JP5340509B1 - POSITIONING METHOD AND POSITIONING SYSTEM - Google Patents

Abstract

  A positioning signal is transmitted from each of the two transmission sources (mobile terminals 30) provided in the mobile unit 3, and a plurality of antennas 251 are arranged adjacent to the base station 20, and the base station 20 receives the antennas 251 respectively. In the position locating system 1 that determines the direction in which the transmission source is present based on the phase difference Δθ of the position determination signal 800 to be obtained, and determines the position of the moving body 3 based on the determined direction, the base station 20 moves from the reference plane of the antenna 251. And the distance d between the two transmission sources are stored, and the positions of the transmission sources on the respective reference planes are obtained based on the position location signals 800 transmitted from the respective transmission sources. A distance d ′ on the reference plane between the two transmission sources is obtained, and the height h of the moving body 3 from the reference plane is obtained by multiplying the height H by a ratio (d / d ′).

Description

  The present invention relates to a position locating method and a position locating system, and more particularly to a technique for locating a three-dimensional position of a moving body.

  In Patent Document 1, a distance measurement signal and a direction measurement signal are transmitted from the second transmitting / receiving means to measure the three-dimensional position in a short time with high accuracy, and the phase of the distance measurement signal is measured. It is described that the distance from one transmitter / receiver is calculated, the phase difference of the direction measurement signal is measured, the direction in which the first transmitter / receiver is positioned is calculated, and the three-dimensional position of the own station is measured. ing.

  Patent Document 2 discloses that a synchronization signal and a distance measurement signal are radiated from a transmission unit and a phase from a plurality of sets of radio signals is received by the reception unit in order to realize a low-cost system that measures the three-dimensional position of the reception unit. And measuring the direction by measuring the phase difference and measuring the distance from the phase and phase difference of the distance measurement signal to determine the three-dimensional position.

  In Non-Patent Document 1, a wireless signal is transmitted from a plurality of antennas installed in a base station to a portable terminal carried by a pedestrian, and the relative relationship between the portable terminal and the antenna is determined by the phase difference of the wireless signal transmitted from each antenna. A position locating system is disclosed in which a position is obtained and the current position of a pedestrian is obtained from the obtained relative position (direction, distance) and the absolute position of the base station.

JP 2011-128144 A JP 2009-282009 A Takenori Takeuchi, Kiminori Kono, Minoru Kono, “Development of a location detection system using the 2.4 GHz band”, The 56th Annual Conference of the Chugoku Branch of the Institute of Electrical and Information Engineering, 2005

  The position locating system disclosed in Non-Patent Document 1 is directed to locating a mobile terminal by locating the direction of the mobile terminal viewed from a base station, and relates to a two-dimensional position locating. For this reason, if a three-dimensional positioning is to be performed by the positioning system, for example, as disclosed in Patent Documents 1 and 2, a distance measurement signal is used in addition to the direction measurement signal, and the distance measurement signal is separately provided. The phase difference and the phase must be measured, and accordingly, the apparatus configuration is complicated and complicated calculation is required.

  The present invention has been made in view of such a background, and an object thereof is to provide a position locating method and a position locating system capable of realizing three-dimensional position locating with a simple configuration.

One of the present invention for achieving the above object, transmits a position location signal is a radio signal for locating the position of the moving body from a source of the two radio signals provided to the moving body, the base A plurality of antennas are arranged adjacent to a station, and the base station determines a direction in which the transmission source exists based on a phase difference Δθ of the positioning signal received by each of the antennas. a the position determined Ru position location method for a mobile body on the basis, the base station stores the height H from the reference plane of the antenna, between two of said source provided on said mobile body The distance d is stored, and the position of each of the transmission sources on the reference plane is determined based on the positioning signal transmitted from each of the transmission sources, and the distance between the two transmission sources is determined from the determined position. Distance d ′ of the reference plane Calculated, the following equation height h from a reference plane of the movable body
h = H− (d / d ′) · H
Based on the above.

According to the present invention, there is no need to provide a special device, and it is not necessary to perform complicated calculations, and the mobile object can be configured with a simple configuration without any special change to the positioning principle of the conventional positioning system. Three-dimensional location can be performed.

