JP6169962B2 - Positioning terminal, mobile phone search system, mobile phone search method, program, and server - Google Patents

Description

The present invention, measuring position terminal that identifies the location of the mobile phone, cellular phone search system, a mobile phone searching method, a program, and a server.

  When a disaster such as an earthquake occurs, it is important to quickly grasp the situation of the disaster in the area where the disaster occurred and rescue the victim. Early rescue of victims requires the collection of individual victims' location information quickly and accurately, but the victims must be under collapsed rubble or in a building that has fired. There are many.

  In recent years, cellular phones have become widespread, and GPS (Global Positioning System) modules are standardly installed in third-generation (3G) and later cellular phones. By using GPS, position information can be obtained with an accuracy of several meters to 10 meters all over the earth. Therefore, by collecting the position information acquired by the victim's mobile phone using GPS by some means, it can be used for searching. However, as mentioned earlier, victims are often under rubble or buildings where GPS satellite signals cannot be received. In such cases, there is a problem that the location of the victim cannot be determined by GPS. .

  For such a problem, a device that performs positioning using GPS is provided outdoors where GPS satellite signals can be received, such a device uses GPS to determine its absolute position, and further, rubble and buildings It is conceivable to obtain the absolute position of the victim from the absolute position and the relative position by obtaining the relative position of the victim with the self using radio waves that can pass through the wall.

  As a technology related to this, for example, in Patent Document 1, for the purpose of managing a construction object installed in the basement, self-location is obtained using signals from the quasi-zenith satellite and GPS satellite, and at the same time, the ultrasonic wave is submerged. A buried object searching apparatus characterized by obtaining the absolute position of an object by obtaining the position of the object with respect to itself using a radar or the like has been proposed.

  Non-Patent Document 1 describes a quasi-zenith satellite that uniformly distributes error correction information that enables high-precision positioning in the centimeter class or submeter class throughout Japan.

  Non-Patent Document 2 describes the direction estimation of an incoming wave by an array antenna.

JP 2004-198169 A

Usui Sumio et al. (2010), Centimeter positioning reinforcement system using quasi-zenith satellite LEX band and demonstration of private use, Japan Institute of Navigation, GPS / GNSS Symposium 2010, pp. 217-22 Minseok Kim (2007), Basic and Implementation Examples of Direction of Arrival Estimation System, Design Wave Magazine December 2007

  However, the search by the technique as in Patent Document 1 is based on prior information as to where the buried object is installed, and the effective distance of a ground penetrating radar or the like is several meters. At the actual disaster site, it is not possible to know in advance where the victim is, and if the scale of the disaster is large, searching for dark clouds without prior information will not lead to a quick discovery of the victim. There is.

  Even if a living body sensor is used instead of a ground penetrating radar, the location information of the victim cannot be obtained, so the distance from the victim is too far away, or the victim is so weak that it cannot be detected by the living body sensor. If the response value of the victim biosensor is low, the presence of the victim is overlooked.

  In addition, instead of using ground penetrating radar, it is possible to determine the relative position of the victim's mobile phone with respect to the search device using radio waves periodically emitted by the mobile phone held by the victim to search for base stations. However, there is a certain time interval for the transmission of radio waves, and it takes a long time to locate the victim's mobile phone in a dark cloud search.

  Furthermore, when the ground infrastructure is destroyed due to a disaster and is not connected to the base station, the battery of the mobile phone is generally consumed heavily, and recent smartphones or the like have a battery of only about a day for multifunctional purposes. The battery is not always fully charged at the time of the disaster, and a highly efficient search system that can identify the location of the victim before the victim's mobile phone battery runs out is essential.

  In the technique such as Patent Document 1, there is a problem that the function of the mobile phone that is widely spread and considered to be possessed by the disaster victim cannot be utilized in the search activity.

  In the case where an earthquake or other disaster occurs, even if the ground infrastructure such as a base station cannot be used, the location information of the victims in the building or under the rubble where GPS signals do not reach The purpose is to make it possible to collect information quickly and accurately by utilizing the functions of the mobile phone held by the user.

In order to achieve the above object, a positioning terminal according to the present invention is a positioning terminal that can communicate with a plurality of positioning satellites and is movable. A positioning terminal includes a ranging signal receiving unit, a terminal position calculating unit, a portable radio wave receiving unit, a portable ID determining unit, a portable geometric information calculating unit, a basic information generating unit, a portable position calculating unit, a terminal movement planning unit, and a terminal guiding unit. Prepare. The ranging signal receiving unit receives a ranging signal from the positioning satellite, and acquires a pseudorange observation amount, a carrier phase observation amount, and a navigation message for the positioning satellite from the ranging signal. The terminal position calculation unit calculates the position, speed, and clock error of the positioning terminal using the pseudorange observation amount, the carrier phase observation amount, and the navigation message. The portable radio wave receiving unit receives a portable radio wave emitted from the mobile phone. The mobile ID discriminating unit acquires a mobile ID for identifying the mobile phone from the mobile radio wave received by the mobile radio wave receiving unit. The mobile geometric information calculation unit calculates the mobile phone distance or mobile phone direction of the mobile phone relative to the positioning terminal from the clock error of the positioning terminal calculated by the terminal position calculation unit and the mobile radio wave received by the mobile radio wave reception unit. The basic information generation unit generates basic information including the position of the positioning terminal calculated by the terminal position calculation unit, the mobile ID acquired by the mobile ID determination unit, and the mobile phone distance or mobile phone direction calculated by the mobile geometric information calculation unit. To do. The mobile position calculation unit calculates the position of the mobile phone corresponding to the mobile ID from two or more pieces of basic information having the same mobile ID among the basic information, and includes the mobile ID and the calculated mobile phone position. Generate information. The terminal movement planning unit uses one or both of the basic information and the mobile location information to calculate the next point to receive the mobile radio wave, The movement plan data for guiding the positioning terminal from the latest value of the position of the positioning terminal is generated. The terminal guiding unit outputs the movement plan data generated by the terminal movement planning unit. When two basic information with the same mobile ID is obtained and the third point is obtained, the terminal movement planning unit determines the position of the positioning terminal, the hyperbolic asymptote with a constant difference in mobile phone distance, and the transmission time of the mobile radio wave Next, a point at which the portable radio wave is received is obtained from the distance that the positioning terminal can move at intervals. When there are two or more basic information or mobile location information with different mobile IDs, the terminal movement planning unit uses the basic information or mobile location information of the mobile ID with the same basic mobile ID and the next mobile information. A location for receiving the radio wave is calculated, and movement plan data for guiding the positioning terminal from the latest value of the position of the positioning terminal is generated using the calculated location for receiving the mobile radio wave as the destination.

  According to the present invention, it is possible to specify the location of the victim early, and by outputting the movement plan data for determining the best measurement point for receiving the next portable radio wave, when a disaster such as an earthquake occurs, Even when the ground infrastructure such as a base station cannot be used, the location information of the victim in the building where the GPS signal does not reach or under the debris can be quickly obtained by using the mobile phone function held by the victim. And it becomes possible to collect accurately.

It is a block diagram which shows the structural example of the rescue rescue support system which concerns on Embodiment 1 of this invention. 3 is a block diagram illustrating a configuration example of a positioning terminal according to Embodiment 1. FIG. 3 is a diagram showing an example of a hyperboloid according to Embodiment 1. FIG. It is a figure which shows an example of the planning method which concerns on Embodiment 1. FIG. 2 is a diagram illustrating an example of a moving vehicle according to Embodiment 1. FIG. 6 is a diagram showing an example of a display screen according to Embodiment 1. FIG. 6 is a flowchart illustrating an example of an operation of terminal position calculation processing according to the first embodiment. 6 is a flowchart illustrating an example of an operation of a portable position calculation process according to the first embodiment. 6 is a flowchart showing an example of operation of terminal guidance processing according to the first embodiment. It is a block diagram which shows the structural example of the positioning terminal which concerns on Embodiment 2 of this invention. It is a block diagram which shows the structural example of the positioning terminal which concerns on Embodiment 3 of this invention. It is a block diagram which shows the structural example of the positioning terminal which concerns on Embodiment 4 of this invention. It is a block diagram which shows the structural example of the positioning terminal which concerns on Embodiment 5 of this invention. It is a block diagram which shows an example of the hardware constitutions of the positioning terminal which concerns on embodiment of this invention.

  EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated in detail with reference to drawings. In addition, the same code | symbol is attached | subjected to the part which is the same or it corresponds in a figure.

(Embodiment 1)
FIG. 1 is a block diagram illustrating a configuration example of a rescue and rescue support system according to Embodiment 1 of the present invention. A rescue and rescue support system 100 according to Embodiment 1 includes a positioning terminal 1, a mobile vehicle 2 equipped with the positioning terminal 1, a multifunctional positioning satellite 3 such as a quasi-zenith satellite, and a positioning satellite 4 such as a GPS satellite. In the present embodiment, since the mobile phone 5 is assumed to be possessed by a victim who cannot move in the affected area, the mobile phone 5 does not move. The positioning terminal 1 receives mobile radio waves emitted from the mobile phone 5. The positioning satellite 4 is a GPS satellite, for example, and the positioning terminal 1 receives a ranging signal from the positioning satellite 4.

  Although one positioning terminal 1 and one moving vehicle 2 are described as representatives, the positioning terminal 1 and the moving vehicle 2 are not limited to this and may be two or more. Although one multi-function positioning satellite 3 is also representatively described, the number is not limited to this and may be two or more. There are actually four or more positioning satellites 4. Further, the positioning terminal 1 may not be mounted on the moving vehicle 2 as long as it can move.

