JP5739327B2 - 位置決定 - Google Patents
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- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
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- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
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Description
図5は、移動装置402のような移動装置の位置を推定するのに使用される統計学的モデル530を生成するのに使用できる信号及び/又は位置情報406を示す。ある実施形態によれば、統計学的モデル530は、位置推定器404により生成される。図4を参照して述べたように、1つ以上の送信器から装置によって受信された信号の測定電力レベル(即ち、信号強度)505、及び既知の送信器の位置510は、統計学的モデル530を生成するのに使用される。
図6Aは、1つ以上の送信器から装置により受信された信号の測定電力レベル(例えば、信号強度)505、及び既知の送信器の位置510に基づいて、統計学的モデル530への貢献を決定する第1のプロセス600を示す。装置により信号が受信されるところの各ソースが識別される(605)。各ソースの識別された位置(610)及び各ソースから受け取られた識別された信号強度(615)に基づいて各ソースに対し統計学的モデルに項が追加される(620)。ある実施形態では、各ソースに対し統計学的モデルに追加される項は、装置がソースから距離dにある条件付き確率が、そのソースに関連した信号強度の関数である平均及び標準偏差を有する対数正規分布をたどるという仮定に基づく。
図5を参照して述べたように、履歴的位置情報515は、統計学的モデル530を生成及び/又は変更するように任意に使用することができる。ある実施形態によれば、移動装置がその履歴的位置に対して所与の位置にある条件付き確率が、その以前に知られた位置の周りで半径方向に対称的なガウス分布をたどることを反映する項を統計学的モデルに追加することができ、その標準偏差は、既知の位置の正確な推定(もしあれば)と、既知の位置測定がどれほど最近とられたかの情報とに基づく。例えば、最近の測定は、古い測定より正確であると仮定できる。
ある実施形態によれば、統計学的モデルの全ての項が与えられると、移動装置が所与の位置にある見込みを計算するために、各項の非正規化条件付き確率の対数が所与の位置について計算される。これらの対数を総計して、所与の位置に対する対数尤度を与える。しかしながら、移動装置は、いかなる地理的位置にも存在できるので、所与の位置に対する対数尤度は、移動装置の最後の既知の位置又は最後の推定位置の周囲の領域における1組の位置についてしか計算されない。これは、位置推定器404が、移動装置の位置の推定に必要な計算の回数を制限するようにさせる。
図7を参照して述べたプロセスを使用して、移動装置の最後の既知の位置を取り巻く領域内、又は移動装置において最も強い信号強度を示す送信器を取り巻く領域内で1つ以上のサンプル位置をランダムに又は擬似ランランダムに識別することができる。1つのサンプル位置に対する対数尤度を計算する規範的プロセスを以下に説明する。
102:タッチ感知ディスプレイ
104、106:ディスプレイオブジェクト
118:メニューバー
120:ボタン
144:マップオブジェクト
160:スピーカ
162:マイクロホン
164:スピーカ
166:オーディオジャック
168:接近センサ
170:周囲光センサ
172:加速度計
180:カメラレンズ及びセンサ
182:オン/オフボタン
190:ポート装置
214:ワイドエリアネットワーク
216:ゲートウェイ
218:アクセス装置
202b:コンテンツ
230:ナビゲーションサービス
240:メッセージングサービス
250:メディアサービス
260:同期サービス
270:アクチベーションサービス
302:メモリインターフェイス
304:プロセッサ
306:周辺インターフェイス
310:モーションセンサ
312:光センサ
314:接近センサ
316:他のセンサ
320:カメラサブシステム
324:ワイヤレス通信サブシステム
326:オーディオサブシステム
340:I/Oサブシステム
342:タッチスクリーンコントローラ
344:他の入力コントローラ
346:タッチスクリーン
348:他の入力/制御装置
350:メモリ
352:オペレーティングシステムインストラクション
354:通信インストラクション
356:GUIインストラクション
358:センサ処理インストラクション
360:電話インストラクション
362:電子メッセージングインストラクション
364:ウェブブラウジングインストラクション
366:メディア処理インストラクション
368:GPS/ナビゲーションインストラクション
370:カメラインストラクション
372:他のソフトウェアインストラクション
374:アクチベーションレコード/IMEI
Claims (21)
- 複数の送信器から移動装置で受信された各信号の検出電力を指示する電力情報を得るステップと、
各々が、前記移動装置が位置し得る位置である複数のサンプル位置を決定するステップと、
