JP4668137B2 - Positioning system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a location positioning system capable of efficiently transmitting/receiving data. <P>SOLUTION: A mobile station generates an information (location information) identifying its position, and transmits it to a control apparatus. The control apparatus determines a criterion position from the location information received from the mobile station, and transmits it to the mobile station. The mobile station identifies a relative position to the criterion position of the mobile station from the generated location information and the criterion position received from the control apparatus, and communicates the identified relative position between mobile stations. Thus, the mobile station can identify the position of other mobile stations, by communicating information having the information amount smaller than the location information between mobile stations. <P>COPYRIGHT: (C)2008,JPO&amp;INPIT

Description

  The present invention relates to a system and method for determining the position of a mobile station.

For example, Patent Document 1 discloses a wireless communication system that transmits and receives data using an optical signal.
When the data transmitted / received in this way is transmitted / received more efficiently, the performance of the system can be improved.
JP 2003-78487 A

  The present invention has been made in light of the above-described background, and an object thereof is to provide an improved position specifying system so that data can be efficiently transmitted and received between mobile stations.

  The position specifying system according to the present invention includes a first node (control device) and a plurality of second nodes (mobile stations), and each of the second nodes (mobile stations) is the other of the second nodes. Each of the first nodes (control devices) is transmitted from each of the second nodes (mobile stations), and the second nodes (mobile stations) are identified. Position information receiving means for receiving position information indicating the position of (mobile station), and a reference indicating positions serving as references for the positions of all the second nodes (mobile stations) based on the received position information Reference position information generating means for generating position information; reference position information transmitting means for transmitting the generated reference position information to all the second nodes (mobile stations); Each node (mobile station) Position information generating means for generating position information indicating the position of the second node (mobile station); position information transmitting means for transmitting the generated position information to the first node (control device); Based on the reference position information receiving means for receiving the reference position information transmitted from the first node (control device), the generated position information, and the received reference position information, the second Relative position information generating means for generating relative position information indicating a relative positional relationship between the node (mobile station) of the mobile station and the position indicated by the reference position information, and the other second node (movement) The relative position information transmitting means for transmitting the generated relative position information to each of the second station (mobile station) and the second node (mobile station). Station) generated at each Based on the relative position information receiving means for receiving the received relative position information, the received reference position information, and the received relative position information, the second node (mobile station) And a position specifying means for specifying each position.

  According to the position specifying system according to the present invention, data is efficiently transmitted and received between mobile stations.

[Positioning system 1]
Embodiments of the present invention will be described below.
FIG. 1 is a diagram illustrating a configuration of a position specifying system 1 to which a specifying method according to the present invention is applied.

As shown in FIG. 1, the positioning system 1 is such that the satellites 10-1 to 10-n, the mobile stations 12-1 to 12-n, and the control device 14 can communicate with each other wirelessly or with laser beams. It is configured as follows.
However, n is an integer greater than or equal to 1, and all n does not necessarily show the same number.
FIG. 1 illustrates the case where there is one artificial satellite 10.
In addition, hereinafter, when any of the plurality of artificial satellites 10-1 to 10-n that may exist is indicated without being specified, it may be simply abbreviated as the artificial satellite 10 or the like.

Moreover, the mobile station 12 and the control apparatus 14 shown in FIG. 1 can be integrally configured as appropriate.
In the following drawings, substantially the same components and processes are assigned the same numbers.

The mobile station 12 shown in FIG. 1 executes a position specifying program 16 described later with reference to FIG.
Further, the control apparatus 14 shown in FIG. 1 executes a derivation program 18 which will be described later with reference to FIG.

FIG. 2 is a diagram illustrating mobile stations 12 distributed in a certain area in the location system 1.
In FIG. 2, the position (x, y) of the mobile station 12 is indicated by a black circle (hereinafter the same applies to the diagrams showing the distribution of the mobile stations 12).

With the configuration shown in FIG. 1, the position identifying system 1 detects the positions (x ₁ , y ₁ ) to (x _n , y _n ) of the mobile stations 12-1 to 12-n and detects the detected positions ( From x ₁ , y ₁ ) to (x _n , y _n ), reference positions (x _ref , y _ref ; described later with reference to FIG. 2) indicating the position reference of the mobile stations 12-1 to 12-n are obtained. (Hereinafter, unless otherwise specified, the x coordinate indicates longitude and the y coordinate indicates latitude).
Further, in the position specifying system 1, the position of the other mobile station 12 is specified in each mobile station 12 using the reference position (x _ref , y _ref ).
Further, the distance from the other mobile station 12 can be obtained by using the position of the identified other mobile station 12.