The multi-function positioning satellite 3 is a quasi-zenith satellite as shown in Non-Patent Document 1, for example, and uniformly distributes error correction information throughout Japan. Error correction information is information for correcting the errors of Japan of measurement No. 距信 of positioning satellites 4 obtained by processing the GPS observation data obtained in the electronic reference point network, the multi-function via the control station It is transmitted to the positioning satellite 3 and enables high-precision positioning in the centimeter class or submeter class throughout Japan. The positioning terminal 1 receives error correction information from the multi-function positioning satellite 3.

  FIG. 2 is a block diagram illustrating a configuration example of the positioning terminal according to the first embodiment. The positioning terminal 1 includes a ranging signal receiving unit 11, an error correction information receiving unit 12, a terminal position calculating unit 13, a portable radio wave receiving unit 14, a portable ID determining unit 15, a portable geometric information calculating unit 16, a basic information generating unit 17, A storage unit 18, a portable position calculation unit 19, a terminal movement planning unit 20, and a terminal guidance unit 21 are provided.

  The ranging signal receiving unit 11 receives a ranging signal transmitted from the positioning satellite 4 and acquires a pseudorange observation amount, a carrier phase observation amount, and a navigation message for the positioning satellite 4. Ranging signals are simultaneously received from a plurality of positioning satellites 4 and their reception times are stored.

  Note that the pseudorange refers to the propagation time until the signal transmitted from the satellite reaches the receiver, the observation value of the positioning code string (C / A code, P2 code, etc.) carried on the carrier of the signal, This is the distance between the satellite and the receiver calculated by multiplying the speed of light by calculating the phase difference between the value of the same positioning code string generated by synchronizing the receiver clock with the same reference time as the satellite clock. . Since there is an error in the synchronization of the receiver clock and the satellite clock with the reference time, and the obtained distance includes an error due to clock deviation, it is called a “pseudo” distance.

  The carrier phase is a phase difference between the phase of the carrier tracked when the positioning code string is observed and the same carrier signal generated by synchronizing the receiver clock with the same reference time as the satellite clock. The phase difference has an ambiguity of 2π × N (N is an integer value of wave number), and the distance between the satellite and the receiver cannot be determined uniquely from the carrier phase alone, but the carrier phase Since the distance observation resolution is higher than the pseudorange and has low noise, if the wave number N can be determined correctly, it can be used as a distance observation quantity with higher accuracy than the pseudorange observation quantity.

  The navigation message is a message including parameters necessary for calculating the position of a positioning satellite 4 such as a GPS satellite that has transmitted a ranging signal and a clock error, which are necessary for calculating the position of the positioning terminal 1.

  The error correction information receiving unit 12 receives error correction information from the multi-function positioning satellite 3 and corrects errors included in the pseudorange observation amount and carrier phase observation amount for each positioning satellite 4 acquired by the ranging signal receiving unit 11. A pseudo distance correction amount and a carrier phase correction amount for calculating the distance are calculated.

  The amount of observation correction for each positioning satellite 4 includes, for example, satellite clock error Clk [m] (m indicates a unit meter), orbit error Orb [m], tropospheric delay Trop [m], ionospheric delay Ion. [M] and C / A code, P2 code, L1 wave carrier phase, L2 wave carrier phase inter-signal bias Bias (C / A, P2, L1, L2) [m] The pseudo distance correction amount and the carrier phase correction amount can be obtained from the equations. However, in the following equation, the satellite clock error Clk [m] included in the error correction information is used to further correct the correction error after correcting the observed value with the satellite clock error included in the navigation message. Assumes.

C / A code pseudo distance correction amount = −Clk + Orb + Trop + (120/154) Ion + C / A_Bias
P2 code pseudo distance correction amount = −Clk + Orb + Trop + (154/120) Ion + P2_Bias
L1 wave carrier phase correction amount = −Clk + Orb + Trop− (120/154) Ion + L1_Bias
Carrier phase correction amount of L2 wave = −Clk + Orb + Trop− (154/120) Ion + L2_Bias

  In addition, if there is a method recommended by the provider of error correction information or specified in the specification, it is good to calculate according to them.

  The terminal position calculation unit 13 uses the pseudo-range observation amount and carrier phase observation amount for four or more positioning satellites 4 acquired by the ranging signal reception unit 11 and the pseudo-range for the positioning satellite 4 calculated by the error correction information reception unit 12. Correction is performed using the correction amount and the carrier phase correction amount and the satellite clock error included in the navigation message, and the corrected pseudorange observation amount PR and the corrected carrier phase observation amount CP for the positioning satellite 4 are calculated as follows.

Corrected pseudorange observation amount PR = Pseudorange observation amount + satellite clock error included in navigation message + Pseudorange correction amount Corrected carrier phase observation amount CP = Pseudorange observation amount + satellite clock error included in navigation message + carrier phase Correction amount

  Subsequently, the terminal position calculation unit 13 uses the corrected pseudorange observation PR and the corrected carrier phase observation CP to determine the position of the positioning terminal 1 (hereinafter referred to as positioning terminal position), speed, and clock error (hereinafter referred to as “positioning terminal position”). , Positioning terminal clock error). For example, the position, speed, and clock error of the positioning terminal 1 are estimated using the Kalman filter expressed by Equation 1 using only the corrected pseudorange observations for four or more positioning satellites 4. The position is X = {x, y, z}, the speed is V = {vx, vy, vz}, and the clock error is δT.

  As a coordinate system representing the position and velocity, for example, a WGS84 fixed earth coordinate system that is used for GPS in general is used. The estimated position value Xt-1 | t-1, the estimated speed value Vt-1 | t-1, the estimated clock error value δTt-1 | t-1, and the covariance matrix Pt-1 From | t−1, a position Xt | t−1 at a time t, a velocity Vt | t−1, a clock error δTt | t−1, and a covariance matrix Pt | t−1 are predicted. Q is a process noise matrix. Δt is an interval (seconds) between time t and time t−1.

  The state quantity vector is set to Z = {X, V, δt}, and the estimated value and covariance of the position, speed, and clock error at time t are obtained using the observation residual e shown in Equation 2, and the position is determined as the positioning terminal position. The clock error is defined as a positioning terminal clock error.

In ^Equation 2, h is an observation model, which is calculated from the positions X ^sat1 , X ^sat2 ,... ^Of the positioning satellites 4 calculated from the parameters included in the navigation message and the estimated values of the position and the clock error. h is a row vector having the same number of rows as the number of positioning satellites used for positioning. Or ▽ _Z h represents the derivative of the state quantity vector Z of h. R is an observation noise matrix. The method for calculating the position of the positioning satellite from the parameters included in the navigation calendar may be in accordance with the procedure described in the specification provided by the organization that operates each positioning satellite.

  In general, in positioning using only the corrected pseudorange observation amount, the position X is obtained with submeter class (horizontal 0.5 to 1 m) accuracy, and the clock error δT is obtained with accuracy of 10 ns or less.

  In addition, the Kalman filter using both the corrected pseudorange observation amount and the corrected carrier phase observation amount for five or more positioning satellites 4 and using the position, velocity, clock error, and carrier phase ambiguity of each satellite as state variables. And positioning by combining a method for converting ambiguity into an integer such as LAMBDA (The Least Squares Ambiguity Decorrelation Adjustment). In general, using both corrected pseudorange observables and corrected carrier phase observables, positioning with ambiguity converted to integers gives position X with centimeter-class accuracy (horizontal 6 cm or less), with accuracy of 1 ns or less. A clock error δT is obtained.

  Since the value of the clock error δT estimated by the above-described method includes a delay due to the antenna cable and the electronic system, it is desirable to measure and correct them in advance. According to the current electronic technology, it can be measured with an accuracy of 10n or less, and it is considered that the range is stable (variation due to temperature etc. is 10n or less). Therefore, when using only the corrected pseudorange observation amount, 10 to 20ns, When both the corrected pseudorange observation amount and the corrected carrier phase observation amount are used, it can be said that the positioning terminal clock error of the positioning terminal 1 can be obtained with an accuracy of 10 ns or less.

  The processing of the terminal position calculation unit 13 is repeated, and the positioning terminal position and the positioning terminal clock error value are constantly updated. The update period is, for example, 1 second.

  The mobile radio wave receiver 14 receives mobile radio waves emitted from the mobile phone 5. For example, the mobile radio wave receiving unit 14 receives mobile radio waves that are periodically emitted by the mobile phone 5 for the purpose of communicating with a base station or the like, searching for a base station, or the like.

  The mobile ID discriminating unit 15 analyzes the mobile radio wave received by the mobile radio wave receiving unit 14 and uses a mobile phone 5 based on IMEI (International Mobile Equipment Identity), which is a terminal-specific number of the mobile phone 5 obtained by demodulating the radio wave. 5 mobile ID is acquired.

The mobile geometric information calculation unit 16 calculates the mobile phone distance or the mobile phone direction of the mobile phone 5 with respect to the positioning terminal 1 from the positioning terminal clock error calculated by the terminal position calculation unit 13 and the mobile radio wave received by the mobile radio wave reception unit 14. To do. When calculating the mobile phone distance, it stores the time T _receive which receives the mobile radio with mobile radio receiver 14, and the time obtained by correcting the T _receive the positioning terminal clock error terminal position calculating unit 13 is calculated, The cellular phone distance is calculated by the following equation from the time T _trace [seconds] when the cellular phone 5 transmits the cellular radio wave, which is obtained by demodulating the cellular radio wave.

