JP6760592B2

JP6760592B2 - Beacon device, direction estimation method using the beacon device, position estimation method, and communication terminal device

Info

Publication number: JP6760592B2
Application number: JP2016108704A
Authority: JP
Inventors: 尚樹本間; 知貴石井; 遼太田澤; 三浦　淳; 淳三浦; 博仁南澤; 節郎水野
Original assignee: ERI, INC.; Iwate University
Current assignee: ERI, INC.; Iwate University
Priority date: 2016-05-31
Filing date: 2016-05-31
Publication date: 2020-09-23
Anticipated expiration: 2036-05-31
Also published as: JP2017216567A

Description

本発明は、例えば、ブルートゥース（登録商標：以下同様）・ロー・エナジーの規格に従った近距離無線通信等の所定の無線通信によりビーコン信号を発信するビーコン装置、前記ビーコン信号を受信する通信端末装置の前記ビーコン装置から見た方向を推定する方向推定方法、前記受信装置の位置を推定する位置推定方法、及び前記ビーコン装置と無線通信を行って前記方向推定方法に従って前記ビーコン装置から見た方向を推定する通信端末装置及び前記ビーコン装置と無線通信を行って前記位置推定方法に従って位置を推定する通信端末装置に関する。 The present invention provides, for example, a beacon device that transmits a beacon signal by predetermined wireless communication such as short-range wireless communication in accordance with the standards of Bluetooth (registered trademark: the same applies hereinafter) and low energy, and a communication terminal that receives the beacon signal. A direction estimation method for estimating the direction of the device as seen from the beacon device, a position estimation method for estimating the position of the receiving device, and a direction seen from the beacon device according to the direction estimation method by wirelessly communicating with the beacon device. The present invention relates to a communication terminal device for estimating a position and a communication terminal device for estimating a position according to the position estimation method by performing wireless communication with the beacon device.

無線信号を用いた位置検出方法として、GPSに代表されるGNSS（全地球航法衛星システム）が広く利用されているが、この方法によると、衛星からの信号を受信できない屋内では位置検出を行うことができない。屋内における無線信号による位置検出システムとして、無線ビーコン信号送信装置を多数配置した位置検出方法が検討されている。例えば、非特許文献１には、受信信号強度（RSSI）を用いた方法について述べられている。この方法は、３か所以上のビーコン信号送信装置から発せられた信号のRSSIが観測され、強度のみに基づいて位置推定が行われる。しかし、実際の屋内環境ではマルチパス波が存在するため、信号強度は必ずしも距離に従って減衰するとは限らない。そのため、RSSIのみに基づいて位置推定を行う場合は推定精度が大きく劣化するという問題が発生する。 GNSS (Global Positioning Satellite System) represented by GPS is widely used as a position detection method using wireless signals, but according to this method, position detection is performed indoors where signals from satellites cannot be received. I can't. As a position detection system using wireless signals indoors, a position detection method in which a large number of wireless beacon signal transmission devices are arranged is being studied. For example, Non-Patent Document 1 describes a method using received signal strength (RSSI). In this method, RSSI of signals emitted from three or more beacon signal transmitters is observed, and position estimation is performed based only on the intensity. However, since multipath waves exist in an actual indoor environment, the signal strength does not always attenuate with distance. Therefore, when the position is estimated based only on RSSI, there is a problem that the estimation accuracy is greatly deteriorated.

RSSIに依らない第一の位置推定方法として、広帯域の信号を利用する方法が知られている。これは、ビーコンから広帯域の信号を送信し、その到達時間を観測することで各ビーコンからの伝搬距離を計算する。全ビーコンの位置が既知であれば受信機は自らの位置を計算することが可能である。しかし、屋内等の短距離かつマルチパス環境では正確な伝搬距離を求めることが困難であり、またパルス幅を短くする必要があるため広い周波数帯域が必要になる。 As a first position estimation method that does not rely on RSSI, a method that uses a wideband signal is known. It transmits a wideband signal from beacons and calculates the propagation distance from each beacon by observing its arrival time. If the positions of all beacons are known, the receiver can calculate its own position. However, in a short-distance and multipath environment such as indoors, it is difficult to obtain an accurate propagation distance, and a wide frequency band is required because the pulse width needs to be shortened.

RSSIに依らない第二の位置推定方法として、電波の伝搬方向情報を利用する方法が知られている。受信機はビーコンから発せられる信号の到来方向を推定する。複数のビーコンの位置が既知であれば、三角法によってビーコンとの相対位置を計算できる。ここで、受信機において到来方向推定を行うためには、受信機は、アレーアンテナを用いて観測された信号から到来波の方向を解析する必要がある。そのような信号の到来方向を求めるアルゴリズムとして、非特許文献２にて開示されているMUSIC(MUltiple SIgnal Classification) 法と呼ばれる方法が用いられる。 As a second position estimation method that does not rely on RSSI, a method that uses radio wave propagation direction information is known. The receiver estimates the direction of arrival of the signal emitted from the beacon. If the positions of multiple beacons are known, the positions relative to the beacons can be calculated by trigonometry. Here, in order to estimate the arrival direction in the receiver, the receiver needs to analyze the direction of the arrival wave from the signal observed by using the array antenna. As an algorithm for determining the arrival direction of such a signal, a method called the MUSIC (MUltiple SIgnal Classification) method disclosed in Non-Patent Document 2 is used.

S. Maddio, A. Cidronal, and G. Manes, "RSSI/DOA based positioning systems for wireless sensor network," in New Approach of Indoor and Outdoor Localization Systems, 2012S. Maddio, A. Cidronal, and G. Manes, "RSSI / DOA based positioning systems for wireless sensor network," in New Approach of Indoor and Outdoor Localization Systems, 2012 R. Schmidt, "Multiple emitter location and signal parameter estimation," IEEE Transactions on Antennas and Propagation, Vol. 34, Issue 3, pp. 276 - 280, Mar. 1986.R. Schmidt, "Multiple emitter location and signal parameter estimation," IEEE Transactions on Antennas and Propagation, Vol. 34, Issue 3, pp. 276-280, Mar. 1986.

上述したRSSIに依らない第一の位置推定方法では、距離を高精度に測定する必要があり、高精度な距離測定のためには広い周波数帯域の使用が必要になるという問題が生じる。また、上述した第二の位置推定方法では、受信機はアレーアンテナを具備する必要があるため、受信機が移動端末の場合は端末の形状が大型化するという問題がある。また、全ての受信アンテナで観測される信号の位相情報が必要になるため、受信機は位相情報を観測可能なものとしなければならない。 In the first position estimation method that does not depend on RSSI described above, it is necessary to measure the distance with high accuracy, and there arises a problem that a wide frequency band needs to be used for the highly accurate distance measurement. Further, in the second position estimation method described above, since the receiver needs to be provided with an array antenna, there is a problem that the shape of the terminal becomes large when the receiver is a mobile terminal. In addition, since the phase information of the signal observed by all the receiving antennas is required, the receiver must be able to observe the phase information.

そこで、本発明は、上述したことに鑑みてなされたものであり、通信端末装置（受信機）の方向や位置を高い精度で容易に推定することを可能にするビーコン装置を提供するものである。また、本発明は、そのようなビーコン装置を用いた前記通信端末装置の方向推定方法及び前記通信端末装置の位置推定方法、更に、前記方向推定方法に従って方向の推定を行う、また、前記位置推定方法に従って位置の推定を行う、通信端末装置を提供するものである。 Therefore, the present invention has been made in view of the above, and provides a beacon device capable of easily estimating the direction and position of a communication terminal device (receiver) with high accuracy. .. Further, the present invention estimates the direction according to the direction estimation method of the communication terminal device using such a beacon device, the position estimation method of the communication terminal device, and the direction estimation method, and the position estimation. Provided is a communication terminal device that estimates a position according to a method.

本発明に係るビーコン装置は、所定の無線通信によりビーコン信号を発信するビーコン装置であって、第１入力端子及び第２入力端子と、第１出力端子及び第２出力端子とを有し、前記第１入力端子に信号が入力したときに、該信号に基づいた同じ位相の２つの信号を前記第１出力端子及び前記第２出力端子から出力し、前記第２入力端子に信号が入力したときに、該信号に基づいた互いに位相が１８０度異なる２つの信号を前記第１出力端子及び前記第２出力端子から出力する１８０度ハイブリッドユニットと、第１入力端子及び第２入力端子と、第１出力端子及び第２出力端子とを有し、前記第１入力端子に信号が入力したときに、該信号に基づいた信号を前記第１出力端子から出力するとともに、前記第１出力端子から出力される信号に対して９０度位相の異なる信号を前記第２出力端子から出力し、前記第２入力端子に信号が入力したときに、該信号に基づいた信号を前記第２出力端子から出力するとともに、前記第２出力端子から出力される信号に対して９０度位相の異なる信号を前記第１出力端子から出力する９０度ハイブリッドユニットと、前記１８０度ハイブリッドユニットの前記第１入力端子に第１信号を供給する第１信号供給部と、前記１８０度ハイブリッドユニットの前記第２入力端子に第２信号を供給する第２信号供給部と、前記９０度ハイブリッドユニットの前記第１入力端子に第３信号を供給する第３信号供給部と、前記９０度ハイブリッドユニットの前記第２入力端子に第４信号を供給する第４信号供給部と、第１アンテナ、第２アンテナ及び第３アンテナと、前記１８０度ハイブリッドユニットの前記第１出力端子を前記第１アンテナに結合する第１結合部と、前記１８０度ハイブリッドユニットの前記第２出力端子を前記第２アンテナに結合する第２結合部と、前記９０度ハイブリッドユニットの前記第１出力端子を前記第２アンテナに結合する第３結合部と、前記９０度ハイブリッドユニットの前記第２出力端子を前記第３アンテナに結合する第４結合部とを有し、前記第１信号供給部が前記第１信号を供給しているときに、当該第１信号に基づいた信号を前記第１アンテナ及び前記第２アンテナから前記ビーコン信号として発信し、前記第２信号供給部が前記第２信号を供給しているときに、当該第２信号に基づいた信号を前記第１アンテナ及び前記第２アンテナから前記ビーコン信号として発信し、前記第３信号供給部が前記第３信号を供給しているときに、当該第３信号に基づいた信号を前記第２アンテナ及び前記第３アンテナから前記ビーコン信号として発信し、前記第４信号供給部が前記第４信号を供給しているときに、当該第４信号に基づいた信号を前記第２アンテナ及び前記第３アンテナから前記ビーコン信号として発信する構成となる。
The beacon device according to the present invention is a beacon device that transmits a beacon signal by predetermined wireless communication, and has a first input terminal and a second input terminal, and a first output terminal and a second output terminal. when the signal is input to the first input terminal, and outputs two signals of the same phase based on the signal from the first output terminal and said second output terminal, the signal is input to the second input terminal Occasionally, a 180-degree hybrid unit that outputs two signals that are 180 degrees out of phase with each other based on the signal from the first output terminal and the second output terminal, a first input terminal, a second input terminal, and a second signal. It has one output terminal and a second output terminal, and when a signal is input to the first input terminal, a signal based on the signal is output from the first output terminal and output from the first output terminal. A signal having a phase difference of 90 degrees is output from the second output terminal, and when a signal is input to the second input terminal, a signal based on the signal is output from the second output terminal. At the same time, a 90-degree hybrid unit that outputs a signal having a 90-degree phase difference from the signal output from the second output terminal from the first output terminal, and a first input terminal of the 180-degree hybrid unit. A first signal supply unit that supplies signals, a second signal supply unit that supplies a second signal to the second input terminal of the 180-degree hybrid unit, and a third to the first input terminal of the 90-degree hybrid unit. A third signal supply unit that supplies signals, a fourth signal supply unit that supplies a fourth signal to the second input terminal of the 90-degree hybrid unit, a first antenna, a second antenna, and a third antenna, and the above. A first coupling portion that couples the first output terminal of the 180-degree hybrid unit to the first antenna, a second coupling portion that couples the second output terminal of the 180-degree hybrid unit to the second antenna, and the above. It has a third coupling portion that couples the first output terminal of the 90-degree hybrid unit to the second antenna, and a fourth coupling portion that couples the second output terminal of the 90-degree hybrid unit to the third antenna. Then, when the first signal supply unit is supplying the first signal, a signal based on the first signal is transmitted from the first antenna and the second antenna as the beacon signal, and the second signal is transmitted. When the signal supply unit supplies the second signal, a signal based on the second signal is transmitted from the first antenna and the second antenna to the beacon. It is transmitted as a signal, and when the third signal supply unit is supplying the third signal, a signal based on the third signal is transmitted from the second antenna and the third antenna as the beacon signal. When the fourth signal supply unit is supplying the fourth signal, a signal based on the fourth signal is transmitted from the second antenna and the third antenna as the beacon signal.