Another aspect of the present invention is the above-described position locating method, wherein the base station obtains a true coordinate position (Xx, Yy) of the mobile body based on the following equation:
Xx = X1 + (H−h) × Tan (ΔΦ (x))
Yy = Y1 + (H−h) × Tan (ΔΦ (y))
(However, (ΔΦ (x), ΔΦ (y)) is obtained from the phase difference Δθ, and the coordinate axis (x, y) direction component of the moving body viewed from the base station, (X1, Y1) is The position of the origin of the coordinate axes (x, y) .

According to the present invention, it is possible to obtain an accurate height h of the moving object, it is possible to obtain the exact position of easily and accurately the mobile.

  Another one of the present invention is the above positioning method, wherein the mobile body is provided with a plurality of sets of two radio signal transmission sources, the positioning signal is transmitted from at least one of the sets, The base station performs the position location based on at least one of the position location signals.

  According to the present invention, since the positioning is performed by transmitting the positioning signal from at least one of the plurality of sets, it is possible to suppress a decrease in the positioning accuracy due to the influence of the indirect wave.

  Another one of the present invention is the above positioning method, wherein the mobile body is provided with a plurality of sets of two radio signal transmission sources, the positioning signal is transmitted from at least one of the sets, The base station performs the position determination of the moving body by statistically processing the result of the position determination based on each of the set of transmission sources.

  According to the present invention, the position determination result based on each of the sets of transmission sources is statistically processed, so that the influence of errors and the like can be suppressed and the position determination accuracy can be improved.

  Another aspect of the present invention is the above-described position locating method, wherein a plurality of the base stations are arranged adjacent to each other, the base stations are communicably connected to each other, and the base stations perform the positions. The location of the moving body is determined by statistically processing the orientation results.

  According to the present invention, since the result of the position determination performed by each of the base stations is statistically processed, the influence of errors and the like can be suppressed and the position determination accuracy can be improved.

  In addition, the subject which this application discloses, and its solution method are clarified by the column of the form for inventing, and drawing.

  According to the present invention, a three-dimensional positioning mechanism can be realized with a simple configuration.

It is a figure showing a schematic structure of position location system 1 of a 1st embodiment. It is a hardware configuration of the server device 10. 3 is a diagram illustrating functions of a server device 10. FIG. This is a hardware configuration of the mobile terminal 30. 2 is a diagram illustrating main functions of a mobile terminal 30. FIG. This is a hardware configuration of the base station 20. 2 is a diagram illustrating main functions of a base station 20. FIG. It is a figure which shows an example of the data format of the position determination signal 800. It is a figure explaining the positional relationship of the base station 20 and the mobile terminal 30. FIG. FIG. 3 is a diagram for explaining the positional relationship between each antenna 251 constituting a group of antennas 25 and a mobile terminal 30. It is a figure explaining the positional relationship of the base station 20 and the mobile terminal 30. FIG. It is a figure explaining the principle of a three-dimensional location. It is a figure explaining the relationship between height H, height h, distance d, and distance d '. It is a figure explaining that the relationship of Formula 8 is materialized. It is a flowchart explaining position location processing S1500.

  FIG. 1 shows a schematic configuration of a position location system 1 described as an embodiment. The position locating system 1 is, for example, a system that monitors the current position of a moving body 3 (vehicles, pedestrians, etc.), a system that relates to ensuring the safety of the moving body 3, a system that guides the moving body 3 to a destination or a destination. , A system for providing information around the current location to the moving body 3, an evacuation guidance system for the moving body 3 (people) in an underground shopping center, a building street, etc., and a moving body 3 (product, transport vehicle, etc.) in a warehouse, factory, etc. The present invention is applied to a flow management system, a guidance system for a moving body 3 (robot, transport vehicle, etc.) in a factory or the like.

  The position location system 1 includes a server device 10 provided in a data center, a plurality of base stations 20 provided at various locations in an area to which the position location system 1 is applied, and two mobile terminals mounted on or carried by the mobile body 3 30a, 30b etc. are comprised. The mobile terminal 30a and the mobile terminal 30b are provided so that the height from the ground surface becomes the same height when the mobile body 3 is in a normal state. In the following description, when it is not necessary to distinguish between the two mobile terminals 30a and 30b, these are collectively referred to as the mobile terminal 30.

