JP4633160B2 - Positioning device, communication system, and positioning method - Google Patents

Description

  The present invention relates to a positioning device, a communication system, and a positioning method for positioning a mobile station.

  2. Description of the Related Art Conventionally, a sector positioning method is known as a method for measuring (positioning) a mobile station in a wireless communication environment (referred to as “cell sector positioning” in Patent Document 1). In this sector positioning method, for example, among the plurality of sectors in a cell, the sector having the maximum reception level of the received signal from the mobile station at the time of positioning is specified, and the center position of the sector is estimated as the position of the mobile station. Is done.

Also, a so-called PRACH-PD positioning method is known as a method for specifying a position in a sector. In this PRACH-PD positioning system, there are a system that assumes the outdoors and a system that assumes the indoors. Among these, in the system assuming outdoor, as shown in FIG. 13, the propagation time until the PRACH signal transmitted to the mobile station 71 returns from the mobile station 71 and reaches the base station 70 is measured. Based on the time, the position of the mobile station 71 in the sector is specified. Further, in the system assuming indoors, as shown in FIG. 14, a multi-drop optical transmission device for mobile communication (Multi-drop) connected to the base station 70 and installed indoors in one sector under the base station 70. An optical feeder (hereinafter referred to as “MOF”) 80 is assigned, and the one sector is formed by radio signals transmitted from antenna groups 81 and 82 connected to the MOF 80. Here, the delay lines 83 inserted between the MOF 80 and the antenna group 81 and the delay lines 84 inserted between the MOF 80 and the antenna group 82 have different lengths. A propagation delay (Propagation Delay, hereinafter also referred to as “PD”) is provided between them. In such a configuration, the propagation time until the PRACH signal transmitted from the base station 70 is returned at the mobile station and reaches the base station 70 is measured, the propagation delay is specified based on the propagation time, and the antenna that the mobile station uses It is identified whether it is located near the group (ie, the location of the mobile station within the sector).
JP 2007-322237 A

  However, positioning errors may occur due to the influence of the radio wave environment at the time of positioning. First, the PRACH-PD positioning method assuming indoors will be described as an example. For example, FIG. 4 shows a plurality of areas (areas divided by combinations of sector IDs and propagation delays) set indoors in a building. In FIG. 4, Sx-y means an area where the sector ID is x and the propagation delay type is y. When the target mobile station is located in the area S6-1 in the building of FIG. 4, due to the indoor structure of the building (for example, the presence of an atrium or a staircase), the mobile station The position may be erroneously determined as the area S4-2 on the upper floor of the area S6-1, or may be erroneously determined as the area S5-1 or S1-2 adjacent to the area S6-1. Thus, there is a problem that a positioning error due to a propagation error due to the influence of the radio wave environment at the time of positioning may occur.

  In the configuration shown in FIG. 14, a delay line 83 shorter than the delay line 84 is inserted between the antenna group 81 and the MOF 80, and the antenna group 81 is provided with a propagation delay shorter than that of the antenna group 82. . At this time, when the signals transmitted from the base station 70 to the antenna groups 81 and 82 are wirelessly transmitted from the antenna groups 81 and 82 and returned by the mobile station in the vicinity of each antenna group, the antenna group 81 , 82 may be received by the antenna group 95 in addition to the antenna group 96 due to the influence of the radio wave environment in the vicinity of the antenna group 96. In this case, if the antenna is located near the antenna group 95 having a short propagation delay, positioning is erroneously performed. That is, there is a problem that an erroneous positioning result can be obtained due to a detection error of propagation delay.

  The present invention has been made to solve the above-mentioned problems, and appropriately corrects the positioning error in consideration of both a propagation error due to the influence of the radio wave environment at the time of positioning and a detection error of the propagation delay. The purpose is to improve the reliability of positioning results.

  The positioning apparatus according to the present invention divides a cell into a plurality of sectors in advance and divides each sector into a plurality of areas in which different propagation delays are provided in advance, so as to correspond to the combination of the sector and the propagation delay. A positioning device that performs positioning of the position of the mobile station by estimating in which area the mobile station is located among a plurality of set areas, wherein the movement is performed for each of the plurality of areas. Propagation error correction information storage unit storing the area that is correct in propagation error correction and the probability of being correct when the positioning result that the position of the station is the area is obtained in the same sector In a plurality of areas to which the mobile station belongs, when the positioning result that the position of the mobile station is one area is obtained, the area that is correct in the propagation delay error correction and the probability that the mobile station is correct are stored From the propagation delay error correction information storage unit, the propagation error correction information storage unit, and the propagation delay error correction information storage unit, the correct answer area and the correct answer associated with the positioning results of a plurality of times are set. A probability is read out, and a correction unit that corrects the positioning result based on the read out correct area and the probability of the correct answer, and a positioning result output unit that outputs the corrected positioning result are provided. It is characterized by.

  As described above, the positioning device includes the propagation error correction information storage unit and the propagation delay error correction information storage unit, and a plurality of times from both the propagation error correction information storage unit and the propagation delay error correction information storage unit. Read the “corrected area” and “probability to be correct” associated with the positioning result, and correct the positioning result based on these “corrected area” and “probability to be correct” Thus, it is possible to appropriately correct the positioning error and improve the reliability of the positioning result in consideration of both the propagation error due to the influence of the radio wave environment at the time of positioning and the detection error of the propagation delay.

  In addition, the positioning device can perform the inter-area movement and the stay in the area that can be executed in light of the shortest moving time for moving between different areas among the movement between the areas and the stay in the area that are associated from the plurality of positioning results. An occurrence probability calculating unit that calculates the occurrence probability of each target case by a predetermined method, and the correction unit is further based on the occurrence probability calculated by the occurrence probability calculation unit, It is desirable that the positioning result is corrected. Accordingly, the positioning error can be corrected appropriately in consideration of the occurrence probability, and the reliability of the positioning result can be improved.

  In addition, the correction unit is configured to correct the probability that the source area is correct in the propagation error correction, the probability that the source area is correct in the propagation delay error correction, and the propagation error correction. Based on the probability that the destination area is correct, the probability that the destination area is correct in propagation delay error correction, and the probability of occurrence of the case, the reliability for the case is calculated and calculated. It is desirable that the positioning result is corrected based on the reliability related to each of the target cases. At this time, the correction unit has a case where the reliability is maximum, or a relative ratio obtained by dividing the reliability by the sum of the reliability of the obtained cases is a predetermined threshold value or more. Preferably, the positioning result is corrected based on a combination of a movement source area and a movement destination area corresponding to the case.