本発明に係る方向推定方法は、前記ビーコン装置から発信される前記ビーコン信号を前記無線通信により受信する通信端末装置の前記ビーコン装置から見た方向を推定する方向推定方法であって、前記ビーコン装置の第１アンテナ、第２アンテナ及び第３アンテナのそれぞれから発信され、前記通信端末装置にて受信されるビーコン信号から、前記第１信号、前記第２信号、前記第３信号及び前記第４信号それぞれの受信強度を取得するステップと、前記ビーコン装置の前記第１アンテナと前記通信端末装置の受信アンテナとの間の複素伝搬チャンネル、前記ビーコン装置の前記第２アンテナと前記通信端末装置の受信アンテナとの間の複素伝搬チャンネル、前記ビーコン装置の前記第３アンテナと前記通信端末装置の受信アンテナとの間の複素伝搬チャンネルにて記述される３×３の相関行列を、前記第１信号、前記第２信号、前記第３信号及び前記第４信号の受信強度に基づいて計算するステップと、得られた相関行列に基づいて前記ビーコン装置から見た前記通信端末装置の方向を推定方向として演算するステップとを有する構成となる。 The direction estimation method according to the present invention is a direction estimation method for estimating the direction seen from the beacon device of the communication terminal device that receives the beacon signal transmitted from the beacon device by the wireless communication, and is the direction estimation method. From the beacon signals transmitted from the first antenna, the second antenna, and the third antenna of the above and received by the communication terminal device, the first signal, the second signal, the third signal, and the fourth signal The step of acquiring each reception intensity, the complex propagation channel between the first antenna of the beacon device and the reception antenna of the communication terminal device, the second antenna of the beacon device and the reception antenna of the communication terminal device. The 3 × 3 correlation matrix described by the complex propagation channel between the beacon device and the reception antenna of the beacon device and the reception antenna of the communication terminal device is the first signal, the said. The step of calculating based on the reception strength of the second signal, the third signal, and the fourth signal, and the direction of the communication terminal device as seen from the beacon device based on the obtained correlation matrix are calculated as the estimation direction. It is configured to have steps.

また、本発明に係る位置推定方法は、複数の前記ビーコン装置のそれぞれから発信される前記ビーコン信号を前記所定の無線通信により受信する通信端末装置の位置を推定する位置推定方法であって、前記複数のビーコン装置それぞれから見た前記通信端末の方向を前述した方向推定方法に従って得るステップと、前記複数のビーコン装置それぞれの位置を取得するステップと、前記複数のビーコン装置それぞれから見た前記通信端末の方向と、前記複数のビーコン装置それぞれの位置とに基づいて前記通信端末の位置を演算するステップとを有する構成となる。 Further, the position estimation method according to the present invention is a position estimation method for estimating the position of a communication terminal device that receives the beacon signal transmitted from each of the plurality of beacon devices by the predetermined wireless communication. A step of obtaining the direction of the communication terminal as seen from each of the plurality of beacon devices according to the direction estimation method described above, a step of acquiring the position of each of the plurality of beacon devices, and the communication terminal as seen from each of the plurality of beacon devices. The configuration includes a step of calculating the position of the communication terminal based on the direction of the above and the position of each of the plurality of beacon devices.

また、本発明に係る通信端末装置は、前記ビーコン装置から発信される前記ビーコン信号を前記無線通信により受信する通信端末装置であって、前記ビーコン装置の第１アンテナ、第２アンテナ及び第３アンテナのそれぞれから発信され、前記通信端末装置にて受信されるビーコン信号から、前記第１信号、前記第２信号、前記第３信号及び前記第４信号それぞれの受信強度を取得する手段と、前記ビーコン装置の前記第１アンテナと前記通信端末装置の受信アンテナとの間の複素伝搬チャンネル、前記ビーコン装置の前記第２アンテナと前記通信端末装置の受信アンテナとの間の複素伝搬チャンネル、前記ビーコン装置の前記第３アンテナと前記通信端末装置の受信アンテナとの間の複素伝搬チャンネルにて記述される３×３の相関行列を、前記第１信号、前記第２信号、前記第３信号及び前記第４信号の受信強度に基づいて計算する手段と、得られた相関行列に基づいて前記ビーコン装置から見た前記通信端末装置の方向を推定方向として演算する手段とを有する構成となる。 Further, the communication terminal device according to the present invention is a communication terminal device that receives the beacon signal transmitted from the beacon device by the wireless communication, and is a first antenna, a second antenna, and a third antenna of the beacon device. A means for acquiring the reception strength of each of the first signal, the second signal, the third signal, and the fourth signal from the beacon signals transmitted from each of the above and received by the communication terminal device, and the beacon. A complex propagation channel between the first antenna of the device and the receiving antenna of the communication terminal device, a complex propagation channel between the second antenna of the beacon device and the receiving antenna of the communication terminal device, the beacon device. The 3 × 3 correlation matrix described by the complex propagation channel between the third antenna and the receiving antenna of the communication terminal device is the first signal, the second signal, the third signal, and the fourth signal. The configuration includes a means for calculating based on the reception strength of the signal and a means for calculating the direction of the communication terminal device as seen from the beacon device as an estimation direction based on the obtained correlation matrix.

更に、本発明に係る通信端末装置は、複数の前記ビーコン装置のそれぞれから発信される前記ビーコン信号を前記所定の無線通信により受信する通信端末装置であって、前記複数のビーコン装置それぞれから見た前記通信端末の方向を前記方向推定方法に従って得る手段と、前記複数のビーコン装置それぞれの位置を取得する手段と、前記複数のビーコン装置それぞれから見た前記通信端末の方向と、前記複数のビーコン装置それぞれの位置とに基づいて前記通信端末の位置を演算する手段とを有する構成となる。 Further, the communication terminal device according to the present invention is a communication terminal device that receives the beacon signal transmitted from each of the plurality of beacon devices by the predetermined wireless communication, and is viewed from each of the plurality of beacon devices. A means for obtaining the direction of the communication terminal according to the direction estimation method, a means for acquiring the position of each of the plurality of beacon devices, a direction of the communication terminal as seen from each of the plurality of beacon devices, and the plurality of beacon devices. The configuration has a means for calculating the position of the communication terminal based on each position.

以上説明したように本発明によれば、３つのアンテナを用いたビーコン装置を利用することによって、通信端末装置（受信機）の方向や位置を高い精度で容易に推定することができる。 As described above, according to the present invention, the direction and position of the communication terminal device (receiver) can be easily estimated with high accuracy by using the beacon device using the three antennas.

本発明の第１の実施形態に係るビーコン装置を含むシステムの基本的な構成を示す図である。It is a figure which shows the basic structure of the system including the beacon device which concerns on 1st Embodiment of this invention. 図１に示すシステムを利用した方向推定実験環境を示す平面図である。It is a top view which shows the direction estimation experiment environment using the system shown in FIG. 方向推定実験の結果を示す累積確率分布を表すグラフ図である。It is a graph which shows the cumulative probability distribution which shows the result of a direction estimation experiment. 本発明の第２の実施形態に係るビーコン装置の構成を示すブロック図である。It is a block diagram which shows the structure of the beacon apparatus which concerns on 2nd Embodiment of this invention. 本発明の第３の実施形態に係るビーコン装置の構成を示すブロック図である。It is a block diagram which shows the structure of the beacon apparatus which concerns on 3rd Embodiment of this invention.

以下、本発明の実施の形態について図面を用いて説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.

図１は、本発明の実施の一形態に係るビーコン装置を含む基本的なシステムの構成を示す。 FIG. 1 shows the configuration of a basic system including a beacon device according to an embodiment of the present invention.

図１において、このシステムは、基本的に、ビーコン装置１０と、ビーコン装置１０から発信されるビーコン信号を受信することのできる携帯通信端末装置２０（例えば、スマートフォン）とから構成されている。ビーコン装置１０は、ブルートゥース・ロー・エナジー（以下、適宜ＢＬＥという）の規格に従った近距離無線通信により後述するようなビーコン信号を発信（放送）する。このビーコン装置１０は、ペリフェラル側機器（スレーブ側機器）として機能し、アドバタイジングにおいてビーコン信号を発信する。携帯通信端末装置２０は、ＢＬＥ通信ユニットを備えており、このＢＬＥ通信ユニットは、ＢＬＥで規定されるセントラル側機器（マスター側機器）として機能し、ビーコン装置１０から前記アドバタイジングにおいて放送されるビーコン信号を受信することができる。 In FIG. 1, this system is basically composed of a beacon device 10 and a mobile communication terminal device 20 (for example, a smartphone) capable of receiving a beacon signal transmitted from the beacon device 10. The beacon device 10 transmits (broadcasts) a beacon signal as described later by short-range wireless communication in accordance with the standard of Bluetooth Low Energy (hereinafter, appropriately referred to as BLE). The beacon device 10 functions as a peripheral side device (slave side device) and transmits a beacon signal in advertising. The mobile communication terminal device 20 includes a BLE communication unit, and the BLE communication unit functions as a central side device (master side device) defined by BLE, and a beacon signal broadcast from the beacon device 10 in the advertising. Can be received.

