JP5696312B2 - Wide area location system - Google Patents

Description

The present invention provides a plurality of sets of a reference station and a plurality of relay stations as one set in a wide service area, and is discretely or meshed at intervals in the vertical and horizontal directions or in any direction. This is for realizing a wide-area location specifying system that can specify the position of a mobile terminal moving in a wide-area service area with high accuracy at low cost.

2. Description of the Related Art Conventionally, there has been proposed an apparatus for specifying a position of a transmitting unit by relaying a radio signal transmitted from a transmitting unit using a relay unit and receiving the signal using a receiving unit. (For example, see Patent Documents 1 to 6)
JP H06-003428 A JP H11-148800 A JP H11-21118A JP H08-233937 JP H10-268028 JP 2008-304192 A

FIG. 7 shows a conventional “position evaluation method” described in Patent Document 1. In FIG. 7, the first measurement signal from one mobile station is received by the master station and a plurality of relay stations, and each relay station transmits the second measurement signal at the same frequency after a unique delay time that does not overlap. Then, the master station receives the first measurement signal from the mobile station and the second measurement signal from the relay station, and measures the arrival time difference or the phase difference to obtain the first measurement signal as the master station. The relative time difference between the time received by each relay station and the time received by each relay station is calculated, and the position of the mobile station is calculated by hyperbolic navigation.
However, although it is described that each relay station transmits the second measurement signal at the same frequency after a unique delay time that does not overlap, a specific configuration and method are not described, and there is a question about feasibility. There is.

In Patent Document 2, a central station c and relay stations a and b are arranged so as to surround a landmine source. The positioning signal S transmitted from the mine device 1 is received by the central station c and the relay stations a and b at timings corresponding to the distance from the mine device 1, respectively. The central station c is supposed to determine the position of the mine device 1 by hyperbolic navigation based on the reception timing information tc at the local station and the reception timing information ta and tb notified from the relay stations a and b.
However, although the delay time data ta and tb (or phase data) detected by the relay stations a and b are reported to the central station c via a wireless route, there is a specific configuration for detecting the delay time with high accuracy. Since it is not described and requires a separate wireless route, there is a problem of feasibility.

Further, in Patent Document 3, the transmitter 1 at the position B transmits a transmission signal modulated by the reference signal, and the relay 2 at the position A that receives this transmits a relay signal whose frequency has been converted. The distance measuring device 3 at the position C receives both the transmission signal of the transmitter 1 having a different frequency and the relay signal of the relay device 2, demodulates the original reference signal, detects the phase difference, and thereby detects the distance x , The distance y is calculated.
However, the repeater 2 is a frequency division simultaneous transmission / reception method in which the frequency is converted, and it is necessary to install the repeater 2 separately from the transmitter 1 and cannot be applied when the repeater 2 is a time division method. There is a problem that distance measurement cannot be performed in a place where the repeater 2 is not installed.

Moreover, in patent document 4, from the carrying side apparatus 2 toward the installation side apparatus 1 with which the pin 7 standingly arranged by the cup 3 arrange | positioned on the green 8 for every hole of a golf course is mounted | worn. The radio wave 4 of a predetermined pulse code string is transmitted, the radio wave 4 of another pulse code string transmitted from the installation side device 1 toward the return carrying side device 2 is received, and the transmission radio wave 4 and the reception The distance between the installation side device 1 and the player or caddy is measured based on the time difference from the radio wave 5 and is displayed on the display 6 of the carrying side device 2.
However, since the time difference is measured using a pulse code string to measure the distance, there is a problem that an error occurs in the distance measurement and the measurement cannot be performed with high accuracy.

Further, in Patent Document 5, an optimum code sequence is selected by the PN code generation unit 11 based on the approximate distance value of the artificial satellite 17, a transmission PN code of the code sequence is generated, and a signal of the transmission PN code is obtained. Transmit to the artificial satellite, receive the folded signal, select the received PN code from the optimum code sequence based on the approximate distance value, and use the selected received PN code and the transmitted PN code, the artificial satellite 17 It is said that it is comprised so that the distance of may be measured.
However, when a PN code is turned back in time division by an artificial satellite, synchronization is established in a short time and with high accuracy, and it is difficult to maintain synchronization for a long time after the PN code disappears. There are problems that become complicated, feasible and expensive.

  Further, in Patent Document 6, a carrier wave having a frequency f1 is QPSK modulated by a rectangular wave DT having a frequency f1 / MN and transmitted from the first transceiver 1000 to the second transceiver 2000. The second transceiver 2000 reproduces the carrier wave by the Costas loop and demodulates the rectangular wave D2. Thereafter, a carrier wave having a frequency f2 (≠ f1) is generated, and the carrier wave having the frequency f2 is QPSK-modulated with the demodulated rectangular wave, and transmitted back from the second transceiver 2000 to the first transceiver 1000.

The first transceiver 1000 demodulates the rectangular wave DR with the frequency f1 / MN from here. The rectangular wave DR is multiplied by M to detect a phase difference from the 1 / N frequency divider 14 that is an input of the 1 / M frequency divider 15 that generates the rectangular wave DT.
The phase difference is assumed to be a time difference in which radio waves have passed through twice the distance from the first transceiver 1000 to the second transceiver 2000.
However, the first transmitter / receiver 1000 and the second transmitter / receiver 2000 need to transmit and receive at different frequencies, and cannot be applied when communicating in a time division manner, resulting in problems of feasibility and cost.

The present invention provides a plurality of sets of a single reference station and a plurality of relay stations as one set within a wide service area, and is discretely arranged at intervals in the vertical and horizontal directions or in any direction. Alternatively, by arranging in a mesh shape, a wide-area location specifying system that can specify the position of a mobile terminal moving in a wide-area service area with high accuracy is realized at low cost.

