JP6572026B2 - Position management system, mobile reception system, and position management method - Google Patents

Description

  The present invention relates to a position management system, a mobile reception system, and a position management method for managing the position of a moving object (moving person) using wireless communication technology.

  Conventionally, in a location management system that measures the current location of a mobile person in a facility or the like, for example, a radio wave transmitter that is installed at a plurality of locations in the facility and transmits radio waves and carried by a mobile person moving in the facility, When receiving the radio wave from the transmitter, the current position is measured, the position information including the measured position data and the identification code is notified by wireless communication, and the position information from each mobile terminal is received. A server that grasps the position of each mobile person and provides positional information of any mobile person as necessary.

  As the mobile terminal, for example, a multi-function mobile phone such as a smartphone is used. That is, recent multifunctional mobile phones are equipped with Bluetooth (registered trademark) as a standard for short-range wireless communication specifications together with a positioning function using GPS or the like. Therefore, the radio wave transmitter is provided with a Bluetooth communication function to establish wireless communication between the radio wave transmitter and the portable terminal. Each radio wave transmitter is connected to a network in the facility, and notifies a management server connected to the network of position information from the mobile terminal. The management server manages the location of the mobile person from the location information from each mobile terminal, and notifies the current location of any mobile person in response to a request.

JP 2011-145873 A JP2015-106814A

  However, in the conventional position management system, the mobile terminal side waits for reception of radio waves, measures the position every time a radio wave is received, and notifies the position information, so that the mobile terminal consumes a large amount of power. In addition, since a high-precision positioning function of the mobile terminal is used, a simple mobile terminal not equipped with this function cannot be used.

  An object of the present invention is to provide a position management system, a mobile reception system, and a position management method capable of reliably managing the position of a moving body while suppressing power consumption on the portable terminal side and making a positioning function unnecessary. is there.

The position management system of the embodiment is equipped with a transmitter that transmits a beacon signal including target identification information individually set to a mobile object to be managed, and a beacon transmitted from the transmitter to each of a plurality of jurisdictions. Receiving the signal to acquire the target identification information, measuring the reception intensity when receiving the beacon signal to acquire the reception intensity information, and identifying the receiver with the target identification information and the reception intensity information individually set A plurality of area determination receivers that are output as position management information together with information are arranged, and at the boundary of each of the plurality of jurisdiction areas, a beacon signal transmitted from the transmitter is received to obtain the target identification information, When receiving the beacon signal, the reception intensity is measured to obtain reception intensity information, and the target identification information and the reception intensity information are set together with individually set receiver identification information. Arranging a plurality of receivers filter output as location management information, said plurality of areas determining receivers and the receiver for the plurality of filters connected to the management server via the network, by the management server, said plurality of areas Management of the positions of the determination receiver and the plurality of filter receivers, and when the position management information is input, based on the receiver identification information included in the position management information, the output of the area determination reception Identifying the filter receiver, and when the position management information is input, the mobile object to be managed is specified from the target identification information included in the position management information, and the position management information is input when the position management information is input. It is determined whether the same target identification information as the target identification information included in the management information is included in the position management information that is simultaneously input, and the same target When it is determined that the other information is not included, the jurisdiction area of the area determination receiver that outputs the position management information is managed as the position where the specified mobile body to be managed exists, and the same When it is determined that the target identification information is included, based on the receiver identification information and the reception intensity information included in each of the location management information including the same target identification information, an area determination receiver, The filter receivers are identified and the received strengths are compared, the area determination receiver is identified based on the comparison result, and the jurisdiction area is managed as the location where the identified mobile object to be managed exists. To do .