少なくともその得られた電力情報、前記送信器の既知の位置、及び前記サンプル位置を使用して、統計的モデルを決めるステップであり、前記統計学的モデルが前記サンプル位置の対応する確率値を含み、各確率値は前記移動装置が対応するサンプル位置に位置している確率を示し、各サンプル位置の前記確率値は、少なくとも部分的に、
前記サンプル位置で測定された信号における第1送信器からの信号の電力及び第2送信器からの信号の電力に基づいて、それぞれの送信器についての対数尤度を計算する関数であって、それぞれの送信器と前記サンプル位置との間の距離の対数値を計算することを含む、前記関数、
前記第1の送信器及び前記第2の送信器からのそれぞれの信号の検出された電力、及び
前記第1の送信器及び前記第2の送信器のそれぞれの位置に、基づいて決定されるステップと、
少なくとも一部分は、それぞれのサンプル位置ごとに決定された確率値と複数の送信器から移動装置において受信されたそれぞれの信号の前記検出された電力とに基づき前記移動装置の推定位置を識別するステップと、を備え、
前記移動装置の推定位置を識別するステップが、前記複数の送信器の各対に対して、前記第1及び第2の送信器から前記移動装置において受信されたそれぞれの検出された電力を条件として、移動装置が複数の送信器の対を結ぶ線上の点Pから距離dにある確率が、前記点Pからの距離dに従った対数正規分布に従うことを反映して、前記推定位置を識別し、
前記点Pは、前記第1の送信器からの信号の電力と前記第2の送信器からの信号の電力との比に少なくとも部分的に基づいて決められる、方法。 - サンプル位置を決定する前記ステップは、
少なくとも一部分はその得られた電力情報に基づき統計学的モデルを生成する段階と、
前記統計学的モデルを適用する地理的領域を選択する段階と、
その選択された地理的領域内の複数の位置をランダムに又は擬似ランダムに選択する段階と、
前記選択された位置をサンプル位置に指定する段階と
を含む請求項1に記載の方法。 - 移動装置の以前の位置が登録されたことを決定する段階を更に含み、前記地理的領域は、その登録された以前の位置を考慮して選択される、請求項2に記載の方法。
- 複数の送信器の中で、得られた電力情報に基づき最も強い信号を有する送信器を決定する段階を更に含み、前記地理的領域は、その決定された最も強い信号を有する送信器の位置を考慮して選択される、請求項2に記載の方法。
- 複数の以前の位置の決定が遂行され、前記方法は、以前の位置の決定のうち最も最近のものに対してエラー推定を発生する段階を更に含み、前記地理的領域は、その発生されたエラー推定を考慮して選択される、請求項2に記載の方法。
- 既知の位置に関する信号強度情報を含むトレーニングデータセットを得る段階と、
その得られたトレーニングデータセットを使用して前記平均及び標準偏差に対する関数を推定する段階と、
を更に含む請求項1に記載の方法。 - 前記複数の送信器の各対に対して、移動装置が複数の送信器の対を結ぶ線上の点から距離dにある条件付き確率が対数正規分布をたどることを反映する項を前記統計学的モデルに追加し、その平均及び標準偏差は、各対の対応する2つの送信器の電力間の比の関数である、請求項1に記載の方法。
- 既知の位置に関する信号強度情報を含むトレーニングデータセットを得る段階と、
その得られたトレーニングデータセットを使用して前記平均及び標準偏差に対する関数を推定する段階と、
を更に含む請求項7に記載の方法。 - 移動装置に対する以前に推定された位置を得る段階と、
移動装置が前記以前に推定された位置から距離dにある条件付き確率が、以前に推定された位置の周りで半径方向に対称的なガウス分布をたどることを反映する項を統計学的モデルに追加する段階とを、
更に含む、請求項1に記載の方法。 - 前記半径方向に対称的なガウス分布の標準偏差が、エラー推定と、以前に推定された位置がどれほど最近識別されたかに関する情報とに基づく、請求項9に記載の方法。
- 複数の位置のうちの少なくとも1つに関する地理的情報を得る段階と、
その得られた地理的情報に基づいて前記統計学的モデルに項を追加する段階と、
を含む請求項1に記載の方法。 - 前記地理的情報は、ある位置に向けて他の位置に勝るバイアスを与える、請求項11に記載の方法。
- 推定位置を識別する前記ステップは、移動装置が対応位置にある最も高い確率に関連した前記決定された確率値の1つを選択する段階を含む、請求項1に記載の方法。
- 推定位置を識別する前記ステップは、
前記決定された確率値に基づいてセントロイド位置を決定する段階と、
その決定されたセントロイド位置を前記推定位置として選択する段階と、
を含む請求項1に記載の方法。 - 前記推定位置を識別するために付加的な電力情報が要求されることを決定するステップと、
前記推定位置の識別をある期間だけ延期するステップと、
付加的な電力情報を収集するステップと、
を備え、前記移動装置の推定位置は、前記付加的な電力情報にも基づいて識別される、請求項1に記載の方法。 - 一時的でないコンピュータ読み取り可能な媒体にエンコードされ、ポータブル装置が、
複数の送信器から移動装置で受信された各信号の検出電力を指示する電力情報を得、
各々が、前記移動装置が位置し得る位置である複数のサンプル位置を決定し、