ビーコン装置１０は、１８０度ハイブリッド素子（１８０度ハブリッドユニット）１１、９０度ハイブリッド素子（９０度ハイブリッドユニット）１２、第１信号発生部１３ａ、第２信号発生部１３ｂ、第３信号発生部１３ｃ、第４信号発生部１３ｄ、合成器１４、第１減衰器１５ａ、第２減衰器１５ｂ、第１アンテナ１６ａ、第２アンテナ１６ｂ及び第３アンテナ１６ｃを有している。１８０度ハイブリッド素子１１は、第１入力端子NI1及び第２入力端子IN2と、第１出力端子OUT1及び第２出力端子OUT2とを有している。この１８０度ハイブリッド素子１１は、第１入力端子IN1に信号が入力したときに、該信号に基づいた同じ位相の２つの信号を第１出力端子OUT１及び第２出力端子OUT2から出力し、第２入力端子IN2に信号が入力したときに、該信号に基づいた互いに位相が１８０度異なる２つの信号を第１出力端子OUT1及び第２出力端子OUT2から出力する。９０度ハイブリッド素子１２は、第１入力端子IN1及び第２入力端子IN2と、第１出力端子OUT1及び第２出力端子OUT2とを有している。この９０度ハイブリッド素子１２は、第１入力端子IN1に信号が入力したときに、該信号に基づいた信号を第１出力端子OUT1から出力するとともに、前記信号に基づいた第１出力端子OUT1の出力信号に対して９０度位相の遅れた（異なる）信号を第２出力端子OUT2から出力する。また、この９０度ハイブリッド素子１２は、第２入力端子IN2に信号が入力したときに、該信号に基づいた信号を第２出力端子OUT2から出力するとともに、前記信号に基づいた第２出力端子OUT2の出力信号に対して９０度位相の遅れた（異なる）信号を第１出力端子OUT1から出力する。 The beacon device 10 includes a 180-degree hybrid element (180-degree hub lid unit) 11, a 90-degree hybrid element (90-degree hybrid unit) 12, a first signal generation unit 13a, a second signal generation unit 13b, and a third signal generation unit 13c. It has a fourth signal generator 13d, a synthesizer 14, a first attenuator 15a, a second attenuator 15b, a first antenna 16a, a second antenna 16b, and a third antenna 16c. The 180-degree hybrid element 11 has a first input terminal NI1 and a second input terminal IN2, and a first output terminal OUT1 and a second output terminal OUT2. When a signal is input to the first input terminal IN1, the 180-degree hybrid element 11 outputs two signals having the same phase based on the signal from the first output terminal OUT1 and the second output terminal OUT2, and second. When a signal is input to the input terminal IN2, two signals whose phases are 180 degrees different from each other based on the signal are output from the first output terminal OUT1 and the second output terminal OUT2. The 90-degree hybrid element 12 has a first input terminal IN1 and a second input terminal IN2, and a first output terminal OUT1 and a second output terminal OUT2. When a signal is input to the first input terminal IN1, the 90-degree hybrid element 12 outputs a signal based on the signal from the first output terminal OUT1 and outputs the first output terminal OUT1 based on the signal. A signal whose phase is delayed (different) by 90 degrees from the signal is output from the second output terminal OUT2. Further, when a signal is input to the second input terminal IN2, the 90-degree hybrid element 12 outputs a signal based on the signal from the second output terminal OUT2 and also outputs a signal based on the signal to the second output terminal OUT2. A signal whose phase is delayed (different) by 90 degrees from the output signal of is output from the first output terminal OUT1.

第１信号発生器１３ａ（第１信号供給部）は、１８０度ハイブリッド素子１１の第１入力端子IN1に接続され、所定の情報（例えば、識別情報）を含む第１信号Ｓ1を出力する。第２信号発生器１３ｂ（第２信号供給部）は、１８０度ハイブリッド素子１１の第２入力端子IN2に接続され、所定の情報（例えば、識別情報）を含む第２信号Ｓ2を出力する。第３信号発生器１３ｃ（第３信号供給部）は、９０度ハイブリッド素子１２の第１入力端子IN1に接続され、所定の情報（例えば、識別情報）を含む第３信号Ｓ3を出力する。第４信号発生器１３ｄ（第４信号供給部）は、９０度ハイブリッド素子１２の第２入力端子IN2に接続され、所定の情報（例えば、識別情報）を含む第４信号Ｓ4を出力する。１８０度ハイブリッド素子１１の第１出力端子OUT1は、第１減衰器１５ａ（第１結合部）を介して第１アンテナ１６ａに接続されている。１８０度ハイブリッド素子１１の第２出力端子OUT2及び９０度ハイブリッド素子１２の第１出力端子OUT1は、合成器１４（第２結合部、第３結合部）の入力端子に接続され、その合成器１４の出力端子が第２アンテナ１６ｂに接続されている。また、９０度ハイブリッド素子１２の第２出力端子OUT2は、第２減衰器１５ｂ（第４結合部）を介して第３アンテナ１６ｃに接続されている。第１アンテナ１６ａ、第２アンテナ１６ｂ及び第３アンテナ１６ｃは、送信される電波の０．５波長程度の等間隔ｄで直線状に配列されたリニアアレイアンテナを構成している。 The first signal generator 13a (first signal supply unit) is connected to the first input terminal IN1 of the 180-degree hybrid element 11 and outputs the first signal S1 including predetermined information (for example, identification information). The second signal generator 13b (second signal supply unit) is connected to the second input terminal IN2 of the 180-degree hybrid element 11 and outputs a second signal S2 including predetermined information (for example, identification information). The third signal generator 13c (third signal supply unit) is connected to the first input terminal IN1 of the 90-degree hybrid element 12, and outputs the third signal S3 including predetermined information (for example, identification information). The fourth signal generator 13d (fourth signal supply unit) is connected to the second input terminal IN2 of the 90-degree hybrid element 12, and outputs the fourth signal S4 including predetermined information (for example, identification information). The first output terminal OUT1 of the 180-degree hybrid element 11 is connected to the first antenna 16a via the first attenuator 15a (first coupling portion). The second output terminal OUT2 of the 180-degree hybrid element 11 and the first output terminal OUT1 of the 90-degree hybrid element 12 are connected to the input terminals of the synthesizer 14 (second coupling portion, third coupling portion), and the synthesizer 14 thereof. Output terminal is connected to the second antenna 16b. Further, the second output terminal OUT2 of the 90-degree hybrid element 12 is connected to the third antenna 16c via the second attenuator 15b (fourth coupling portion). The first antenna 16a, the second antenna 16b, and the third antenna 16c constitute a linear array antenna that is linearly arranged at equal intervals d of about 0.5 wavelength of the transmitted radio wave.

合成器１４として、２つの信号を、例えば、３dBの挿入損をもって等振幅で合成可能なものが考えられ、例えば、ウィルキンソンカプラやハイブリッドカプラを用いることができる。更に、各減衰器１５ａ、１５ｂの減衰量は、合成器１４の挿入損に対応した量に設定される。なお、合成器１４は非対称な不等合成を行うものであってもよい。その場合、１８０度ハイブリッド１１の第１出力端子OUT1からの信号及び第２出力端子OUT2からの信号が第１アンテナ１６ａ及び第２アンテナ１６ｂに等しい電力で供給されるように第１減衰器１５ａが調整される。また、同時に、９０度ハイブリッド１２の第１出力端子OUT1からの信号及び第２出力信号OUT2からの信号が第２アンテナ１６ｂ及び第３アンテナ１６ｃに等しい電力で供給されるように第２減衰器１５ｂが調整される。 As the synthesizer 14, it is conceivable that two signals can be combined with the same amplitude with an insertion loss of, for example, 3 dB. For example, a Wilkinson coupler or a hybrid coupler can be used. Further, the attenuation amount of each of the attenuators 15a and 15b is set to an amount corresponding to the insertion loss of the synthesizer 14. The synthesizer 14 may perform asymmetric unequal synthesis. In that case, the first attenuator 15a is supplied so that the signal from the first output terminal OUT1 and the signal from the second output terminal OUT2 of the 180-degree hybrid 11 are supplied with the same power as the first antenna 16a and the second antenna 16b. It will be adjusted. At the same time, the second attenuator 15b is supplied so that the signal from the first output terminal OUT1 and the signal from the second output signal OUT2 of the 90-degree hybrid 12 are supplied with the same power as the second antenna 16b and the third antenna 16c. Is adjusted.

第１信号発生器１３ａ、第２信号発生器１３ｂ、第３信号発生器１３ｃ及び第４信号発生器１３ｄは、制御部（図示略）による制御のもと、所定の時間間隔で、第１信号Ｓ1、第２信号Ｓ2、第３信号Ｓ3及び第４信号Ｓ4を順次サイクリックに切換え出力する。第１信号発生器１３ａが第１信号Ｓ1を出力している期間（第１信号Ｓ1が１８０度ハイブリッド素子１１の第１入力端子IN1に供給される期間）では、１８０度ハイブリッド素子１１の第１出力端子OUT1と第２出力端子OUT2から第１信号Ｓ1に基づいた同じ位相の信号（Ｓ1）が出力される。そして、１８０度ハイブリッド素子１１の第１出力端子OUT1から出力される信号（Ｓ1）が第１減衰器１５ａを介して第１アンテナ１６ａに供給されるとともに、１８０度ハイブリッド素子１１の第２出力端子OUT2から出力される信号（Ｓ1）が合成器１４を介して第２アンテナ１６ｂに供給される。その結果、第１アンテナ１６ａ及び第２アンテナ１６ｂから第１信号Ｓ1に基づいた同じ位相の信号（Ｓ1）がビーコン信号として発信される。 The first signal generator 13a, the second signal generator 13b, the third signal generator 13c, and the fourth signal generator 13d are controlled by a control unit (not shown) at predetermined time intervals for the first signal. S1, the second signal S2, the third signal S3, and the fourth signal S4 are sequentially switched and output cyclically. During the period in which the first signal generator 13a outputs the first signal S1 (the period in which the first signal S1 is supplied to the first input terminal IN1 of the 180-degree hybrid element 11), the first of the 180-degree hybrid element 11 A signal (S1) having the same phase based on the first signal S1 is output from the output terminal OUT1 and the second output terminal OUT2. Then, the signal (S1) output from the first output terminal OUT1 of the 180-degree hybrid element 11 is supplied to the first antenna 16a via the first attenuator 15a, and the second output terminal of the 180-degree hybrid element 11 is supplied. The signal (S1) output from OUT2 is supplied to the second antenna 16b via the attenuator 14. As a result, a signal (S1) having the same phase based on the first signal S1 is transmitted from the first antenna 16a and the second antenna 16b as a beacon signal.