Mobile phone distance [m] = C × {(T _receive −δT) −T _trans }

For C, the speed of light is, for example, 29792458 [m / sec]. Since the portable radio wave is about 1 GHz and the processing speed of a general CPU is several GHz, the time T _receive can be obtained with an accuracy of several ns even if it is affected by multipath in the rubble. However, the clock of the mobile phone 5 does not correct the clock error using a ranging signal such as a GPS satellite unlike the positioning terminal 1. For this reason, a bias is included in T _trans, and the mobile phone distance obtained by the above equation may be significantly different from the actual distance. It is also conceivable that the mobile phone distance becomes negative. This effect is eliminated by estimating the clock error δT ^mobile of the mobile phone 5 using the mobile phone distances for four or more mobile phones 5 having the same mobile ID, as shown in the description of the mobile position calculation unit 16. .

  When calculating the mobile phone direction, for example, a technique as shown in Non-Patent Document 2 is used. The portable radio wave receiver 14 includes an array antenna, and calculates a cellular phone direction using a beam former method or the like that performs a spatial search using a directional beam using the array antenna. The mobile phone direction is the azimuth angle AZ [degree] and elevation angle EL [degree] in the local horizontal coordinate system with the east direction being the x axis, the north direction being the y axis, and the height direction being the z axis at the position of the positioning terminal 1. Express.

  The basic information generation unit 17 includes one unit including the positioning terminal position calculated by the terminal position calculation unit 13, the mobile ID obtained by the mobile ID determination unit 15, and the mobile phone distance or mobile phone direction calculated by the mobile geometric information calculation unit 16. Generate basic information for. For example, each x, y, z of the positioning terminal position is represented by a 16-bit floating point, the mobile ID is represented by a 32-bit binary number, and the azimuth and elevation angle in the mobile phone distance or mobile phone direction are each 16-bit floating. When represented by a decimal point, the basic information of one unit is 96 bits (16 × 3 + 32 + 16) and 112 bits (16 × 3 + 32 + 16 × 2), respectively.

  The storage unit 18 stores the basic information generated by the basic information generation unit 17 in a predetermined memory. As the memory, a hard disk, a flash memory, or the like is used so that a plurality of units of basic information can be stored.

  The mobile position calculation unit 19 includes, from among a plurality of basic information stored in the storage unit 18, two or more basic information having the same mobile ID included in the basic information, and the position of the mobile phone 5 corresponding to the mobile ID ( Hereinafter, the mobile phone position is calculated. When the mobile phone distance included in the basic information is used, the mobile phone distance includes the influence of the clock error of the mobile phone 5, so the clock error of the mobile phone 5 is calculated simultaneously in addition to the three-dimensional mobile phone position. Therefore, four or more pieces of basic information having the same portable ID are used.

When the mobile phone distance is used, for example, a three-dimensional mobile phone position X ^mobile = {x ^mobile , Y ^mobile , Z ^mobile } and a time error δT ^mobile of the mobile phone 5 are calculated by the Newton method shown in Equation 4. The state variable is set as Z ^mobile = {X ^mobile , δT ^mobile }, and the update by the Newton method is repeated until the Z ^mobile converges. By using δT ^mobile as an estimation parameter, the influence of the clock error of the mobile phone 5 can be removed, and a mobile phone position corresponding to the accuracy of the positioning terminal clock error δT and T _receive is obtained.

When both the corrected pseudorange observation amount and the corrected carrier phase observation amount are used in the terminal position calculation unit 13, since the error of the positioning terminal clock error δT and T _receive is about 10 ns in total, it is 3 m in terms of distance. Therefore, the accuracy of 3 to 5 m is expected as the mobile phone position. This accuracy can be further improved (up to about 1 m) by appropriately repeating position calculation based on geometric information from different points, as shown in the description of the terminal movement planning unit 20 described later.

  As an indication of convergence, for example, the norm of the position difference before and after the iteration of the Newton method is 1 m or less so that the position of the victim holding the mobile phone 5 can be specified.

F is a function represented by a mobile phone distance, a state variable, and a positioning terminal position, and is a row vector having the same number of rows as the number of basic information to be used. _{Ｚ z} Denotes the derivative with respect to the state quantity vector Z of F and F.

R _i is the mobile phone distance included in the i-th basic information of the basic information to be used, and x _i , y _i , and z _i are the positioning terminal positions included in the i-th basic information of the basic information to be used. Yes (i = 1, 2, 3, 4 ...). Each basic information may be weighted according to the length of the mobile phone distance, and the weighted Newton method may be used.

When the mobile phone direction included in the basic information is used, two or more pieces of basic information having the same mobile ID are used. When the mobile phone direction is used, for example, a three-dimensional mobile phone position X ^mobile = {x ^mobile , y ^mobile , z ^mobile } is calculated by the Newton method shown in Equation 6. The state variable is set as Z ^mobile = X ^mobile , and the update by Newton's method is repeated until Z ^mobile converges. As an indication of convergence, for example, the norm of the position difference before and after the iteration of the Newton method is 1 m or less so that the position of the victim holding the mobile phone 5 can be specified.

  F is a function represented by the mobile phone direction, state variable, and positioning terminal position obtained by converting the mobile phone direction calculated by the mobile geometric information calculation unit 16 into a fixed earth coordinate system such as WGS84, and is the same as the number of basic information used. A row vector with a number of rows.

When the mobile phone direction is represented by the local horizontal coordinate system at the position of the positioning terminal 1, EL _i ^ECEF and AZ _i ^ECEF are elevation angles in the mobile phone direction included in the i-th basic information (EL ) And the azimuth angle (AZ) are the elevation angle and azimuth angle in the direction converted from the local horizontal coordinate system to the direction seen from the earth fixed coordinates (i = 1, 2,...). x _i , y _i , and z _i are positioning terminal positions included in the i-th basic information among the basic information to be used (i = 1, 2,...). If the mobile phone distance is obtained at the same time by the mobile phone geometry information calculation unit 16 according to the mobile phone direction, the basic information is weighted according to the length of the mobile phone distance, and the weighted Newton method is used. May be.

  The mobile location calculation unit 19 generates 1 unit of mobile location information including the mobile ID and the calculated mobile phone location.

  The storage unit 18 stores the mobile location information generated by the mobile location calculation unit 19 in a predetermined memory. The memory uses a hard disk, a flash memory, or the like so that a plurality of units of mobile location information can be stored.

  The terminal movement planning unit 20 uses the basic information stored in the storage unit 18 and the mobile location information, or both, to calculate a point for receiving the next mobile radio wave. The terminal movement planning unit 20 generates movement plan data for guiding the positioning terminal 1 from the latest value of the positioning terminal position, with the calculated next point where the mobile radio wave is received as the destination.

First, an example of a plan guideline when only the basic information is used and the mobile phone distance of the mobile phone 5 having the same mobile ID is used as the basic information will be shown. When the basic information stored in the storage unit 18 is one, the position of the mobile phone 5 (hereinafter referred to as the mobile phone position) has a radius centered on the positioning terminal position included in the basic information and the mobile phone distance. On the spherical surface. However, because of the bias included in T _trans as described above, the mobile phone distance may differ greatly from the actual distance, and only one basic information does not give significant information. Therefore, when the mobile phone distance is used as the basic information, if there is only one basic information, it may be considered to generate movement plan data for moving the positioning terminal 1 as far as possible by the next mobile radio wave reception opportunity. It is done.

FIG. 3 is a diagram illustrating an example of a hyperboloid according to the first embodiment. If two pieces of basic information are obtained, the difference between the mobile phone distances to the two points can be calculated regardless of T _trans , and the mobile phone position AP is on the surface where the difference is constant. As shown in FIG. 3, a surface having a constant distance difference with respect to the positioning terminal positions P1 and P2 included in the two basic information forms a hyperboloid H. Actually, since the difference includes an error, the mobile phone position AP is more accurately in the layer considering the thickness corresponding to the error with respect to the hyperboloid H. Therefore, in order to reduce the influence of the thickness of the layer, the next generation of the hyperboloid H with respect to the existing hyperboloid H intersects as perpendicularly as possible at the third point for receiving the portable radio wave. It is desirable to select a point.

  Here, since the vertical scale is usually smaller than the horizontal distance scale of the affected area, the vertical direction is ignored, and the hyperboloid is formed on a local horizontal plane with the longitude and latitude as the x-axis and y-axis. Consider the hyperbola obtained by projecting.

  FIG. 4 is a diagram illustrating an example of a planning method according to the first embodiment. One of the guidelines for selecting the third point is that a straight line parallel to the asymptote of the hyperbola from the point closest to the mobile phone position AP out of the two points on the horizontal plane (the one-dot chain line in the figure) is 2 The main pulling and selecting a point on one of the lines (candidate points PA or PB in the figure). Candidate points PA and PB are, for example, points on a straight line parallel to an asymptote that can be moved to the next mobile radio wave reception opportunity.

  FIG. 4 shows the hyperboloid HA when the candidate point PA is selected and the hyperboloid HB when the candidate point PB is selected. Regardless of which candidate point is selected, a high degree of perpendicularity between the two hyperbolas (and thus also the hyperboloid) is obtained. In particular, when a point on the straight line (candidate point PA) on the side closer to the actual mobile position is selected, two hyperboloids H and HA intersecting at almost right angles are obtained depending on the mobile phone position AP.

