JP6551615B2 - 位置推定装置及び位置推定方法 - Google Patents
位置推定装置及び位置推定方法 Download PDFInfo
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- JP6551615B2 JP6551615B2 JP2018553697A JP2018553697A JP6551615B2 JP 6551615 B2 JP6551615 B2 JP 6551615B2 JP 2018553697 A JP2018553697 A JP 2018553697A JP 2018553697 A JP2018553697 A JP 2018553697A JP 6551615 B2 JP6551615 B2 JP 6551615B2
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- estimated position
- rssi
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/0221—Receivers
- G01S5/02213—Receivers arranged in a network for determining the position of a transmitter
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Description
実施の形態1に係る位置推定装置は、互いに異なる既知の位置に設置された複数の受信器で移動体から発せられる電波の受信強度(以下ではRSSIと表記する)を測定し、測定されたRSSIに基づいて当該移動体の位置を推定する装置である。
実施の形態1では、存在円上に目標点を設定し、推定位置を当該目標点に更新した。この構成によれば、RSSIが何らかの要因で大きくなり、隣接する固定局のそれぞれを中心とする存在円が小さくなって互いに離れると、推定位置は更新のたびに存在円間を行き来することになる。
20 移動体
21 発信器
22 ビーコン
30 通信ネットワーク
100a〜100f 固定局
110a〜110c 受信器
120a〜120c 通信器
130a〜130c 計算器
200 サーバ
220 通信器
230 計算器
Claims (5)
- 互いに異なる既知の位置に設置され、移動体から発せられる電波の受信強度を測定する複数の受信器と、
前記複数の受信器のうちの1つの受信器である対象受信器で測定された受信強度に基づき、前記移動体の推定位置を、前記対象受信器を中心とし前記受信強度に基づく距離を半径とする存在円に近づくように更新する処理を、前記複数の受信器の各々を対象受信器として逐次行う計算器と、
を備える位置推定装置。 - 前記計算器は、前記移動体の推定位置を、前記対象受信器と前記移動体の現在の推定位置とを通る直線と前記存在円との交点に近づくように更新する、
請求項1に記載の位置推定装置。 - 前記計算器は、前記移動体の推定位置を、前記移動体の現在の推定位置と前記交点とを両端とする線分の内分点に更新する、
請求項2に記載の位置推定装置。 - 前記計算器は、前記移動体の現在の推定位置が、前記存在円の外にある場合のみ、前記移動体の推定位置を更新する、
請求項1から3の何れか1項に記載の位置推定装置。 - 移動体から発せられる電波の受信強度を、互いに異なる既知の位置に設置された受信器で測定し、
前記複数の受信器のうちの1つの受信器である対象受信器で測定された受信強度に基づき、前記移動体の推定位置を、前記対象受信器を中心とし前記受信強度に基づく距離を半径とする存在円に近づくように更新する処理を、前記複数の受信器の各々を対象受信器として逐次行う、
位置推定方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016231688 | 2016-11-29 | ||
JP2016231688 | 2016-11-29 | ||
PCT/JP2017/036655 WO2018100892A1 (ja) | 2016-11-29 | 2017-10-10 | 位置推定装置及び位置推定方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP6551615B2 true JP6551615B2 (ja) | 2019-07-31 |
JPWO2018100892A1 JPWO2018100892A1 (ja) | 2019-10-17 |
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JP2018553697A Active JP6551615B2 (ja) | 2016-11-29 | 2017-10-10 | 位置推定装置及び位置推定方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10859671B2 (ja) |
JP (1) | JP6551615B2 (ja) |
WO (1) | WO2018100892A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7125359B2 (ja) * | 2019-01-31 | 2022-08-24 | 大井電気株式会社 | 測位装置 |
JP2021001833A (ja) * | 2019-06-24 | 2021-01-07 | アライドテレシスホールディングス株式会社 | 位置推定装置および方法 |
CN110493731B (zh) * | 2019-09-09 | 2022-03-29 | 腾讯科技(深圳)有限公司 | 移动轨迹获取方法、装置、存储介质以及设备 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB0324098D0 (en) | 2003-10-15 | 2003-11-19 | Koninkl Philips Electronics Nv | Method and apparatus for indicating the location of an object |
US7683835B2 (en) * | 2006-08-15 | 2010-03-23 | Computer Associates Think, Inc. | System and method for locating wireless devices |
CN101526601B (zh) * | 2008-03-04 | 2013-02-13 | 日电(中国)有限公司 | 采取toa与rss融合方式的自适应定位方法、设备和系统 |
US8669902B2 (en) * | 2010-09-03 | 2014-03-11 | Cisco Technology, Inc. | Location estimation for wireless devices |
JP5691613B2 (ja) | 2011-02-18 | 2015-04-01 | 富士通株式会社 | 移動端末位置推定装置、移動端末位置推定方法及び電波環境指標算出方法 |
JP5712803B2 (ja) | 2011-06-08 | 2015-05-07 | 富士通株式会社 | 測位方法、測位システム及びプログラム |
US9933509B2 (en) * | 2011-11-10 | 2018-04-03 | Position Imaging, Inc. | System for tracking an object using pulsed frequency hopping |
KR102051965B1 (ko) * | 2012-06-28 | 2019-12-04 | 한국전자통신연구원 | 위치 계산 장치 및 그 방법 |
US9274210B2 (en) * | 2012-10-19 | 2016-03-01 | Qualcomm Incorporated | Indoor radio ranging based on a subset of subcarriers employed by orthogonal frequency division multiplexing (OFDM) |
IL227285A0 (en) * | 2013-07-01 | 2013-12-31 | Rami Goldreich | Multipath interference reduction for geo-location based on time-of-arrival |
-
2017
- 2017-10-10 JP JP2018553697A patent/JP6551615B2/ja active Active
- 2017-10-10 WO PCT/JP2017/036655 patent/WO2018100892A1/ja active Application Filing
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2019
- 2019-05-07 US US16/404,933 patent/US10859671B2/en active Active
Also Published As
Publication number | Publication date |
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US10859671B2 (en) | 2020-12-08 |
WO2018100892A1 (ja) | 2018-06-07 |
US20190257917A1 (en) | 2019-08-22 |
JPWO2018100892A1 (ja) | 2019-10-17 |
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