  In the wide-area positioning system according to the present invention, a radio signal including at least an origin signal is intermittently transmitted as a burst signal from a reference station or a portable terminal, and a single reference station and a plurality of relay stations are set within a wide service area. A plurality of sets are provided as a set, arranged in a mesh form with an interval in the vertical and horizontal directions, and the relay station reproduces the origin signal included in the radio signal received from the reference station or the mobile terminal, and reproduces the origin The distance between the signal and the synchronous oscillation means is instantly established with high accuracy, and the clock signal is generated by maintaining the synchronization even after the origin signal disappears, and the distance measurement is synchronized with or orthogonal to the clock signal. Generate a signal and relay a radio signal including the generated distance measurement signal to the portable terminal or the reference station in a time-sharing and assigned time slot Or re-transmission.

  In the mobile terminal, the origin signal and distance measurement signal received from the reference station and a plurality of relay stations are reproduced, and synchronization is instantaneously established with high accuracy between the reproduced origin signal and the synchronous oscillation means, and the origin Even after the signal disappears, the synchronization is maintained with high accuracy to generate a clock signal for phase measurement, and the phase of the reproduced distance measurement signal is highly accurate and in real time with reference to the generated clock signal. The position of the own station is specified with high accuracy from the measurement result of the phase by hyperbolic navigation.

On the other hand, the reference station reproduces the starting point signal and the distance measurement signal received from the mobile terminal and a plurality of relay stations, and establishes synchronization with high accuracy instantly between the reproduced starting point signal and the synchronous oscillation means, A clock signal for phase measurement is generated by maintaining the synchronization with high accuracy even after the origin signal disappears, and the phase of the reproduced distance measurement signal is accurately and real-time based on the generated clock signal. The position of the portable terminal is specified with high accuracy from the measurement result of the phase by hyperbolic navigation.

In the wide area location system of the present invention, a single reference station and a plurality of relay stations are provided as one set in a wide service area, and intervals are provided in the vertical and horizontal directions or in any direction. Thus, by arranging discretely or in a mesh shape, there is an effect that the position of the mobile terminal moving in the wide service area can be specified with high accuracy.

  As shown in FIG. 1, FIG. 3, FIG. 4, and claim 1, the wide area location system according to the present invention transmits a radio signal as a burst signal and intermittently. Base stations 101a and 101b, relay stations 102a to 102g for receiving the radio signal, relaying or retransmitting at the same frequency and time division, and the reference stations 101a and 101b and relay stations 102a to 102g It is composed of a mobile terminal 103 for receiving a radio signal transmitted or relayed while moving in a wide service area 100 and specifying the position of the own station,

Within the wide service area 100, a reference station and a plurality of relay stations are set as one set, and a plurality of sets are arranged discretely or in a mesh form at intervals in the vertical and horizontal directions,
The reference stations 101a and 101b include at least a control unit 11, a transmission unit 12, and an antenna or a transducer 15.
The control means 11 generates a starting signal, and the transmitting means transmits a radio signal including at least the starting signal as a burst signal intermittently via the antenna or the transducer 15;

The relay stations 102a to 102g include at least a receiving unit 13, a control unit 11, a transmitting unit 12, an antenna switching unit 14, and an antenna or a transducer 15.
The receiving means 13 receives wireless signals transmitted from the reference stations 101a and 101b via the antenna or the transducer 15, and the control means 11 is included in the wireless signals received from the reference stations 101a and 101b. Play the origin signal, the rising point of the reproduced origin signal, falling point, detects the timing of certain had zero crossing, at the timing of the detected, to establish a starting point signal and synchronization, and to maintain synchronization Generating a clock signal, generating a distance measurement signal synchronized with or orthogonal to the clock signal,

The antenna switching unit 14 switches the antenna or the transmitter / receiver 15 in a time division manner, and the transmission unit 12 transmits a radio signal including at least the generated distance measurement signal at a time division interval to each relay station. Is transmitted as a burst signal through the antenna or the transmitter / receiver 15 in the time slot assigned to
The portable terminal 103 includes at least a receiving unit 13, a control unit 11, and an antenna or a transducer 15. The receiving unit transmits radio signals transmitted from the reference station and a plurality of relay stations, Receive via antenna or transducer 15

The control means 11 reproduces the origin signal included in the radio signals received from the reference stations 101a and 101b, reproduces the distance measurement signal included in the radio signals received from the relay stations 102a to 102g, and reproduces the signals. rising point of origin signals, to detect the timing of the falling point or zero crossing, at the timing of the detected, to establish a starting point signal and synchronization, and to maintain synchronization to generate a clock signal, the clock signal Is used as a reference, the phase of the distance measurement signal is measured, and the position of the own station is specified by hyperbolic navigation from the measurement result of the phase of the distance measurement signal.

  As shown in FIG. 2, FIG. 3, FIG. 4, and claim 2, a wireless signal is transmitted intermittently as a burst signal while moving in a wide service area 100. A mobile terminal 103 for transmitting a signal, a relay station 102a-102g for receiving the radio signal and relaying or retransmitting the same signal in a time division manner, and the mobile terminal 103 and the relay stations 102a-102g And a reference station 101a, 101b for receiving a radio signal transmitted from or relayed from and identifying the position of the mobile terminal 103,

Within the wide service area 100, a reference station and a plurality of relay stations are set as one set, and a plurality of sets are arranged discretely or in a mesh form at intervals in the vertical and horizontal directions,
The portable terminal 103 includes at least a control unit 11, a transmission unit 12, and an antenna or a transducer 15. The control unit 11 generates a start signal, and the transmission unit 12 includes at least the start signal. A radio signal including a burst signal and intermittently via the antenna or the transducer 15;

  The relay stations 102a to 102g include at least a receiving unit 13, a control unit 11, a transmitting unit 12, an antenna switching unit 14, and an antenna or a transducer 15. The receiving unit 13 is connected to the portable unit. A radio signal transmitted from the terminal 103 is received via the antenna or the transmitter / receiver 15, and the control unit 11 reproduces the origin signal included in the radio signal received from the portable terminal 103, and reproduces it. Detect the rising point, falling point, or zero crossing timing of the origin signal,

At the timing of the detected, to establish a starting point signal and synchronization, and to maintain synchronization to generate a clock signal, generates a distance measurement signal synchronized with or orthogonal to the clock signal, said antenna switching means 14 The antenna or the transmitter / receiver 15 is switched in a time division manner, and the transmitting means 12 transmits a radio signal including at least the generated distance measurement signal at a time division interval and a time slot assigned to the relay station. Then, a burst signal is transmitted through the antenna or the transducer 15;