  In addition, when the correction unit acquires the positioning results of a plurality of times, the correction unit calculates the sum of the reliability that the movement source is in the same area from the positioning results up to the previous time, and calculates the calculated reliability. The positioning result is corrected based on the sum of degrees, the probability of occurrence of movement from the source area to the destination area, and the sum of reliability that the destination area is the same in the current positioning result. It is desirable to adopt a configuration that does this. Thereby, when the positioning result used for correction of a positioning result increases, the amount of calculations can be reduced.

  Further, the following positioning device may be employed as a positioning device that performs the correction in consideration of the occurrence probability. That is, such a positioning device sets a cell in association with a combination of the sector and the propagation delay by dividing the cell into a plurality of sectors in advance and dividing each sector into a plurality of areas in which different propagation delays are provided in advance. A positioning device that performs positioning of the position of the mobile station by estimating in which area the mobile station is located among the plurality of areas, and between different areas in the set areas Occurrence probability of calculating the occurrence probability of each target case by a predetermined method for the cases of inter-area movement and stay in the area that can be executed within the positioning time interval in light of the shortest travel time for moving A calculating unit; means for correcting the positioning result based on the positioning result obtained based on the calculated occurrence probability of each target case; and means for outputting the corrected positioning result , Characterized in that it comprises a.

  In addition, the occurrence probability calculation unit described above sets a predetermined stay probability as the occurrence probability of a case staying in the same area for the case of staying in the same area, and moving between different areas Divides the predetermined movement probability by the number of areas whose shortest movement time from the movement source area is equal to or less than the positioning time interval, and the value obtained by the division is an occurrence probability of moving between different areas It is desirable to set as

  By the way, as described above, the present invention can be regarded as “the invention related to the positioning device”, and can also be regarded as “the invention related to the communication system” and “the invention related to the positioning method”, which will be described later. Play.

  A communication system according to the present invention includes at least one mobile station that performs GPS positioning, at least one base station that forms a cell, a base station controller that performs sector positioning, and positioning that performs positioning of the position of the mobile station The positioning device receives a positioning request including information on a mobile station to be positioned, partitions a cell into a plurality of sectors in advance, and each sector has a different propagation delay. Is divided into a plurality of preliminarily provided areas, and among the plurality of areas set in association with the combination of the sector and the propagation delay, the area where the mobile station is located A positioning unit that performs positioning of the position of the mobile station by estimating based on a result of GPS positioning by the base station or a result of sector positioning by the base station controller, and the plurality of areas A propagation error correction information storage unit that stores an area that is correct in propagation error correction and a probability that the mobile station is correct when a positioning result that the position of the mobile station is the area is obtained for each In a plurality of areas belonging to the same sector, when a positioning result is obtained that the position of the mobile station is one area, an area that is correct in propagation delay error correction and the correct answer are determined. Propagation delay error correction information storage unit storing the probability, both the propagation error correction information storage unit and the propagation delay error correction information storage unit, the area that is the correct answer associated with the positioning results of a plurality of times, and Reads the probability of being correct, reads the area to be correct and the probability of being correct, and outputs the corrected positioning result and the corrected positioning result A positioning result output unit that, characterized in that it comprises a.

  In the positioning method according to the present invention, the cell is divided into a plurality of sectors in advance, and each sector is divided into a plurality of areas in which different propagation delays are provided in advance, so as to correspond to the combination of the sector and the propagation delay. A positioning method executed by a positioning device that performs positioning of the position of the mobile station by estimating in which area the mobile station is located among a plurality of set areas, the positioning device From each of the plurality of areas stored in advance by the area that is the correct answer when the positioning result that the position of the mobile station is the area is obtained and the probability that the position is the correct answer, The same sector, which is read out the area to be the correct answer and the probability to be the correct answer corresponding to the positioning results of the mobile station multiple times and stored in advance by the positioning device In a plurality of areas to which the mobile station belongs, when the positioning result that the position of the mobile station is one area is obtained, from the area that is correct in propagation delay error correction and the probability that the mobile station is correct, the movement Based on the read area and the probability of being the correct answer corresponding to the multiple positioning results of the station position, and the read area of the correct answer and the probability of being the correct answer, The method includes a step of correcting the positioning result and a step of outputting the corrected positioning result.

  In addition, the positioning method can be executed in light of the shortest moving time for moving between different areas among the movements between areas and stays within the areas associated from the multiple positioning results before the correcting step. And calculating the probability of occurrence of each target case by a predetermined method for cases of moving between areas and staying in the area, and in the correcting step, the positioning device includes the calculated occurrence It is desirable to correct the positioning result on the basis of the probability.

  In the correcting step, the positioning device sets the probability that the movement source area is correct in propagation error correction and the movement source area is correct in propagation delay error correction for the target case. Probability, probability that destination area is correct in propagation error correction, probability that destination area is correct in propagation delay error correction, and confidence in the case based on the probability of occurrence of the case It is desirable to calculate the degree and correct the positioning result based on the calculated reliability for each target case. At this time, in the correcting step, the positioning device has a predetermined relative ratio obtained by dividing the case where the reliability is maximum, or the reliability by the sum of the reliability of the obtained cases. It is desirable to correct the positioning result based on a combination of a movement source area and a movement destination area corresponding to a case where the threshold value is equal to or greater than the threshold value.

  Further, in the correcting step, when the positioning device acquires a plurality of positioning results, the positioning device calculates the sum of reliability that the movement source is the same area from the positioning results up to the previous time in each positioning result. Based on the calculated reliability sum, the probability of movement from the movement source area to the movement destination area, and the reliability sum that the movement destination area is the same in the current positioning result. It is desirable to correct the positioning result. Thereby, when the positioning result used for correction of a positioning result increases, the amount of calculations can be reduced.

  Further, the following positioning method may be employed as a positioning method related to the correction in consideration of the occurrence probability. That is, such a positioning method is set in association with a combination of the sector and the propagation delay by dividing the cell into a plurality of sectors in advance and dividing each sector into a plurality of areas in which different propagation delays are provided in advance. A positioning method executed by a positioning device that performs positioning of the position of the mobile station by estimating in which area the mobile station is located among the plurality of areas that have been set, In light of the shortest travel time for moving between different areas in a plurality of areas, the cases of inter-area movement and stay in the area that can be performed within the positioning time interval are targeted for each target case using a predetermined method. A step of calculating an occurrence probability, a step of correcting the positioning result with a positioning result obtained based on the calculated occurrence probability of each target case, and after the correction Characterized in that it comprises a step of outputting the positioning result.