第２信号発生器１３ｂが第２信号Ｓ2を出力している期間（第２信号Ｓ2が１８０度ハイブリッド素子１１の第２入力端子IN2に供給される期間）では、１８０度ハイブリッド素子１１の第１出力端子OUT1と第２出力端子OUT2から第２信号Ｓ2に基づいた互いに位相が１８０度異なる信号（Ｓ2）、（−Ｓ2）が出力される。そして、１８０度ハイブリッド素子１１の第１出力端子OUT1から出力される信号（例えば、Ｓ2）が第１減衰器１５ａを介して第１アンテナ１６ａに供給されるとともに、１８０度ハイブリッド素子１１の第２出力端子OUT2から出力される信号（例えば、−Ｓ2）が合成器１４を介して第２アンテナ１６ｂに供給される。その結果、第１アンテナ１６ａ及び第２アンテナ１６ｂから第２信号Ｓ2に基づいた相互に位相が１８０度異なる信号（Ｓ2）、（−Ｓ2）がビーコン信号として発信される。 During the period in which the second signal generator 13b outputs the second signal S2 (the period in which the second signal S2 is supplied to the second input terminal IN2 of the 180-degree hybrid element 11), the first of the 180-degree hybrid element 11 Signals (S2) and (-S2) whose phases are 180 degrees different from each other based on the second signal S2 are output from the output terminal OUT1 and the second output terminal OUT2. Then, a signal (for example, S2) output from the first output terminal OUT1 of the 180-degree hybrid element 11 is supplied to the first antenna 16a via the first attenuator 15a, and the second 180-degree hybrid element 11 is second. The signal output from the output terminal OUT2 (for example, −S2) is supplied to the second antenna 16b via the attenuator 14. As a result, signals (S2) and (-S2) whose phases are 180 degrees different from each other based on the second signal S2 are transmitted as beacon signals from the first antenna 16a and the second antenna 16b.

第３信号発生器１３ｃが第３信号Ｓ3を出力している期間（第３信号Ｓ3が９０度ハイブリッド素子１２の第１入力端子IN1に供給される期間）では、９０度ハイブリッド素子１２の第１出力端子OUT1から第３信号Ｓ3に基づいた信号（Ｓ3）が出力されるとともに、９０度ハイブリッド素子１２の第２出力端子OUT2から前記信号（Ｓ3）に対して位相が９０度遅れた信号（ｊＳ3）が出力される。そして、９０度ハイブリッド素子１２の第１出力端子OUT1から出力される信号（Ｓ3）が合成器１４を介して第２アンテナ１６ｂに供給されるとともに、９０度ハイブリッド素子１２の第２出力端子OUT2から出力される信号（ｊＳ3）が第２減衰器１５ｂを介して第３アンテナ１６ｃに供給される。その結果、第２アンテナ１６ｂから第３信号Ｓ3に基づいた信号（Ｓ3）がビーコン信号として発信されるとともに、第３アンテナ１６ｃから前記信号（Ｓ3）に対して位相が９０度遅れた信号（ｊＳ3）がビーコン信号として発信される。 During the period in which the third signal generator 13c outputs the third signal S3 (the period in which the third signal S3 is supplied to the first input terminal IN1 of the 90-degree hybrid element 12), the first of the 90-degree hybrid element 12 A signal (S3) based on the third signal S3 is output from the output terminal OUT1, and a signal (jS3) whose phase is delayed by 90 degrees from the signal (S3) from the second output terminal OUT2 of the 90-degree hybrid element 12. ) Is output. Then, the signal (S3) output from the first output terminal OUT1 of the 90-degree hybrid element 12 is supplied to the second antenna 16b via the attenuator 14, and is also supplied from the second output terminal OUT2 of the 90-degree hybrid element 12. The output signal (jS3) is supplied to the third antenna 16c via the second attenuator 15b. As a result, a signal (S3) based on the third signal S3 is transmitted from the second antenna 16b as a beacon signal, and a signal (jS3) whose phase is delayed by 90 degrees from the signal (S3) from the third antenna 16c. ) Is transmitted as a beacon signal.

第４信号発生器１３ｄが第４信号Ｓ4を出力している期間（第４信号Ｓ4が９０度ハイブリッド素子１２の第２入力端子IN2に供給される期間）では、９０度ハイブリッド素子１２の第２出力端子OUT2から第４信号Ｓ4に基づいた信号（Ｓ4）が出力されるとともに、９０度ハイブリッド素子１２の第１出力端子OUT1から前記信号（Ｓ4）に対して位相が９０度遅れた信号（ｊＳ4）が出力される。そして、９０度ハイブリッド素子１２の第１出力端子OUT1から出力される信号（ｊＳ4）が合成器１４を介して第２アンテナ１６に供給されるとともに、９０度ハイブリッド素子１２の第２出力端子OUT2から出力される信号（Ｓ4）が第２減衰器１５ｂを介して第３アンテナ１６ｃに供給される。その結果、第３アンテナ１６ｃから第４信号Ｓ4に基づいた信号（Ｓ4）がビーコン信号として発信されるとともに、第２アンテナ１６ｂから前記信号（Ｓ4）に対して位相が９０度遅れた信号（ｊＳ4）がビーコン信号として発信される。 During the period in which the fourth signal generator 13d outputs the fourth signal S4 (the period in which the fourth signal S4 is supplied to the second input terminal IN2 of the 90-degree hybrid element 12), the second of the 90-degree hybrid element 12 A signal (S4) based on the fourth signal S4 is output from the output terminal OUT2, and a signal (jS4) whose phase is delayed by 90 degrees from the signal (S4) from the first output terminal OUT1 of the 90-degree hybrid element 12. ) Is output. Then, the signal (jS4) output from the first output terminal OUT1 of the 90-degree hybrid element 12 is supplied to the second antenna 16 via the attenuator 14, and is also supplied from the second output terminal OUT2 of the 90-degree hybrid element 12. The output signal (S4) is supplied to the third antenna 16c via the second attenuator 15b. As a result, a signal (S4) based on the fourth signal S4 is transmitted from the third antenna 16c as a beacon signal, and a signal (jS4) whose phase is delayed by 90 degrees from the signal (S4) from the second antenna 16b. ) Is transmitted as a beacon signal.

携帯通信端末装置２０は、ビーコン装置１０からビーコン信号として発信される第１信号Ｓ1、第２信号Ｓ2、第３信号Ｓ3及び第４信号Ｓ4のそれぞれに基づいた信号を受信する。そして、携帯通信端末装置２０は、受信したビーコン信号から第１信号Ｓ1、第２信号Ｓ2、第３信号Ｓ3及び第４信号Ｓ4についての受信強度情報（RSSI：Received Signal Strength Indication）を独立に測定する機能を備えている。携帯通信端末装置２０は、ビーコン装置１０から十分に離れた位置に存在しており、ビーコン装置１０の３つのアンテナ１６ａ、１６ｂ、１６ｃから見て略同じ方向に位置しているとみなせるものとする。 The mobile communication terminal device 20 receives signals based on the first signal S1, the second signal S2, the third signal S3, and the fourth signal S4 transmitted from the beacon device 10 as beacon signals. Then, the mobile communication terminal device 20 independently measures the received signal strength information (RSSI: Received Signal Strength Indication) for the first signal S1, the second signal S2, the third signal S3, and the fourth signal S4 from the received beacon signal. It has a function to do. It is assumed that the mobile communication terminal device 20 exists at a position sufficiently distant from the beacon device 10 and can be regarded as being located in substantially the same direction as viewed from the three antennas 16a, 16b, 16c of the beacon device 10. ..

上述したようなシステムにおいて、前記ビーコン信号を受信する携帯通信端末装置２０は、ビーコン装置１０から見た携帯通信端末装置２０の方向θを推定することができる。この方向θの推定に係る処理について以下説明する。 In the system as described above, the mobile communication terminal device 20 that receives the beacon signal can estimate the direction θ of the mobile communication terminal device 20 as seen from the beacon device 10. The process related to the estimation of the direction θ will be described below.

第１アンテナ１６ａと携帯通信端末装置２０の受信アンテナとの間の複素伝搬チャネルをｈ１、第２アンテナ１６ｂと携帯通信端末装置２０の受信アンテナとの間の複素伝搬チャネルをｈ２、第３アンテナ１６ｃと携帯通信端末装置２０の受信アンテナとの間の複素伝搬チャネルをｈ３とし、第１アンテナ１６ａ、第２アンテナ１６ｂ及び第３アンテナ１６ｃで構成されるアレーアンテナのブロードサイド方向を基準として角度θの位置に携帯通信端末装置２０が存在するものとする。 The complex propagation channel between the first antenna 16a and the receiving antenna of the mobile communication terminal device 20 is h1, the complex propagation channel between the second antenna 16b and the receiving antenna of the mobile communication terminal device 20 is h2, and the third antenna 16c. The complex propagation channel between the antenna and the receiving antenna of the mobile communication terminal device 20 is h3, and the angle θ is based on the broad side direction of the array antenna composed of the first antenna 16a, the second antenna 16b, and the third antenna 16c. It is assumed that the mobile communication terminal device 20 exists at the position.

前記伝搬チャネルはまとめて、

と表記することができる。この伝搬チャネルを用いて相関行列、

を計算することがきる。ここで、記号Ｈは複素共役転置、記号＊は複素共役、この相関行列の対角項は実数、非対角項は通常は複素数となる。相関行列が分かればビーコン装置１０に対する携帯通信端末装置２０の方向を推定することができる。この方向推定アルゴリズムについては後述する。しかし、携帯通信端末装置２０（受信機）では、ＲＳＳＩのみを観測するため、（１）式の伝搬チャネルを直接観測することはない。そこで近似的に（２）式の相関行列を推定する方法について述べる。 The propagation channels are grouped together

Can be written as. Correlation matrix using this propagation channel,

Can be calculated. Here, the symbol H is a complex conjugate transpose, the symbol * is a complex conjugate, the diagonal term of this correlation matrix is a real number, and the off-diagonal term is usually a complex number. If the correlation matrix is known, the direction of the mobile communication terminal device 20 with respect to the beacon device 10 can be estimated. This direction estimation algorithm will be described later. However, since the mobile communication terminal device 20 (receiver) observes only RSSI, it does not directly observe the propagation channel of Eq. (1). Therefore, a method of approximately estimating the correlation matrix of Eq. (2) will be described.