  When the mobile phone distance from the three points is calculated, the mobile phone position AP is narrowed down to a thick layer in consideration of the distance error with respect to the intersection of the two hyperboloids. By obtaining the mobile phone distance from the fourth point, the estimated value of the mobile phone position AP is determined as one point, and the mobile phone position AP is narrowed down to an area in consideration of the error with respect to the one point.

Here, the location of the fourth point is selected so that the size of the region is as small as possible (that is, the positioning accuracy is increased as much as possible). For example, PDOP (Position Dilution Of Precision), which is an index used in satellite positioning, is used as one of selection guidelines for the fourth point. PDOP is an index indicating the poor geometric arrangement of the positioning satellite 4 with respect to a receiver that performs positioning in satellite positioning, and the smaller the value, the better. Assuming that the victim's mobile phone 5 is a receiver and the positioning terminal 1 is a positioning satellite, the mobile phone position is X ^mobile = {x ^mobile , y ^mobile , z ^mobile }, and the position of the positioning terminal 1 used for calculating the mobile phone position Is X ¹ , X ² , X ³ , X ⁴ (X ⁱ = x ⁱ , y ⁱ , z ⁱ ), the PDOP in the calculation of the mobile phone position is expressed by the following equation.

On the other hand, since the mobile phone position X ^mobile has not been obtained, a local horizontal plane with longitude and latitude as the x-axis and y-axis is considered as in the selection of the third point, and the intersection of the horizontal plane and the two hyperboloids Is the approximate position of the mobile phone position, and X ¹ , X ² , and X ³ are the coordinate values of the third point where the mobile phone distance calculation has already been performed (value stored as the positioning terminal position in the basic information) , The coordinate value X ⁴ = (x ⁴ , y ⁴ , z ⁴ ) that minimizes the PDOP is obtained, which is set as the fourth point, and then determined as the point where the portable radio wave is received.

  Instead of PDOP, HDOP (Horizontal Dilution Of Precision) may be used as an index when priority is given to accuracy in the horizontal direction, and VDOP (Vertical Dilution Of Precision) may be used as an index when priority is given to accuracy in the vertical direction. However, the terminal movement planning unit 20 selects a different index according to the range in which the positioning terminal 1 can move, and determines the next point to receive the portable radio wave according to the point calculation result.

The PDOP can also be used as an index for a movement plan based on portable location information stored in the storage unit 18. That is, for the mobile phone 5 for which the calculation of the mobile phone position has already been completed from four or more mobile phone distances, the position accuracy is improved by additionally observing the mobile phone distance. The mobile phone position immediately after calculation of the mobile phone position from four or more mobile phone distances is not necessarily based on the mobile phone distance measured from a geometrically good point, and the best accuracy is obtained. Absent. Therefore, a mobile phone position obtained from four or more mobile phone distances is set as X ^mobile, and X ⁵ = (x ⁵ , y ⁵ , z ⁵ ) that minimizes PDOP considering observation from the fifth point is obtained. This is the fifth point, and is determined as the next point to receive mobile radio waves. In this case, the row vector F is expressed by the following equation.

  More generally, it is known that the position measurement can be improved in accuracy by repeating the measurement a plurality of times. For each mobile phone 5, in the mobile position measurement based on the mobile phone distance, the mobile phone position is obtained by using four basic information as one set, and additionally four other basic information is obtained, and the mobile phone is obtained as one set. It is conceivable to obtain the position. In this case, the mobile phone position obtained from the two sets of basic information is averaged by weighting with the reciprocal of those PDOPs, for example, thereby improving the position accuracy compared with the case of obtaining a single set. be able to. For example, it can be expected that the positional accuracy of 3 to 5 m in a single set is improved to about 1 m by repeating 2 to 3 sets.

That is, in the rescue and rescue support system according to the first embodiment, mobile radio waves from a plurality of mobile phones 5 are actually received, basic information is generated one after another, and the position of each mobile phone 5 is calculated. . When there are a plurality of mobile phones 5, when the terminal movement planning unit 20 calculates the next reception point of mobile radio waves, for example, the weighted sum of PDOPs calculated from the individual mobile phone positions X ^mobile is minimized. Accordingly, it is possible to cope with the case where it is desired to prioritize and improve the accuracy of the mobile phone 5 with low position calculation accuracy according to the weight, or to improve the location accuracy of all the mobile phones 5 uniformly.

  In addition, it is possible to deal with a case where priority is given to the mobile phone 5 for which basic information is insufficient (for example, a mobile phone having only one hyperboloid described above). By repeating the measurement, it is possible to improve the position accuracy of a mobile phone whose position has already been determined, and it is possible to generate movement plan data with various weightings according to the purpose.

  The terminal guiding unit 21 outputs the movement plan data received from the terminal movement planning unit 20 to the display device 29 and the like to guide the positioning terminal 1.

  For example, the driver of the moving vehicle 2 is displayed on the display device by causing the display device to display the movement plan data for displaying the next reception point of the portable radio wave, the latest positioning terminal position, and the portable position information. Since the mobile vehicle 2 has only to be moved according to the movement plan data, it is possible to expect an improvement in search efficiency. Alternatively, it is also possible to output movement plan data including the next point to receive the mobile radio wave and the latest positioning terminal position to the drive control device of the moving vehicle 2 and automatically move the moving vehicle 2 according to the movement plan data. Good.

  In order to make the movement plan data easy to see, for example, from the three-dimensional positioning terminal position obtained with respect to the earth fixed coordinate system such as WGS84, the east direction with the positioning terminal position as the origin is the x axis, and the north direction is the y axis. In addition, it is possible to display the next mobile radio wave reception point and mobile phone position in the local horizontal coordinate system with the height direction as the z-axis, or, for example, the three-dimensional obtained for the earth fixed coordinate system such as WGS84. The positioning terminal position and the mobile phone position may be converted into the latitude, longitude, and altitude, respectively, and displayed.

  FIG. 5 is a diagram illustrating an example of the moving vehicle according to the first embodiment. The moving vehicle 2 is equipped with a positioning terminal 1, a ranging signal receiving antenna 201 that receives a ranging signal transmitted from the positioning satellite 4, and an error correction information receiving antenna 202 that receives error correction information from the multifunctional positioning satellite 3. And a portable radio wave receiving antenna 203 for receiving portable radio waves emitted from the cellular phone 5 and a display monitor 204 for displaying portable position information. The display monitor 204 may be included in the positioning terminal 1. The ranging signal receiving antenna 201, the error correction information receiving antenna 202, the portable radio wave receiving antenna 203, the display monitor 204, and the positioning terminal 1 are connected.

  The ranging signal receiving antenna 201 sends the received ranging signal to the ranging signal receiving unit 11. The error correction information receiving antenna 202 sends the received error correction information to the error correction information receiving unit 12. The portable radio wave receiving antenna 203 sends the received portable radio wave to the portable radio wave receiver 14. The terminal guide unit 21 outputs the movement plan data to the display monitor 204 for display.

  In addition to the vehicle, the moving vehicle 2 may be a flying object such as a helicopter, or may be a vehicle or flying object that can be remotely controlled. The positioning terminal 1 may be carried around by a person as a compact and portable device.

  FIG. 6 is a diagram illustrating an example of a display screen according to the first embodiment. The display screen of FIG. 6 is an example in which movement plan data including the current point 241 in the local horizontal coordinate system, the next point 242 for receiving mobile radio waves, and the mobile phone position 243 are displayed on the display monitor 204. In the example of FIG. 6, the arrow indicates the traveling direction.

  The mobile phone position 243 may display all mobile phone positions corresponding to all mobile IDs stored in the storage unit 18, or may display a mobile phone position whose distance from the positioning terminal 1 is a certain value or less. . Further, when a disaster victim who has the mobile phone 5 can be rescued, a function such as manually turning off the display of the mobile phone position 243 possessed by the disaster victim may be added.

  From the highly accurate positioning terminal position and the mobile phone position calculated by the mobile position calculation unit 19, the position of the mobile phone 5 possessed by the victim with respect to the current location while moving is grasped in real time by an intuitive display. Can help the victims quickly.

  FIG. 7 is a flowchart illustrating an example of the operation of the terminal position calculation process according to the first embodiment. The terminal position calculation process shown in FIG. 7 is started when the positioning terminal 1 is turned on, for example.

  When the ranging signal receiving unit 11 of the positioning terminal 1 does not receive the ranging signal transmitted from the positioning satellite 4 (step S11; NO), it repeats step S11 and waits for reception of the ranging signal. When a ranging signal is received (step S11; YES), the ranging signal receiving unit 11 acquires a pseudorange observation amount, a carrier phase observation amount, and a navigation message for the positioning satellite 4 from the ranging signal (step S11). S12). The ranging signal is simultaneously received from the positioning satellites 4 such as a plurality of GPS satellites, and the ranging signal receiving unit 11 records the reception time (step S13).

  When the error correction information receiving unit 12 does not receive the error correction information from the multi-function positioning satellite 3 (step S14; NO), the error correction information receiving unit 12 repeats step S14 and waits for reception of the error correction information. When the error correction information is received (step S14; YES), the error correction information receiving unit 12 from the error correction information, the pseudorange observation amount and the carrier phase observation amount for each positioning satellite 4 acquired by the ranging signal receiving unit 11 The pseudo-range correction amount and the carrier phase correction amount for correcting the error included in are calculated (step S15).