  Further, in the step of calculating the occurrence probability described above, the positioning device sets a predetermined stay probability as a probability of occurrence of a case staying in the same area for cases staying in the same area, which are different. For the case of moving between areas, the predetermined movement probability is divided by the number of areas whose shortest movement time from the movement source area is equal to or less than the positioning time interval, and the value obtained by the division is divided between different areas. Is preferably set as the occurrence probability of the moving case.

  According to the present invention, it is possible to appropriately correct the positioning error and improve the reliability of the positioning result in consideration of both the propagation error due to the influence of the radio wave environment at the time of positioning and the detection error of the propagation delay. .

  Embodiments according to the present invention will be described below with reference to the drawings.

[Configuration of communication system]
First, the configuration of the communication system according to the present embodiment will be described. As shown in FIG. 1, the communication system 1 according to the present embodiment includes at least one mobile station 40 that performs positioning based on GPS (Global Positioning System) (hereinafter referred to as “GPS positioning”) and at least one that forms a cell. It includes a base station 30, a base station controller (Radio Network Controller, hereinafter referred to as “RNC”) 20 that performs sector positioning, and a positioning server 10. Here, as the mobile station 40, there are a mobile station B carried by a child and a mobile station A carried by the parent of the child. The positioning server 10 corresponds to the positioning device according to the present invention.

  Each mobile station 40 transmits a positioning request including information on the positioning target mobile station to the positioning server 10 and receives a response (positioning result) from the positioning server 10 by a wireless communication procedure via the base station 30. A positioning request unit 41, a display unit 42 that displays the received positioning results, and a GPS positioning unit 43 that performs positioning of its own mobile station using GPS.

  The RNC 20 includes a sector positioning unit 21 that performs sector positioning. The positioning process in this embodiment will be described later.

  The positioning server 10 stores a positioning result by the communication control unit 11 that performs communication (transmission and reception of various information) with the RNC 20, a positioning unit 14 that performs positioning of the position of the positioning target mobile station, and the positioning unit 14. Positioning result storage unit 15, area attribute storage unit 18 storing sector ID, propagation delay and position coordinates (latitude, longitude, altitude) preset for each area, and mobile stations in a plurality of areas belonging to the same sector A PD error correction information storage unit 16 that stores an area that is correct in propagation delay error correction and a probability that the position is correct when a positioning result indicating that the position of the position is one area is obtained; Propagation error that stores the area that is correct in propagation error correction and the probability that the mobile station is correct when the result of positioning that the position of the mobile station is the area is obtained for each area Inter-area movement information storing the shortest movement time for moving between different areas and the distance between the areas among the correction information storage unit 19 and movements between areas and stays in the areas associated with each other from a plurality of positioning results. A storage unit 1B, an occurrence probability calculation unit 1A that calculates an occurrence probability described later by a predetermined method, a correction unit 12 that corrects a positioning result by a method described later, a positioning result output unit 13 that outputs a positioning result, and a positioning And a positioning request unit 17 for making a positioning request directly to the unit 14. Among these, the positioning unit 14 receives a positioning request including information on a positioning target mobile station, and performs positioning of the positioning target mobile station according to a procedure described later. Further, the correction unit 12 includes a setting file 12A of FIG. 11 in which various parameters relating to correction are set in advance. The parameters in the setting file 12A will be described later in the description of the processing described later.

  From the viewpoint of hardware, the positioning server 10 includes, for example, a CPU 10A that executes an operating system, an application program, etc., a main storage unit 10B composed of ROM and RAM, a non-volatile memory, and the like as shown in FIG. An auxiliary storage unit 10C composed of: a communication control unit 10D that performs data communication; an output unit 10E that displays information, prints out information, and the like; and keys for character / number input and execution instructions And the operation unit 10F. The functions described in FIG. 1 are executed by loading predetermined software onto the CPU 10A and the main storage unit 10B shown in FIG. 2 and executing the software, and the communication control unit 10D is controlled under the control of the CPU 10A. It is realized by operating and reading and writing data in the main storage unit 10B and the auxiliary storage unit 10C. The RNC 20, the base station 30, and the mobile station 40 also have a basic hardware configuration as shown in FIG.

  In the present embodiment, as shown in FIG. 4, a plurality of areas (areas divided by combinations of sector IDs and propagation delays) set inside a certain building are assumed. In FIG. 4, Sx-y means an area where the sector ID is x and the propagation delay type is y. The attributes of each area shown in FIG. 4 are stored in the area attribute storage unit 18 in association with the sector ID, propagation delay, and position coordinates (latitude, longitude, altitude) for each area, as shown in FIG. Has been.

  FIG. 5 shows an example of positioning results stored in the positioning result storage unit 15. As shown in FIG. 5, the positioning result storage unit 15 includes identification information (user ID) of a positioning target mobile station, positioning results (specifically, latitude, longitude, altitude, and corresponding area name), The positioning time is stored, and further, the correction area name is stored by the correcting unit 12 as the corrected positioning result. As the mobile station identification information (user ID), the mobile station telephone number may be adopted, or an ID set uniquely may be adopted.

  FIG. 6 shows an example of information stored in the PD error correction information storage unit 16. As shown in FIG. 6, the PD error correction information storage unit 16 stores a propagation delay error when a positioning result indicating that the position of the mobile station is one area in a plurality of areas belonging to the same sector is obtained. An area that is a correct answer and a probability that the correct answer is assumed are stored. For example, in the case where the positioning result that the position of the mobile station is area S1-1 is obtained, the area “S1-1” that is the correct answer in the propagation delay error correction and the probability that the correct answer is “90” % ”Is stored, and the area“ S1-2 ”that is correct in propagation delay error correction and the probability“ 10% ”that is correct are stored.