（１）式の伝搬チャネルを用いると、携帯通信端末装置２０で測定される各信号Ｓ1、Ｓ2、Ｓ3、Ｓ4の振幅｜ｙ1｜、｜ｙ2｜、|ｙ3｜、｜ｙ4｜は、

と書くことができる。ここで、ｊは虚数単位、｜｜は絶対値を表す。以下説明を簡単にするため、

とし、見かけの伝搬チャネルの振幅を、

と定義する。すると、

と書くことができる。ここで＊は複素共役を表す。 When the propagation channel of the equation (1) is used, the amplitudes of the signals S1, S2, S3, and S4 measured by the mobile communication terminal device 20 | y1 |, | y2 |, | y3 |, | y4 |

Can be written as. Here, j represents an imaginary unit and || represents an absolute value. To simplify the explanation below

And the amplitude of the apparent propagation channel,

Is defined as. Then

Can be written as. Here, * represents the complex conjugate.

次に（１１）式と（１２）式の差を考えると、

と計算することができる。ここで、

は複素数xの実部を意味し、αは複素数

の偏角である。 Next, considering the difference between equations (11) and (12),

Can be calculated. here,

Means the real part of the complex number x and α is the complex number

Argument.

（１１）式と（１２）式の和を考えると、

の関係式が得られる。これは相加相乗平均の関係式と呼ばれ、等号が成立するのは

の場合である。 Considering the sum of equations (11) and (12),

The relational expression of is obtained. This is called the relational expression of the additive geometric mean, and the equal sign holds.

In the case of.

ここで、

の関係について考えると、図１に示す通り３つの送信アンテナ１６ａ、１６ｂ、１６ｃから見て携帯通信端末装置２０の受信アンテナは十分遠方に存在し、チャネルの振幅は等しいものと仮定することができる。その場合、（１６）式の等号が成立するため、（１５）式に代入すると、

のように求めることができる。つまり、

となる。ここで、

である。なお、（１８）式はαの符号が不定であるため２通りの解を導く。 here,

As shown in FIG. 1, it can be assumed that the receiving antennas of the mobile communication terminal device 20 are sufficiently distant from the three transmitting

antennas

16a, 16b, 16c and the channel amplitudes are equal. .. In that case, the equal sign of Eq. (16) holds, so when substituting into Eq. (15),

Can be obtained as follows. In other words

Will be. here,

Is. Since the code of α is indefinite in Eq. (18), two solutions are derived.

次に、（１３）式と（１４）式の差を考えると、

と計算することができる。ここで、

は複素数xの虚部を意味し、βは複素数

の偏角である。 Next, considering the difference between equations (13) and (14),

Can be calculated. here,

Means the imaginary part of the complex number x, β is the complex number

Argument.

（１３）式と（１４）式の和を考えると、(１６)式と同様に、

の関係式が得られる。

と

もほぼ等しいと考えられるので、等号が成立すると考えられる。その場合、（２０）式の等号が成立するため、（１９）式に代入すると、

のように２通りの解が求められる。つまり、βを用いて、

と書くことができる。ここで、

である。β が２通りの解を有することから（２２）式も２通りの結果を与える。ここで、βの２つの解と（１８）式のαの２つの解とを比較し、αとβの差が最も小さい解の組み合わせを選択する。この理由は次のようになる。 Considering the sum of equations (13) and (14), as in equation (16),

The relational expression of is obtained.

When

Is considered to be almost equal, so it is considered that the equal sign holds. In that case, the equal sign of Eq. (20) holds, so when substituting into Eq. (19),

Two solutions are required. That is, using β,

Can be written as. here,

Is. Since β has two solutions, Eq. (22) also gives two results. Here, the two solutions of β and the two solutions of α in Eq. (18) are compared, and the combination of the solutions having the smallest difference between α and β is selected. The reason for this is as follows.

理想的にはｈ１、ｈ２、ｈ３の振幅は全て等しい値になる。これは、３つの送信アンテナ１６ａ、１６ｂ、１６ｃと携帯通信端末装置２０の受信アンテナは十分に離れており、伝搬損は等しいとみなすことができるからである。同様に、送信アンテナ１６ａ、１６ｂ、１６ｃから見た携帯通信端末装置２０の受信アンテナの方向は全て等しくθである。アンテナ１６ａ、１６ｂ、１６ｃは等間隔ｄに整列しているため、ｈ１とｈ２との間の位相遅延の差と、ｈ２とｈ３との間の位相遅延の差とは等しくなる。（１８）式に着目すると、αはｈ１とｈ２の位相遅延の差を表していることが分かり、（２２）式のβもｈ２とｈ３の位相遅延の差を表していることが分かる。つまり、αとβは理想的には一致していなければならない。実際には多重波や雑音によって観測したＲＳＳＩに誤差が生じαとβに差異が発生するが、最も近いαとβの組み合わせを選択すればよい。 Ideally, the amplitudes of h1, h2, and h3 are all equal values. This is because the three transmitting antennas 16a, 16b, 16c and the receiving antenna of the mobile communication terminal device 20 are sufficiently separated from each other, and the propagation loss can be regarded as equal. Similarly, the directions of the receiving antennas of the mobile communication terminal device 20 as seen from the transmitting antennas 16a, 16b, 16c are all equal θ. Since the antennas 16a, 16b, and 16c are aligned at equal intervals d, the difference in phase delay between h1 and h2 and the difference in phase delay between h2 and h3 are equal. Focusing on Eq. (18), it can be seen that α represents the difference in phase delay between h1 and h2, and β in Eq. (22) also represents the difference in phase delay between h2 and h3. That is, α and β must ideally match. Actually, an error occurs in the RSSI observed due to multiple waves and noise, and a difference occurs between α and β, but the closest combination of α and β may be selected.

以上に述べた計算手順により得られた情報をもとに、（２）式に示す相関行列の推定について説明する。 Based on the information obtained by the calculation procedure described above, the estimation of the correlation matrix shown in Eq. (2) will be described.

（２）式において、対角項について考えると、これまでに用いたｈ１≒ｈ２≒ｈ３という近似を再度利用すると、

となり、｜ｈ２｜は｜ｈ１｜か｜ｈ２｜のどちらかの値を選択すればよい。あるいはｈ１〜ｈ３の多少のばらつきを考慮するなら、

となるよう平均値を用いてもよい。 Considering the diagonal term in the equation (2), if the approximation of h1≈h2≈h3 used so far is used again,

Therefore, | h2 | may be selected from either | h1 | or | h2 |. Or if some variation in h1 to h3 is taken into consideration,

The average value may be used so as to be.

次に非対角項について考えると、

が未知数として残っている。これは、

によって計算することができる。（２）式の相関行列は対称であるため、以上の手順によって、全ての要素が求められたことになる。 Next, consider the off-diagonal argument.

Remains as an unknown number. this is,

Can be calculated by. Since the correlation matrix of Eq. (2) is symmetric, all the elements have been obtained by the above procedure.

相関行列を用いた方向推定には様々なアルゴリズムが存在するが、ここでは一例としてMUSIC（Multiple Signal Classification）法を用いた方向推定アルゴリズムについて述べる。 There are various algorithms for direction estimation using the correlation matrix, but here, the direction estimation algorithm using the MUSIC (Multiple Signal Classification) method will be described as an example.

相関行列は、固有値分解によって、

であり、ここで、

であり、diag [ ]は対角行列を表し、

は、それぞれ第１、第２、第３固有ベクトル、

は、それぞれ第１、第２、第３固有値であり、

であるものとする。図１に示すシステムのように１波のみが到来する状況では、λ1は信号を含んだ電力、λ2、λ3は、雑音電力に対応する。MUSIC法では、このような固有ベクトルを用いて、評価式

によって推定する。ここで、

はステアリングベクトルと呼ばれ、ｄはアンテナの間隔、λは波長である。（３０）式を用い、θ0に様々な値を代入しＰmusicが最大になる方向が信号の出発方向であると判断する。つまり、この場合はθ0＝θのときにＰmusicが最大になる。ここで述べた方法に基づく出発角推定は全て、携帯通信端末装置２０（受信機）にて処理を行うものである。携帯通信端末装置２０は、ビーコン信号を受信可能とするハードウェア以外は特段のハードウェアを用いることなく自らの方向を推定できる。 The correlation matrix is calculated by eigenvalue decomposition.

And here,

And diag [] represents the diagonal matrix

Are the first, second, and third eigenvectors, respectively.

Are the first, second, and third eigenvalues, respectively.

Suppose that In a situation where only one wave arrives as in the system shown in FIG. 1, λ1 corresponds to power including a signal, and λ2 and λ3 correspond to noise power. In the MUSIC method, an evaluation formula is used using such an eigenvector.

Estimated by. here,

Is called the steering vector, d is the antenna spacing, and λ is the wavelength. Using equation (30), various values are substituted for θ0, and it is determined that the direction in which Pmusic is maximized is the starting direction of the signal. That is, in this case, Pmusic is maximized when θ0 = θ. All the departure angle estimations based on the method described here are processed by the mobile communication terminal device 20 (receiver). The mobile communication terminal device 20 can estimate its own direction without using any special hardware other than the hardware capable of receiving the beacon signal.

（１８）式が得られた状態で次の相関行列

を用いて出発角の推定を行うことができる。推定アルゴリズムは例えば前述のMUSICアルゴリズムを用いることができる。この状態角度を推定すると、αが２通り存在するため推定角度も２通り存在し、これらをθＡ１、θＡ２とする。 With the equation (18) obtained, the following correlation matrix

The starting angle can be estimated using. As the estimation algorithm, for example, the above-mentioned MUSIC algorithm can be used. When this state angle is estimated, since there are two types of α, there are also two types of estimated angles, which are referred to as θA1 and θA2.

次に、（２２）式で得られる相関行列

から、方向推定を行い、この場合も解が２通り存在し、推定した方向をθＢ１、θＢ２とする。正しい出発角は一つであるから、（３２）式から求めた結果と、（３３）式から求めた結果で近い値となった角度を正しい出発角として選択する。しかし、実際には選択した２つの解は完全に一致しないため、どちらか一方の解を選択するか、これらの解の平均値を出発角として算出してもよい。ここで述べた方法に基づく出発角推定も全て、携帯通信端末装置２０（受信機）にて処理を行うものである。携帯通信端末装置２０は、ビーコン信号を受信可能とするハードウェア以外は特段のハードウェアを用いることなく自らの方向を推定できる。 Next, the correlation matrix obtained by Eq. (22)

Therefore, the direction is estimated, and in this case as well, there are two solutions, and the estimated directions are θB1 and θB2. Since there is only one correct starting angle, an angle that is close to the result obtained from Eq. (32) and the result obtained from Eq. (33) is selected as the correct starting angle. However, in reality, the two selected solutions do not completely match, so one of the solutions may be selected or the average value of these solutions may be used as the starting angle. All the departure angle estimations based on the method described here are also processed by the mobile communication terminal device 20 (receiver). The mobile communication terminal device 20 can estimate its own direction without using any special hardware other than the hardware capable of receiving the beacon signal.