  The base station 20 is provided at a predetermined height position of the structure 2 (such as a wall or a pillar of a building if indoors, a utility pole if outdoor). The base station 20 and the mobile terminal 30 are communicably connected to the server device 10 via a wired or wireless communication network 5 (private line, public line, Internet, etc.).

  FIG. 2 shows a hardware configuration of the server device 10. As shown in the figure, the server device 10 includes a central processing unit 11 configured by using a CPU, an MPU, and the like, a storage device 12 configured by a semiconductor memory (RAM, ROM, NVRAM, etc.) and a hard disk device, and a keyboard. And an input device 13 such as a mouse, a display device 14 such as a liquid crystal display, and a communication interface 15 for connecting the server device 10 to the communication network 5. Each component is communicably connected via a bus 18. On the display device 14, for example, information indicating the current position and moving direction of the moving body 3 (mobile terminal 30) is displayed in real time.

  FIG. 3 shows functions of the server device 10. As illustrated in FIG. 1, the server device 10 includes an information collection unit 101, an information provision unit 102, and a setting information storage unit 103. These functions are realized by hardware provided in the server device 10 or by the central processing unit 11 of the server device 10 reading and executing a program stored in the storage device 12.

  The information collection unit 101 collects information such as the current position of the mobile terminal 30 from the base station 20 or the mobile terminal 30 as needed. For example, the information providing unit 102 provides the mobile terminal 30 or the base station 20 with route guidance information, guidance information to the destination, geographic information around the current position, the two-dimensional or three-dimensional current position of the mobile body 3 and the movement. Various kinds of information such as monitoring information such as directions and information related to ensuring the safety of the moving body 3 are provided as needed. The setting information storage unit 103 stores, for example, information (latitude, longitude, installation height, etc.) indicating the installation position of the base station 20 as setting information.

  FIG. 4 shows the hardware configuration of the mobile terminal 30. As shown in the figure, a mobile terminal 30 includes a central processing unit 31 configured using a CPU, an MPU, and the like, a storage device 32 configured with a semiconductor memory (RAM, ROM, NVRAM, etc.), a hard disk device, and the like. A wireless communication interface 33 for transmitting a position location signal to be transmitted and performing wireless communication with another device, an antenna 341 used for wireless communication performed by the wireless communication interface 33, an input device 35 such as a touch panel and operation buttons, and a liquid crystal A display device 36 such as a display or an organic EL display is provided. Each component is communicably connected via a bus 38.

  As the antenna 341, for example, a directional antenna or a circularly polarized directional antenna is used. In particular, when the mobile terminal 30 is used indoors where obstacles such as walls exist, a circularly polarized directional antenna is used as the antenna 341. The polarization plane of the circularly polarized reflected wave (or standing wave) is reversed when reflected by an obstacle such as a wall, but the reflected wave and standing wave are effectively used by using a circularly polarized directional antenna. Can be attenuated.

  FIG. 5 shows main functions of the mobile terminal 30. As shown in the figure, the mobile terminal 30 includes a position location signal transmission unit 301, an information transmission / reception unit 302, and an information display unit 303. These functions are realized by hardware included in the mobile terminal 30 or when the central processing unit 31 of the mobile terminal 30 reads out and executes a program stored in the storage device 32.

  Among the above functions, the position location signal transmission unit 301 transmits a radio signal (hereinafter referred to as a position location signal) used for location of the current position of the mobile terminal 30 through the radio communication interface 33.

  The information transmission / reception unit 302 communicates with the server device 10 or the base station 20 by wireless communication using the wireless communication interface 33 or wired communication using the communication network 5, and receives (downloads) information to be presented to the mobile unit 3. 10 or transmission (upload) of various information used in the base station 20 is performed. The information display unit 303 outputs information to be presented to the moving body 3 or the like to the display device 36.

  FIG. 6 shows the hardware configuration of the base station 20. As shown in the figure, the base station 20 includes a central processing unit 21, a semiconductor memory (RAM, ROM, NVRAM, SSD (Solid State Drive), etc.), a hard disk device, and the like that are configured using a CPU, MPU, and the like. A storage device 22, a communication interface 23 that connects the base station 20 to the communication network 5, a wireless communication interface 24 that performs wireless communication, an antenna group 25, an antenna changeover switch 26, and the like. Each component is communicably connected via the bus 28.