FIG. 7 shows an example of information stored in the propagation error correction information storage unit 19. As shown in FIG. 7, in the propagation error correction information storage unit 19, for each of a plurality of areas, when a positioning result that the position of the mobile station is the area is obtained, the propagation error correction is correct. The area to be taken and the probability of being the correct answer are stored. Here, the “area” includes both an area (for example, S1-1) divided in advance and a position coordinate itself (for example, (N35.66983, E139.74372, 1)). Further, the probability of being correct may be set manually or based on the result of positioning in advance in the target environment. Of these, the latter will be measured multiple times to cover the entire target environment. Then, when the area Ar is output as the positioning result, (1) whether the answer is correct or error is specified. (2) If the error is an error, whether it is a PD error, a propagation error, a PD error / propagation error, Is identified. Further, an area that is correct in propagation error correction and PD error correction and a probability that it is correct are calculated by the following equations.
Probability that correct answer is Aj as a result of performing propagation error correction on positioning result Ai =
(Number of positioning results where the area determined to be correct or propagation error is Ai and the correct area is Aj) / (Number of positioning results where area determined to be correct or propagation error is Ai)
Probability that the correct answer is Aj as a result of performing PD error correction on the positioning result Ai =
(Number of positioning results where the area determined to be correct or PD error is Ai and the correct area is Aj) / (Number of positioning results where the area determined to be correct or PD error is Ai)
Here, for example, when area S1-1 is obtained as a positioning result, a probability “90%” that the area S1-1 is correct in the propagation error correction is stored, and area S2-1 is correct. The probability “10%” is stored. In addition, when position coordinates (N35.66983, E139.74372, *) are obtained as positioning results (that is, position coordinates of latitude 35.66983 degrees north latitude and longitude 139.74372 degrees east longitude are obtained regardless of altitude values). The probability that the position coordinates are correct in the propagation error correction is stored, and the probability “50%” that the area S1-1 is correct is stored.

  Furthermore, “(N35.66983, E139.74372, 1) to (N35.66985, E139.74376, 1)” in the positioning result area column means that the altitude is “1” and the latitude is 35.66983 degrees to 35.66985 It means a two-dimensional region within the range of degrees and whose longitude is within the range of 139.74360 degrees to 139.74372 degrees east longitude. Here, when the position coordinates in the two-dimensional region are obtained as a positioning result, the probability “50%” that the position coordinates of the positioning result itself are correct in the propagation error correction is stored, and the area S1 is stored. The probability “50%” that -1 is correct is stored.

  FIG. 8 shows an example of information stored in the inter-area movement information storage unit 1B. As shown in FIG. 8, in the inter-area movement information storage unit 1B, the shortest movement time for moving between different areas among the movement between areas and the stay in the area associated from the positioning results of a plurality of times, The distance between areas is stored.

[Processing flow of this embodiment]
Hereinafter, the processing flow executed in the communication system of the present embodiment will be described with reference to the flowchart of FIG. Here, it is assumed in FIG. 1 that the mobile station A carried by the parent requests the positioning server 10 from the mobile station A carried by the parent for the mobile station B carried by the child.

  First, the mobile station A makes a positioning request to the positioning server 10 (step S1 in FIG. 9). Specifically, the positioning request unit 41 of the mobile station A transmits a positioning request including the ID of the positioning target mobile station B input by the user of the mobile station A and the continuous positioning condition to the positioning server 10. Note that the above-mentioned continuous positioning conditions include the number of positioning (finite number of times (for example, 5 times) or infinite designation) and positioning time interval (for example, 1 minute interval, 5 minute interval, etc.).

  Next, in the positioning server 10, when the positioning unit 14 receives a positioning request from the mobile station A via the communication control unit 11 (step S2), the positioning unit 14 cooperates with the RNC 20 and the positioning target mobile station B as follows. Correct positioning is executed (step S3).

  First, the positioning unit 14 transmits a positioning request to the RNC 20. In the RNC 20, the sector positioning unit 21 specifies a positioning target from the “ID of the positioning target mobile station B” included in the positioning request, and determines the number of positioning times and the positioning time interval from the “continuous positioning condition” included in the positioning request. Then, sector positioning is performed at the above-described number of positioning times and positioning time intervals with the mobile station B as a positioning target. Specifically, the sector positioning unit 21 measures the sector to which the mobile station B is connected and the propagation delay value, and based on the sector and the propagation delay value, the sector positioning result (latitude, longitude) of the mobile station B , Get altitude). Further, the sector positioning unit 21 transmits a positioning request for GPS positioning including the continuous positioning condition and the obtained sector positioning result (latitude, longitude, altitude) of the mobile station B to the mobile station B. In the mobile station B that has received the positioning request, if GPS positioning can be executed at that time, the GPS positioning unit 43 executes GPS positioning, and the GPS positioning result (latitude, longitude, altitude) is sent to the sector positioning unit 21. Send back. On the other hand, if GPS positioning cannot be performed at that time, the GPS positioning unit 43 returns the sector positioning result (latitude, longitude, altitude) to the sector positioning unit 21. Then, the sector positioning unit 21 transmits the received positioning result (that is, the GPS positioning result when GPS positioning is feasible, and the sector positioning result when GPS positioning is not feasible) to the positioning unit 14. Thereby, the positioning unit 14 obtains the positioning result (latitude, longitude, altitude) of the mobile station B.

  As for the positioning time interval, positioning may be performed at the positioning time interval specified in the positioning request. However, if it takes time to acquire the positioning result, (after the previous positioning result acquisition) In addition, positioning may be performed when the condition that the positioning time interval elapses from the previous positioning request is satisfied. When the positioning count is set to “infinite”, the positioning is terminated by manually transmitting a positioning stop request from the positioning request unit 41 of the mobile station A.

  After positioning, the positioning unit 14 stores the positioning result (latitude, longitude, altitude) and positioning time in association with the ID of the positioning target mobile station (user ID of mobile station B, “U001” in this case) and the positioning result. It memorize | stores in the part 15 (step S4). At this time, the positioning unit 14 searches the area corresponding to the position coordinates of the positioning result with reference to the area attribute storage unit 18, and displays the corresponding area name in the “area name” column of the positioning result storage unit 15 in FIG. 5. To remember.

  Next, the correction unit 12 corrects the positioning result according to the procedure shown in FIG. 10 (step S5). First, the correction unit 12 refers to the built-in setting file 12A of FIG. 11 and performs three corrections: PD error correction, propagation error correction, and correction based on the possibility of movement between areas (hereinafter referred to as “area movement correction”). For each, it is selected whether to use or not (step S60 in FIG. 10). Then, the correction unit 12 refers to the “usage history time” in the setting file 12A, and reads a plurality of past positioning results corresponding to the “usage history time” from the positioning result storage unit 15 (step S61).

  If it is selected in step S60 that PD error correction is to be used, the process proceeds to step S63, and the “corrected area” and the “probability Ppd to be the correct answer” associated with the positioning results of the plurality of times are set. Read from the PD error correction information storage unit 16. A specific example of this process will be described later.

  If it is selected in step S60 that the propagation error correction is used, the process proceeds to step S65, and the “corrected area” and “probability Pp to be correct” associated with the plurality of positioning results are set. Read from the propagation error correction information storage unit 19.