The block diagram which shows the whole structure of the position management system which concerns on embodiment. The block diagram which shows the structure of the portable BLE transmitter used for the system shown in FIG. The block diagram which shows the structure of the BLE receiver of the area arrangement | positioning used for the system shown in FIG. The block diagram which shows the structure of the management server used for the system shown in FIG. The flowchart which shows the process sequence for the mobile body location management of the management server shown in FIG. The flowchart which shows the positioning procedure of a moving body in the management server shown in FIG. The conceptual diagram which shows the example of arrangement | positioning of a BLE receiver in the system shown in FIG. The flowchart which shows the process sequence for the mobile body location management of the management server shown in FIG. The flowchart which shows the process sequence of the area determination 1 of the management server shown in FIG. The flowchart which shows the process sequence of the area determination 2 of the management server shown in FIG. The figure which shows the selection conditions of the BLE receiver applied to the area determination 2 shown in FIG. The figure which shows the example of arrangement | positioning of the BLE receiver for demonstrating the area determination 2 shown in FIG. The flowchart which shows the process sequence of the filtering 1 of the management server shown in FIG. The flowchart which shows the process sequence of correlation position estimation of the management server shown in FIG. The flowchart which shows the process sequence of the self position output of the management server shown in FIG. The flowchart which shows the process sequence of the area determination 3 of the management server shown in FIG. The figure which shows the selection conditions of the BLE receiver applied to the area determination 3 shown in FIG. The flowchart which shows the process sequence of the estimation using the filter BLE receiver as a position estimation process of embodiment. The flowchart which shows the correlation position estimation procedure used for FIG. The block diagram which shows the structure of the entrance / exit management system using the position management system which concerns on embodiment as a 1st Example. The flowchart which shows the operation procedure of the entrance / exit management system shown in FIG. The block diagram which shows the structure of the event management system using the position management system which concerns on embodiment as a 2nd Example. The flowchart which shows the operation | movement procedure of the event management system shown in FIG.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram illustrating a configuration of a location management system according to the embodiment. The location management system shown in FIG. 1 divides the facility into N jurisdiction areas and makes it possible to determine in real time the location of a mobile person existing in each jurisdiction area. In FIG. 1, 1 is a BLE (Bluetooth Low Energy) transmitter, 2A1 to 2AN are N BLE receivers, 3 is a network, and 4 is a management server.

  The BLE transmitter 1 is attached to a mobile person whose position is to be managed. Specifically, the BLE module 11 is configured as shown in FIG. 2 and periodically generates a beacon signal (advertisement packet) indicating an individually set identification code (hereinafter referred to as transmitter ID). Is converted to a BLE standard signal, and then transmitted from the transmitting antenna 12 at a BLE standard radio frequency. The driving power for each block is supplied from the power supply unit 13. Although a battery is used for the power supply unit 13, a power supply function using a power generation element such as a solar cell may be provided.

  The N BLE receivers 2Ai (i is an area number of 1 to N) are respectively arranged in areas corresponding to the N jurisdiction areas. Specifically, the BLE receiver 2Ai is configured as shown in FIG. 3, and a beacon signal transmitted from the BLE transmitter 1 existing in or around the corresponding jurisdiction area is received by the receiving unit 22 through the receiving antenna 21. Receive. Next, the signal processing unit 23 identifies the transmitter ID from the received signal and measures its reception strength (moving average of RSSI (Received Signal Strength Indicator) value per unit time). The strength information is used as location management information (hereinafter referred to as location data) of the mobile person, and is transmitted from the communication interface unit 24 to the management server 4 through the network 3 together with the identification code (hereinafter referred to as receiver ID) of the receiver.

  As shown in FIG. 4, the management server 4 takes in the location management information of the mover from each BLE receiver 2 </ b> Ai from the network 3 through the communication interface unit 41, and transmits the same location management information by the information processing unit 42. The relevance by the machine ID is determined, and the management area (position) where the target mobile person exists is specified based on the measurement result of the receiver ID and the reception intensity. The management server 4 provides information instructed or requested from the control terminal 5 through the network 3.

  The BLE receiver 2Ai is roughly classified into area determination and filter use. The filter BLE receiver is arranged at the jurisdiction area boundary between the area determination BLE receivers, and the target mobile exists in the jurisdiction area of which area determination BLE receiver according to the RSSI value of the reception strength. Or which direction it is facing. In other words, the body of the target mobile person becomes a shield for transmission radio waves of the BLE transmitter 1, and the intensity of radio waves passing through the body decreases. Therefore, the direction in which the target mobile person is facing is determined by referring to the reception intensity of the filter receiver around the area determination receiver. In the following description, as shown in FIG. 5, BLE receivers for area determination are arranged at grid points (1) to (4) in units of 10 m, and positions (5) to (9 ) Is a case where a filter BLE receiver is arranged.

  In the above configuration, the management operation procedure will be described below.

  First, as shown in FIG. 6, the BLE transmitter 1 generates a specified number of beacon signals per second when the power is turned on (step S11) and transmits it at the rated output (step S12), and the power is turned off (step S13). Stops the transmission of the beacon signal (step S14).