  The terminal position calculation unit 13 uses the pseudo-range correction for the positioning satellite calculated by the error correction information reception unit 12 based on the pseudo-range observation amount and the carrier phase observation amount for the four or more positioning satellites 4 acquired by the ranging signal reception unit 11. The corrected pseudo-range observation amount PR and the corrected carrier phase observation amount CP for the positioning satellite are calculated by correcting the amount and the carrier phase correction amount and the satellite clock error included in the navigation message (step S16).

  Next, the terminal position calculation unit 13 calculates the position, speed, and clock error of the positioning terminal 1 using the corrected pseudorange observation PR and the corrected carrier phase observation CP (step S17).

  If the power is not turned off (step S18; NO), the process returns to step S11, and steps S11 to S18 are repeated. When the power is turned off (step S18; YES), the process is terminated.

  FIG. 8 is a flowchart showing an example of the operation of the portable position calculation process according to the first embodiment. The portable position calculation process shown in FIG. 8 is started when the positioning terminal 1 is turned on, for example.

  When the mobile radio wave receiver 14 of the positioning terminal 1 does not receive the mobile radio wave emitted by the mobile phone 5 (step S21; NO), the mobile radio wave receiver 14 repeats step S21 and waits for the reception of the mobile radio wave. When the mobile radio wave is received (step S21; YES), the mobile ID determination unit 15 analyzes the mobile radio wave received by the mobile radio wave receiver 14 and acquires the mobile ID of the mobile phone 5 (step S22).

  The mobile geometric information calculation unit 16 calculates the mobile phone distance of the mobile phone 5 relative to the positioning terminal 1 from the positioning terminal clock error calculated by the terminal position calculation unit 13 in the terminal position calculation process and the mobile radio wave received by the mobile radio wave reception unit 14. The mobile phone direction is calculated (step S23).

  The basic information generation unit 17 includes the positioning terminal position calculated by the terminal position calculation unit 13 in the terminal position calculation process, the mobile ID obtained by the mobile ID determination unit 15, and the mobile phone distance or mobile phone calculated by the mobile geometric information calculation unit 16. One unit of basic information including the direction is generated (step S24). The storage unit 18 stores the basic information generated by the basic information generation unit 17 in a predetermined memory (step S25).

  The mobile position calculation unit 19 calculates a mobile phone position corresponding to the mobile ID from two or more basic information having the same mobile ID included in the basic information among the plurality of basic information stored in the storage unit 18. (Step S26). The mobile location calculation unit 19 generates 1 unit of mobile location information including the mobile ID and the calculated mobile phone location (step S27). The storage unit 18 stores the mobile phone position generated by the mobile position calculation unit 19 in a predetermined memory (step S28).

  If the power is not turned off (step S29; NO), the process returns to step S21 and repeats steps S21 to S29. When the power is turned off (step S29; YES), the process is terminated.

  FIG. 9 is a flowchart showing an example of operation of terminal guidance processing according to the first embodiment. The terminal guidance process shown in FIG. 9 starts when the positioning terminal 1 is powered on, for example.

  The terminal movement planning unit 20 uses the basic information stored in the storage unit 18 in the mobile location calculation process and / or the mobile location information to calculate the next point to receive mobile radio waves (step) S31).

  The terminal movement planning unit 20 generates movement plan data for guiding the positioning terminal 1 from the latest value of the positioning terminal position, with the calculated next point where the mobile radio wave is received as the destination (step S32). The terminal guiding unit 21 outputs the movement plan data to the display device 29 or the like to guide the positioning terminal 1 (step S33).

  If the power is not turned off (step S34; NO), the process returns to step S31, and steps S31 to S34 are repeated. When the power is turned off (step S34; YES), the process is terminated.

  As described above, according to the rescue / rescue support system 100 of the first embodiment, the movement plan data for determining the best measurement point for receiving the next portable radio wave that enables the early location of the disaster victim is output. Thus, the searcher can effectively narrow down the position of the victim in a short time by effectively using the mobile radio wave transmitted periodically without searching for the disaster area in the dark clouds. Early relief of the victim can be realized at the disaster site where the victim suffers weakness, possibility of secondary disaster, possibility of loss of communication means due to the battery of the victim's mobile phone 5 running out, etc.

  Further, by measuring the distance from the victim using the radio wave of the mobile phone 5, it is possible to acquire the position information of the victim in the building where the GPS signal does not reach or under the rubble. In addition, by using the error correction information distributed by the multifunctional positioning satellite 3 such as the quasi-zenith satellite, the positioning terminal position and the positioning terminal clock error used for searching for the victim are real-time (within 1 minute from the start of receiving the error correction information) ) With high accuracy (position: centimeter class, watch: 10 ns), the accuracy required to locate the victim according to the distance accuracy (about 3 m) obtained using the radio waves of mobile phones Position information is obtained. Further, since the ground element is not included in the constituent elements and the positioning terminal 1 includes only the multifunctional positioning satellite 3 such as the quasi-zenith satellite which is a space infrastructure that is not affected by the disaster that occurred on the ground, the present invention It can be used regardless of the damage situation of surrounding ground infrastructure.

  Based on the above, in the event of a disaster such as an earthquake, even if the ground infrastructure around the base station etc. cannot be used, the location information of the victims in the building or under the rubble where GPS signals do not reach It is possible to collect quickly and accurately by utilizing the functions of the mobile phone 5 owned by the user.

  For example, by installing this positioning terminal 1 in a private vehicle or the like, there is a system for searching for a victim using only the multi-function positioning satellite 3 such as GPS and a quasi-zenith satellite without depending on the ground infrastructure when a disaster occurs. Can be built. In addition, by mounting on a helicopter, highly efficient search from the air is possible. By walking around the affected area with the positioning terminal 1, it is possible to collect the location information of the affected person.

(Embodiment 2)
FIG. 10 is a block diagram showing a configuration example of a positioning terminal according to Embodiment 2 of the present invention. The rescue and rescue support system 200 of the second embodiment has the same configuration as the rescue and rescue support system 100 of the first embodiment, but the configuration of the positioning terminal 1 is different. Further, the number of positioning terminals 1 in the rescue and rescue support system 200 is two or more, and communication with other positioning terminals 1 is possible.

  The positioning terminal 1 according to the second embodiment includes a communication unit 22 that can communicate with other positioning terminals 1 in addition to the configuration of the positioning terminal 1 according to the first embodiment.

  The communication unit 22 transmits the basic information stored in the storage unit 18 to another positioning terminal 1 using wireless or the like. When the communication unit 22 receives basic information from another positioning terminal 1, the communication unit 22 stores the basic information in the storage unit 18. Similarly, the communication unit 22 transmits the mobile location information stored in the storage unit 18 to another positioning terminal 1 using wireless or the like. The communication part 22 will preserve | save in the memory | storage part 18, if portable position information is received from the other positioning terminal 1. FIG.

  The mobile position calculation unit 19 calculates the mobile phone position based on the basic information of the positioning terminal 1 and the basic information acquired from the other positioning terminals 1 stored in the storage unit 18.

  The terminal movement planning unit 20 stores the basic information of its own positioning terminal 1 and the basic information acquired from the other positioning terminals 1 stored in the storage unit 18, the mobile location information calculated by its own positioning terminal 1, and the like. Next, the location where the mobile radio wave is received is calculated using either or both of the mobile location information acquired from the positioning terminal 1.

  Other configurations of the second embodiment are the same as those of the first embodiment.

  According to the rescue and rescue support system 200 of the second embodiment, each positioning terminal 1 uses a plurality of positioning terminals 1 to measure the mobile phone distance or the mobile phone direction from geometrically different directions. Even if the distance that must be moved is short and the road surface condition is bad due to a disaster, a certain search efficiency can be ensured. Furthermore, since the mobile phone 5 can receive mobile radio waves emitted at the same time from a plurality of geometrically different directions and generate basic information, the influence of fluctuations in the time error of the mobile phone 5 can be ignored. Even when the time error fluctuates quickly, the mobile phone position can be calculated without a decrease in accuracy.

(Embodiment 3)
FIG. 11 is a block diagram showing a configuration example of a positioning terminal according to Embodiment 3 of the present invention. The rescue and rescue support system 300 of the third embodiment has the same configuration as the rescue and rescue support system 200 of the second embodiment, but the storage unit 18 of the positioning terminal 1 has a terminal ID for identifying its own positioning terminal 1. I remember it.

  In addition to the basic information and portable position information stored in the storage unit 18, the communication unit 22 stores the terminal ID stored in the storage unit 18 and the latest value of the positioning terminal position calculated by the terminal position calculation unit 13. Is transmitted to the other positioning terminal 1 using wireless or the like. When the communication unit 22 receives the latest position information from another positioning terminal 1, the communication unit 22 sends it to the terminal movement planning unit 20.

  The terminal movement planning unit 20 includes the basic information of the own positioning terminal 1 stored in the storage unit 18 and the basic information acquired from the other positioning terminal 1, the portable position information calculated by the own positioning terminal 1, and other information. Using either or both of the mobile location information acquired from the positioning terminal 1, the next location for receiving mobile radio waves is calculated for each of the positioning terminal 1 and the other positioning terminal 1.

  Unlike the cases of the first and second embodiments, the terminal movement planning unit 20 generates movement plan data considering not only a single positioning terminal 1 but a plurality of positioning terminals 1 at the same time. As an example, a case where a position for receiving a mobile radio wave next is calculated based on weighted PDOPs for a plurality of mobile phones 5 is shown.