The reference stations 101a and 101b have at least a receiving unit 13, a control unit 11, and an antenna or a transducer 15.
The receiving unit 13 receives radio signals transmitted from the mobile terminal 103 and a plurality of relay stations 102 a to 102 g via the antenna or the transducer 15, and the control unit 11 receives from the mobile terminal 103. Play the origin signal included in the received radio signal,

And reproducing the distance measurement signal included in the radio signal received from the relay stations 102a to 102g, detecting the timing of the rising point, the falling point, or the zero crossing of the reproduced starting signal, and at the detected timing, establishing a starting point signal and synchronization, and to maintain synchronization to generate a clock signal, based on the clock signal, the phase of the distance measurement signal is measured, the phase measurement result of the distance measurement signal, hyperbolic The position of the portable terminal 103 is specified by navigation.

  Further, as shown in claim 3, when the mobile terminal 103 receives radio signals transmitted from a plurality of reference stations, from the result of measuring the power or signal-to-noise ratio of the received radio signal, Select a reference station that is most suitable for position specification and specify the position, or select a plurality of reference stations and specify the position to perform load averaging.

Further, as described in claim 4, when a plurality of reference stations receive radio signals transmitted from the portable terminal, the plurality of reference stations are connected by an ad hoc network, and the plurality of reference stations receive the signals. exchanging data of the power or signal to noise ratio of the radio signals to each other, from among the multiple reference station assigns a time slot selected by selecting an optimal reference station located, or a plurality of reference stations, the 3. The wide area location system according to claim 2, wherein the selected reference station instructs a relay operation to a plurality of subordinate relay stations by designating the mobile terminal.

According to a fifth aspect of the present invention, the control means includes an origin signal reproduction means, a synchronization detection means, a synchronous oscillation means, a distance measurement signal generation means, a distance measurement signal reproduction means, a phase measurement means, and a position specification means . .

According to a sixth aspect of the present invention, the origin signal, the distance measurement signal, or both of them are a carrier signal, a subcarrier signal, a modulation signal, a spread spectrum code, or a combination thereof.
Further, as shown in claim 7, reference station 101, an interval for intermittently transmitting a radio signal, using a self-excited oscillator provided inside, it controls randomly, a radio signal transmitted from the standards station asynchronously outgoing be Rukoto and take advantage of wireless signals efficiently.
In addition, according to an eighth aspect of the present invention, the mobile terminal 103 randomly controls the interval at which the radio signal is intermittently transmitted using a self-excited oscillator provided therein, and is transmitted from a plurality of mobile terminals. Radio signals are efficiently utilized by transmitting signals asynchronously or by controlling the interval according to the moving speed of the mobile terminal.

Further, as shown in claim 9, wherein the phase measurement unit, it is converted into a digital signal at four times the sampling frequency of the signal frequency to be measured, and by using 4 bits or more analog-to-digital converter, the look of the Sin Use 0, 1, 0, -1, or 1, 1, -1, -1 as the up table, and 1, 0, -1, 0 or 1, -1, -1, 1 as the Cos lookup table The product-sum operation is performed on the converted digital signal and the lookup table.
Further, as shown in claim 10 , with the reference station 101 as a node, a network is configured between the reference station and a plurality of relay stations, and the network includes a peripheral reference station or the outside, a wired line or a wireless line. And at least exchanges information necessary for specifying the position of the portable terminal.

In addition, as described in claim 11 , when the reference station designates the neighboring 3 to 8 relay stations as one set and a plurality of sets are adjacent to each other, some of the relay stations are spread over a plurality of sets. Then, any one of 4 to 8 time slots is assigned to the designated relay station, and the identification number of the designated relay station and the assigned time slot are stored as broadcast information.

In addition, as shown in claim 12 , the mobile terminal 103, the reference station 101, the relay station 102, or a combination of these, is provided with a plurality of antennas or a plurality of transducers 15 and periodically switches the radio signal. Transmitting or receiving, and in the quality detection means, the position determination accuracy is averaged, load averaged, or moving averaged in correspondence with the plurality of antennas or the plurality of transducers. Can be increased.
In addition, as shown in claim 13 , the reference station , the relay station , or both of them are provided with an antenna or a plurality of transducers at different heights, and the control means specifies a three-dimensional position. .

(Embodiment 1)
1, FIG. 3 and FIG. 4 are configuration diagrams of a wide area location system according to the first embodiment of the present invention. 1, 3, and 4, 101 a and 101 b are reference stations, 102 a to 102 g are relay means, 103 is a portable terminal, 1 a to 1 i are propagation paths of radio signals transmitted from the reference station to the relay station, 2 a to 2d is a propagation path of a radio signal transmitted toward the mobile terminal 103, 11 is a control means, 12 is a transmission means, 13 is a reception means, 14 is an antenna switching means, 15 is an antenna, 41 is a reference oscillator, and 42 is a position Identifying means, 43 is a phase measuring means, 44 is a distance measuring signal reproducing means, 45 is a starting signal generating means, 46 is a synchronous oscillator, 47 is a distance measuring signal generating means, 48 is a phase synchronous oscillator, 49 is a synchronous detecting means, 50 Is a starting point signal reproducing means, and 51 and 52 are connection terminals.