Hereinafter, the outline of the operation of the position specifying system 1 will be further described with reference to FIG.
In positioning system 1, the mobile station 12-i shown in FIG. 2 (i = 1~n) are own position _(x i, _{y i)} is detected and the position _(x i, _{y i),} control Notify the device 14.
When the control device 14 is notified of the positions (x ₁ , y ₁ ) to (x _n , y _n ) from the mobile stations 12-1 to 12-n, the reference position of the mobile stations 12-1 to 12-n The reference position (x _ref , y _ref ; described later with reference to FIG. 6) is obtained and notified to the mobile stations 12-1 to 12-n.

As illustrated in FIG. 2, the mobile station 12-i determines the reference position of the mobile station 12-i from the position (x _i , y _i ) detected by itself and the notified reference position (x _ref , y _ref ). A position difference (Δx _i (= x _i −x _ref ), Δy _i (= y _i −y _ref )) with respect to (x _ref , y _ref ) is obtained, and the other mobile stations 12-j (j = 1 to n, Notify all i ≠ j).
The mobile station 12-j adds the reference position (x _ref , y _ref ) notified from the control device 14 and the position difference (Δx _i , Δy _i ) notified from the mobile station 12-i. -Specify the position (x _i , y _i ) of _i .
Furthermore, the mobile stations 12-i and 12-j are the distances D _ij [= f (x _i , x _j , y _i , y _j ) between the mobile stations 12-i and 12-j, where f is the longitude, A function for obtaining a distance] from the latitude can be obtained.

[Mobile station 12]
FIG. 3 is a diagram illustrating a hardware configuration of the mobile station 12 illustrated in FIG.
As shown in FIG. 3, the mobile station 12 includes an antenna 120, a GPS (Global Positioning System) unit 122, a first transmission unit 124, a first reception unit 126, a second transmission unit 128, and a second reception. Unit 130, control unit 20, and storage device 22.

The control unit 20 includes a CPU 200, a memory 202, and the like.
The storage device 22 writes and reads information to and from the storage medium 24 such as a CD device, an FD device, and an HDD device.
In addition, the first transmission unit 124 and the second transmission unit 128, the first reception unit 126, and the second reception unit 130 illustrated in FIG. 3 can be appropriately configured integrally.

That is, the mobile station 12 of the positioning system 1 is configured as a computer that can process information, receive signals from the artificial satellite 10 (FIG. 1), and communicate with other mobile stations 12 and the control device 14. Has a part.
In the following, in each figure, substantially the same components are denoted by the same reference numerals.

The GPS unit 122 receives a signal from the artificial satellite 10 shown in FIG.
Furthermore, the GPS unit 122 detects the position (x _i , y _i ) of (mobile station 12-i (i = 1 to n)) using the received signal.
Further, the GPS unit 122 outputs the detected position (x _i , y _i ) to the first transmission unit 124 and the filter unit 162 (described later with reference to FIG. 4).
That is, the GPS unit operates as a general GPS device.

The first transmission unit 124 transmits position input from the GPS unit 122 _{(x i, y} i) and the control device 14 shown in FIG.
The first receiving unit 126 receives a reference position (x _ref , y _ref ; described later with reference to FIG. 6) derived in the control device 14, and receives the received reference position (x _ref , y _ref ) as the first The data is output to the specifying unit 164 (described later with reference to FIG. 4).

The second transmission unit 128 receives the relative positions (Δx _i , Δy _i ; described above with reference to FIG. 2) specified by the first specifying unit 164 (described later with reference to FIG. 4), and performs other movements. Output to the station 12-j (j = 1 to n).
The second receiving unit 130 receives the relative position (Δx _j , Δy _j ; described above with reference to FIG. 2) specified in the other mobile station 12-j and receives the second specifying unit 164 (FIG. 4). Are output with respect to (described later).

Note that the first transmission unit 124, the first reception unit 126, the second transmission unit 128, and the second reception unit 130 may output optically received signals, as indicated by broken lines in FIG. .
As a result, interference that data may receive during transmission and reception is suppressed, and signal distortion is less likely to occur.