図２は、図１に示すシステムを適用して、屋内環境にて推定実験を行ったその環境を示している。ここで、実験は、周波数２．４７ＧＨｚにて行われており、アンテナ素子間隔ｄは０．５波長、ビーコンアンテナ１６は、３素子（第１アンテナ１６ａ、第２アンテナ１６ｂ、第３アンテナ１６ｂ）のパッチアンテナである。ビーコンアンテナ１６は部屋中央方向を向くように床面から高さ１ｍの位置に置かれている。また、〇印で示された場所の何れかに端末アンテナ２０ａ（携帯通信端末装置２０）を配置して方向推定実験を行った。端末アンテナ２０ａの床面からの高さは１ｍである。また、送信電力は0 dBmとした。 FIG. 2 shows the environment in which the estimation experiment was performed in an indoor environment by applying the system shown in FIG. Here, the experiment is performed at a frequency of 2.47 GHz, the antenna element spacing d is 0.5 wavelength, and the beacon antenna 16 has 3 elements (first antenna 16a, second antenna 16b, third antenna 16b). It is a patch antenna of. The beacon antenna 16 is placed at a height of 1 m from the floor so as to face the center of the room. In addition, a direction estimation experiment was conducted by arranging the terminal antenna 20a (portable communication terminal device 20) at any of the places indicated by ◯. The height of the terminal antenna 20a from the floor surface is 1 m. The transmission power was set to 0 dBm.

図３は、上述したような計算方法を用いて出発角θを推定し、その角度誤差の累積確率分布を計算した結果を示している。ここで、角度誤差とは、実際に端末の受信アンテナ（端末アンテナ２０ａ）が存在する方向角と推定した出発角の差異である。また、前述の通り方向推定にはMUSIC法を用いている。本願発明者等が既に提案している手法（特願２０１５−１６５２２５）で得られた累積確率分布Ｑ１では、累積確率分布値が５０％となる角度誤差が５．６６度であったのに対して、上述した本願発明に係る手法にて得られた累積確率分布Ｑ２では、累積確率分布値が５０％となる角度誤差が３．９６度であり、推定誤差角度を３０％（１．７０度）改善することが分かった。 FIG. 3 shows the result of estimating the starting angle θ using the calculation method as described above and calculating the cumulative probability distribution of the angle error. Here, the angle error is the difference between the azimuth angle at which the receiving antenna (terminal antenna 20a) of the terminal actually exists and the estimated starting angle. In addition, as described above, the MUSIC method is used for direction estimation. In the cumulative probability distribution Q1 obtained by the method already proposed by the inventors of the present application (Japanese Patent Application No. 2015-165225), the angle error at which the cumulative probability distribution value is 50% is 5.66 degrees. In the cumulative probability distribution Q2 obtained by the method according to the present invention described above, the angle error at which the cumulative probability distribution value is 50% is 3.96 degrees, and the estimated error angle is 30% (1.70 degrees). ) It turned out to improve.

本発明の第２の実施の形態に係るビーコン装置は、図４に示すように構成される。 The beacon device according to the second embodiment of the present invention is configured as shown in FIG.

図４において、このビーコン装置１０は、前述した第１の実施の形態（図１参照）と同様に、１８０度ハイブリッド素子１１、９０度ハイブリッド素子１２、第１信号発生部１３ａ、第２信号発生部１３ｂ、第３信号発生部１３ｃ、第４信号発生部１３ｄ及び第１アンテナ１６ａ、第２アンテナ１６ｂ及び第３アンテナ１６ｃ（３つのアンテナ）を有している。第１信号発生部１３ａ、第２信号発生部１３ｂ、第３信号発生部１３ｃ及び第４信号発生部１３ｄは、第１の実施の形態（図１参照）と同様に、制御部（図示略）による制御のもと、所定の時間間隔で、第１信号Ｓ1、第２信号Ｓ2、第３信号Ｓ3及び第４信号Ｓ4を順次サイクリックに切換え出力する。また、このビーコン装置１０は、第１合成器１４ａ、第２合成器１４ｂ及び第３合成器１４ｃの３つの合成器と、第１終端器１７ａ及び第２終端器１７ｂの２つの終端器とを有している点で、前述した第１の実施の形態（図１参照）に係るビーコン装置とは異なる。 In FIG. 4, the beacon device 10 has a 180-degree hybrid element 11, a 90-degree hybrid element 12, a first signal generation unit 13a, and a second signal generation, similarly to the first embodiment (see FIG. 1) described above. It has a unit 13b, a third signal generation unit 13c, a fourth signal generation unit 13d, a first antenna 16a, a second antenna 16b, and a third antenna 16c (three antennas). The first signal generation unit 13a, the second signal generation unit 13b, the third signal generation unit 13c, and the fourth signal generation unit 13d are control units (not shown) as in the first embodiment (see FIG. 1). The first signal S1, the second signal S2, the third signal S3, and the fourth signal S4 are sequentially cyclically switched and output at predetermined time intervals under the control of the above. Further, the beacon device 10 includes three synthesizers of the first synthesizer 14a, the second synthesizer 14b and the third synthesizer 14c, and two terminators of the first terminator 17a and the second terminator 17b. It is different from the beacon device according to the first embodiment (see FIG. 1) described above in that it has.

図４において、前述したビーコン装置（第１の実施の形態に係るビーコン装置：図１参照）と同様に、第１信号Ｓ1を出力する第１信号発生器１３ａ及び第２信号Ｓ2を出力する第２信号発生器１３ｂは、それぞれ、１８０度ハイブリッド素子１１の第１入力端子IN1及び第２入力端子IN2に接続され、第３信号Ｓ3を出力する第３信号発生器１３ｃ及び第４信号Ｓ4を出力する第４信号発生器１３ｄは、それぞれ、９０度ハイブリッド素子１２の第１入力端子IN1及び第２入力端子IN2に接続されている。また、前述したビーコン装置（図１参照）と同様に、１８０度ハイブリッド素子１１の第２出力端子OUT2及び９０度ハイブリッド素子１２の第１出力端子OUT1は、第２合成器１４ｂの入力端子に接続され、第２合成器１４ｂ（第２結合器、第３結合器）の出力端子が第２アンテナ１６ｂに接続されている。 In FIG. 4, the first signal generator 13a for outputting the first signal S1 and the second signal S2 for outputting the first signal S1 are output in the same manner as the above-mentioned beacon device (beacon device according to the first embodiment: see FIG. 1). The two signal generators 13b are connected to the first input terminal IN1 and the second input terminal IN2 of the 180-degree hybrid element 11, respectively, and output the third signal generator 13c and the fourth signal S4 that output the third signal S3. The fourth signal generator 13d is connected to the first input terminal IN1 and the second input terminal IN2 of the 90-degree hybrid element 12, respectively. Further, similarly to the beacon device described above (see FIG. 1), the second output terminal OUT2 of the 180-degree hybrid element 11 and the first output terminal OUT1 of the 90-degree hybrid element 12 are connected to the input terminal of the second synthesizer 14b. The output terminals of the second synthesizer 14b (second coupler, third coupler) are connected to the second antenna 16b.

このビーコン装置１０では、特に、第１終端器１７ａ及び１８０度ハイブリッド素子１１の第１出力端子OUT1が、第１合成器１４ａ（第１結合器）の入力端子に接続され、第１合成器１４ａの出力端子が第１アンテナ１６ａに接続されている。また、第２終端器１７ｂ及び９０度ハイブリッド１２の第２出力端子OUT2が、第３合成器１４ｃ（第４結合器）の入力端子に接続され、第３合成器１４ｃの出力端子が第３アンテナ１６ｃに接続されている。 In the beacon device 10, in particular, the first output terminal OUT1 of the first terminator 17a and the 180-degree hybrid element 11 is connected to the input terminal of the first synthesizer 14a (first coupler), and the first synthesizer 14a The output terminal of is connected to the first antenna 16a. Further, the second output terminal OUT2 of the second terminator 17b and the 90-degree hybrid 12 is connected to the input terminal of the third synthesizer 14c (fourth coupler), and the output terminal of the third synthesizer 14c is the third antenna. It is connected to 16c.

このような構成では、第１終端器１７ａが接続される第１合成器１４ａの出力信号は、１８０度ハイブリッド素子１１の第１出力端子OUT1から出力される信号と実質的に同じである。また、第２終端器１７ｂが接続される第３合成器１４ｃの出力信号は、９０度ハイブリッド素子１２の第２出力端子OUT2から出力される信号と実質的に同じである。従って、第１信号発生器１３ａが第１信号Ｓ1を出力している期間、第２信号発生器１３ｂが第２信号Ｓ2を出力している期間、第３信号発生器１３ｃが第３信号Ｓ3を出力している期間、及び第４信号発生器１３ｄが第４信号Ｓ4を出力している期間のそれぞれの期間において、第１アンテナ１６ａ、第２アンテナ１６ｂ及び第３アンテナ１６ｃから、第１の実施の形態（図１参照）の場合と同様の、第１信号Ｓ1、第２信号Ｓ2、第３信号Ｓ3及び第４信号Ｓ4のそれぞれに基づいたビーコン信号が発信される。 In such a configuration, the output signal of the first synthesizer 14a to which the first termination device 17a is connected is substantially the same as the signal output from the first output terminal OUT1 of the 180-degree hybrid element 11. Further, the output signal of the third synthesizer 14c to which the second terminator 17b is connected is substantially the same as the signal output from the second output terminal OUT2 of the 90-degree hybrid element 12. Therefore, during the period when the first signal generator 13a outputs the first signal S1, the period when the second signal generator 13b outputs the second signal S2, the third signal generator 13c outputs the third signal S3. In each period of the output period and the period in which the fourth signal generator 13d outputs the fourth signal S4, the first implementation is performed from the first antenna 16a, the second antenna 16b, and the third antenna 16c. A beacon signal based on each of the first signal S1, the second signal S2, the third signal S3, and the fourth signal S4 is transmitted as in the case of the above mode (see FIG. 1).

このように、第１アンテナ１６ａ、第２アンテナ１６ｂ及び第３アンテナ１６ｃから第１の実施の形態（図１参照）の場合と同様のビーコン信号が発信されることから、前述したのと同様の手法により、ビーコン信号を受信する携帯通信端末装置２０は、当該携帯通信端末装置２０のビーコン装置１０から見た方向（出発角θ）を推定することがきる。 As described above, since the same beacon signal as in the case of the first embodiment (see FIG. 1) is transmitted from the first antenna 16a, the second antenna 16b, and the third antenna 16c, the same as described above. According to the method, the mobile communication terminal device 20 that receives the beacon signal can estimate the direction (departure angle θ) seen from the beacon device 10 of the mobile communication terminal device 20.