  Reference stations 101a and 101b for transmitting radio signals as burst signals and intermittently; relay stations 102a to 102g for receiving the radio signals and relaying or retransmitting at the same frequency and time division; From the portable terminal 103 for receiving the radio signal transmitted or relayed from the reference stations 101a and 101b and the relay stations 102a to 102g while moving in the wide service area 100 and specifying the position of the own station Configured,

In the wide service area, a plurality of sets of reference stations and a plurality of relay stations are set as one set, arranged in the vertical direction and the horizontal direction at intervals, discretely or in a mesh form,
The reference stations 101a and 101b include at least a control unit 11, a transmission unit 12, and an antenna 15. The control unit 11 includes at least a start signal reproduction unit 50, a synchronization detection unit 49, a synchronous oscillation unit 46, A distance measurement signal generating means 47, a distance measurement signal reproducing means 44, a phase measuring means 43, a position specifying means 42, or a combination thereof,
The starting signal generating means 45 generates a starting signal, and the transmitting means 12 uses, as a burst signal, a radio signal including at least the starting signal and a system synchronization signal, an identification number, broadcast information, or a combination thereof. Intermittently, via the antenna 15 and via the propagation paths 1a to 1i,

  The relay stations 102a to 102g include at least a receiving unit 13, a control unit 11, a transmission unit 12, and an antenna 15. The control unit 11 includes at least a starting signal reproduction unit 50 and a synchronization detection unit. 49, synchronous oscillating means 46, distance measuring signal generating means 47, distance measuring signal reproducing means 44, phase measuring means 43, position specifying means 42, or a combination thereof, and the receiving means 13 is connected to the reference stations 101a and 101b. The transmitted radio signal is received via the antenna 15 via the propagation paths 1a to 1i,

  The origin signal reproduction means 50 reproduces the origin signal included in the radio signals received from the reference stations 101a and 101b, and the synchronization detection means 49 uses the rise point, the fall point, or the zero crossing point of the reproduced origin signal. The synchronous oscillation means 46 instantaneously establishes synchronization with the starting point signal at the timing and maintains the synchronization to generate a clock signal, and the distance signal generation means 47 A distance measurement signal that is synchronized with or orthogonal to a signal is generated, and the transmitting means transmits a radio signal including at least the generated distance measurement signal at time-division intervals and time slots assigned to each relay station, As a burst signal, transmit via the antenna 15 via the propagation paths 2a to 2d,

  The portable terminal 103 includes at least a receiving unit 13, a control unit 11, and an antenna 15. The control unit 11 includes at least a starting signal reproduction unit 50, a synchronization detection unit 49, a synchronous oscillation unit 46, a distance. Measurement signal generation means 47, distance measurement signal reproduction means 44, phase measurement means 43, position specifying means 42, or a combination thereof,

  The receiving means 13 receives radio signals transmitted from the reference stations 101a and 101b and the relay stations 102a to 102g via the antenna 15 via the propagation paths 2a to 2d, and the origin signal reproducing means 50 is Regenerating the origin signal included in the radio signals received from the reference stations 101a and 101b, and the distance signal regenerating means 44 regenerating the distance measurement signal included in the radio signals received from the relay stations 102a to 102g,

  The synchronization detecting means 49 detects the timing of the rising point, falling point, or zero crossing of the reproduced starting signal, and the synchronous oscillating means 46 instantaneously establishes synchronization with the starting signal at the detected timing. The phase measurement unit 43 measures the phase of the distance measurement signal based on the clock signal, and the position specifying unit 42 detects the distance measurement signal. From the phase measurement result, the position of the own station is specified by hyperbolic navigation.

  Note that when the mobile terminal 103 receives radio signals transmitted from a plurality of reference stations 101a and 101b, the result of measuring the power or signal-to-noise ratio of the received radio signals is optimal for position determination. The position specifying accuracy can be improved by selecting the reference station and specifying the position, or by selecting a plurality of reference stations and performing the position determination to load average.

Further, the origin signal, the distance measurement signal, or both of them are a carrier signal, a subcarrier signal, a modulation signal, a spread spectrum code, or a combination thereof.
Further, the mobile terminal 103 or the reference station 101 asynchronously transmits a radio signal from a plurality of mobile terminals or a plurality of reference stations by controlling the interval at which the radio signal is intermittently transmitted using a self-excited oscillator provided therein. Alternatively, by controlling the interval of intermittent transmission according to the moving speed of the portable terminal, it is possible to efficiently use the radio signal.

  Further, in the starting point signal reproducing means 40 or the distance measuring signal reproducing means 34, when the starting point signal or the distance measuring signal is a carrier signal or subcarrier signal of a radio signal, direct group delay distortion and delay error are small. An analog demodulator with a small delay error or a digital demodulator with a small delay error using a high-frequency clock signal when the signal is a modulated signal obtained by passing a band-pass filter or modulating a carrier signal or subcarrier signal of a radio signal. The position specifying accuracy can be improved by reproducing through the band-pass filter after demodulating by.

  The synchronous oscillating means 36 is composed of a counter with a set or reset or a numerically controlled oscillator driven by a reference oscillator 31, and is received by the receiving means 13c and demodulated or reproduced by a starting signal reproducing means 40. The timing of the rising point, falling point, or zero crossing of the starting point signal is detected by the synchronization detecting means 39 using a sampling frequency of at least 16 MHz, and the counter or numerically controlled oscillator is set at the detected timing or By resetting, the synchronization with the origin signal can be established in a short time, and the synchronization can be maintained for a relatively long time after the origin signal disappears.

  In addition, the mobile terminal 103, the relay station 102, the reference station 101, or a combination thereof includes quality detection means for detecting the quality of the propagation path of the radio signal, and the quality detection means receives the radio signal received by the reception means. The line quality is analyzed from the result of measuring the signal power or the signal-to-noise ratio, and the position determination result is filtered, corrected, or supplemented.

In addition, the reference station 101 and the reference station 101, the reference station 101 and the relay station 102, the relay station 102 and the relay station 102, or a combination of a plurality of these sets may be back-to-back along the long side direction of the rectangular service area, or By installing in series, a wider area can be covered.
The long sides 22a and 22b of the rectangular service area are sidewalks on the road, pedestrian crossings, indoor passages or hallways, or pedestrian movement areas.

In addition, as illustrated in FIG. 1, when the reference station designates 3 to 8 relay stations in the vicinity as one set and a plurality of sets are adjacent to each other, some of the relay stations are spread over a plurality of sets. Designate redundantly, assign one of 4 to 8 time slots to the designated relay station, and store the designated relay station identification number and the assigned time slot as part of the broadcast information.
Further, in the arrangement of FIG. 1, since the origin signal is transmitted as a burst signal having a total of 8 ms between the plurality of adjacent reference stations, it is asynchronous and random. It can be arranged to cover a wide area.