  As shown in FIG. 7, the BLE receiver 2Ai receives an incoming radio wave of a beacon signal (step S21), determines a transmitter ID from the received beacon signal (step S22), and per unit time for each transmitter ID. The moving average of the RSSI values is measured as the received intensity (step S23), and the transmitter ID and the measured received intensity are transmitted to the management server 4 together with the receiver ID as the location management information of the mover (step S24).

  As shown in FIG. 8, when the positioning process by BLE is started, the management server 4 first determines whether position data has been sent from any BLE receiver 2Ai (step S31). If it is determined that no position data is sent (NO), the existing position information (not applicable) is held (step S32), and the process returns to step S31. If it is determined in step S31 that the position data has been acquired (YES), it is determined whether the same transmitter ID is received by a plurality of BLE receivers (except for the filter) (step S33). If it is determined that only a single BLE receiver is receiving (NO), area determination 1 is executed (step S34), and the process returns to step S31. In this area determination 1, as shown in FIG. 9, the area of the receiving BLE receiver is recognized as the location of the target mobile person (step S341).

  If it is determined in step S33 that a plurality of BLE receivers (except for filters) are receiving (YES), BLE receivers that are receiving the same transmitter ID (except for filters) It is determined whether or not there are three or more (step S35). If it is determined that the number is not three or more (NO), area determination 2 is executed (step S36), and filtering 1 based on the detection result of the received intensity variation included in each position data (step S37). Then, the relative position is estimated (step S38), self-position information is output based on the determination result of area determination 2 and the relative position estimation result (step S39), and the process returns to step S31.

  Here, in the area determination 2 (step S36), processing is executed according to the selection conditions of the BLE receiver shown in FIG. 11 along the flowchart shown in FIG. Here, for easy understanding of the explanation, as shown in FIG. 12, the filter BLE receiver (2) is located at the midpoint between the BLE receivers (1) and (3) for area determination at intervals of 10 m. An example is assumed.

  In FIG. 10, first, it is determined which of the filter BLE receivers has received the beacon signal (step S361). If it is determined that no beacon signal has been received (NO), the selection condition shown in FIG. (N / A) is selected according to (Step S362). If it is determined in step S361 that one of the filter BLE receivers has received a beacon signal (YES), it is determined whether two or more filter BLE receivers have received a beacon signal (step S363). If it is determined that the signal is not received by two or more filter BLE receivers (NO), a BLE receiver used for area determination is selected according to the conditions shown in FIG. 11 (step S364). If it is determined that the signal is received by two or more filter BLE receivers (YES), further select a filter BLE receiver between the area determination BLE receivers (step S365). In accordance with the conditions shown in FIG. 11, a BLE receiver used for area determination is selected (step S366).

  Further, in the filtering 1 (step S37), processing is executed along the flow chat shown in FIG. In FIG. 13, it is first determined from the previous reception result whether the variation in received strength due to the RSSI value is −AdB (variable according to the environment) or less (step S371). Only the data of the BLE receiver without any data is output (step S372). In step S371, if the fluctuation of the reception intensity is −AdB or less (YES), the receiver ID and the RSSI value of the reception intensity are output (step S373).

  In the correlation position estimation (step S38), processing is executed according to the flowchart shown in FIG. In FIG. 14, first, it is determined whether or not three or more BLE receivers are received (step S381). When the number is less than three (NO), the reception strength RSSI values of the two BLE receivers are used. The self position is calculated (step S382). If it is determined in step S381 that there are three or more BLE receivers received (YES), it is determined whether there are four or more BLE receivers received (step S383), 4 If the number is less than one (NO), the self-position is calculated using the RSSI values of three BLE receivers (step S384), and if four or more (YES), four BLEs are calculated. The self-position is calculated using the RSSI value of the receiver (step S386).

  In the self-position output (step S39), processing is executed according to the flowchart shown in FIG. In FIG. 15, it is first determined whether the closest BLE receiver and the BLE receiver with the largest RSSI value are the same (step S391). If it is determined that they are not the same (NO), the filter BLE receiver is used. Shift to the estimated position estimation process (step S392). If it is determined in step S391 that they are the same (YES), the position information of the BLE receiver is output (step S393).