  The central processing unit 21 implements various functions provided in the base station 20 by reading and executing a program stored in the storage device 22. The wireless communication interface 24 receives the position location signal transmitted from the mobile terminal 30.

  The antenna group 25 includes at least four antennas 251 (directional antennas, circularly polarized directional antennas, etc.). The antenna changeover switch 26 selects one of the antennas 251 constituting the antenna group 25 and connects the selected antenna 251 to the wireless communication interface 24. When the base station 20 is used indoors where obstacles such as walls exist, it is preferable to use a circularly polarized directional antenna as the antenna 251 constituting the antenna group 25. Since the polarization plane of the circularly polarized reflected wave (or standing wave) is inverted when reflected on a wall or the like, the reflected wave (or standing wave) is effectively attenuated by using a circularly polarized directional antenna. be able to.

  FIG. 7 shows the main functions of the base station 20. As shown in the figure, the base station 20 includes a communication processing unit 201, a position location signal receiving unit 202, a setting information storage unit 203, a position location unit 204, and a position location signal determining unit 205. Note that these functions are realized by hardware included in the base station 20 or by the central processing unit 21 of the base station 20 reading and executing a program stored in the storage device 22.

  The communication processing unit 201 transmits or receives data to / from the mobile terminal 30 or the server device 10 through the wireless communication interface 24 or the communication interface 23.

  The location signal receiving unit 202 receives the location signal transmitted from the mobile terminal 30 by controlling the radio communication interface 24 and the antenna changeover switch 26. For example, the antenna changeover switch 26 is periodically (cyclically) switched with a sufficiently short period.

  The setting information storage unit 203 stores the above-described setting information (for example, information indicating the current position of the base station 20 (latitude, longitude, height H of an antenna 251 described later, two mobile terminals 30 provided in the moving body 3). The distance d between))) is stored.

  The position locating unit 204 locates the two-dimensional current position or the three-dimensional current position of the mobile terminal 30 based on the position locating signal received by the position locating signal receiving unit 202. The position locating mechanism performed by the position locating unit 204 will be described later. The current position of the mobile terminal 30 determined by the position determination unit 204 is transmitted to the server device 10 and the mobile terminal 30 as needed by the communication processing unit 201.

  The position location signal determination unit 205 determines whether or not the position location signal transmitted from the mobile terminal 30 is a direct wave.

<Positioning mechanism>
Next, the position location mechanism will be described. The location signal transmitting unit 301 of the mobile terminal 30 transmits a location signal from an antenna 341 provided in itself. On the other hand, the radio communication interface 23 of the base station 20 receives a position location signal composed of a radio signal subjected to spectrum spreading while periodically switching a plurality of antennas 251 constituting the antenna group 25.

  FIG. 8 shows an example of the data format of the position location signal transmitted from the mobile terminal 30. As shown in the figure, the position location signal 800 includes signals and information such as a control signal 811, a measurement signal 812, and terminal information 813.

  Among these, the control signal 811 includes a modulated wave and various control signals. The measurement signal 812 includes a non-modulated wave of about several milliseconds (for example, a signal used to detect the direction in which the mobile terminal 30 exists with respect to the base station 20 and the relative distance to the mobile terminal 30 with respect to the base station 20 (for example, 2048 chips). ) Spread code)). The terminal information 813 includes information for identifying the mobile terminal 30 (hereinafter referred to as mobile terminal ID).

  FIG. 9 shows the positional relationship between the base station 20 and the mobile terminal 30 described in this embodiment. The mobile terminal 30 is present at the ground height h (m), and the base station 20 (the antenna 251) is provided at the ground height H (m). The straight line distance (distance on the ground surface (reference plane)) from directly below the base station 20 to the mobile terminal 30 is L (m).

  FIG. 10 illustrates the relationship between the plurality of antennas 251 constituting the antenna group 25 of the base station 20 and the mobile terminal 30. As shown in the figure, the antenna group 25 includes four circularly polarized light beams arranged adjacently at equal intervals in a substantially square shape with an interval of one wavelength (12.5 cm) or less of the position determination signal 800. (Hereinafter, referred to as antennas 251a to 251d. Note that the antennas 251 are collectively referred to when there is no need to distinguish between them). Each of the antennas 251a to 251d is installed, for example, with the directivity direction obliquely downward.