特に、本発明の第２の実施の形態に係るビーコン装置１０では、第１アンテナ１６ａ、第２アンテナ１６ｂ及び第３アンテナ１６ｃのそれぞれの直下に特性の等しい第１合成器１４ａ、第２合成器１４ｂ及び第３合成器１４ｃの３つの合成器を配置することによって、第１アンテナ１６ａ、第２アンテナ１６ｂ及び第３アンテナ１６ｃから放射されるビーコン信号の振幅や位相に誤差が生じにくいという利点が得られる。また、前述した第１の実施の形態の場合（図１参照）、合成器１４の挿入損と各減衰器１５ａ、１５ｂの減衰量を正確に合わせる必要がった。しかし、第２の実施の形態の場合（図４参照）、特性の揃った第１合成器１４ａ、第２合成器１４ｂ及び第３合成器１４ｃの３つの合成器を用いることで、設計、製造時に位相や振幅の調整が不要となり、扱い易いビーコン装置を実現させることができる。 In particular, in the beacon device 10 according to the second embodiment of the present invention, the first synthesizer 14a and the second synthesizer having the same characteristics are directly under the first antenna 16a, the second antenna 16b, and the third antenna 16c, respectively. By arranging the three synthesizers 14b and the third synthesizer 14c, there is an advantage that errors are unlikely to occur in the amplitude and phase of the beacon signals radiated from the first antenna 16a, the second antenna 16b and the third antenna 16c. can get. Further, in the case of the first embodiment described above (see FIG. 1), it is necessary to accurately match the insertion loss of the synthesizer 14 with the attenuation amounts of the attenuators 15a and 15b. However, in the case of the second embodiment (see FIG. 4), it is designed and manufactured by using three synthesizers having the same characteristics, the first synthesizer 14a, the second synthesizer 14b, and the third synthesizer 14c. Sometimes it is not necessary to adjust the phase and amplitude, and it is possible to realize an easy-to-use beacon device.

また、第１の実施の形態に係るビーコン装置（図１参照）では、第１減衰器１５ａ、第２減衰器１５ｂの２つの減衰器が用いられていた。各減衰器１５ａ、１５ｂが位相遅延を有する場合には、第２アンテナ１６ｂからのビーコン信号の位相を遅らせる手段を追加する必要がるなど、設計が煩雑になる可能性があるが、上述した第２の実施の形態に係るビーコン装置１０では、そのような不都合はない。 Further, in the beacon device (see FIG. 1) according to the first embodiment, two attenuators, a first attenuator 15a and a second attenuator 15b, were used. If each of the attenuators 15a and 15b has a phase delay, the design may be complicated, for example, it may be necessary to add a means for delaying the phase of the beacon signal from the second antenna 16b. The beacon device 10 according to the second embodiment does not have such an inconvenience.

本発明の第３の実施の形態に係るビーコン装置は、図５に示すように構成される。 The beacon device according to the third embodiment of the present invention is configured as shown in FIG.

図５において、このビーコン装置１０は、前述した第１の実施の形態（図１参照）と同様に、１８０度ハイブリッド素子１１、９０度ハイブリッド素子１２、合成器１４、第１減衰器１５ａ、第２減衰器１５ｂの２つの減衰器及び第１アンテナ１６ａ、第２アンテナ１６ｂ及び第３アンテナ１６ｃの３つのアンテナを有している。そして、これら１８０度ハイブリッド素子１１、９０度ハイブリッド素子１２、合成器１４、２つの減衰器１５ａ、１５ｂ及び３つのアンテナ１６ａ、１６ｂ、１６ｃは、第１の実施の形態の場合（図１参照）と同様に接続されている。 In FIG. 5, the beacon device 10 has a 180-degree hybrid element 11, a 90-degree hybrid element 12, a synthesizer 14, a first attenuator 15a, and a first, as in the first embodiment (see FIG. 1) described above. It has two attenuators of two attenuators 15b and three antennas of a first antenna 16a, a second antenna 16b and a third antenna 16c. The 180-degree hybrid element 11, the 90-degree hybrid element 12, the synthesizer 14, the two attenuators 15a and 15b, and the three antennas 16a, 16b and 16c are the cases of the first embodiment (see FIG. 1). It is connected in the same way as.

このビーコン装置１０は、４つの個別の信号発生器（１３ａ、１３ｂ、１３ｃ、１３ｄ）に代えて、例えば、識別子によって区別される第１信号Ｓ1、第２信号Ｓ2、第３信号Ｓ3及び第４信号Ｓ4を所定時間間隔で順次サイクリックに切換え出力する単一の信号発生器１８と、信号発生器１８からの信号Ｓを入力し、信号発生器１８の信号Ｓの切り換えに同期して、当該入力信号Ｓを４つの出力端子の１つ１つに順番に振り分けるSP4Tスイッチ１９（スイッチ部）とを有している。具体的には、信号発生器１８が第１信号Ｓ1を出力する期間では、SP4Tスイッチ１９は、その第１信号Ｓ1を１８０度ハイブリッド素子１１の第１入力端子IN1に振り分け、信号発生器１８が第２信号Ｓ2を出力する期間では、SP4Tスイッチ１９は、その第２信号Ｓ2を１８０度ハイブリッド素子１１の第２入力端子IN2に振り分ける。また、信号発生器１８が第３信号Ｓ3を出力する期間では、SP4Tスイッチ１９は、その第３信号Ｓ3を９０度ハイブリッド素子１２の第１入力端子IN1に振り分け、信号発生器１８が第４信号Ｓ4を出力する期間では、SP4Tスイッチ１９は、その第４信号Ｓ4を９０度ハイブリッド素子１２の第２入力端子IN2に振り分ける。このように、信号発生部１８とSP4Tスイッチ１９により、第１信号Ｓ1、第２信号Ｓ2、第３信号Ｓ3及び第４信号Ｓ4を供給する第１信号供給部、第２信号供給部、第３信号供給部及び第４信号供給部が構成される。 The beacon device 10 replaces the four individual signal generators (13a, 13b, 13c, 13d), for example, with a first signal S1, a second signal S2, a third signal S3 and a fourth signal distinguished by an identifier. A single signal generator 18 that sequentially cyclically switches and outputs the signal S4 at predetermined time intervals and a signal S from the signal generator 18 are input and synchronized with the switching of the signal S of the signal generator 18, the said It has an SP4T switch 19 (switch unit) that sequentially distributes the input signal S to each of the four output terminals. Specifically, during the period when the signal generator 18 outputs the first signal S1, the SP4T switch 19 distributes the first signal S1 to the first input terminal IN1 of the 180-degree hybrid element 11, and the signal generator 18 distributes the first signal S1 to the first input terminal IN1. During the period for outputting the second signal S2, the SP4T switch 19 distributes the second signal S2 to the second input terminal IN2 of the 180-degree hybrid element 11. Further, during the period when the signal generator 18 outputs the third signal S3, the SP4T switch 19 distributes the third signal S3 to the first input terminal IN1 of the 90-degree hybrid element 12, and the signal generator 18 distributes the third signal S3 to the first input terminal IN1. During the period of outputting S4, the SP4T switch 19 distributes the fourth signal S4 to the second input terminal IN2 of the 90-degree hybrid element 12. In this way, the first signal supply unit, the second signal supply unit, and the third signal supply unit that supply the first signal S1, the second signal S2, the third signal S3, and the fourth signal S4 by the signal generation unit 18 and the SP4T switch 19. A signal supply unit and a fourth signal supply unit are configured.

このような構成のビーコン装置１０では、信号発生器１８が第１信号Ｓ1を出力する期間では、その第１信号Ｓ1がSP4Tスイッチ１９を介して１８０度ハイブリッド素子１１の第１入力端子IN1に入力し、信号発生器１８が第２信号Ｓ2を出力する期間では、その第２信号Ｓ2がSP4Ｔスイッチ１９を介して１８０度ハイブリッド素子１１の第２入力端子IN2に入力し、信号発生器１８が第３信号Ｓ3を出力する期間では、その第３信号Ｓ3がSP4Tスイッチ１９を介して９０度ハイブリッド素子１２の第１入力端子IN1に入力し、そして、信号発生器１８が第４信号Ｓ4を出力する期間では、その第４信号Ｓ4がSP4Tスイッチ１９を介して９０度ハイブリッド素子１２の第２入力端子IN2に入力する。このように、１８０度ハイブリッド素子１１の２つの入力端子IN1、IN2及び９０度ハイブリッド素子１２の２つの入力端子IN1、IN2への信号の入力態様は、前述した第１の実施の形態の場合（図１参照）と同じであるので、第１アンテナ１６ａ、第２アンテナ１６ｂ及び第３アンテナ１６ｃからは、第１の実施の形態（図１参照）の場合と同様に、第１信号Ｓ1、第２信号Ｓ2、第３信号Ｓ3及び第４信号Ｓ4のそれぞれに基づいたビーコン信号が発信される。 In the beacon device 10 having such a configuration, during the period when the signal generator 18 outputs the first signal S1, the first signal S1 is input to the first input terminal IN1 of the 180-degree hybrid element 11 via the SP4T switch 19. Then, during the period when the signal generator 18 outputs the second signal S2, the second signal S2 is input to the second input terminal IN2 of the 180-degree hybrid element 11 via the SP4T switch 19, and the signal generator 18 is the first. During the period of outputting the three signals S3, the third signal S3 is input to the first input terminal IN1 of the 90-degree hybrid element 12 via the SP4T switch 19, and the signal generator 18 outputs the fourth signal S4. During the period, the fourth signal S4 is input to the second input terminal IN2 of the 90-degree hybrid element 12 via the SP4T switch 19. As described above, the mode of inputting signals to the two input terminals IN1 and IN2 of the 180-degree hybrid element 11 and the two input terminals IN1 and IN2 of the 90-degree hybrid element 12 is the case of the first embodiment described above ( Since it is the same as (see FIG. 1), from the first antenna 16a, the second antenna 16b, and the third antenna 16c, the first signal S1, the first signal S1, is the same as in the case of the first embodiment (see FIG. 1). A beacon signal based on each of the two signals S2, the third signal S3, and the fourth signal S4 is transmitted.

この第３の実施の形態に係るビーコン装置１０では、信号発生器１８の出力信号の切り換えに同期して、第１アンテナ１６ａ、第２アンテナ１６ｂ及び第３アンテナ１６ｃから第１の実施の形態（図１参照）と同様に切換るビーコン信号が発信される。従って、このようなビーコン信号を受信する携帯通信端末装置２０は、前述したのと同様の手法により、当該携帯通信端末装置２０のビーコン装置１０から見た方向（出発角θ）を推定することがきる。 In the beacon device 10 according to the third embodiment, in synchronization with the switching of the output signal of the signal generator 18, the first antenna 16a, the second antenna 16b, and the third antenna 16c to the first embodiment ( A beacon signal for switching is transmitted in the same manner as in FIG. 1). Therefore, the mobile communication terminal device 20 that receives such a beacon signal can estimate the direction (starting angle θ) seen from the beacon device 10 of the mobile communication terminal device 20 by the same method as described above. Wear.