少なくともその得られた電力情報、前記送信器の既知の位置、及び前記サンプル位置を使用して、統計的モデルを決め、前記統計学的モデルが前記サンプル位置の対応する確率値を含み、各確率値は前記移動装置が対応するサンプル位置に位置している確率を示し、各サンプル位置の前記確率値は、少なくとも部分的に、
前記サンプル位置で測定された信号における第1送信器からの信号の電力及び第2送信器からの信号の電力に基づいて、それぞれの送信器についての対数尤度を計算する関数であって、それぞれの送信器と前記サンプル位置との間の距離の対数値を計算することを含む、前記関数、
前記第1の送信器及び前記第2の送信器からのそれぞれの信号の検出された電力、及び
前記第1の送信器及び前記第2の送信器のそれぞれの位置に、基づいて決定され、
少なくとも一部は、それぞれのサンプル位置ごとに決定された確率値と複数の送信器から移動装置において受信されたそれぞれの信号の前記検出された電力とに基づき前記移動装置の推定位置を識別し、前記移動装置の推定位置を識別することが、前記複数の送信器の各対に対して、前記第1及び第2の送信器から前記移動装置において受信されたそれぞれの検出された電力を条件として、移動装置が複数の送信器の対を結ぶ線上の点Pから距離dにある確率が、前記Pからの距離dに従った対数正規分布に従うことを反映して、前記推定位置を識別し、前記点Pは、前記第1の送信器からの信号の電力と前記第2の送信器からの信号の電力との比に少なくとも部分的に基づいて決められることを含むオペレーションを遂行するようにさせるよう動作できるコンピュータプログラム。 - 複数の送信器から移動装置で受信された各信号の検出電力を指示する電力情報を含むプロセッサアクセス可能な媒体と、
各々が、前記移動装置が位置し得る位置である複数のサンプル位置を決定し、
少なくともその得られた電力情報、前記送信器の既知の位置、及び前記サンプル位置を使用して、統計的モデルを決め、前記統計学的モデルが前記サンプル位置の対応する確率値を含み、各確率値は前記移動装置が対応するサンプル位置に位置している確率を示し、
各サンプル位置の前記確率値は、少なくとも、部分的に、
前記サンプル位置で測定された信号における第1送信器からの信号の電力及び前記2送信器からの信号の電力に基づいて、それぞれの送信器についての対数尤度を計算する関数であって、それぞれの送信器と前記サンプル位置との間の距離の対数値を研鑽することを含む、前記関数、
前記第1の送信器及び前記第2の送信器からのそれぞれの信号の検出された電力、及び
前記第1の送信器及び前記第2の送信器のそれぞれの位置に、基づいて決定され、
少なくとも一部分は、それぞれのサンプル位置ごとに決定された確率値と複数の送信器から移動装置において受信されたそれぞれの信号の前記検出された電力とに基づき前記移動装置の推定位置を識別し、前記移動装置の推定位置を識別することが、前記複数の送信器の各対に対して、前記第1及び第2の送信器から前記移動装置において受信されたそれぞれの検出された電力を条件として、移動装置が複数の送信器の対を結ぶ線上の点Pから距離dにある確率が、前記Pからの距離dに従った対数正規分布に従うことを反映して、前記推定位置を識別し、前記点Pは、前記第1の送信器からの信号の電力と前記第2の送信器からの信号の電力との比に少なくとも部分的に基づいて決められることを含むオペレーションを遂行するよう構成された位置推定器と、
を備えた移動装置。 - 前記統計学的モデルの少なくとも一つのパラメータが、測定された信号強度及び送信器からの既知の距離に基づいて得られたトレーニングデータに基づいて発生される、請求項17記載の移動装置。
- 前記第1送信器からの信号の電力及び前記2送信器からの信号の電力の、前記サンプル位置で測定可能な信号への貢献を測定する前記関数が、前記第1の送信器からの前記信号の前記電力と前記第2の送信器からの前記信号の前記電力との間の比を含む、請求項17記載の移動装置。
- 前記第1送信器からの信号の電力及び前記2送信器からの信号の電力の、前記サンプル位置で測定可能な信号への貢献を測定する前記関数が、前記第1の送信器からの前記信号の前記電力と前記第2の送信器からの前記信号の前記電力との間の比を含む、請求項1記載の方法。
- 前記第1送信器からの信号の電力及び前記2送信器からの信号の電力の、前記サンプル位置で測定可能な信号への貢献を測定する前記関数が、前記第1の送信器からの前記信号の前記電力と前記第2の送信器からの前記信号の前記電力との間の比を含む、請求項16記載のコンピュータプログラム。
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KR101258013B1 (ko) | 2013-04-24 |
US20090286549A1 (en) | 2009-11-19 |
US8644843B2 (en) | 2014-02-04 |
KR20110019373A (ko) | 2011-02-25 |
EP2286264A1 (en) | 2011-02-23 |
CN102066969B (zh) | 2015-03-25 |
CN102066969A (zh) | 2011-05-18 |
WO2009140031A1 (en) | 2009-11-19 |
JP2011525234A (ja) | 2011-09-15 |
EP2286264B1 (en) | 2018-01-03 |
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