  The phase measuring means converts the signal into a digital signal using an analog-to-digital converter having a sampling frequency of 4 times or more of the signal frequency to be measured and 4 bits or more, and 0, 1, 0 as a Sin lookup table , −1, or 1, 1, −1, −1, and 1, 0, −1, 0 or 1, −1, −1, 1 as the Cos lookup table, and the converted digital By performing a product-sum operation between the signal and the lookup table, the phase can be measured with high accuracy and in real time.

In addition, four relay stations are arranged around the center of one reference station, a directional antenna with a beam width of 90 degrees is connected to each relay station, and a rectangular area is directed diagonally downward. By arranging so as to surround, it is possible to reduce the influence of multipath and improve the position specifying accuracy.
In addition, even if the same frequency as GPS is assigned to this system, since it is a burst signal of 8 ms in total, 12 sets of reference stations and a plurality of relay stations are installed in the same place, and a transmission output of about 1 mw is obtained. The degree of disturbance given to the GPS receiver is considered to be slight in view of past experimental data.

Further, the control unit can specify the three-dimensional position by installing the antenna or the transducer at a position where the reference station, the relay unit, or both of them have different heights.

(Embodiment 2)
2, 3 and 4 are block diagrams of a wide area location system according to the second embodiment of the present invention. 2, 3, and 4, 101a and 101b are reference stations, 102a to 102g are relay means, 103 is a portable terminal, 1a to 1i are propagation paths of radio signals transmitted from the reference station to the relay station, and 2a to 2d is a propagation path of a radio signal transmitted toward the mobile terminal 103, 11 is a control means, 12 is a transmission means, 13 is a reception means, 14 is an antenna switching means, 15 is an antenna, 41 is a reference oscillator, and 42 is a position Identifying means, 43 is a phase measuring means, 44 is a distance measuring signal reproducing means, 45 is a starting signal generating means, 46 is a synchronous oscillator, 47 is a distance measuring signal generating means, 48 is a phase synchronous oscillator, 49 is a synchronous detecting means, 50 Is a starting point signal reproducing means, and 51 and 52 are connection terminals.

  A mobile terminal 103 for transmitting a radio signal intermittently as a burst signal while moving in a wide service area 100, and the radio signal is received and relayed or retransmitted at the same frequency and in time division Relay stations 102a to 102g for receiving the radio signals transmitted or relayed from the portable terminal 103 and the relay stations 102a to 102g, and reference stations 101a and 101b for specifying the position of the portable terminal 103, In the wide-area service area 100, a plurality of sets, each including a reference station and a plurality of relay stations, are installed and arranged in a discrete manner or in a mesh form at intervals in the vertical and horizontal directions. And

  The portable terminal 103 includes at least a control unit 11, a transmission unit 12, and an antenna 15. The control unit 11 includes at least an origin signal reproduction unit 50, a synchronization detection unit 49, a synchronous oscillation unit 46, and a distance measurement. A signal generating means 47, a distance measurement signal reproducing means 44, a phase measuring means 43, a position specifying means 42, or a combination thereof, wherein the signal generating means 50 generates a starting signal, and the transmitting means 12 is at least the starting point. A radio signal including a signal and a system synchronization signal, an identification number, or a combination thereof is transmitted as a burst signal and intermittently via the antenna 15 via the propagation paths 2a to 2d,

  The relay station has at least a receiving unit 13, a control unit 11, a transmitting unit 12, and an antenna 15. The control unit 11 includes at least a starting point signal reproducing unit 50, a synchronization detecting unit 49, a synchronous oscillation. Means 46, distance measurement signal generation means 47, distance measurement signal reproduction means 44, phase measurement means 43, position specifying means 42, or a combination thereof, and the reception means 13 is a radio signal transmitted from the portable terminal 103. Is received via the antenna 15 via the propagation paths 2a to 2d,

  The origin signal reproduction means 50 reproduces the origin signal included in the radio signal received from the mobile terminal 103, and the synchronization detection means 49 detects the rising point, the falling point, or the zero crossing point of the reproduced origin signal. Detecting the timing, and the synchronous oscillation means 46 instantaneously establishes the synchronization with the starting signal at the detected timing, and maintains the synchronization to generate the clock signal;

  The distance measurement signal generation unit 44 generates a distance measurement signal that is synchronized with or orthogonal to the clock signal, and the transmission unit 12 generates a radio signal including at least the generated distance measurement signal at a time-division interval. And, in the time slot assigned to the relay station, time-division and burst signals are transmitted via the antenna 15 via the propagation paths 1a to 1i,

  The reference station has at least a receiving unit 13, a control unit 11, and an antenna 15. The control unit 11 includes at least a starting signal reproduction unit 50, a synchronization detection unit 49, a synchronous oscillation unit 46, and a distance measurement signal. The generating means 47, the distance measuring signal reproducing means 44, the phase measuring means 43, the position specifying means 42, or a combination thereof, and the receiving means 13 is a radio signal transmitted from the portable terminal 103 and the relay stations 102a to 102g. Is received via the antenna 15 via the propagation paths 1a to 1i,

  The origin signal reproduction means 50 reproduces the origin signal included in the radio signal received from the portable terminal 103, and the distance signal reproduction means 44 measures the distance included in the radio signal received from the relay stations 102a to 102g. The signal is reproduced, the synchronization detection means 49 detects the timing of the rising point, the falling point, or the zero crossing point of the reproduced origin signal, and the synchronous oscillation means 46 detects the origin signal at the detected timing. Instantly establish and maintain synchronization, generate clock signal,

  The phase measurement unit 43 measures the phase of the distance measurement signal with reference to the clock signal, and the position specifying unit 42 determines the position of the portable terminal 103 from the measurement result of the phase of the distance measurement signal by hyperbolic navigation. Is identified.