In the figure, the angle formed by the horizontal direction at the height of the antenna group 25 and the direction of the mobile terminal 30 with respect to the antenna group 25 is α, and the angle is lowered to the center line of the beam radiated from the antenna group 25 from the mobile terminal 30. If the length of the perpendicular is D (m), for example, when a 2.4 GHz band radio wave is used,
α = arcTan (D (m) / L (m))
= ArcSin (ΔL (cm) / 3 (cm)) Equation 1
It becomes the relationship. ΔL (cm) is a difference in propagation path length between two specific antennas 251 and the mobile terminal 30 among the antennas 251 constituting the antenna group 25 (hereinafter also referred to as a route difference). is there.

Here, if the phase difference between the positioning signals 800 received by the two specific antennas 251 constituting the antenna group 25 is Δθ,
ΔL (cm) = Δθ / (2π / λ (cm)) Equation 2
There is a relationship. Further, for example, when a 2.4 GHz band radio wave is used as the position location signal 800, λ≈12 (cm).
α = arcSin (Δθ / π) Equation 3
There is a relationship. Also, within the measurable range (−π / 2 <Δθ <π / 2), α = Δθ (radian), so the direction in which the base station 20 exists can be specified from the above equation.

FIG. 11 shows the positional relationship between the base station 20 and the mobile terminal 30 described in the present embodiment. As shown in the figure, when the ground height of the antenna group 25 of the base station 20 is set to H (m) and the position of the ground surface immediately below the base station 20 is set as the origin, orthogonal coordinate axes (X axis, Y axis) are set. If the angle between the base station 20 and the mobile terminal 30 and the X axis is ΔΦ (x) and the angle between the base station 20 and the mobile terminal 30 and the Y axis is ΔΦ (y), The position of the mobile terminal 30 can be obtained from the following equation.
d ′ (x) = H × Tan (ΔΦ (x)) Equation 4
d ′ (y) = H × Tan (ΔΦ (y)) Equation 5
If the position of the origin is (X1, Y1), the current position (Xx ′, Yy ′) of the mobile terminal 30 can be obtained from the following equation.
Xx ′ = X1 + d ′ (x) Expression 6
Yy ′ = Y1 + d ′ (y) (7)

  As for the basic principle of the positioning described above, for example, in Japanese Patent Application Laid-Open No. 2004-184078, Japanese Patent Application Laid-Open No. 2005-351877, Japanese Patent Application Laid-Open No. 2005-351878, and Japanese Patent Application Laid-Open No. 2006-23261. It has been detailed.

= 3D location =
The position location system 1 of the present embodiment can perform the two-dimensional position location of the mobile terminal 30 by the mechanism described above. And the position location system 1 of this embodiment can perform the three-dimensional position location of the mobile terminal 30 by the method further demonstrated below.

  FIG. 12 is a diagram for explaining the principle of three-dimensional position location by the position location system 1. As shown in the figure, the height of the base station 20 from the ground surface (reference surface) is H, and the height of the mobile terminal 30 from the ground surface is h. The distance between the mobile terminal 30a (transmission source) and the mobile terminal 30b (transmission source) provided in the moving body 3 is d (assumed to be a known value).

  According to the above-described two-dimensional positioning mechanism, the two-dimensional coordinate position of the mobile terminal 30 can be acquired. However, in the above-described two-dimensional positioning mechanism, the ground surface of the base station 20 is used for positioning. Since only the height H is used, the coordinate position (Xx (a) ′, Yy (a) ′) specified for the mobile terminal 30a and the coordinate position (Xx (b) ′) specified for the mobile terminal 30b are used. , Yy (b) ′) is a coordinate position on the ground surface when the mobile station 30 is projected onto the ground surface using the base station 20 as a light source.

  On the other hand, when the actual height h from the ground surface (reference plane) of the mobile terminal 30 (moving body 3) is considered, the true two-dimensional coordinate position (Xx (a), Yy (a) of the mobile terminal 30a. ) And the true two-dimensional coordinate position (Xx (b), Yy (b)) of the mobile terminal 30b exist on a plane parallel to the ground surface and having a height from the ground surface of h.