  Here, a specific example of the processing of steps S61 to S65 will be described. In step S61, the correction unit 12 refers to the “use history time” in the setting file 12A, and obtains the past multiple positioning results corresponding to the “use history time” “5 minutes” as the positioning result storage unit 15. Read from. Specifically, the positioning result at 9 o'clock (area S1-1) and the positioning result at 9:05 (area S5-1) are read out.

  Since the setting file 12A is set to use PD error correction, the process proceeds to step S63, and the correction unit 12 associates the “corrected area” associated with the positioning results (areas S1-1 and S5-1). ”And“ Probability Ppd regarded as the correct answer ”are read from the PD error correction information storage unit 16. Specifically, as shown in FIG. 12A, “area S1-1 to be correct” and “probability 90% to be correct” associated with the positioning result at 9 o'clock (area S1-1). ”And“ area S1-2 to be correct ”and“ 10% probability to be correct ”, which are also associated from the area S1-1, are read from the PD error correction information storage unit 16. Further, as shown in FIG. 12B, “area S5-1 to be correct” and “probability 90% to be correct” associated with the positioning result (area S5-1) at 9:05. Similarly, the “corrected area S5-2” and the “corrected probability 10%” associated with the area S5-1 are read from the PD error correction information storage unit 16.

  Since the setting file 12A is set to use propagation error correction, the process proceeds to step S65, and the correction unit 12 sets “correct answer” associated with the positioning results (areas S1-1 and S5-1). Read out from the propagation error correction information storage unit 19. Specifically, as shown in FIG. 12A, “area S1-1 to be correct” further associated from area S1-1 associated with the positioning result (area S1-1) at 9 o'clock. And “probability 90% of the correct answer” and “area S2-1 to be correct answer” and “corresponding correct answer” that are further correlated from the area S1-1 corresponding to the positioning result at 9 o'clock. “Probability 10%” is read from the propagation error correction information storage unit 19. Similarly, from the area S1-2 associated with the positioning result (area S1-1) at 9 o'clock, the following four areas and probabilities associated with each other are read from the propagation error correction information storage unit 19. That is, “Area S1-2 to be correct” and “Probability 70% to be correct”, “Area S3-1 to be correct” and “10% probability to be correct”, "Area S6-1" and "10% probability of being correct", and "area S2-2 to be correct" and "10% probability of being correct" are read.

  Similarly, as shown in FIG. 12 (b), from the area S5-1 associated with the positioning result at 9:05, the associated “area S5-1 to be correct” and “ Probability of 80% as correct answer, “area S1-1 as correct answer” and “10% probability of correct answer”, and “area S6-1 as correct answer” and “probability of correct answer” 10% "is read out. Similarly, from the area S5-2 associated with the positioning result at 9:05, further associated “area S5-2 to be correct”, “probability 70% to be correct”, “correct answer” "Area S4-2" and "Probability of 10% as the correct answer", "Area S1-2 as correct answer" and "10% of the probability of correct answer", and "Area S6 as the correct answer" 2 ”and“ 10% probability of being the correct answer ”are read out.

Now, returning to FIG. 10, since the setting file 12A is set to use area movement correction, the process proceeds to step S67, and the correction unit 12 responds from the positioning results (areas S1-1 and S5-1). Among the attached movements between areas and stays within the area, the occurrence probability calculation unit 1A will later describe the case of movement between areas and stay within the area that can be executed in light of the shortest movement time for moving between different areas. The occurrence probability Pt of each target case is calculated by the above method. Specifically, the occurrence probability calculation unit 1A has a total of six areas S1-1, S2-1, S1-2, S3-1, S6-1, and S2-2 that are associated from the 9 o'clock positioning result. , The area where the shortest movement time from the area is within the positioning time interval (5 minutes) is read from the inter-area movement information storage unit 1B, and the occurrence probability Pt is calculated by the following equation.
Occurrence probability Pt (Ai, Ai) when staying in the same area Ai = Occurrence probability Pt (Ai, Aj) when moving from the stay probability area Ai to the area Aj = Movement probability × (1 / Minimum from the movement source Ai Number of areas whose travel time is less than the positioning time interval)
The stay probability and the movement probability are set in the setting file 12A in advance.

For example, for the area S1-1 associated with the positioning result at 9 o'clock, the areas where the shortest movement time from the area S1-1 is equal to or less than the positioning time interval (5 minutes) are S2-1, S3-1, S6. Since the total is −1, the occurrence probability Pt is calculated as follows.
Occurrence probability Pt (S1-1, S1-1) = 0.5
Occurrence probability Pt (S1-1, S2-1) = Occurrence probability Pt (S1-1, S3-1) = Occurrence probability Pt (S1-1, S6-1) = 0.5 × 1/3 = 1/6
As for the area S2-1 associated with the positioning result at 9 o'clock, the areas where the shortest movement time from the area S2-1 is equal to or shorter than the positioning time interval (5 minutes) are S1-1, S3-1, S6. -1, S5-1, S1-2, and S4-1, so the occurrence probability Pt is calculated as follows.
Occurrence probability Pt (S2-1, S2-1) = 0.5
Occurrence probability Pt (S2-1, S1-1) = Occurrence probability Pt (S2-1, S3-1) = Occurrence probability Pt (S2-1, S6-1) = Occurrence probability Pt (S2-1, S5-1) ) = Occurrence probability Pt (S2-1, S1-2) = occurrence probability Pt (S2-1, S4-1) = 0.5 × 1/6 = 1/12
Further, the occurrence probability Pt is similarly calculated for other areas associated with the positioning result at 9 o'clock. Here, the occurrence probability Pt is set to 0 for an area where the shortest movement time is longer than the positioning time interval.

  The occurrence probability Pt calculated as described above is notified from the occurrence probability calculation unit 1A to the correction unit 12.

  Returning to FIG. 10, in the next step S68, the correction unit 12 performs the probability Ppd obtained in step S63 (PD error correction), the probability Pp obtained in step S65 (propagation error correction), and the step S67. Based on the obtained occurrence probability Pt, the positioning result is corrected by a method described later (step S68).

  Specifically, the correction unit 12 has an occurrence probability Pt when moving from the area associated with the positioning result at 9 o'clock to the area associated with the positioning result at 9:05 greater than 0. The product of the probability Ppd obtained by the PD error correction, the probability Pp obtained by the propagation error correction, and the occurrence probability Pt is calculated, and the calculated product is set as “reliability of event occurrence”.