Note that when a plurality of reference stations receive radio signals transmitted from the mobile terminal, the plurality of reference stations are connected by an ad hoc network, and the power or signal-to-noise of the radio signals received by the plurality of reference stations The ratio data is mutually exchanged, and from among the plurality of sets of reference stations, the most suitable reference station for position identification is selected, or a plurality of reference stations are selected and time slots are allocated, and the selected reference station is subordinate to By instructing a relay operation by designating the mobile terminal to a plurality of relay stations, it is possible to avoid a plurality of reference stations from simultaneously responding to a position specifying request from the mobile terminal.

  FIG. 5 is a configuration diagram of radio signals used in the wide area location system of the present invention, in which 61a to 61c are system synchronization signals, 62a to 62c are MAC layers, 63a to 63c are origin signals or distance measurement signals, and 64 is The time axis of the radio signal transmitted from the reference station, 65 is the time axis of the radio signal transmitted from the relay station allocated with the first time slot, and 66 is transmitted from the relay station allocated with the second time slot. This is the time axis of the radio signal.

The system synchronization signals 61a to 61c are unique words of a plurality of bits, and the control timing between the reference station and the relay station or between the relay station and the mobile terminal can be matched with an accuracy of about ± 100 nanoseconds. If the phase difference is detected with a certain degree of accuracy, there is a problem that a distance measurement error becomes as large as several tens of meters.
The MAC layers 62a to 62c include at least a code length, an identification number, a partner number, a broadcast signal, an error correction code, or a combination thereof, and are generated as a set with the system synchronization signals 61a to 61c. .

  Initially, the system synchronization signal 61a, the MAC layer 62a, and the origin signal 63a are transmitted from the reference station, and the system synchronization signal 61b and the MAC layer are continuously transmitted from the relay station assigned the first time slot after the time division interval. 62b and the first distance start signal 63b are transmitted, and after the time slot, the system synchronization signal 61c, the MAC layer 62c, and the first distance start signal 63c are transmitted from the relay station assigned the second time slot. Called.

Here, assuming that the duration of the MAC layers 62a to 62c is about 0.5 ms and the duration of the origin signal or the distance measurement signals 63a to 63c is about 0.5 ms, respectively, even if 8 time slots are provided, Since the total duration is about 8 ms, if the frequency stability of the reference oscillator is about ± 0.5 ppm, the synchronization difference is ± 4 ns, so that synchronization can be maintained with high accuracy.

  FIG. 6 is a timing chart of the wide area location system of the present invention, in which 71a is an origin signal generated at the reference station, 71b is an origin signal received at the relay station assigned to the first time slot, and 71c is the first signal. The origin signal received by the relay station assigned to the second time slot, 72a is a propagation path from the reference station to the relay station assigned to the first time slot, and 72b is assigned from the reference station to the second time slot. A propagation path toward the relay station, 72c is a propagation path from the reference station to the mobile terminal,

  73a is a distance measurement signal transmitted from the relay station assigned to the first time slot after elapse of time-division simultaneous transmission / reception interval 77a, and 73b is elapse of time-division simultaneous transmission / reception interval 77a and first time slot interval 77b. A distance measurement signal transmitted from the relay station assigned to the second time slot later, 74a is a path through which the distance measurement signal transmitted from the relay station 102a propagates to the position specifying means 103, and 74b is a relay A path through which a distance measurement signal transmitted from a station propagates through a wireless line toward the mobile terminal, 75a and 75b are distance measurement signals received by the mobile terminal,

  76a and 76b are the phase differences between the phase of the origin signal reproduced by the portable terminal and the distance measurement signal, 81a is the time axis of the origin signal transmitted from the reference station, and 81b is the relay station assigned to the first time slot 102a is the time axis of the origin signal reproduced at 102a, 81c is the time axis of the origin signal reproduced at the relay station assigned to the second time slot, and 82a is transmitted from the relay station assigned to the first time slot. Is the time axis of the distance measurement signal, 82b is the time axis of the distance measurement signal transmitted from the relay station assigned to the second time slot, 83a is the time axis of the origin signal reproduced by the mobile terminal, and 83b and 83c are It is a time axis of the distance measurement signal received from the relay station and reproduced.

Assuming that the starting signal 71a transmitted from the reference station is ASin (2πf1t), the starting signal 71a propagates through the propagation path 72a of the distance L1 (m), is received by the relay station, and is reproduced as the starting signal 71b. Then, the phase changes to BSin {2πf1t + (2πL1 (f1 / C)}.
When the distance measurement signal 73a synchronized with the reproduced origin signal 71b and the synchronization establishment error is zero, the generated distance measurement signal 73a is similarly expressed by BSin {2πf1t + (2πL1 (f1 / C)}. .

  After the time division interval 77a, the generated distance measurement signal 73a is transmitted from the relay station, propagates through a propagation path 74a of distance L2 (m), and is reproduced by the portable terminal. , CSin {2πf1t + (L1 + L2) (2πf1) / C)}. Here, C is the speed of light.

On the other hand, the origin signal 71d that is transmitted from the reference station and propagates through the propagation path 72c of the radio link at the distance L3 (m) and received by the mobile terminal is expressed by CSin {2πf1t + (2πL3f1) / C)}. When the phase of the reproduced position specifying signal 75a is measured using a clock signal synchronized with the starting signal, the phase difference 76a is measured, and ΔΦ = {4π (L1 + l2−L3) (f1 / C)}. Therefore, the distance (L1 + L2−L3) (m) can be calculated from (L1 + L2−L3) = CΔΦ / 4πf1.
Here, L2 (m) is a fixed value, and is downloaded and stored in advance as internal information of the mobile terminal.

  In the above description, the case where a single frequency distance measurement signal is retransmitted as the distance measurement signal transmitted from the relay station has been described. However, when a single frequency distance measurement signal is used, a change in ΔΦ is described. Must be limited to 0 <ΔΦ <2π, and using a plurality of distance measurement signals synchronized with or orthogonal to the reproduced starting signal 71b and having at least different frequencies, the position can be specified in a plurality of ranges. This makes it possible to obtain a merit that the precise position can be specified by adjusting the range to the position to be specified.