  Here, as shown in FIG. 13, the coordinate position of the antenna 251 of the base station 20, the coordinate position (Xx (a), Yy (a)), and the coordinate position (Xx (b), Yy (b)) are three points. And the coordinate position (Xx (a) ′, Yy (a) ′) and the coordinate position (Xx (b) ′, Yy (b) ′) of the antenna 251 of the base station 20. The triangle S ′ having the three points is a similar shape.

Further, as will be apparent from the proof described later, the length d (known) of the line segment connecting the coordinate position (Xx (a), Yy (a)) and the coordinate position (Xx (b), Yy (b)) and , The length d ′ of the line segment connecting the coordinate position (Xx (a) ′, Yy (a) ′) and the coordinate position (Xx (b) ′, Yy (b) ′) (can be determined by the position determination system) And the ratio of Hh to H (unknown) are equal and have the relationship:
d: d ′ = H−h: H Expression 8

If the above equation is transformed,
h = H− (d / d ′) · H Equation 9
From the above equation, the height h from the ground surface of the moving body 3 can be obtained based on the values of the height H (known), the distance d (known), and the distance d ′ (obtained from the position location result). I understand. In addition, since the true height h of the moving body 3 is obtained in this way, the true two-dimensional coordinate position (Xx, Yy) of the moving body 3 can be obtained from the following expression.
d (x) = (H−h) × Tan (ΔΦ (x)) Equation 10
d (y) = (H−h) × Tan (ΔΦ (y)) Equation 11
Xx = X1 + d (x) Expression 12
Yy = Y1 + d (y) Expression 13

  If the distance d between the mobile terminal 30a and the mobile terminal 30b is sufficiently small, the coordinate position (Xx, Yy) ≈coordinate position (Xx (a), Yy (a)), coordinate position (Xx, Yy) ) ≈ (Xx (b), Yy (b)).

FIG. 14 is a diagram for explaining that there is a relationship of Expression 8 when the triangle S and the triangle S ′ are similar. Here, the right triangle shown in the figure is one of two right triangles (see FIG. 13) obtained by drawing a perpendicular (length l) from the base station 20 to d ′. According to
n1 = m1 · sin θ (14)
n2 = m2 · sin θ Equation 15
It can be seen that there is a relationship. Here, if sin θ is eliminated from 14 and Equation 15, the relationship of the following equation is obtained, and it can be seen that the relationship of Equation 8 described above is established.
m2 / m1 = n2 / n1 Equation 16

  It should be noted that the coordinate position of the base station 20, the coordinate position of the intersection of the perpendicular line drawn from the antenna 251 of the base station 20 and the ground surface, and the coordinate position (Xx (a) ′, Yy (a) ′) A right triangle passing through the point (for example, a right triangle M ′ shown in FIG. 13), a coordinate position of the base station 20, a coordinate position of an intersection of a perpendicular drawn from the antenna 251 of the base station 20 to the ground surface, and A conclusion similar to the above can be obtained also based on a right triangle (for example, a right triangle M shown in FIG. 13) passing through three points of the coordinate positions (Xx (a), Yy (a)).

  If the position detection result includes the influence of indirect waves (multipath, reflected waves, etc.), the measurement error increases. However, as long as the positioning system 1 is used outdoors, the influence of indirect waves is small. Thus, the three-dimensional positioning of the moving body 3 can be performed with sufficiently practical accuracy by the method described above.

  On the other hand, when the position location system 1 is used indoors, the measurement result is usually greatly influenced by indirect waves, but even indoors, a known method (for example, “indoor position detection by the UWB-IR wireless method”, If the influence of indirect waves is suppressed by applying the Journal of the Institute of Electronics, Information and Communication Engineers Vol.92, No.4, 2009, electric field strength comparison method, etc. Three-dimensional location can be performed.

<Positioning process>
An example of position location processing based on the principle described above will be shown. FIG. 15 is a flowchart for explaining a process (hereinafter referred to as a position locating process S1500) performed by the base station 20 when locating the position of the moving body 3. As a premise that the position location process S1500 is performed, the base station 20 determines the height H from the ground surface and the distance d between the mobile terminal 30a and the mobile terminal 30b provided in the mobile body 3. It shall be remembered.