  If PD error correction is not used, the probability Ppd is set to 100%. If propagation error correction is not used, the probability Pp is set to 100%, and the area movement correction is not used. If it is, the product is calculated with the probability Pt = 100%.

  Of the combinations of the area associated from the positioning result at 9 o'clock and the area associated from the positioning result at 9:05, (S1-1, S5-1), (S1-1, S5-2), ( S1-1, S4-2), (S1-1, S1-2), (S1-1, S6-2), (S2-1, S1-1), and (S2-1, S1-1) Since the occurrence probability Pt is 0, the product is not calculated. Thus, by excluding combinations of areas that have no possibility of moving stochastically, it is possible to improve processing efficiency.

For example, the reliability r (S1-1, S1-1) of the event occurrence, that is, the reliability r regarding the event staying in the area S1-1 is calculated as follows.
Reliability r (S1-1, S1-1) = 0.9 (probability Ppd related to PD error correction at 9:00) × 0.9 (probability Pp related to propagation error correction at 9:00) × 0.5 (occurrence probability Pt) × 0.9 (probability Ppd for 9:05 PD error correction) × 0.1 (probability Pp for 9:05 propagation error correction) = 0.032805
Similarly, event occurrence reliability r (S1-1, S6-1), event occurrence reliability r (S2-1, S5-1), event occurrence reliability r (S2-1, S6-1) Is also calculated as follows.
Reliability r (S1-1, S6-1) = 0.9 (probability Ppd related to PD error correction at 9:00) × 0.9 (probability Pp related to propagation error correction at 9:00) × 0.17 (occurrence probability Pt) × 0.9 (probability Ppd related to PD error correction of 9:05) × 0.1 (probability Pp related to propagation error correction of 9:05) = 0.0111537
Reliability r (S2-1, S5-1) = 0.9 (probability Ppd related to PD error correction at 9:00) × 0.1 (probability Pp related to propagation error correction at 9:00) × 0.08 (occurrence probability Pt) × 0.9 (probability Ppd for 9:05 PD error correction) × 0.8 (probability Pp for 9:05 propagation error correction) = 0.005
Reliability r (S2-1, S6-1) = 0.9 (probability Ppd related to PD error correction at 9:00) × 0.1 (probability Pp related to propagation error correction at 9:00) × 0.08 (occurrence probability Pt) × 0.9 (probability Ppd for 9:05 PD error correction) × 0.1 (probability Pp for 9:05 propagation error correction) = 0.006
The event occurrence reliability r other than the above is also calculated in the same manner.

  Finally, the correction unit 12 confirms the correction method set in the setting file 12A, and identifies the correction result based on the correction method as described below from the reliability r of occurrence of the event described above.

  Here, since the “maximum value” (that is, the combination of areas in which the event occurrence reliability r is the maximum value) is set as the correction method, the correction unit 12 has the event occurrence reliability r of the maximum. Specify the combination of areas that are values. In the above example, since the event occurrence reliability r (S1-1, S1-1) is the maximum value, the correction unit 12 identifies the combination of areas (S1-1, S1-1), and the positioning result. Is corrected to “area S1-1 at 9:00, area S1-1 at 9:05”. Then, the correction unit 12 stores the area name after correction in the correction area name of the positioning result storage unit 15.

  As a correction method, in addition to the above, the relative ratio of the reliability of event occurrence (that is, the relative ratio obtained by dividing the reliability by the sum of the reliability of each area) is a predetermined threshold value or more. A combination of areas may be specified.

  After the correction as described above, the positioning result output unit 13 outputs the corrected positioning result (step S6 in FIG. 9). Specifically, the positioning result output unit 13 transmits the corrected positioning result to the mobile station A (the mobile station that has made the positioning request), and displays it on a display device that constitutes the positioning result output unit 13. . In the mobile station A, when the positioning request unit 41 receives the corrected positioning result, the received positioning result is displayed and output on the display unit 42 (step S7). At this time, for example, a character such as “the positioning target is near the area S1-1” may be displayed on the screen, or the correction area may be plotted on the map displayed on the screen. Good. Thereby, the parent carrying the mobile station A can recognize the position of the mobile station B carried by the child (that is, the position where the child is located).

  According to the above embodiment, in consideration of both the propagation error due to the influence of the radio wave environment at the time of positioning and the detection error of the propagation delay, the positioning error is corrected appropriately and the reliability of the positioning result is improved. Can do.

  In addition, by using the probability of movement between areas obtained by using area movement correction, it is possible to exclude a set of areas that are not likely to move stochastically, and to improve processing efficiency. Can do. Even if PD error correction and propagation error correction are not used, if area movement correction is used, the probability of occurrence of movement between areas can be obtained. It is possible to correct and improve the reliability of the positioning result.

  In the above-described embodiment, a mode in which a positioning request is made from a mobile station A other than the positioning target mobile station B or the positioning server 10 has been described, but a positioning request may be made from the positioning target mobile station itself. Moreover, you may mount all the functions with which the positioning server 10 is provided in a mobile station. At this time, the mobile station can autonomously perform positioning for itself and correction of the positioning result. In this case, the mobile station corresponds to the positioning device according to the present invention. In addition, by mounting some of the functions of the positioning server 10 in the mobile station, the mobile station cooperates with the positioning server 10 to correct the positioning for the mobile station and correct the positioning result. It can be performed.

In the above embodiment, the following formula is used when the occurrence probability Pt is calculated in the occurrence probability calculation unit 1A.
Occurrence probability Pt (Ai, Ai) when staying in the same area Ai = Occurrence probability Pt (Ai, Aj) = movement probability × (1 / shortest from the movement source Ai) when moving from the stay probability area Ai to the area Aj Number of areas whose travel time is less than the positioning time interval)
Here, when calculating the occurrence probability Pt (Ai, Aj) when moving from the area Ai to the area Aj, a weight may be given by the elapsed time from the shortest moving time between the area Ai and the area Aj.
The elapsed time from the shortest movement time is calculated by the following formula.
Elapsed time from the shortest movement time = positioning time interval−shortest movement time The expression of the occurrence probability Pt weighted by the elapsed time is shown below.
Occurrence probability Pt (Ai, Ai) when staying in the same area Ai = Occurrence probability Pt (Ai, Aj) when moving from the stay probability area Ai to the area Aj =
Probability of movement x (Elapsed time from the shortest travel time from area Ai to area Aj / Sum of elapsed time from the shortest travel time in the area where the shortest travel time from source Ai is less than the positioning time interval)
Alternatively, the expression of the occurrence probability Pt weighted by the elapsed time may be as follows.
Probability of occurrence Pt (Ai, Aj) when moving or staying from area Ai to area Aj =
(Elapsed time from the shortest travel time from area Ai to area Aj) / (Sum of elapsed time from the shortest travel time in the area where the shortest travel time from source Ai is equal to or less than the positioning time interval)

