JP7143961B1 - POSITIONING SYSTEM, COMMUNICATION DEVICE, POSITIONING METHOD, AND POSITIONING PROGRAM - Google Patents

Abstract

A positioning system, a communication device, a positioning method, and a positioning program capable of suppressing deterioration in positioning accuracy even when there is a shield that blocks radio signals. SOLUTION: In a positioning system 1, when a radio signal communicated between a communication device 3 and a base station device 6 is obstructed, the position of the communication device 3 in a positioning area is different from that of the base station device 6. A radio signal communicated with another communication device 3 and the other communication device stored in the other communication device 3 from a position calculated based on the radio signal communicated with the other communication device 3 and the reference position 3 is corrected to the position calculated based on the position of 3. [Selection drawing] Fig. 2

Description

The present disclosure relates to positioning systems, communication devices, positioning methods, and positioning programs.

Patent Document 1 discloses an example of an elevator system. In an elevator system, a first area and a second area are set around a hall. The second area is narrower than the first area. When the mobile terminal possessed by the user detects that the current position is within the first area, it acquires call information including information about the destination floor. When the mobile terminal detects that the current position is within the second area, it generates a call signal based on the call information and transmits the generated call signal.

JP 2020-104955 A

In Patent Literature 1, the current position of a mobile terminal is recognized based on the strength of radio signals communicated with radio beacons. Here, when the radio signal between the mobile terminal and the wireless beacon is obstructed by a shield or the like, the accuracy of recognition of the current position of the mobile terminal decreases.

The present disclosure relates to solving such problems. The present disclosure provides a positioning system, a communication device, a positioning method, and a positioning program that can suppress deterioration in positioning accuracy even when there is a shield that blocks radio signals.

A positioning system according to the present disclosure includes: a reference communication unit located at a reference position in a positioning area; a first communication unit capable of radio signal communication with the reference communication unit in the positioning area; , a second communication unit capable of radio signal communication with the reference communication unit and capable of radio signal communication with the first communication unit; and the reference communication unit and the first communication unit. a first direct position calculation unit that calculates the position of the first communication unit in the positioning area based on the radio signal and the reference position communicated between; and the positioning calculated by the first direct position calculation unit a first storage unit that stores the position of the first communication unit in the area; a second direct position calculation unit that calculates the position of two communication units; a second storage unit that stores the position of the second communication unit in the positioning area calculated by the second direct position calculation unit; calculating the position of the first communication unit in the positioning area based on the position of the second communication unit stored in the second storage unit and a radio signal communicated between the unit and the second communication unit a first indirect position calculation unit, a determination unit for determining whether or not a radio signal communicated between the reference communication unit and the first communication unit is obstructed, and the reference communication unit and the first communication unit the position of the first communication unit in the positioning area stored in the first storage unit when the position of the first communication unit in the positioning area is determined by the first direct position a correction unit that corrects the position calculated by the calculation unit to the position calculated by the first indirect position calculation unit.

A communication device according to the present disclosure is a communication device capable of moving in a positioning area including a reference position, capable of communicating with a reference communication unit located at the reference position in the positioning area, and a positioning communication unit capable of radio signal communication with a reference communication unit and capable of radio signal communication with another communication device that stores its own position in the positioning area; a direct position calculation unit for calculating the position of the positioning communication unit in the positioning area based on the reference position and a radio signal communicated between the communication units; a location information storage unit that stores the location of a positioning communication unit; based on a wireless signal communicated between the positioning communication unit and the other communication device and the location of the other communication device stored by the other communication device; an indirect position calculator that calculates the position of the positioning communication unit in the positioning area; a determination unit that determines whether a radio signal communicated between the reference communication unit and the positioning communication unit is obstructed; When the determination unit determines that a radio signal communicated between the reference communication unit and the positioning communication unit is obstructed, the positioning communication unit in the positioning area stored in the position information storage unit a correction unit that corrects the position calculated by the direct position calculation unit to the position calculated by the indirect position calculation unit.

