JP4499484B2 - 信頼領域フィルタリング法を用いた位置推定方法および装置 - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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Description
Claims (12)
- 無線通信環境において端末の位置を推定する方法であって、
前記端末が、複数の既知の位置において前記無線通信環境内に配置された複数の送信機から各々無線信号を受信することにより、前記無線環境の無線信号特性を取得する取得ステップと、
前記端末が、測位対象位置において、前記複数の送信機から無線信号を受信する受信ステップと、
複数の位置計算アルゴリズムを用い、前記受信ステップにて受信した無線信号と前記取得ステップにて取得した無線信号特性とに基づいて、前記測位対象位置に対応する複数の推定位置候補を算出するステップと、
前記複数の推定位置候補に対応する1の信頼領域を形成するステップと、
前記複数の推定位置候補のうち前記信頼領域内に位置する推定位置候補のみを選択するフィルタリングステップと、
前記フィルタリングステップで選択された前記推定位置候補を用いて前記端末の最終的な位置を決定するステップと
を具備し、
前記信頼領域形成ステップにおいて、前記信頼領域は、前記複数の位置計算アルゴリズムの一つに基づいて算出した推定位置を中心とし、所定の半径を有する円または円の一部として形成されることを特徴とする位置推定方法。 - 前記複数の位置計算アルゴリズムは、三角測量法アルゴリズム、K近傍平均法アルゴリズム、及び最小M角形法アルゴリズムからなる群から選択されたものであることを特徴とする請求項1に記載の位置推定方法。
- 前記複数の推定位置候補は、略同時刻に算出した複数の推定位置候補をそれぞれ含む所定の数のグループに分かれており、
当該方法は、
前記各グループから1つの推定位置候補を選びそれらをつないで形成される経路のうち、長さが最短となるものを特定するステップと、
前記特定された経路上にある前記推定位置候補の平均として前記端末の前記最終的な位置を決定するステップと
を有することを特徴とする請求項1または2のいずれかに記載の位置推定方法。 - 前記最短経路の全長が前記信頼領域の半径の値を超えたとき、新たな信頼領域を形成するステップを更に有することを特徴とする請求項3に記載の位置推定方法。
- 前記信頼領域に有効期間が設定されており、
当該方法は、前記信頼領域の前記有効期間が経過したとき、新たな信頼領域を形成するステップを更に有することを特徴とする請求項1乃至3のいずれか1項に記載の位置推定方法。 - 前記推定位置候補を算出するステップの前に、前記無線信号をフィルタリング処理して歪んだ信号を除去するステップを更に有することを特徴とする請求項1乃至5のいずれか1項に記載の位置推定方法。
- 無線通信環境内にある複数の送信機から無線信号を各々受信する受信手段と、
前記受信手段にて受信した無線信号に基づき、前記無線通信環境の無線信号特性を取得する取得手段と、
複数の位置計算アルゴリズムを用い、前記受信手段にて受信した無線信号と前記取得手段にて取得した無線信号特性とに基づき、複数の推定位置候補を算出する算出手段と、
前記算出手段にて算出された複数の推定位置候補に対応する1つの信頼領域を形成する形成手段と、
前記複数の推定位置候補のうち前記信頼領域内に位置する推定位置候補のみを選択するフィルタリング手段と、
前記フィルタリング手段により選択された前記推定位置候補を用いて前記端末の最終的な位置を決定する決定手段と
を具備する位置推定装置であって、
前記形成手段は、前記信頼領域を、前記複数の位置計算アルゴリズムの一つに基づいて算出した推定位置を中心とし、所定の半径を有する円または円の一部として形成することを特徴とする位置推定装置。 - 前記複数の位置計算アルゴリズムは、三角測量法アルゴリズム、K近傍平均法アルゴリズム、及び最小M角形法アルゴリズムからなる群から選択されたものであることを特徴とする請求項7に記載の位置推定装置。
- 前記複数の推定位置候補は、略同時刻に算出した複数の推定位置候補をそれぞれ含む所定の数のグループに分かれており、
当該装置は、
前記各グループから1つの推定位置候補を選びそれらをつないで形成される経路のうち、長さが最短となるものを特定する最短経路計算手段と、
前記特定された経路上にある前記推定位置候補の平均として前記端末の前記最終的な位置を決定する最終位置決定手段と
を有することを特徴とする請求項7または8のいずれかに記載の位置推定装置。 - 前記形成手段は、前記最短経路の全長が前記信頼領域の半径の値を超えたとき、新たな信頼領域を形成することを特徴とする請求項9に記載の位置推定装置。
- 前記信頼領域に有効期間が設定されており、
前記形成手段は、前記信頼領域の前記有効期間が経過したとき、新たな信頼領域を形成することを特徴とする請求項7乃至9のいずれか1項に記載の位置推定装置。 - 前記推定位置候補を算出する前に、前記無線信号をフィルタリング処理して歪んだ信号を除去する無線信号フィルタリング手段を更に有することを特徴とする請求項7乃至11のいずれか1項に記載の位置推定装置。
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JP2000244967A (ja) * | 1999-02-24 | 2000-09-08 | Mitsubishi Electric Corp | 移動体通信システム、該システムを構成する移動機および基地局、並びに該システムにおける移動機の位置検出方法 |
JP2000244968A (ja) * | 1999-02-17 | 2000-09-08 | Lucent Technol Inc | 無線通信システムにおける移動局の位置の決定方法 |
JP2001268622A (ja) * | 2000-03-17 | 2001-09-28 | Mitsubishi Electric Corp | 移動局の現在位置認識方法および現在位置認識装置とその移動局と基地局 |
JP2002228736A (ja) * | 2001-02-06 | 2002-08-14 | Hitachi Ltd | 位置算出方法、位置算出装置及びそのプログラム |
JP2002532979A (ja) * | 1998-12-10 | 2002-10-02 | サムスン エレクトロニクス カンパニー リミテッド | 移動通信システムにおける端末機の位置推定装置及び方法 |
JP2003501633A (ja) * | 1999-06-01 | 2003-01-14 | ケンブリッジ ポジショニング システムズ リミテッド | 無線測位システムの改良 |
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JP2002532979A (ja) * | 1998-12-10 | 2002-10-02 | サムスン エレクトロニクス カンパニー リミテッド | 移動通信システムにおける端末機の位置推定装置及び方法 |
JP2000244968A (ja) * | 1999-02-17 | 2000-09-08 | Lucent Technol Inc | 無線通信システムにおける移動局の位置の決定方法 |
JP2000244967A (ja) * | 1999-02-24 | 2000-09-08 | Mitsubishi Electric Corp | 移動体通信システム、該システムを構成する移動機および基地局、並びに該システムにおける移動機の位置検出方法 |
JP2003501633A (ja) * | 1999-06-01 | 2003-01-14 | ケンブリッジ ポジショニング システムズ リミテッド | 無線測位システムの改良 |
JP2001268622A (ja) * | 2000-03-17 | 2001-09-28 | Mitsubishi Electric Corp | 移動局の現在位置認識方法および現在位置認識装置とその移動局と基地局 |
JP2002228736A (ja) * | 2001-02-06 | 2002-08-14 | Hitachi Ltd | 位置算出方法、位置算出装置及びそのプログラム |
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