurality of communication devices that perform wireless communication with the communication terminal. For all combinations of the two communication devices that the communication device can take, the accuracy of the positioning when the two communication devices are used is high based on the device position information stored in the storage unit. A calculation unit that calculates the evaluation value indicating the value, and
By excluding one of the two communication devices corresponding to the combination having a relatively low evaluation value calculated by the calculation unit, the number of the communication devices required for the positioning is selected. Selection part and
A positioning unit that performs positioning based on the arrival time difference of the wireless signal when the communication device selected by the selection unit receives a wireless signal transmitted from the communication terminal, and a positioning unit.
Positioning device. The communication device further includes an acquisition unit that acquires uplink reception signal strength information indicating uplink reception signal strength, which is the reception signal strength of the radio signal when the communication device receives the radio signal transmitted from the communication terminal.
When the number of the communication devices that perform wireless communication with the communication terminal is larger than the number of the communication devices required for the positioning, the calculation unit performs a plurality of said communication devices that perform wireless communication with the communication terminal. For all combinations of the two communication devices that the communication device can take, the evaluation value is calculated based on the uplink reception signal strength indicated by the uplink reception signal strength information specified by the acquisition unit.
The selection unit excludes the communication device having a relatively low uplink received signal strength from the two communication devices corresponding to the combination having a relatively low evaluation value calculated by the calculation unit. Thereby, the number of the communication devices required for the positioning is selected.
The positioning device according to claim 5. Performed by a computer that performs positioning using the arrival time difference of wireless signals,
When the number of communication devices that perform wireless communication with the communication terminal to be positioned is larger than the number of the communication devices required for the positioning, the plurality of communication devices that perform wireless communication with the communication terminal. For all combinations of the two communication devices that can be taken by the communication device, the high accuracy of the positioning when the two communication devices are used is shown based on the device position information indicating the position of the communication device. Steps to calculate the evaluation value and
A step of selecting the number of the communication devices required for the positioning by excluding one of the two communication devices corresponding to the combination having a relatively low evaluation value.
When the communication terminal receives the radio signal transmitted from the selected communication device, the arrival time difference of the radio signal, or when the selected communication device receives the radio signal transmitted from the communication terminal. Steps to perform positioning based on the arrival time difference of the radio signal of
Positioning method having.

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