  Let M be the number of positioning terminals 1 and K be the number of mobile phones 5. The position where the positioning terminal 1i (i = 1... M) receives the next mobile radio wave is Xi = {xi, yi, zi}, the approximate position of each mobile phone 5k (k = 1... K) is Xmobile_k, If the number of basic information included in one set of basic information already collected for calculating the mobile phone position is nk, Z = {X1, X2,... XM} is a variable, and the evaluation function J shown below is minimized. Turn into.

(J = 1... Nk) indicates a positioning terminal position included in one set of basic information for calculating the position of the mobile phone 5k. W _k is a weight.

  As another example, some of the positioning terminals 1 give priority to the mobile phone 5 that lacks basic information (for example, the mobile phone that has only one hyperboloid as described above), and the remaining positioning terminals 1 have already been assigned approximate positions. A combination of giving priority to improving the positional accuracy of the mobile phone 5 is required.

  The terminal movement planning unit 20 generates movement plan data for each terminal ID, which guides the positioning terminal 1 from the latest value of the positioning terminal position, with the calculated point next receiving the mobile radio wave as the destination for each positioning terminal 1. Generate.

  The communication unit 22 may further transmit the movement plan data for each terminal ID generated by the terminal movement planning unit 20 to the other positioning terminal 1. In this case, the communication unit 22 receives the movement plan data for each terminal ID from the other positioning terminal 1 and sends it to the terminal guiding unit 21.

  The terminal guiding unit 21 displays the movement plan data of the terminal ID of its own positioning terminal 1 stored in the storage unit 18 among the movement plan data for each terminal ID received from the terminal movement planning unit 20 or the communication unit 22. And so on. According to this, when the movement plan data cannot be generated by the own positioning terminal 1, the movement plan data generated by the other positioning terminals 1 can be used.

  Other configurations of the third embodiment are the same as those of the second embodiment.

  As described above, according to the rescue / rescue support system 300 of the third embodiment, the movement plan data is obtained by simultaneously considering the basic information and the portable position information acquired by the entire system and the position information of a plurality of positioning terminals 1. Therefore, better movement plan data can be obtained as compared with the case of generating movement plan data individually at each positioning terminal 1, and more accurate calculation of the position of the victim can be expected by a short search.

(Embodiment 4)
FIG. 12 is a block diagram showing a configuration example of a positioning terminal according to Embodiment 4 of the present invention. The rescue / rescue support system 400 according to the fourth embodiment has a configuration in which the server 6 separately provided with the functions of the terminal movement planning units 20 of all the positioning terminals 1 of the rescue / rescue support system 300 according to the third embodiment. The positioning terminal 1 of the rescue / rescue support system 400 does not include the terminal movement planning unit 20.

  The communication unit 22 of the positioning terminal 1 includes the terminal ID stored in the storage unit 18 and the positioning terminal position calculated by the terminal position calculation unit 13 in addition to the basic information and the portable position information stored in the storage unit 18. The latest position information associated with the latest value is transmitted to the server 6 by wireless or the like.

  The server 6 includes a communication unit 61, a storage unit 62, and a terminal movement planning unit 63. The communication unit 61 receives basic information, portable position information, and latest position information from the positioning terminal 1. The storage unit 62 stores the basic information, mobile location information, and latest location information of all the positioning terminals 1 received by the communication unit 61 in a predetermined memory. As the memory, a hard disk, a flash memory, or the like is used so that a plurality of units of basic information and mobile location information can be stored.

  The terminal movement planning unit 63 uses the basic information stored in the storage unit 62 and / or the mobile location information to calculate the next reception point of the mobile radio wave for each positioning terminal 1. The terminal movement planning unit 63 obtains movement plan data for each terminal ID for each positioning terminal 1, which guides the positioning terminal 1 from the latest value of the positioning terminal position, with the next received portable radio wave being received as the destination. Generate.

  The communication unit 61 transmits the movement plan data generated by the terminal movement planning unit 63 to the positioning terminal 1 having the corresponding terminal ID.

  The communication unit 22 of the positioning terminal 1 receives the movement plan data from the server 6 and sends it to the terminal guiding unit 21. The terminal guide unit 21 outputs the received movement plan data to the display device 29 or the like to guide the positioning terminal 1.

  As described above, according to the rescue / rescue support system 400 of the fourth embodiment, the server 6 calculates the point where the portable radio wave is received next, and generates the movement plan data, whereby the mobile type high accuracy is obtained. A calculation environment with higher specifications than the positioning terminal can be expected, and a mathematically superior algorithm with a higher calculation load can be applied. Thereby, compared with the case where movement plan data is generated by the positioning terminal 1, better movement plan data can be obtained according to the algorithm, and more accurate calculation of the position of the victim can be expected in a short time search.

(Embodiment 5)
FIG. 13 is a block diagram showing a configuration example of a positioning terminal according to Embodiment 5 of the present invention. The rescue and rescue support system 500 according to the fifth embodiment includes a center 7 in addition to the configuration of the rescue and rescue support system 100 according to the first embodiment. The number of positioning terminals 1 in the rescue and rescue support system 500 is two or more.

  The positioning terminal 1 of the rescue and rescue support system 500 includes a portable position information transmission unit 23 that can transmit information to the multifunctional positioning satellite 3 in addition to the configuration of the positioning terminal 1 of the first embodiment. In addition, the storage unit 18 stores a terminal ID that identifies its own positioning terminal 1.

  The portable position information transmitting unit 23 transmits the portable position information stored in the storage unit 18 to the multi-function positioning satellite 3. For the transmission of portable position information to the multi-function positioning satellite 3, the bidirectional communication function of the multi-function positioning satellite 3 is used. For example, when the three-dimensional portable position information is represented by 16-bit floating point numbers and the portable ID is represented by a 32-bit binary number, the amount of information of one portable position information transmitted to the multi-function positioning satellite 3 is 80 bits (16 × 3 + 32). The transmission method conforms to a predetermined message format and specification designated by the multi-function positioning satellite 3 such as a quasi-zenith satellite. The multi-function positioning satellite 3 transmits the portable position information received from the positioning terminal 1 to the center 7.

  The center 7 includes a portable position information receiving unit 71 and a portable position information storage unit 72. The portable position information receiving unit 71 receives portable position information from the multifunction positioning satellite 3. The mobile location information storage unit 72 stores the mobile location information received by the mobile location information receiving unit 71 in a predetermined memory. The memory uses a hard disk, a flash memory, or the like so that a plurality of units of mobile location information can be stored.

  As described above, according to the rescue and rescue support system 500 of the fifth embodiment, the location information of the mobile phones 5 of a large number of disaster victims in the disaster area is collected using the bidirectional communication function of the multi-function positioning satellite 3. Therefore, it is possible to grasp the positions of a large number of victims in a lump, and to make a rescue plan for quick rescue. In addition, when the disaster-caused occurrence of the ground infrastructure such as a base station becomes impossible because the two-way communication function of the multi-function positioning satellite 3 that is the space infrastructure is used to collect the location information of the victim's mobile phone 5 In addition, the location information of the victims can be continuously collected.

  In the above description, Embodiment 5 is combined with Embodiment 1, but may be combined with other embodiments.

  FIG. 14 is a block diagram showing an example of a hardware configuration of the processing apparatus according to the embodiment of the present invention. As shown in FIG. 14, the positioning terminal 1 includes a control unit 31, a main storage unit 32, an external storage unit 33, an operation unit 34, a display unit 35, an input / output unit 36, and a transmission / reception unit 37. The main storage unit 32, the external storage unit 33, the operation unit 34, the display unit 35, the input / output unit 36 and the transmission / reception unit 37 are all connected to the control unit 31 through the internal bus 30.

  The control unit 31 includes a CPU (Central Processing Unit) and the like, and in accordance with a control program 39 stored in the external storage unit 33, the terminal position calculation unit 13, the portable ID determination unit 15, the portable geometric information calculation unit of the positioning terminal 1. 16, the basic information generation unit 17, the portable position calculation unit 19, the terminal movement planning unit 20, and the terminal guidance unit 21 are executed.

  The main storage unit 32 is composed of a RAM (Random-Access Memory) or the like, loads a control program 39 stored in the external storage unit 33, and is used as a work area of the control unit 31.

  The external storage unit 33 includes a nonvolatile memory such as a flash memory, a hard disk, a DVD-RAM, and a DVD-RW, and stores in advance a program for causing the control unit 31 to perform processing of the positioning terminal 1 and also performs control. According to the instruction of the unit 31, the data stored by this program is supplied to the control unit 31, and the data supplied from the control unit 31 is stored. The storage unit 18 is configured in the external storage unit 33.

  The operation unit 34 includes a pointing device such as a keyboard and a mouse, and an interface device that connects the keyboard and the pointing device to the internal bus 30. When the user inputs information to the positioning terminal 1, the input information is supplied to the control unit 31 via the operation unit 34.

  The display unit 35 is composed of a CRT or LCD. When the user inputs information to the positioning terminal 1, an operation screen is displayed. When the positioning terminal 1 includes the display monitor 204, the display unit 35 functions as the display monitor 204.

  The input / output unit 36 includes a serial interface or a parallel interface. The input / output unit 36 is connected to the ranging signal receiving antenna 201, the error correction information receiving antenna 202, the portable radio wave receiving antenna 203, and the display monitor 204. The input / output unit 36 functions as the ranging signal receiving unit 11, the error correction information receiving unit 12, the portable radio wave receiving unit 14, the terminal guiding unit 21, and the portable position information transmitting unit 23.