  As shown in the figure, first, the base station 20 determines the position (Xx (a) ′, Yy (a) ′) of the mobile terminal 30a on the ground surface based on the positioning signal 800 sent from the mobile terminal 30a. Orientation is performed (S1511).

  Next, the base station 20 locates the position (Xx (b) ′, Yy (b) ′) of the mobile terminal 30b on the ground surface based on the location signal 800 sent from the mobile terminal 30a (S1512).

  Next, the base station 20 determines the position (Xx (a) ′, Yy (a) ′) and (Xx (b) ′, Yy (b) ′) on the ground surface determined in S1511 and S1512. Then, a distance d ′ on the ground surface between them is obtained (S1513).

  Next, the base station 20 obtains the ratio (d / d ′) (S1514), and based on the obtained ratio (d / d ′) and Equation 9 described above, the true height h (= H− ( d / d ′) · H) is obtained (S1515).

  Next, the base station 20 obtains the true position of the moving body 3 based on the obtained true height h and the above-described equations 10 to 13 (S1516).

  As described above, according to the location system 1 of the present embodiment, the height H from the ground surface of the base station 20 and the distance d between the two mobile terminals 30 provided in the mobile 3 are known. This is stored as a value, and the two-dimensional location system 1 performs the location of each of the two mobile terminals 30 to obtain the distance d ′, so that the positioning principle of the conventional two-dimensional location system 1 is special. The height h of the mobile terminal 30 (the moving body 3) can be obtained easily and accurately without making any change. Further, the true position of the moving body 3 can be obtained based on the obtained height h and Expressions 10 to 13.

  Although the embodiment has been described in detail above, the above description is intended to facilitate understanding of the present invention and does not limit the present invention. It goes without saying that the present invention can be changed and improved without departing from the gist thereof, and that the present invention includes equivalents thereof.

  For example, in the above description, the mobile body 3 is provided with two mobile terminals 30a and 30b, and the positions of the mobile terminals 30a and 30b are determined to determine the distance d ′ between them. Two antennas 341 connected to the same mobile terminal 30 (hardware) are provided apart by a distance d, and the position of each antenna 341 is determined at a sufficiently short time interval with respect to the moving speed of the moving body 3. The distance d ′ may be obtained. By doing so, the number of mobile terminals 3 mounted on the mobile body 3 can be reduced, and the device configuration can be further simplified.

  In the above embodiment, the location signal 800 is transmitted from the antenna 341 of the mobile terminal 30 and is received by the antenna group 25 of the base station 20 so that the base station 20 performs the location of the mobile terminal 30. However, the position location signal 800 may be transmitted from the base station 20 so that the mobile terminal 30 performs its own location. Further, in this case, the result determined by the mobile terminal 30 may be transmitted to the server device 10 or the base station 20 via the communication network 5 or wireless communication.

  For example, the mobile terminal 30 may function as an active or passive RFID tag. In this case, the positioning signal 800 may be transmitted to or received from the base station 20 spontaneously or passively from an antenna coil included in the RFID tag by electromagnetic induction.

  One mobile unit 3 may be provided with a plurality of sets of the mobile terminal 30a and the mobile terminal 30b described above, and position determination may be performed using at least one of these sets. By doing so, it is possible to suppress a decrease in orientation accuracy due to the influence of indirect waves even in an environment where indirect waves exist.

  A plurality of sets of the mobile terminal 30a and the mobile terminal 30b described above are provided in one mobile unit 3, and the result of the position determination performed individually for each set is statistically processed (for example, an average value is calculated), thereby the mobile unit You may make it perform 3 position location. By doing so, the influence of an error etc. can be suppressed and the accuracy of position location can be improved.

  A plurality of base stations 20 are arranged adjacent to each other, the base stations 20 are connected so as to be communicable with each other, and the result of the positioning performed individually for each base station 20 is statistically processed (for example, an average value is calculated). Accordingly, the position of the moving body 3 may be determined. By doing so, the influence of an error etc. can be suppressed and the accuracy of position location can be improved.