  Returning to FIG. 8, if the number of BLE receivers received is 3 or more in step S35 (YES), it is determined whether the number of BLE receivers received is 4 or more (step S40). When it is determined that the number is less than four (NO), area determination 3 is executed (step S41), and processing equivalent to the filtering 1 (step S37) described above (step S42) and the relative position described above are performed. A process (step S43) equivalent to the estimation (step S38) and a process (step S44) equivalent to the above self-position output (step S39) are executed, and the process returns to step S31.

  Here, in area determination 3 (step S41) in step S41, processing is executed according to the selection conditions of the BLE receiver shown in FIG. 17 along the flowchart shown in FIG. In FIG. 16, first, it is determined which one of the filter BLE receivers has received a beacon signal (step S411). If it is determined that no beacon signal has been received (NO), the selection condition shown in FIG. (N / A) is selected (step S412). If it is determined in step S411 that one of the filter BLE receivers has received a beacon signal (YES), a BLE receiver used for area determination is selected according to the conditions shown in FIG. 17 (step S413). .

  In step S40 of FIG. 8, when the number of received BLE receivers (excluding filters) is four or more (YES), four BLE receivers are selected in descending order of the RSSI value of the reception strength ( Step S45), the area determination 3 is executed (Step S46), and the processing equivalent to the above-described filtering 1 (Step S37) (Step S47) and the processing equivalent to the above-described relative position estimation (Step S38) (Step S48) ), A process (step S49) equivalent to the above self-position output (step S39) is executed, and the process returns to step S31.

  As described above, in the location management system of the embodiment, when the target mobile person moves between the jurisdiction areas, the beacon signal transmitted from the mobile BLE transmitter 1 is received by the BLE receiver 2Ai in each jurisdiction area. Even when a plurality of BLE receivers receive the same beacon signal, the position information is notified to the management server 4 and the information closest to the BLE transmitter is obtained by using the reception result of the filter receiver or information on the change in reception intensity. The BLE receiver can be specified and the jurisdiction area can be determined as the position where the target mobile person exists. In this case, since the portable terminal has only to have a function of transmitting a beacon signal using the BLE module, power consumption can be suppressed. In addition, the positioning function on the portable terminal side is unnecessary, and the position of the moving body can be reliably grasped and managed.

  By the way, in the said embodiment, the position estimation method is not limited to the correlation position estimation process shown in FIG. 14, for example, the estimation processing procedure using the filter BLE receiver shown in FIG. 18 and FIG. It is also possible to adopt the relative position estimation procedure shown in FIG.

  That is, in FIG. 18, it is determined whether there is a reception output from any of the filter BLE receivers (step S51). If it is determined that there is no reception output (NO), the nearest filter BLE reception is performed. The intermediate position of the filter BLE receiver having the maximum RSSI value of the position of the machine and the reception intensity is estimated (step S52). If it is determined in step S51 that there is a reception output from any one of the filter BLE receivers (YES), processing equivalent to the above-described filtering 1 is executed (step S53).

  Subsequently, it is determined whether the same transmitter ID is obtained by a plurality of filter BLE receivers (step S54). If it is determined that the same transmitter ID is not obtained (NO), the received BLE is received. The position information of the receiver is estimated (step S55). If it is determined in step S54 that the same transmitter ID has been obtained (YES), an RSSI value that is the reception intensity of each received signal is calculated (step S56). Here, it is determined whether the difference between the RSSI values is, for example, 5 dB or more (step S57). If it is determined that the difference is less than 5 dB (NO), the process proceeds to the relative position estimation 2 process shown in FIG. If it is determined in step S57 that it is 5 dB or more (YES), the position information of the BLE receiver having the higher reception strength is output (step S58).

  In the relative position estimation 2 process, as shown in FIG. 19, it is determined whether there are three or more filter BLE receivers being received (step S61), and if it is determined that there are less than three (NO) The self-position is calculated using the RSSI values of the two filter BLE receivers (step S62). If it is determined in step S61 that there are three or more (YES), it is determined whether the number of received BLE receivers is four or more (step S63). If it is determined that the number is less than four (NO) The self-position is calculated using the RSSI values of the three BLE receivers (step S64).

  When it is determined that the number of BLE receivers received in step S63 is four or more (YES), four BLE receivers are selected in descending order of RSSI values (step S65), and four BLE receivers are selected. The self-position is calculated using the RSSI value of the receiver (step S66).

  Also by the position estimation process described above, the position of the moving object can be reliably grasped and managed.