  The transmission / reception unit 37 includes a network termination device or a wireless communication device connected to the network, and a serial interface or a LAN (Local Area Network) interface connected to them. It functions as the communication unit 22 of the positioning terminal 1.

  2, 10, 11, 12, and 13, ranging signal receiving unit 11, error correction information receiving unit 12, terminal position calculating unit 13, portable radio wave receiving unit 14, portable ID discriminating unit 15, portable geometric information calculation unit 16, basic information generation unit 17, storage unit 18, portable position calculation unit 19, terminal movement planning unit 20, terminal guidance unit 21, communication unit 22, and portable position information transmission unit 23, The control program 39 is executed by processing using the control unit 31, the main storage unit 32, the external storage unit 33, the operation unit 34, the display unit 35, the input / output unit 36, the transmission / reception unit 37, and the like as resources.

  In addition, the hardware configuration and the flowchart described above are merely examples, and can be arbitrarily changed and modified.

  A central part that performs processing of the positioning terminal 1 including the control unit 31, the main storage unit 32, the external storage unit 33, the operation unit 34, the display unit 35, the input / output unit 36, the transmission / reception unit 37, the internal bus 30, and the like. Can be realized using a normal computer system, not a dedicated system. For example, a computer program for executing the above operation is stored and distributed on a computer-readable recording medium (flexible disk, CD-ROM, DVD-ROM, etc.), and the computer program is installed in the computer. Thus, the positioning terminal 1 that executes the above-described processing may be configured. Further, the positioning terminal 1 may be configured by storing the computer program in a storage device included in a server device on a communication network such as the Internet and downloading the computer program by a normal computer system.

  Further, when the functions of the positioning terminal 1 are realized by sharing of an OS (operating system) and an application program, or by cooperation between the OS and the application program, only the application program portion is stored in a recording medium or a storage device. May be.

  It is also possible to superimpose a computer program on a carrier wave and provide it via a communication network. For example, a computer program may be posted on a bulletin board (BBS, Bulletin Board System) on a communication network, and the computer program may be provided via the network. And you may comprise so that the process of the positioning terminal 1 can be performed by starting this computer program and performing similarly to another application program under control of OS.

  1 positioning terminal, 2 moving vehicle, 3 multifunctional positioning satellite, 4 positioning satellite, 5 mobile phone, 6 server, 7 center, 11 ranging signal receiving unit, 12 error correction information receiving unit, 13 terminal position calculating unit, 14 carrying Radio wave reception unit, 15 mobile ID discrimination unit, 16 mobile geometric information calculation unit, 17 basic information generation unit, 18 storage unit, 19 mobile location calculation unit, 20 terminal movement planning unit, 21 terminal guidance unit, 22 communication unit, 23 mobile phone Position information transmission unit, 29 display device, etc. 30 internal bus, 31 control unit, 32 main storage unit, 33 external storage unit, 34 operation unit, 35 display unit, 36 input / output unit, 37 transmission / reception unit, 39 control program, 61 Communication unit, 62 storage unit, 63 terminal movement planning unit, 71 mobile location information receiving unit, 72 mobile location information storage unit, 100, 200, 300, 400, 500 rescue rescue Support system, 201 Ranging signal receiving antenna, 202 Error correction information receiving antenna, 203 Mobile radio wave receiving antenna, 204 Display monitor, 241 Current location, 242 Next location to receive mobile radio wave, 243 Mobile phone location, AP mobile phone location , H, HA, HB hyperboloid, P1, P2 positioning terminal position, PA, PB candidate points.

Claims (14)