DESCRIPTION OF SYMBOLS 1 Position location system 3 Mobile body 5 Communication network 10 Server apparatus 20 Base station 202 Position location signal receiving part 204 Position location part 205 Position location signal determination part 251 Antenna 30a Mobile terminal 30b Mobile terminal 301 Position location signal transmission part 800 Position location signal 341 Antenna S1500 Positioning process

Claims (10)

Transmitting a positioning signal, which is a radio signal for locating the position of the moving body, from two wireless signal transmission sources provided on the moving body;
Place multiple antennas adjacent to the base station,
Said base station, said received by the respective antennas determine the direction in which the source is present based on the phase difference Δθ of the position location signals, position location method asking you to position on the moving object based on the direction obtained Because
The base station,
Storing the height H from the reference plane of the antenna;
Storing a distance d between the two transmission sources provided on the mobile body;
Based on the positioning signal transmitted from each of the transmission sources, the position of each of the transmission sources on the reference plane is obtained, and the distance d on the reference plane between the two transmission sources from the obtained position. 'And find the height h of the moving body from the reference plane based on the following equation
h = H− (d / d ′) · H
A location method characterized by that. The position locating method according to claim 1,
The base station obtains the true coordinate position (Xx, Yy) of the mobile body based on the following equation:
Xx = X1 + (H−h) × Tan (ΔΦ (x))
Yy = Y1 + (H−h) × Tan (ΔΦ (y))
(However, (ΔΦ (x), ΔΦ (y)) is obtained from the phase difference Δθ, and the coordinate axis (x, y) direction component of the moving body viewed from the base station, (X1, Y1) is The origin of the coordinate axes (x, y)
A location method characterized by that. The position locating method according to claim 1 or 2,
A plurality of sets of two wireless signal transmission sources are provided on the mobile body,
Transmitting the position location signal from at least one of the sets;
The location determination method, wherein the base station performs the location determination based on at least one of the location determination signals. It is the position location method as described in any one of Claims 1-3,
A plurality of sets of two wireless signal transmission sources are provided on the mobile body,
Transmitting the position location signals from two or more of the sets;
The position determination method, wherein the base station performs position determination of the mobile body by statistically processing the result of position determination based on each of the set of transmission sources. It is the position location method as described in any one of Claims 1-4,
A plurality of the base stations arranged adjacent to each other;
Connecting the base stations so that they can communicate with each other;
A position locating method, wherein the position of the moving body is determined by statistically processing the result of the position locating performed by each of the base stations. Including mobiles and base stations,
The mobile has two radio signal sources,
The mobile body transmits a positioning signal that is a radio signal for locating the position of the mobile body,
The base station
Having a plurality of adjacent antennas,
The received by respective antennas determine the direction in which the source is present based on the phase difference Δθ of the position location signal, a position location system asking you to position on the moving object based on the direction obtained,
Storing the height H from the reference plane of the antenna;
Storing a distance d between the two transmission sources provided on the mobile body;
Based on the positioning signal transmitted from each of the transmission sources, the position of each of the transmission sources on the reference plane is obtained, and the distance d on the reference plane between the two transmission sources from the obtained position. 'And find the height h of the moving body from the reference plane based on the following equation
h = H− (d / d ′) · H
A location system characterized by that. The location system according to claim 6,
The base station obtains the true coordinate position (Xx, Yy) of the mobile body based on the following equation:
Xx = X1 + (H−h) × Tan (ΔΦ (x))
Yy = Y1 + (H−h) × Tan (ΔΦ (y))
(However, (ΔΦ (x), ΔΦ (y)) is obtained from the phase difference Δθ, and the coordinate axis (x, y) direction component of the moving body viewed from the base station, (X1, Y1) is The origin of the coordinate axes (x, y)
A location system characterized by that. A location system according to claim 6 or 7,
A plurality of sets of two wireless signal transmission sources are provided on the mobile body,
At least one of the sets transmits the position location signal;
The base station performs the position determination based on at least one of the position determination signals. The position location system according to any one of claims 6 to 8,
A plurality of sets of two wireless signal transmission sources are provided on the mobile body,
At least one of the sets transmits the position location signal;
The position determination system characterized in that the base station performs position determination of the moving body by statistically processing the result of position determination based on each of the set of transmission sources. The position location system according to any one of claims 6 to 9,
A plurality of the base stations are arranged adjacent to each other;
The base stations are communicatively connected to each other;
A position locating system characterized in that the position of the mobile body is determined by statistically processing the result of the position locating performed by each of the base stations.

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