Further, the distance measurement signal transmitted from the relay station can be transmitted simultaneously by the frequency division multiplexing method.
In addition, a plurality of antennas or transducers are connected to one or both of the relay station and the position specifying means, and direction measurement signals are transmitted and received while periodically switching to the plurality of antennas or transducers. By measuring the corresponding phase difference, it becomes possible to measure the direction between each other, and by correcting or complementing the position identification result by hyperbolic navigation, a highly reliable and accurate wide-area localization system can be established. realizable.

Moreover, an ultrasonic signal, a high frequency signal, or an optical signal can be used as the wireless signal. In the case of an ultrasonic signal or an optical signal, a transducer is used instead of an antenna.
In addition, by using an ultra-wideband communication method (ultra-wide band), a high-frequency modulated signal or a high chip rate spreading code can be adopted, so that multiple modulated signals or spreading codes that are synchronized or orthogonal can be assigned. Thus, since a plurality of measurement ranges can be set, the position specifying accuracy at a short distance of 30 m or less can be improved.

Further, with the reference station 101 as a node, a network is configured between the reference station and a plurality of relay stations, the network is connected to a peripheral reference station or the outside via a wired line or a wireless line, and at least the Information necessary for specifying the position of the portable terminal can be exchanged.
In addition, if the frequency of the radio signal can be assigned to a frequency assigned to GPS, a frequency in the vicinity thereof, a frequency stipulated by law, or a combination of these, it is less likely to interfere with GPS and can be used indoors. Since the position of the position specifying means can be specified with high accuracy, GPS can be seamlessly realized.

In addition, by attaching a mobile terminal as an RF tag to a container or distribution cargo, carrying it to a child attending school, or mounting it on a vehicle, the container's three-dimensional position in the container yard or the cargo in the warehouse A three-dimensional position can be automatically detected.
In addition, children can carry mobile devices, install multiple relay stations around intersections, etc., and install location-specific means on vehicles to prevent collisions between children and cars at intersections or pedestrian crossings. It can be applied to a device for

According to the present invention, since it is configured as described above, when the number of relay stations is four or more, it is possible to specify the three-dimensional position of the mobile terminal with high accuracy, and convenience and utilization. The value becomes even higher.
Further, the plurality of reference stations and the plurality of relay stations are discretely installed, the radio signal transmitted from the reference station is relayed and received by the portable terminal, and the three-dimensional position of the portable terminal is spread over a wide area. And can be specified with high accuracy.

  In addition, when a combination of a reference station and a plurality of relay stations is discretely installed as a GPS pseudo-satellite station and the function of the mobile terminal according to the present invention is mounted on a GPS mobile phone, the GPS can be seamlessly connected outdoors and indoors. Therefore, it is expected to spread to the 500 million GPS mobile phone market annually.

  In addition, RF tags are attached to distribution cargo etc. instead of mobile terminals, a plurality of relay stations are discretely installed indoors, and radio signals from the RF tags are relayed and received by position specifying means. Thus, since the three-dimensional position of the RF tag can be specified with high accuracy, the distribution of cargo can be rationalized.

In addition, by installing a relay station at the rear of a vehicle traveling on a highway and mounting a reference station and position specifying means on all of the vehicles, the positional relationship between the vehicles can be specified, thereby enabling cooperative driving.
Note that the position specifying technique of the present invention is a basic technique, and can be expected to be used in various fields other than the above.

Configuration diagram of a wide-area location system according to the first embodiment of the present invention Configuration diagram of wide area location system according to second embodiment of the present invention Configuration diagram of transmitting and receiving means according to the first and second embodiments of the present invention The block diagram of the control means by the 1st Embodiment of this invention and 2nd Embodiment Configuration diagram of radio signal used in wide area location system of the present invention Timing chart of the wide area location system of the present invention Configuration diagram showing a conventional example

1a to 1i Radio signal propagation paths 2a to 2d between the reference station and the relay station Wireless signal propagation paths 100 between the portable terminal and the relay station, and the portable terminal and the reference station Wide-area service areas 101a and 101b Reference stations 102a to 102d Relay station 103 Mobile terminal 11 Control means 12 Transmission means 13 Reception means 14 Antenna switching means 15 Antenna or transducer

Claims (13)