特に、本発明の第３の実施の形態に係るビーコン装置１０では、単一の信号発生器１８で済むためビーコン装置１０を安価に構成することが可能になる。また、単一の信号発生器１９であるため、信号発生器どうしの信号が干渉し受信不可能になることが避けられるという利点も得られる。更に、信号発生器の個体差により入力端子に入力される信号電力がばらつくことを避けられるという利点も得られる。 In particular, in the beacon device 10 according to the third embodiment of the present invention, since a single signal generator 18 is sufficient, the beacon device 10 can be configured at low cost. Further, since it is a single signal generator 19, there is an advantage that it is possible to prevent the signals of the signal generators from interfering with each other and becoming unreceivable. Further, there is an advantage that the signal power input to the input terminal can be prevented from being varied due to individual differences of the signal generator.

それぞれが図１、図４及び図５のいずれかに示す構成となる複数のビーコン装置１０から、前述したように第１信号Ｓ1、第２信号Ｓ2、第３信号Ｓ３及び第４信号Ｓ4に基づいたビーコン信号を受信する携帯通信端末装置２０は、前述した方法に従って推定した各ビーコン装置１０から見た方向（出発角）θと、各ビーコン装置１０の位置とを用いた既知の推定演算手法により、自機（携帯通信端末装置２０）の推定位置を得ることができる。この場合、携帯通信端末装置２０は、各ビーコン装置１０の位置を、ビーコン信号に含められた位置情報により、予め記憶部に格納しておくことにより、インターネット等のネットワークを介した他の機器からの配信により、あるいは、操作者による入力操作により、得ることができる。 Based on the first signal S1, the second signal S2, the third signal S3, and the fourth signal S4, as described above, from the plurality of beacon devices 10 having the configurations shown in any of FIGS. 1, 4 and 5, respectively. The mobile communication terminal device 20 that receives the beacon signal is based on a known estimation calculation method using the direction (departure angle) θ estimated from each beacon device 10 and the position of each beacon device 10 estimated according to the method described above. , The estimated position of the own device (portable communication terminal device 20) can be obtained. In this case, the mobile communication terminal device 20 stores the position of each beacon device 10 in the storage unit in advance based on the position information included in the beacon signal, so that the mobile communication terminal device 20 can be used from another device via a network such as the Internet. It can be obtained by the distribution of the above or by the input operation by the operator.

以上、本発明の実施形態及び各部の変形例を説明したが、この実施形態や各部の変形例は、一例として提示したものであり、発明の範囲を限定することは意図していない。上述したこれら新規な実施形態は、その他の様々な形態で実施されることが可能であり、発明の要旨を逸脱しない範囲で、種々の省略、置き換え、変更を行うことができる。これら実施形態やその変形は、発明の範囲や要旨に含まれるとともに、特許請求の範囲に記載された発明に含まれる。 Although the embodiment of the present invention and the modification of each part have been described above, the embodiment and the modification of each part are presented as an example, and the scope of the invention is not intended to be limited. These novel embodiments described above can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the invention described in the claims.

１０ビーコン装置
１１１８０度ハイブリッド素子
１２９０度ハイブリッド素子
１３ａ第１信号発生器
１３ｂ第２信号発生器
１３ｃ第３信号発生器
１３ｄ第４信号発生器
１４合成器
１４ａ第１合成器
１４ｂ第２合成器
１４ｃ第３合成器
１５ａ第１減衰器
１５ｂ第２減衰器
１６ａ第１アンテナ
１６ｂ第２アンテナ
１６ｃ第３アンテナ
１７ａ第１終端器
１７ｂ第２終端器
１８信号発生器
１９ SP4Ｔスイッチ
２０携帯通信端末装置 10 Beacon device 11 180 degree hybrid element 12 90 degree hybrid element 13a 1st signal generator 13b 2nd signal generator 13c 3rd signal generator 13d 4th signal generator 14 synthesizer 14a 1st synthesizer 14b 2nd synthesizer 14c 3rd Synthesizer 15a 1st Attenuator 15b 2nd Attenuator 16a 1st Antenna 16b 2nd Antenna 16c 3rd Antenna 17a 1st Terminator 17b 2nd Terminator 18 Signal Generator 19 SP4T Switch 20 Mobile Communication Terminal Device

Claims

A beacon device that transmits a beacon signal by predetermined wireless communication.
A first input terminal and a second input terminal, a first and an output terminal and a second output terminal, said when the signal is input to the first input terminal, two signals having the same phase based on the signal Is output from the first output terminal and the second output terminal, and when a signal is input to the second input terminal, two signals whose phases are 180 degrees different from each other based on the signal are transmitted to the first output terminal and A 180-degree hybrid unit that outputs from the second output terminal and
It has a first input terminal and a second input terminal, and a first output terminal and a second output terminal. When a signal is input to the first input terminal, a signal based on the signal is transmitted to the first output terminal. When a signal having a phase difference of 90 degrees with respect to the signal output from the first output terminal is output from the second output terminal and the signal is input to the second input terminal, the signal is output from A 90-degree hybrid unit that outputs a signal based on the signal from the second output terminal and outputs a signal having a phase difference of 90 degrees from the signal output from the second output terminal from the first output terminal.
A first signal supply unit that supplies a first signal to the first input terminal of the 180-degree hybrid unit,
A second signal supply unit that supplies a second signal to the second input terminal of the 180-degree hybrid unit,
A third signal supply unit that supplies a third signal to the first input terminal of the 90-degree hybrid unit,
A fourth signal supply unit that supplies a fourth signal to the second input terminal of the 90-degree hybrid unit,
The first antenna, the second antenna, the third antenna, and
A first coupling portion that couples the first output terminal of the 180-degree hybrid unit to the first antenna,
A second coupling portion that couples the second output terminal of the 180-degree hybrid unit to the second antenna,
A third coupling portion that couples the first output terminal of the 90-degree hybrid unit to the second antenna,
It has a fourth coupling portion that couples the second output terminal of the 90-degree hybrid unit to the third antenna.
When the first signal supply unit is supplying the first signal, a signal based on the first signal is transmitted from the first antenna and the second antenna as the beacon signal.
When the second signal supply unit is supplying the second signal, a signal based on the second signal is transmitted from the first antenna and the second antenna as the beacon signal.
When the third signal supply unit supplies the third signal, a signal based on the third signal is transmitted from the second antenna and the third antenna as the beacon signal.
A beacon device that transmits a signal based on the fourth signal as the beacon signal from the second antenna and the third antenna when the fourth signal supply unit supplies the fourth signal.

Each of the first coupling portion and the fourth coupling portion is composed of an attenuator.
The beacon device according to claim 1, wherein the second coupling portion and the third coupling portion are composed of a common synthesizer.

The first coupling portion is composed of a first synthesizer that couples the first termination device and the first output terminal of the 180-degree hybrid unit to the first antenna.
The second bond and the third bond are composed of a common second synthesizer.
The beacon device according to claim 1, wherein the fourth coupling portion includes a third synthesizer that couples the second termination device and the second output terminal of the 90-degree hybrid unit to the third antenna.

The beacon device according to any one of claims 1 to 3, wherein the first antenna, the second antenna, and the third antenna form linear array antennas that are linearly arranged at equal intervals.

The first signal supply unit, the second signal supply unit, the third signal supply unit, and the fourth signal supply unit
A signal generator that switches and outputs the first signal, the second signal, the third signal, and the fourth signal at predetermined time intervals, and
The first signal, the second signal, the third signal, and the fourth signal, which are switched and output from the signal generator, are combined with the first input terminal, the second input terminal, and the 90 degree of the 180 degree hybrid unit. The beacon device according to any one of claims 1 to 4, wherein the beacon device includes the first input terminal of the hybrid unit and a switch unit for allocating to the second input terminal.

A direction estimation method for estimating the direction of a communication terminal device that receives the beacon signal transmitted from the beacon device according to any one of claims 1 to 5 as viewed from the beacon device.
From the beacon signals transmitted from the first antenna, the second antenna, and the third antenna of the beacon device and received by the communication terminal device, the first signal, the second signal, the third signal, and the above. Steps to acquire the reception strength of each of the 4th signals,
A complex propagation channel between the first antenna of the beacon device and the receiving antenna of the communication terminal device, a complex propagation channel between the second antenna of the beacon device and the receiving antenna of the communication terminal device, and the beacon. The 3 × 3 correlation matrix described by the complex propagation channel between the third antenna of the device and the receiving antenna of the communication terminal device is the first signal, the second signal, the third signal, and the third signal. Steps to calculate based on the reception strength of the 4th signal,
A direction estimation method including a step of calculating the direction of the communication terminal device as seen from the beacon device as an estimation direction based on the obtained correlation matrix.

A position estimation method for estimating the position of a communication terminal device that receives the beacon signal transmitted from each of the plurality of beacon devices according to any one of claims 1 to 5 by the predetermined wireless communication.
A step of obtaining the direction of the communication terminal as seen from each of the plurality of beacon devices according to the direction estimation method according to claim 6.
The step of acquiring the position of each of the plurality of beacon devices and
A position estimation method including a step of calculating the position of the communication terminal based on the direction of the communication terminal as seen from each of the plurality of beacon devices and the position of each of the plurality of beacon devices.

A communication terminal device that receives the beacon signal transmitted from the beacon device according to any one of claims 1 to 5 by the wireless communication.
From the beacon signals transmitted from the first antenna, the second antenna, and the third antenna of the beacon device and received by the communication terminal device, the first signal, the second signal, the third signal, and the above. Means for acquiring the reception strength of each of the fourth signals,
A complex propagation channel between the first antenna of the beacon device and the receiving antenna of the communication terminal device, a complex propagation channel between the second antenna of the beacon device and the receiving antenna of the communication terminal device, and the beacon. The 3 × 3 correlation matrix described by the complex propagation channel between the third antenna of the device and the receiving antenna of the communication terminal device is the first signal, the second signal, the third signal, and the third signal. Means for calculating based on the reception strength of the 4th signal,
A communication terminal device having a means for calculating the direction of the communication terminal device as seen from the beacon device as an estimation direction based on the obtained correlation matrix.

A communication terminal device that receives the beacon signal transmitted from each of the plurality of beacon devices according to any one of claims 1 to 5 by the predetermined wireless communication.
A means for obtaining the direction of the communication terminal as seen from each of the plurality of beacon devices according to the direction estimation method according to claim 6.
A means for acquiring the position of each of the plurality of beacon devices, and
A communication terminal device having means for calculating the position of the communication terminal based on the direction of the communication terminal as seen from each of the plurality of beacon devices and the positions of the plurality of beacon devices.