A positioning terminal that can communicate with multiple positioning satellites and is movable.
The positioning terminal is
A ranging signal receiving unit that receives a ranging signal from the positioning satellite, and obtains a pseudorange observation amount, a carrier phase observation amount, and a navigation message for the positioning satellite from the ranging signal;
A terminal position calculation unit that calculates the position, speed, and clock error of the positioning terminal using the pseudorange observation amount, the carrier phase observation amount, and the navigation message;
A mobile radio wave receiver for receiving mobile radio waves emitted by a mobile phone;
A mobile ID discriminating unit for acquiring a mobile ID for identifying the mobile phone from the mobile radio wave received by the mobile radio wave receiving unit;
Mobile geometric information calculation for calculating a mobile phone distance or a mobile phone direction of the mobile phone relative to the positioning terminal from a clock error of the positioning terminal calculated by the terminal position calculation unit and a mobile radio wave received by the mobile radio wave reception unit And
Basic information including the position of the positioning terminal calculated by the terminal position calculation unit, the mobile ID acquired by the mobile ID determination unit, and the mobile phone distance or the mobile phone direction calculated by the mobile geometric information calculation unit. A basic information generation unit to generate;
Of the basic information, the position of the mobile phone corresponding to the mobile ID is calculated from two or more pieces of the basic information having the same mobile ID, and the mobile including the mobile ID and the calculated position of the mobile phone A portable position calculation unit for generating position information;
Using either or both of the basic information and the mobile location information, the next location for receiving mobile radio waves is calculated, and the next location for receiving mobile radio waves is calculated as the destination. A terminal movement planning unit for generating movement planning data for guiding the positioning terminal from the latest value of the position;
A terminal guidance unit for outputting the movement plan data;
With
The terminal movement planning unit, when two basic information with the same mobile ID is obtained and a third point is obtained, a hyperbolic asymptotic line with a constant difference between the position of the positioning terminal and the mobile phone distance; Find the next point to receive mobile radio waves from the distance that the positioning terminal can move at the mobile radio wave transmission time interval ,
When there are two or more pieces of the basic information or the mobile location information having different mobile IDs, the terminal movement planning unit has the basic information with the same mobile ID and the basic information of the mobile ID or the mobile Using the location information, the next location for receiving the mobile radio wave is calculated, and the next location for receiving the mobile radio wave is calculated as a destination, and the movement plan for guiding the positioning terminal from the latest value of the location of the positioning terminal Generate data,
Positioning terminal. The portable geometric information calculation unit includes a time when the portable radio wave reception unit receives the portable radio wave, a clock error of the positioning terminal calculated by the terminal position calculation unit, and the mobile phone obtained by demodulating the portable radio wave. The positioning terminal according to claim 1 , wherein the mobile phone distance is calculated from a time when the mobile radio wave is transmitted. The portable radio wave receiving unit is equipped with a directional antenna such as an array antenna showing a high received radio wave intensity with respect to the direction of the source of the portable radio wave, and outputs the reception intensity for each direction when the portable radio wave is received from the mobile phone. And
It said portable geometric information calculation unit, wherein the said direction each reception strength portable radio receiver has an output, the positioning terminal according to claim 1 or 2 calculates the mobile phone direction. A communication unit that transmits the basic information of the positioning terminal and the mobile location information to another positioning terminal, and receives and stores the basic information and the mobile location information of the other positioning terminal;
The mobile position calculation unit calculates a mobile phone position based on the basic information of the positioning terminal of itself and the basic information acquired from the other positioning terminal,
The terminal movement planning unit acquires the basic information acquired from the positioning terminal and the basic information acquired from the other positioning terminal, the portable position information calculated by the positioning terminal and the other positioning terminal. Using the mobile location information, or both, the next location for receiving the mobile radio wave is calculated, and the next location for receiving the next mobile radio wave is calculated as the destination and the latest location of the positioning terminal is calculated. The positioning terminal of any one of Claim 1 to 3 which produces | generates the movement plan data which guides the said positioning terminal from a value. The communication unit transmits the latest position information that associates the terminal ID and the latest value of the position of the positioning terminal to the other positioning terminal, receives the latest position information from the other positioning terminal,
The terminal movement planning unit acquires the basic information acquired from the positioning terminal and the basic information acquired from the other positioning terminal, the portable position information calculated by the positioning terminal and the other positioning terminal. Using the mobile location information, or both of the mobile location information, the next location for receiving mobile radio waves is calculated for each of the own positioning terminal and the other positioning terminal, and the movement plan for each terminal ID is calculated. Generate data,
The positioning terminal according to claim 4 , wherein the terminal guiding unit outputs the movement plan data of the terminal ID of the own positioning terminal among movement plan data for each terminal ID. The communication unit transmits the movement plan data for each terminal ID generated by the terminal movement planning unit to the other positioning terminal, and receives the movement plan data for each terminal ID from the other positioning terminal. ,
The terminal guidance unit includes the positioning information of the movement planning data for each terminal ID generated by the terminal movement planning unit or the movement planning data for each terminal ID received from the other positioning terminal. The positioning terminal according to claim 5 , wherein the movement plan data of the terminal ID of the terminal is output. The positioning terminal according to any one of claims 1 to 6 , wherein the terminal guide unit outputs the movement plan data including at least a latest value of the position of the positioning terminal and a point where the mobile radio wave is received next. The positioning terminal according to claim 7 , wherein the terminal guiding unit outputs the movement plan data further including the portable position information. Receiving the error correction information from the multi-function positioning satellites, according to any one of claims 1 to 8 comprising error correction information receiving unit to correct an error of the distance measuring signals the ranging signal receiving unit receives Positioning terminal. A mobile phone search system comprising a positioning terminal and a server that can communicate with and move with a plurality of positioning satellites,
The positioning terminal is
A ranging signal receiving unit that receives a ranging signal from the positioning satellite, and obtains a pseudorange observation amount, a carrier phase observation amount, and a navigation message for the positioning satellite from the ranging signal;
A terminal position calculation unit that calculates the position, speed, and clock error of the positioning terminal using the pseudorange observation amount, the carrier phase observation amount, and the navigation message;
A mobile radio wave receiver for receiving mobile radio waves emitted by a mobile phone;
A mobile ID discriminating unit for acquiring a mobile ID for identifying the mobile phone from the mobile radio wave received by the mobile radio wave receiving unit;
Mobile geometric information calculation for calculating a mobile phone distance or a mobile phone direction of the mobile phone relative to the positioning terminal from a clock error of the positioning terminal calculated by the terminal position calculation unit and a mobile radio wave received by the mobile radio wave reception unit And
Basic information including the position of the positioning terminal calculated by the terminal position calculation unit, the mobile ID acquired by the mobile ID determination unit, and the mobile phone distance or the mobile phone direction calculated by the mobile geometric information calculation unit. A basic information generation unit to generate;
Of the basic information, the position of the mobile phone corresponding to the mobile ID is calculated from two or more pieces of the basic information having the same mobile ID, and the mobile including the mobile ID and the calculated position of the mobile phone A portable position calculation unit for generating position information;
A first transmitter that transmits the basic information and the portable position information, a terminal ID for identifying the positioning terminal, and the latest position information that associates the latest value of the position of the positioning terminal to the server;
A first receiving unit for receiving movement plan data for guiding the positioning terminal from the server;
A terminal guidance unit for outputting the movement plan data;
With
The server
A second receiving unit that receives the basic information and the mobile location information and the latest location information from the positioning terminal;
Using the basic information and / or the mobile location information received by the second receiving unit, a location for receiving the next mobile radio wave is calculated for the positioning terminal, and then the mobile radio wave is calculated. A terminal movement planning unit that generates the movement plan data for each terminal ID, which guides the positioning terminal from the latest value of the position of the positioning terminal indicated by the latest position information, with the point of receiving the destination as a destination,
A second transmitter for transmitting the movement plan data to the positioning terminal of the corresponding terminal ID;
With
The terminal movement planning unit, when two basic information with the same mobile ID is obtained and a third point is obtained, a hyperbolic asymptotic line with a constant difference between the position of the positioning terminal and the mobile phone distance; Find the next point to receive mobile radio waves from the distance that the positioning terminal can move at the mobile radio wave transmission time interval ,
When there are two or more pieces of the basic information or the mobile location information having different mobile IDs, the terminal movement planning unit has the basic information with the same mobile ID and the basic information of the mobile ID or the mobile Using the location information, the next location for receiving the mobile radio wave is calculated, and the next location for receiving the mobile radio wave is calculated as a destination, and the movement plan for guiding the positioning terminal from the latest value of the location of the positioning terminal Generate data,
Mobile phone search system. Multi-function positioning satellite,
A center for centrally managing mobile location information including a mobile ID for identifying a mobile phone and the location of the mobile phone;
The positioning terminal according to any one of claims 1 to 9 ,
With
The positioning terminal is
A portable position information transmitter for transmitting the portable position information to the multifunctional positioning satellite;
The multi-function positioning satellite has a bidirectional communication function with the positioning terminal, receives the portable position information from the positioning terminal and transmits it to the center,
The center is
A portable position information receiving unit for receiving the portable position information from the multi-function positioning satellite;
A portable position information storage unit for storing the portable position information received by the portable position information receiving unit;
A mobile phone search system comprising: A mobile phone search method executed by a mobile positioning terminal that can communicate with a plurality of positioning satellites,
A ranging signal receiving step for receiving a ranging signal from the positioning satellite, and obtaining a pseudorange observation amount, a carrier phase observation amount, and a navigation message for the positioning satellite from the ranging signal;
A terminal position calculating step of calculating a position, speed, and clock error of the positioning terminal using the pseudorange observable, the carrier phase observable, and the navigation message;
A portable radio wave receiving step for receiving a portable radio wave emitted by a mobile phone;
A mobile ID determination step for acquiring a mobile ID for identifying the mobile phone from the mobile radio wave received in the mobile radio wave reception step;
Mobile geometric information calculation for calculating the mobile phone distance or the mobile phone direction of the mobile phone relative to the positioning terminal from the clock error of the positioning terminal calculated in the terminal position calculating step and the mobile radio wave received in the mobile radio wave receiving step. Steps,
Basic information including the position of the positioning terminal calculated in the terminal position calculating step, the mobile ID acquired in the mobile ID determining step, and the mobile phone distance or the mobile phone direction calculated in the mobile geometric information calculating step. A basic information generation step to generate;
Of the basic information, the position of the mobile phone corresponding to the mobile ID is calculated from two or more pieces of the basic information having the same mobile ID, and the mobile including the mobile ID and the calculated position of the mobile phone A portable position calculating step for generating position information;
Using either or both of the basic information and the mobile location information, the next location for receiving mobile radio waves is calculated, and the next location for receiving mobile radio waves is calculated as the destination. A terminal movement plan step for generating movement plan data for guiding the positioning terminal from the latest value of the position;
A terminal guidance step for outputting the movement plan data;
With
In the terminal movement planning step, when two basic information having the same mobile ID is obtained and a third point is obtained, a hyperbolic asymptotic line with a constant difference between the position of the positioning terminal and the mobile phone distance, and Find the next point to receive mobile radio waves from the distance that the positioning terminal can move at the mobile radio wave transmission time interval ,
In the terminal movement planning step, when there are two or more pieces of the basic information or the mobile location information having different mobile IDs, the basic information of the mobile ID or the mobile phone having the same basic mobile ID is small. Using the location information, the next location for receiving the mobile radio wave is calculated, and the next location for receiving the mobile radio wave is calculated as a destination, and the movement plan for guiding the positioning terminal from the latest value of the location of the positioning terminal Generate data,
Mobile phone search method. A mobile computer that can communicate with multiple positioning satellites
A ranging signal receiving unit that receives a ranging signal from the positioning satellite and obtains a pseudorange observation amount, a carrier phase observation amount, and a navigation message for the positioning satellite from the ranging signal;
A terminal position calculation unit that calculates the position, speed, and clock error of the computer using the pseudorange observation, the carrier phase observation, and the navigation message;
A mobile radio wave receiver for receiving mobile radio waves emitted by mobile phones,
A mobile ID discriminating unit for acquiring a mobile ID for identifying the mobile phone from the mobile radio wave received by the mobile radio wave receiving unit;
A mobile geometric information calculation unit for calculating a mobile phone distance or a mobile phone direction of the mobile phone relative to the computer from a clock error of the computer calculated by the terminal position calculation unit and a mobile radio wave received by the mobile radio wave reception unit;
Basic information including the computer position calculated by the terminal position calculation unit, the mobile ID acquired by the mobile ID determination unit, and the mobile phone distance or the mobile phone direction calculated by the mobile geometric information calculation unit is generated. A basic information generator,
Of the basic information, the position of the mobile phone corresponding to the mobile ID is calculated from two or more pieces of the basic information having the same mobile ID, and the mobile including the mobile ID and the calculated position of the mobile phone A portable position calculation unit for generating position information;
When the basic information and the mobile location information are used to obtain a third point by obtaining the two basic information having the same mobile ID, the location of the computer, the mobile phone distance A point at which the computer receives the next mobile radio wave from a hyperbolic asymptote and a mobile radio wave transmission time interval with a constant difference between the two, and two or more pieces of the basic information having different mobile IDs Alternatively, when the mobile location information is present, the mobile information is calculated using the basic information or the mobile location information of the mobile ID having the same mobile ID and the basic information being less, Then, a terminal mobile meter that generates movement plan data for guiding the computer from the latest value of the position of the computer, with a point where a portable radio wave is received next as a destination Parts, and,
A terminal guidance unit for outputting the movement plan data;
Program to function as. A server that communicates with a plurality of positioning satellites and with a movable positioning terminal,
From the positioning terminal, including the position of the positioning terminal, a mobile ID for identifying a mobile phone, and basic information including the mobile phone distance or mobile phone direction of the mobile phone relative to the positioning terminal, the mobile ID and the location of the mobile phone A receiver that receives portable position information, and the latest position information that associates the basic information and the portable position information with a terminal ID that identifies the positioning terminal and the latest value of the position of the positioning terminal;
Using either or both of the basic information of the positioning terminal and the mobile location information received by the receiving unit, the location for receiving the next mobile radio wave is calculated for the positioning terminal, and then the mobile radio wave is calculated. A terminal movement planning unit that generates the movement plan data for each terminal ID, with the receiving point as a destination, guiding the positioning terminal from the latest value of the position of the positioning terminal indicated by the latest position information;
A transmission unit for transmitting the movement plan data to the positioning terminal corresponding to the terminal ID,
The terminal movement planning unit, when two basic information with the same mobile ID is obtained and a third point is obtained, a hyperbolic asymptotic line with a constant difference between the position of the positioning terminal and the mobile phone distance; Find the next point to receive mobile radio waves from the distance that the positioning terminal can move at the mobile radio wave transmission time interval ,
When there are two or more pieces of the basic information or the mobile location information having different mobile IDs, the terminal movement planning unit has the basic information with the same mobile ID and the basic information of the mobile ID or the mobile Using the location information, the next location for receiving the mobile radio wave is calculated, and the next location for receiving the mobile radio wave is calculated as a destination, and the movement plan for guiding the positioning terminal from the latest value of the location of the positioning terminal Generate data,
server.

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