FIG. 4 is a diagram showing a configuration of the position specifying program 16 executed on the mobile station 12 shown in FIGS. 1 and 3.
As illustrated in FIG. 4, the position specifying program 16 includes a communication processing unit 160, a filter unit 162, a first specifying unit 164, and a second specifying unit 166.
The location specifying program 16 is supplied to the mobile station 12 via, for example, the storage medium 24 (FIG. 2), loaded into the memory 202, and executed by the control unit 20 using the hardware of the mobile station 12 specifically. (The same applies to the following programs).

The communication processing unit 160 controls the first transmission unit 124, the first reception unit 126, the second transmission unit 128, and the second reception unit 130 illustrated in FIG. 3 to communicate with other mobile stations 12 and the control device 14. To perform the necessary processing.
The filter unit 162 receives the position (x _i , y _i ) of the (mobile station 12-i) from the GPS unit 122 (FIG. 3) at a predetermined timing (for example, several tens of times per hour). .
Further, the filter unit 162 outputs the received position (x _i , y _i ) of the mobile station 12-i to the first specifying unit 164.

The first specifying unit 164 receives the reference position (x _ref , y _ref ; FIG. 2) received from the control device 14 by the first receiving unit 126 (FIG. 3) via the communication processing unit 160.
Further, as already described with reference to FIG. 2, the first specifying unit 164 uses the position (x _i , y _i ) and the reference position (x _ref , y _ref ) input from the filter unit 162, A relative position (Δx _i , Δy _i ) with respect to the reference position (x _ref , y _ref ) of the mobile station 12-i is calculated.
Furthermore, the first specifying unit 164 outputs the calculated position difference (Δx _i , Δy _i ) to the second specifying unit 166, and further, via the communication processing unit 160, the second transmitting unit 128 ( According to FIG. 3), the data is output to another mobile station 12-j.

The second specifying unit 166 receives the reference position (x _ref , y _ref ) of the other mobile station 12-j (x _j , y _j ) from the second receiving unit 130 (FIG. 3) via the communication processing unit 160. A relative position (Δx _j , Δy _j ) with respect to is accepted.
Further, as already described with reference to FIG. 2, the second specifying unit 166 includes the position (x _i , y _i ) of the mobile station 12-i, the specified relative position (Δx _i , Δy _i ), and Using the received relative position (Δx _j , Δy _j ), the position (x _j , y _i ) of another mobile station 12-j is specified.

[Control device 14]
FIG. 5 is a diagram illustrating a hardware configuration of the control device 14 illustrated in FIG. 1.
As shown in FIG. 5, the control device 14 includes an antenna 120, a reception unit 140, a transmission unit 142, a control unit 20, a storage device 22, and a recording medium 24.
That is, the control device 14 has a component as a computer that can communicate with the mobile station 12, as with the mobile station 12.

The receiving unit 140 receives the position (x, y) transmitted from the mobile station 12 (FIGS. 1, 3 and 4).
Further, the reception unit 140 outputs the received position (x, y) to the comparison unit 180 (described later with reference to FIG. 6).
Note that the receiving unit 140 may receive the position (x, y) as an optical signal, as indicated by a broken line in FIG.

The transmission unit 142 receives the reference position (x _ref , y _ref ; FIG. 2) received from the derivation unit 182 (described later with reference to FIG. 6) via the communication processing unit 160 (described later with reference to FIG. 6). To the mobile station 12.
Note that the transmitter 142 may transmit the received reference position (x _ref , y _ref ) to the mobile station 12 as an optical signal, as indicated by a broken line in FIG.

FIG. 6 is a diagram showing a configuration of the derivation program 18 executed on the control device 14 shown in FIG.
As shown in FIG. 6, the derivation program 18 includes a communication processing unit 160, a comparison unit 180, and a derivation unit 182.
The communication processing unit 160 controls the reception unit 140 and the transmission unit 142 illustrated in FIG. 5 and performs processing necessary for communicating with the mobile station 12.

The comparison unit 180 compares the position (x, y) received from the reception unit 140 (FIG. 5) via the communication processing unit 160 with the position (x ′, y ′) received last time. When it is determined that a certain amount of movement has been performed, the newly received position (x, y) is output to the derivation unit 182.
The deriving unit 182 examines the distribution of the position (x, y) of the mobile station 12 input from the comparison unit 180 and derives a reference position (x _ref , y _ref ) that is an average position of the mobile station 12.

For example, the deriving unit 180 derives the coordinates (x _avr , y _avr ) shown in Equation (1) as the reference position (x _ref , y _ref ).
The x coordinate represents latitude and the y coordinate represents longitude.