(First embodiment)
The position management system according to the above embodiment can also be applied to a gate management system that manages gates. For example, as shown in FIG. 20, the BLE transmitter described in the embodiment is incorporated in the security card 101 for entering and leaving, the BLE receiver of the embodiment is incorporated in the card reader 102, and gate management for controlling the opening and closing of the gate 103 is performed. The function of the management server of the embodiment is incorporated in the server 104.

  In the gate management system having the above configuration, the operation procedure by the gate management server 104 will be described with reference to the flowchart shown in FIG.

  First, in this embodiment, it is assumed that a public space and a private space are separated by a gate 103. Although it can move freely in the public space, the position of the moving person is always grasped by the function of the position management system of the embodiment. When the moving person approaches the gate 103, the BLE receiver incorporated in the card reader 102 receives the beacon signal transmitted from the BLE transmitter incorporated in the security card 101, and the transmitter obtained from the reception result of the beacon signal The location management information including the ID and reception intensity data is transmitted to the gate management server 104 together with the receiver ID of the card reader 102.

  At this time, as shown in FIG. 21, the gate management server 104 waits for the input of location management information (step S71), and the mobile person enters the BLE reception area of the card reader 102 and receives the location management from the card reader 102. When the information is sent, the transmitter ID is checked against the database (step S72) to determine whether or not the room can be entered (step S73). Here, when the collation result is impossible, the gate 103 is instructed to close the door (step S74), and for example, a message indicating that the room cannot be entered is presented (step S75). If the collation result is acceptable, the gate 103 is instructed to open the door (step S76), and for example, a message indicating permission to enter the room is presented (step S77).

  As described above, according to the gate management system that uses the function of the position management system of the embodiment, the mobile user can automatically present the card without presenting the conventional card, for example, even if the card is placed in a bag or the like. Since position management information is exchanged by BLE transmission / reception, a person who has received permission can easily pass through the gate without performing an operation for requesting passage permission. This is very effective when there is a lot of baggage.

  In this system, since the card reader 102 can read a conventional security card, traffic management is possible even if the card reader 102 does not have a BLE transmission function, which is highly convenient.

(Second embodiment)
The position management system according to the above embodiment can also be applied to an event management system. For example, as shown in FIG. 22, the BLE transmitter described in the embodiment is incorporated into an admission registration card 201 that is distributed to visitors at the event venue, and the BLE receiver according to the embodiment is installed in the guide device 202 in each exhibition booth at the event venue. And the event management server 203 incorporates the functions of the management server of the embodiment.

  In the event management system having the above configuration, the operation procedure by the event management server 203 will be described with reference to the flowchart shown in FIG.

  First, in this embodiment, when an attendee approaches an arbitrary exhibition booth at an event venue, a beacon signal transmitted from a BLE transmitter incorporated in the entrance registration card 201 is transmitted from a BLE receiver incorporated in the guidance device 202. And the location management information including the transmitter ID and reception intensity data obtained from the reception result of the beacon signal is transmitted to the event management server 203 together with the receiver ID of the guidance device 202.

  At this time, as shown in FIG. 23, the event management server 203 waits for the input of the position management information (step S81), and the visitor enters the BLE reception area of the guidance device 202, and the exhibition booth starts from the guidance device 202. When the location management information of the visitor approaching is sent, the transmitter ID is checked against the database (step S82) to identify the registration information of the visitor (step S83), and the guidance information corresponding to the registered content is obtained. It selects and instruct | indicates to show applicable guidance information to the guidance apparatus 202 (step S84).

  As described above, according to the event management system using the function of the position management system of the embodiment, the visitors of the event venue automatically transfer location management information by BLE transmission / reception just by approaching the exhibition booth. Therefore, it is possible to receive appropriate guidance based on registered information registered in advance.

  In the above-described embodiments and examples, the case of using a beacon signal by BLE has been described. However, the present invention is not limited to this, and other power-saving wireless communication systems can also be used. is there.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 ... BLE transmitter, 11 ... BLE module, 12 ... Transmitting antenna, 132 ... Power supply part,
2A1-2AN ... BLE receiver, 21 ... receiving antenna, 22 ... receiving unit, 23 ... signal processing unit, 24 ... communication interface unit,
3 ... Network,
4 ... management server, 41 ... communication interface unit, 42 ... information processing unit,
5. Control terminal,
DESCRIPTION OF SYMBOLS 101 ... Security card, 102 ... Card reader, 103 ... Gate, 104 ... Gate management server,
201 ... admission registration card, 202 ... guide device, 203 ... event management server.