上記の信頼度算出方法を用いない場合には、信頼度を算出する回数が、最悪の場合、（エリア数のＴ乗）回（ただしＴは、測位結果の補正に利用する測位結果履歴数）となってしまうのに対し、上記の信頼度算出方法を用いた場合には、信頼度を算出する回数が、最悪の場合でも、（エリア数の２乗）のＴ倍程度に抑えることができる。これにより、多くの測位結果履歴を利用する場合でも、計算負荷を軽減することができる。 Moreover, in the said embodiment, the reliability in each case was calculated in the correction | amendment part 12, and the estimation result was correct | amended. The calculation method of the reliability (represented as reliability r (area 1, area 2)) in the case where the first positioning result exists in area 1 and the second positioning result exists in area 2 is shown below. .
Reliability r (area 1, area 2) =
(Probability Ppd of area 1 as a result of PD error correction in the first positioning result) ×
(Probability Pp of area 1 as a result of propagation error correction in the first positioning result) ×
(Occurrence probability Pt of area 1 in the first positioning result and area 2 in the second positioning result) ×
(Probability Ppd of area 2 as a result of PD error correction in the second positioning result) ×
(Probability Pp of area 2 as a result of propagation error correction in the second positioning result)
Here, the correction unit 12 may calculate the reliability existing in the area n at a certain time t. Results corrected for the t-th positioning result Ar _t, describes ultimately be the area n A _t, and _n. As a result of PD error correction, the probability to be corrected from the area A _{t, 1} to A _{t, 2} is described as Ppd (A _{t, 1,} A _{t, 2),} the result of the propagation error correction, the area A _{t ,} the probability is corrected from ₁ to area _{a t, 2 Pp (a t} , 1, a t, 2) and described, the probability about moving from the area a _{t, 1} to area a _{t + 1, 2} Is expressed as Pp (A _{t, 1} , A _{t + 1,2} ), the reliability r (A _{t, n} ) existing in the area n at a certain time t is expressed by the following equation.

When the above reliability calculation method is not used, the number of times the reliability is calculated is the worst (T times the number of areas) times (where T is the number of positioning result histories used for correcting the positioning results). On the other hand, when the above reliability calculation method is used, the number of times of calculating the reliability can be suppressed to about T times (the square of the number of areas) even in the worst case. . Thereby, even when many positioning result histories are used, a calculation load can be reduced.

It is a block diagram of the communication system concerning embodiment of this invention. It is a hardware block diagram of a positioning server. It is a figure which shows the information memorize | stored in the area attribute memory | storage part. It is a figure which shows the example of the communication area set indoors of a certain building. It is a figure which shows the information memorize | stored in the positioning result memory | storage part. It is a figure which shows the information memorize | stored in PD error correction information storage part. It is a figure which shows the information memorize | stored in the propagation error correction information storage part. It is a figure which shows the information memorize | stored in the movement information storage part between areas. It is a figure which shows the processing flow performed in the communication system of this embodiment. It is a figure which shows the subroutine of the correction process of a positioning result. It is a figure which shows the information preset in the setting file. It is a figure for demonstrating the correction process of a positioning result. It is a figure for demonstrating a PRACH-PD positioning system. It is a figure which shows the example of indoor application of a PRACH-PD positioning system.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Communication system, 10 ... Positioning server, 10A ... CPU, 10B ... Main memory part, 10C ... Auxiliary memory part, 10D ... Communication control part, 10E ... Output part, 10F ... Operation part, 11 ... Communication control part, 12 ... Correction part, 13 ... Positioning result output part, 14 ... Positioning part, 15 ... Positioning result storage part, 16 ... PD error correction information storage part, 17 ... Positioning request part, 18 ... Area attribute storage part, 19 ... Propagation error correction information Storage unit, 1A ... occurrence probability calculation unit, 1B ... inter-area movement information storage unit, 20 ... RNC, 21 ... sector positioning unit, 30 ... base station, 40 ... mobile station, 41 ... positioning request unit, 42 ... display unit, 43 ... GPS positioning unit, 70 ... base station, 71 ... mobile station, 80 ... MOF, 81, 82 ... antenna group, 83,84 ... delay line.

Claims (15)