FIG. 7 is a sequence diagram illustrating the location specifying process performed by the mobile stations 12-1 to 12-n (FIG. 7 illustrates the case of the mobile stations 12-i and 12-j) and the control device 14.
Hereinafter, the position specifying process will be described with reference to FIG.

In step 100 (S100), as already described with reference to FIG. 2, the mobile station 12-i uses the signal received from the artificial satellite 10 (FIG. 1) to generate the position of the mobile station 12-i ( x _i , y _i ) are transmitted to the control device 14.
Similarly, the mobile station 12-j transmits the position (x _j , y _j ) of the mobile station 12-j to the control device 14.

In step 102 (S102), as already described with reference to FIG. 6, the control device 14 receives the position (x _i , y _i ) received from the mobile station 12-i and the position received from the mobile station 12-j. A reference position (x _ref , y _ref ) is derived using (x _j , y _j ).
The control device 14 transmits the derived reference position (x _ref , y _ref ) to the mobile stations 12-i and 12-j.

In step 104 (S104), as already described with reference to FIG. 2, the mobile station 12-i receives the position (x _i , y _i ) of the mobile station 12-i and the reference position ( x _ref, using y _ref), the reference position of the mobile station 12-i _{(x ref,} the relative position with respect _{y ref) (Δx i,} identifies the [Delta] y _i).
Further, the mobile station 12-i transmits the specified relative position (Δx _i , Δy _i ) to the mobile station 12-j.
Similarly, the mobile station 12-j specifies a relative position (Δx _j , Δy _j ; FIG. 2) with respect to the reference position (x _ref , y _ref ) of the mobile station 12-j, and the specified relative position (Δx _j , Δy _j ) is transmitted to the mobile station 12-i (step 106 (S 106)).

Through the processing from step 100 (S100) to step 106 (S106), as already described with reference to FIG. 2, the mobile station 12-i moves to the position (x _i , y _i ), movement of the mobile station 12-i. reference position _{(x ref, y} ref) of the stations 12-i relative position with respect to (Δx _i, Δy _i), and the reference position of the mobile station 12-j received from the mobile station 12-j _(x ref, y position relative to _{ref) (Δx j,} with [Delta] y _j), identifies the location of the mobile station _{12-j (x j, y} j).
Similarly, the mobile station 12-j has a position (Δx _j , Δy) relative to the position (x _j , y _j ) of the mobile station 12-j and the reference position (x _ref , y _ref ) of the mobile station 12-j. _j ) and the relative position (Δx _i , Δy _i ) of the mobile station 12-i received from the mobile station 12-i with respect to the reference position (x _ref , y _ref ) of the mobile station 12-i The position (x _i , y _i ) is specified.
That is, the mobile station 12 specifies the position of another mobile station 12 by the processing from step 100 (S100) to step 106 (S106).

[Concrete example]
FIG. 8 is a diagram illustrating mobile stations 12 distributed in a certain area.
FIG. 9 is a second diagram illustrating the mobile stations 12 distributed in a certain area in the location system 1.
For example, the area shown in FIGS. 8 and 9 is surrounded by several hundred meters (m) square, and the latitude / longitude difference between the mobile stations 12 in this area can be expressed in seconds (″).
Hereinafter, referring to FIG. 8 and FIG. 9, the mobile station 12-i is assigned to another mobile station 12-j in the system that specifies the position of each mobile station 12 without using the reference position (x _ref , y _ref ). The information to be notified is specifically compared with the information to be notified to the other mobile station 12-j by the mobile station 12-i in the position specifying system 1 (FIG. 1 or the like) according to the present invention.

As described above, in the example shown in FIG. 8, the reference position (x _ref , y _ref ) is not set, and a certain mobile music piece 12-i is transferred to another mobile station 12-j. _{12-i (x i, y} i) all the information of the position of _{(x 1i ° x 2i 'x} 3i ", y 1i ° y 2i' y 3i") must be notified of.
Here, since the value x _1i of the degree (°) takes a value in the range of 0 to 359, 9 bits are required for the expression, and the value of the degree (°) y _1i is in the range of 0 to 180. Therefore, 8 bits are required for the expression.
The minute (′) values x _2i and y _2i each take a value in the range of 0 to 59, so that 6 bits are required for the representation, and the second (″) values x _3i and y _3i are also Since each takes a value in the range of 0 to 59, 6 bits are required for the expression.
That is, without the reference position (x _ref , y _ref ), information of a total of 41 bits is required to notify the position of the mobile station 12-i to the other mobile station 12-j.