Claims (3)

A transmitter equipped with a mobile object to be managed and transmitting a beacon signal including individually set target identification information;
Arranged in each of a plurality of jurisdiction areas , receiving the beacon signal transmitted from the transmitter, obtaining the target identification information , measuring the reception intensity at the time of receiving the beacon signal, obtaining the reception intensity information, A plurality of area determination receivers that output the target identification information and the reception intensity information as position management information together with individually set receiver identification information ;
Arranged at the boundary of each of the plurality of jurisdictions, receives the beacon signal transmitted from the transmitter, acquires the target identification information, measures the reception intensity when receiving the beacon signal, and acquires the reception intensity information A plurality of filter receivers that output the target identification information and the reception intensity information as position management information together with individually set receiver identification information;
The plurality of area determination receivers and the plurality of filter receivers are connected to each other through a network, and from the position management information output from each of the area determination receiver and the filter receiver , A management server for managing the position,
The management server
Managing the position of each of the plurality of area determination receivers and the plurality of filter receivers;
When inputting the location management information, based on the receiver identification information included in the location management information, specify the output source area determination receiver, the filter receiver,
When inputting the location management information, identify the mobile object to be managed from the target identification information included in the location management information,
At the time of input of the location management information, it is determined whether the same location identification information as the target identification information included in the location management information is included in the location management information that is simultaneously input,
When it is determined that the same target identification information is not included, the jurisdiction area of the area determination receiver that outputs the position management information is managed as the position where the specified mobile body to be managed exists. ,
When it is determined that the same target identification information is included, area determination is performed based on receiver identification information and reception intensity information included in each of the location management information including the same target identification information. The receiver for filtering and the receiver for filter are identified and the reception intensity of each is compared, the receiver for area determination is identified based on the comparison result, and there is a mobile object to be managed whose identified jurisdiction area is A location management system that manages locations. A mobile reception system in which the position management system according to claim 1 is incorporated,
A registration medium in which the transmitter is incorporated and installed in the mobile object to be managed;
Arranged in at least one of the jurisdiction areas, the area determination receiver is incorporated, and when the managed mobile body enters the jurisdiction area, one of a plurality of response processes is provided to the mobile body 1 Or multiple response means,
The management server is incorporated, and includes a response control device that controls the one or more response means,
The response control device determines registration information of a mobile object to be managed when position management information is obtained by a beacon signal from a mobile object to be managed that has entered the jurisdiction area by the receiver for area determination. A mobile reception system for controlling the reception means so as to execute a reception process that matches the information content. Equipped with a transmitter that transmits a beacon signal including target identification information set individually for the mobile object to be managed,
In each of a plurality of jurisdictions , receive the beacon signal transmitted from the transmitter to obtain the target identification information , measure the reception strength when receiving the beacon signal, obtain the reception strength information, and identify the target A plurality of area determination receivers that output information and the received intensity information as position management information together with individually set receiver identification information;
At the boundary of each of the plurality of jurisdiction areas, receiving the beacon signal transmitted from the transmitter to obtain the target identification information, measuring the reception intensity at the time of receiving the beacon signal to obtain the reception intensity information, Arranging a plurality of filter receivers that output the target identification information and the received intensity information together with individually set receiver identification information as position management information,
Connecting the plurality of area determination receivers and the plurality of filter receivers to a management server through a network;
On the management server,
Managing the position of each of the plurality of area determination receivers and the plurality of filter receivers;
When inputting the location management information, based on the receiver identification information included in the location management information, specify the output source area determination receiver, the filter receiver,
When inputting the location management information, identify the mobile object to be managed from the target identification information included in the location management information,
At the time of input of the location management information, it is determined whether the same location identification information as the target identification information included in the location management information is included in the location management information that is simultaneously input,
When it is determined that the same target identification information is not included, the jurisdiction area of the area determination receiver that outputs the position management information is managed as the position where the specified mobile body to be managed exists. ,
When it is determined that the same target identification information is included, area determination is performed based on receiver identification information and reception intensity information included in each of the location management information including the same target identification information. The receiver for filtering and the receiver for filter are identified and the reception intensity of each is compared, the receiver for area determination is identified based on the comparison result, and there is a mobile object to be managed whose identified jurisdiction area is A location management method that manages locations.

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