Of the plurality of areas set in association with the combination of the sector and the propagation delay by dividing the cell into a plurality of sectors in advance and dividing each sector into a plurality of areas provided with different propagation delays in advance , A positioning device that measures the position of the mobile station by estimating in which area the mobile station is located,
For each of the plurality of areas, a propagation error storing the area that is correct in propagation error correction and the probability that the mobile station is the correct answer when a positioning result indicating that the position of the mobile station is the area is obtained. A correction information storage unit;
In a plurality of areas belonging to the same sector, when a positioning result is obtained that the position of the mobile station is one area, the area that is correct in propagation delay error correction and the probability that the mobile station is correct A propagation delay error correction information storage unit storing
From both the propagation error correction information storage unit and the propagation delay error correction information storage unit, the area that is the correct answer and the probability of the correct answer that are associated from the positioning results of a plurality of times are read, and the read correct answer and A correction unit that corrects the positioning result based on the area to be determined and the probability of being the correct answer;
A positioning result output unit for outputting the corrected positioning result;
A positioning device comprising: The positioning device performs inter-area movement and intra-area stay that can be executed in light of the shortest movement time for moving between different areas among the inter-area movement and the intra-area stay associated from the multiple positioning results. An occurrence probability calculating unit that calculates the occurrence probability of each target case by a predetermined method for cases,
The correction unit corrects the positioning result based on the occurrence probability calculated by the occurrence probability calculation unit;
The positioning device according to claim 1. The correction unit, for the target case,
Probability that the source area will be correct in propagation error correction,
Probability that the movement source area is correct in propagation delay error correction,
Probability that destination area is correct in propagation error correction,
Probability that the destination area is correct in propagation delay error correction, and
Based on the probability of occurrence of the case, calculate the reliability for the case,
Correcting the positioning result based on the calculated reliability for each target case;
The positioning device according to claim 2. The correction unit, the case where the reliability is maximum, or the relative ratio obtained by dividing the reliability by the sum of the reliability of each of the obtained cases is a predetermined threshold or more, Correcting the positioning result based on the combination of the movement source area and the movement destination area corresponding to
The positioning device according to claim 3. Of the plurality of areas set in association with the combination of the sector and the propagation delay by dividing the cell into a plurality of sectors in advance and dividing each sector into a plurality of areas provided with different propagation delays in advance , A positioning device that measures the position of the mobile station by estimating in which area the mobile station is located,
In light of the shortest movement time for moving between different areas in the plurality of set areas, each case is performed in a predetermined manner for cases of inter-area movement and stay in the area that can be executed within the positioning time interval. An occurrence probability calculation unit for calculating an occurrence probability of a target case;
Means for correcting the positioning result with the positioning result obtained based on the calculated occurrence probability of each target case;
Means for outputting the corrected positioning results;
A positioning device comprising: The occurrence probability calculation unit
For the case of staying in the same area, set a predetermined stay probability as the occurrence probability of the case staying in the same area,
For the case of moving between different areas, the predetermined movement probability is divided by the number of areas whose shortest movement time from the movement source area is equal to or less than the positioning time interval, and the value obtained by the division is divided into different areas. Set as the probability of occurrence of cases moving between,
The positioning device according to claim 2 or claim 5, wherein At least one mobile station that performs GPS positioning, at least one base station that forms a cell, a base station controller that performs sector positioning, and a positioning device that performs positioning of the position of the mobile station A communication system,
The positioning device is
Accepting a positioning request including information on a mobile station to be positioned, dividing a cell into a plurality of sectors in advance and dividing each sector into a plurality of areas with different propagation delays in advance, the sector and the propagation delay Based on the result of GPS positioning by the mobile station or the result of sector positioning by the base station control device, the mobile station is located in a plurality of areas set in association with the combination of A positioning unit that performs positioning of the position of the mobile station by estimating;
For each of the plurality of areas, a propagation error storing the area that is correct in propagation error correction and the probability that the mobile station is the correct answer when a positioning result indicating that the position of the mobile station is the area is obtained. A correction information storage unit;
In a plurality of areas belonging to the same sector, when a positioning result is obtained that the position of the mobile station is one area, the area that is correct in propagation delay error correction and the probability that the mobile station is correct A propagation delay error correction information storage unit storing
From both the propagation error correction information storage unit and the propagation delay error correction information storage unit, the area that is the correct answer and the probability of the correct answer that are associated from the positioning results of a plurality of times are read, and the read correct answer and A correction unit that corrects the positioning result based on the area to be determined and the probability of being the correct answer;
A positioning result output unit for outputting the corrected positioning result;
A communication system comprising: Of the plurality of areas set in association with the combination of the sector and the propagation delay by dividing the cell into a plurality of sectors in advance and dividing each sector into a plurality of areas provided with different propagation delays in advance A positioning method performed by a positioning device that measures the position of the mobile station by estimating in which area the mobile station is located,
For each of the plurality of areas stored in advance by the positioning device, the area that is the correct answer when the positioning result that the position of the mobile station is the area is obtained, and the probability that the mobile station is the correct answer And reading out the correct area corresponding to a plurality of positioning results of the position of the mobile station and the probability of the correct answer, and a plurality of areas belonging to the same sector stored in advance by the positioning device Then, when the positioning result that the position of the mobile station is one area is obtained, the position of the mobile station is determined from the area that is correct in the propagation delay error correction and the probability that the mobile station is correct. A step of reading out the area to be the correct answer corresponding to a plurality of positioning results and the probability of being the correct answer;
Correcting the positioning result based on the read area to be the correct answer and the probability of being the correct answer;
A step of outputting the corrected positioning result;
A positioning method comprising: The positioning method is:
Before the step of correcting, the inter-area movement and the area that can be executed in light of the shortest movement time for moving between different areas among the movement between areas and stay in the area that are associated from the positioning results of the plurality of times. Calculating the probability of occurrence of each target case by a predetermined method for the cases of staying in the house,
In the correcting step, the positioning device corrects the positioning result on the basis of the calculated occurrence probability.
The positioning method according to claim 8. In the correcting step, the positioning device, for the target case,
Probability that the source area will be correct in propagation error correction,
Probability that the movement source area is correct in propagation delay error correction,
Probability that destination area is correct in propagation error correction,
Probability that the destination area is correct in propagation delay error correction, and
Based on the probability of occurrence of the case, calculate the reliability for the case,
Correcting the positioning result based on the calculated reliability for each target case;
The positioning method according to claim 9. In the correcting step, the positioning device has a predetermined threshold that is a case where the reliability is maximum, or a relative ratio obtained by dividing the reliability by the total reliability of the obtained cases. Correcting the positioning result based on a combination of a movement source area and a movement destination area corresponding to a case that is greater than or equal to a value,
The positioning method according to claim 10. Of the plurality of areas set in association with the combination of the sector and the propagation delay by dividing the cell into a plurality of sectors in advance and dividing each sector into a plurality of areas provided with different propagation delays in advance A positioning method performed by a positioning device that measures the position of the mobile station by estimating in which area the mobile station is located,
In light of the shortest movement time for moving between different areas in the plurality of set areas, each case is performed in a predetermined manner for cases of inter-area movement and stay in the area that can be executed within the positioning time interval. Calculating the probability of occurrence of the target case;
A step of correcting the positioning result with a positioning result obtained based on the calculated occurrence probability of each target case;
A step of outputting the corrected positioning result;
A positioning method comprising: In the step of calculating the occurrence probability, the positioning device
For the case of staying in the same area, set a predetermined stay probability as the occurrence probability of the case staying in the same area,
For the case of moving between different areas, the predetermined movement probability is divided by the number of areas whose shortest movement time from the movement source area is equal to or less than the positioning time interval, and the value obtained by the division is divided into different areas. Set as the probability of occurrence of cases moving between,
The positioning method according to claim 9 or 12, characterized in that: The correction unit is
When acquiring the positioning results of multiple times, in each positioning result, calculate the sum of the reliability that the movement source is the same area from the previous positioning results,
Based on the calculated reliability sum, the probability of movement from the movement source area to the movement destination area, and the reliability sum that the movement destination area is the same in the current positioning result, Correct the positioning result,
The positioning device according to claim 3 or 4, wherein In the correcting step, the positioning device
When acquiring the positioning results of multiple times, in each positioning result, calculate the sum of the reliability that the movement source is the same area from the previous positioning results,
Based on the calculated reliability sum, the probability of movement from the movement source area to the movement destination area, and the reliability sum that the movement destination area is the same in the current positioning result, Correct the positioning result,
The positioning method according to claim 10 or 11, wherein:

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