In a wide area location system using radio signals that are ultrasonic signals, high frequency signals or optical signals,
A reference station for transmitting a radio signal as a burst signal and intermittently;
A relay station for receiving the radio signal and relaying or retransmitting at the same frequency and in a time-sharing manner;
A mobile terminal for receiving a radio signal transmitted or relayed from the reference station and a plurality of relay stations while moving in a wide service area, and identifying the position of the own station,
Within the wide service area, a plurality of sets of reference stations and a plurality of relay stations are provided as a set, and are arranged discretely or in a mesh form at intervals in the vertical and horizontal directions or in any direction. ,
The reference station is at least:
Having a control means, a transmission means, an antenna or a transducer;
The control means generates at least an origin signal;
The transmitting means transmits a radio signal including at least the origin signal as a burst signal and intermittently via the antenna or the transducer,
The relay station is at least
A receiving means, a control means, a sending means, an antenna switching means, and an antenna or a transducer;
The receiving means receives a radio signal transmitted from the reference station via the antenna or the transducer,
The control means reproduces a starting signal included in a radio signal received from the reference station, detects a rising point, a falling point, or a zero crossing timing of the reproduced starting signal, and at the detected timing, establishing a signal and synchronization, and to maintain synchronization generates a clock signal, generates a distance measurement signal synchronized with or orthogonal to the clock signal,
The antenna switching means switches the antenna or the transducer in a time division manner,
The transmitting means transmits a radio signal including at least the generated distance measurement signal as a burst signal through the antenna or the transmitter / receiver at a time division interval and in a time slot assigned to each relay station. And
The portable terminal is at least
A receiving means, a control means, an antenna or a transducer;
The receiving means receives a radio signal transmitted from the reference station and a plurality of relay stations via the antenna or the transducer,
The control means reproduces a start signal included in a radio signal received from the reference station, reproduces a distance measurement signal contained in radio signals received from the plurality of relay stations, and rises of the reproduced start signal , falling point, or to detect the timing of the zero crossing, at the timing of the detected, to establish a starting point signal and synchronization, and to maintain synchronization to generate a clock signal, based on said clock signal, said A wide-area location system that measures the phase of a distance measurement signal and identifies the position of the own station by hyperbolic navigation from the measurement result of the phase of the distance measurement signal. In a wide area location system using radio signals that are ultrasonic signals, high frequency signals or optical signals,
A mobile terminal for transmitting a radio signal intermittently as a burst signal while moving in a wide service area,
A relay station for receiving the radio signal and relaying or retransmitting at the same frequency and in a time-sharing manner;
A mobile station and a reference station for receiving a radio signal transmitted or relayed from a plurality of relay stations and identifying the position of the mobile terminal;
Within the wide service area, a plurality of sets of reference stations and a plurality of relay stations are provided as a set, and are arranged discretely or in a mesh form at intervals in the vertical and horizontal directions or in any direction. ,
The portable terminal is at least
Having a control means, a transmission means, an antenna or a transducer;
The control means generates a starting signal;
The transmitting means transmits a radio signal including at least the origin signal as a burst signal and intermittently via the antenna or the transducer,
The relay station is at least
A receiving means, a control means, a sending means, an antenna switching means, and an antenna or a transducer;
The receiving means receives a radio signal transmitted from the mobile terminal via the antenna or a transducer,
The control means reproduces an origin signal included in a radio signal received from the mobile terminal, detects a rising point, a falling point, or a zero crossing timing of the reproduced origin signal, and at the detected timing, wherein establishing the origin signal and synchronization, and to maintain synchronization to generate a clock signal, it generates a distance measurement signal synchronized with or orthogonal to the clock signal,
The antenna switching means switches the antenna or the transducer in a time division manner,
The transmission means transmits a radio signal including at least the generated distance measurement signal as a burst signal through the antenna or the transmitter / receiver at a time division interval and in a time slot assigned to the relay station. And
The reference station is at least:
A receiving means, a control means, an antenna or a transducer;
The receiving means receives radio signals transmitted from the mobile terminal and a plurality of relay stations via the antenna or the transducer,
The control means reproduces a starting signal included in a radio signal received from the mobile terminal, reproduces a distance measurement signal included in radio signals received from the plurality of relay stations, and rises of the reproduced starting signal. point, detects the timing of the falling point or zero crossing, at the timing of the detected, to establish a starting point signal and synchronization, and to maintain synchronization to generate a clock signal, based on said clock signal, A wide-area positioning system that measures the phase of a distance measurement signal and identifies the position of the mobile terminal by hyperbolic navigation from the measurement result of the phase of the distance measurement signal.   When the mobile terminal is receiving radio signals transmitted from a plurality of reference stations, the position of the reference station that is optimal for position identification is selected from the result of measuring the power of the received radio signal or the signal-to-noise ratio. 2. The wide-area location specifying system according to claim 1, wherein a load average is performed on a result of location specification performed by selecting a plurality of reference stations. When radio signals transmitted from the mobile terminal are received by a plurality of reference stations, the plurality of reference stations are connected by an ad hoc network, and the power of a radio signal received by the plurality of reference stations or a signal-to-noise ratio exchange data with each other, from among the multiple reference stations, and selects an optimum reference station located, or assigned time slots by selecting a plurality of reference stations, the selected the reference station, a plurality of subordinate 3. The wide area location system according to claim 2, wherein a relay operation is instructed to a relay station by designating the portable terminal. Said control means, a starting point signal reproducing means, synchronization detection means, synchronization oscillation means, distance measuring signal generating means, the distance measuring signal reproducing means, the phase measuring means, and in the claims the first term, characterized in that the position including the particular means Alternatively, the wide area location system according to item 2.   3. The source signal according to claim 1, wherein the origin signal, the distance measurement signal, or both of them are a carrier signal, a subcarrier signal, a modulation signal, a spread spectrum code, or a combination thereof. Wide area location system. Before Kimoto quasi station, the interval for intermittently transmitting a radio signal, using a self-excited oscillator provided inside, controls randomly, outgoing to Rukoto radio signals asynchronously transmitted from the standards station wide-area location system of claim 1 wherein, wherein. The mobile terminal intermittently transmits a radio signal at an interval using a self-excited oscillator provided therein, and randomly transmits a radio signal transmitted from a plurality of mobile terminals, or the mobile terminal 3. The wide area location system according to claim 2, wherein the interval is controlled in accordance with a moving speed of the wide area.   The phase measuring means converts the signal into a digital signal using an analog-to-digital converter having a sampling frequency that is an integer multiple of 4 of the signal frequency to be measured and 4 bits or more, and uses 0, 1, 0, -1, or 1, 1, -1, -1 and 1, 0, -1, 0 or 1, -1, -1, 1 as the Cos lookup table, and the converted digital signal 6. The wide-area location system according to claim 5, wherein a sum-of-products operation is performed with a lookup table.   A plurality of relay stations are arranged around the reference station as a node, a network is configured between the reference station and the plurality of relay stations, and the network is connected with a peripheral reference station or the outside via a wired line or a wireless line. 3. The wide area position specifying system according to claim 1 or 2, wherein at least information necessary for connecting and specifying the position of the portable terminal is exchanged.   When the reference station designates 3 to 8 relay stations in the vicinity as one set and a plurality of sets are adjacent to each other, a part of the relay stations is specified over a plurality of sets. 2. A station according to claim 1, wherein any one of 4 to 8 time slots is allocated to a station, and the identification number of the designated relay station and the allocated time slot are stored as a part of broadcast information. Alternatively, the wide area location system according to item 2. The portable terminal, the reference station , the relay station , or a combination thereof transmits or receives a radio signal while periodically switching by providing a plurality of antennas or a plurality of transducers. The wide-range position according to claim 1 or 2, wherein the result of specifying the position is averaged, load averaged, or moving averaged corresponding to the antenna or the plurality of transducers. Specific system.
2. The reference station according to claim 1 , wherein the reference station , the relay station , or both of them install an antenna or a transducer at different heights, and the control means specifies a three-dimensional position. The wide area location system described in item 2.

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