On the other hand, as shown in FIG. 9, in the position specifying system 1, since the reference position (x _ref , y _ref ) is set, the mobile station 12-i transmits the reference position to the other mobile station 12-j. It is only necessary to notify the position difference ((Δx _i , Δy _i ) = (x _i −x _ref , y _i −y _ref ); FIG. 2) of the mobile station 12-i with respect to (x _ref , y _ref ).
In other words, as shown in FIG. 9, when the location system 1 is used for an area of several hundred meters at most, the number of bits of the location information transmitted between the mobile stations 12 may be 6 bits each. Compared with the case shown in FIG. 8, 29 bits can be reduced.

As described above, in the case shown in FIG. 8, a certain mobile station 12 in the position specifying system 1 (FIG. 1) uses position information notified from a certain mobile station 12-i to another mobile station 12-j. The position information notified from -i to other mobile stations 12-j requires less data.
In this way, the position identification system 1 notifies each mobile station 12 of the reference position (x _ref , y _ref ), and the relative relative to each reference position (x _ref , y _ref ) between the mobile stations 12. By being configured to notify the position (Δx, Δy), the amount of data flowing between the mobile stations 12 can be reduced compared to the case where the position information (x, y) is simply transmitted and received between the mobile stations 12. Can be reduced.

It is a figure which illustrates the structure of the position specific system to which the method of the wireless communication concerning this invention is applied. It is a figure which illustrates the mobile station which exists in a distributed manner. It is a figure which illustrates the hardware constitutions of a mobile station. It is a figure which shows the structure of the position specific program performed on a mobile station. It is a figure which illustrates the hardware constitutions of the control apparatus. It is a figure which shows the structure of the derivation program run on a control apparatus. It is a sequence diagram which illustrates the position specific process performed by a mobile station and a control apparatus. It is a figure which illustrates the mobile station which exists in a distributed manner. FIG. 10 is a second diagram illustrating mobile stations that are distributed in a certain area in the location system.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Position identification system 10 ... Artificial satellite 12 ... Mobile station 120 ... Antenna 122 ... GPS part 124 ... 1st transmission part 126 ... 1st reception part 128 ... 2nd transmission part 130 ... 2nd reception part 14 ... control apparatus 140 ... reception part 142 ... transmission part 16 ... position specification program 160 ... communication processing part 162 ... filter part 164: First specifying unit 166: Second specifying unit 18: Deriving program 180 ... Comparison unit 182 ... Deriving unit 20 ... Control unit 200 ... CPU
202 ... Memory 22 ... Recording device 24 ... Recording medium

Claims (2)

A position specifying system including a first node and a plurality of second nodes, wherein each of the second nodes specifies a position of each of the other second nodes;
The first node is:
Position information receiving means for receiving position information transmitted from each of the second nodes and indicating the latitude and longitude of the second node;
Reference position information generating means for generating reference position information indicating an average value of latitudes and longitudes of all the second nodes based on the received position information;
Reference position information transmitting means for transmitting the generated reference position information to all the second nodes, and
Each of the second nodes is
Position information generating means for generating position information indicating the latitude and longitude of the second node;
Position information transmitting means for transmitting the generated position information to the first node;
Reference position information receiving means for receiving the reference position information transmitted from the first node;
Relative position information generating means for generating relative position information indicating a difference between the generated position information and the received reference position information;
Relative position information transmitting means for transmitting the generated relative position information to each of the other second nodes;
Relative position information receiving means for receiving relative position information generated in each of the second nodes from each of the other second nodes;
A position specifying system comprising: position specifying means for specifying the position of each of the second nodes based on the received reference position information and the received relative position information. A position specifying method including a first node and a plurality of second nodes, wherein each of the second nodes specifies a position of each of the other second nodes;
The first node is:
Transmitted from each of the second nodes, receiving position information indicating the latitude and longitude of the second node;
Based on the received position information, generate reference position information indicating an average value of longitude and latitude of all the second nodes,
Transmitting the generated reference position information to all the second nodes;
Each of the second nodes is
Generating position information indicating the latitude and longitude of the second node;
Sending the generated location information to the first node;
Receiving the reference position information transmitted from the first node;
Generating relative position information indicating a difference between the generated position information and the received reference position information;
Transmitting the generated relative position information to each of the other second nodes;
Receiving relative position information generated in each of these second nodes from each of the other second nodes;
A position specifying method for specifying the position of each of the second nodes based on the received reference position information and the received relative position information.

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