A positioning method according to the present disclosure is a positioning method for a communication device movable in a positioning area including a reference position, and based on a radio signal communicated with a reference communication unit at the reference position and the reference position between a direct position calculation step of calculating the position of the communication device in the positioning area, a storage step of storing the position of the communication device in the positioning area calculated in the direct position calculation step, and the reference communication unit; based on the position of the other communication device stored in the other communication device, and the position of the other communication device stored in the other communication device, and the position of the other communication device being stored in the positioning area. between an indirect position calculation step of calculating the position of the communication device in the positioning area, a determination step of determining whether a radio signal communicated with the reference communication unit is obstructed, and the reference communication unit the position of the communication device in the positioning area stored in the storing step is changed from the position calculated in the direct position calculating step to the indirect and a correction step of correcting the position calculated in the position calculation step.

A positioning program according to the present disclosure provides a communication device movable in a positioning area including a reference position based on a radio signal communicated with a reference communication unit at the reference position and the positioning area. a direct position calculation step of calculating the position of the communication device in the direct position calculation step; a storage step of storing the position of the communication device in the positioning area calculated in the direct position calculation step; Based on a radio signal communicated with another communication device that is capable of communication and stores its own position in the positioning area and the position of the other communication device stored in the other communication device, the position of the other communication device in the positioning area an indirect position calculation step of calculating the position of the communication device; a determination step of determining whether a radio signal communicated with the reference communication unit is obstructed; When it is determined in the determination step that a radio signal is blocked, the position of the communication device in the positioning area stored in the storage step is calculated in the indirect position calculation step from the position calculated in the direct position calculation step. and a correction step of correcting to the calculated position.

With the positioning system, communication device, positioning method, or positioning program according to the present disclosure, it is possible to suppress deterioration in positioning accuracy even when there is a shield that blocks radio signals.

1 is a schematic diagram of a positioning system according to Embodiment 1; FIG. 1 is a block diagram showing the configuration of a positioning system according to Embodiment 1; FIG. 4 is a diagram illustrating an example of determination of radio signal inhibition by a determination unit according to Embodiment 1. FIG. 4 is a flow chart showing an example of the operation of the positioning system according to Embodiment 1; 4 is a flow chart showing an example of the operation of the positioning system according to Embodiment 1; 4 is a flow chart showing an example of the operation of the positioning system according to Embodiment 1; 2 is a hardware configuration diagram of main parts of the positioning system according to Embodiment 1. FIG. 2 is a block diagram showing the configuration of a positioning system according to Embodiment 2; FIG.

Modes for implementing the subject matter of the present disclosure will be described with reference to the accompanying drawings. In each figure, the same or corresponding parts are denoted by the same reference numerals, and overlapping descriptions are appropriately simplified or omitted. It should be noted that the subject of the present disclosure is not limited to the following embodiments, and modifications of any constituent elements of the embodiments, or modifications of any constituent elements of the embodiments, within the scope of the present disclosure. It can be omitted.

Embodiment 1.
FIG. 1 is a schematic diagram of a positioning system 1 according to Embodiment 1. FIG.

A positioning system 1 is applied to a facility 2, for example. The facility 2 is, for example, an indoor facility, an outdoor facility, or a facility combining these facilities. The facility 2 consists of, for example, one or more buildings. Facility 2 may be, for example, a part of a building or the like. A positioning area is set in the positioning system 1 . A positioning area is a part or all of the facility 2 . The positioning area is, for example, an area including an elevator landing applied to the facility 2, an area inside the elevator car, or the like. The positioning area may be a non-elevator related area such as a hallway or room in facility 2 .

A plurality of communication devices are in operation at a facility 2 to which the positioning system 1 is applied. In this example, communication device 3a, communication device 3b, and communication device 3c are in operation. Here, when the communication device 3a, the communication device 3b, and the communication device 3c are not particularly distinguished, they may be simply referred to as the communication device 3 in some cases. Each communication device 3 is a mobile device in the facility 2 . The communication device 3 is, for example, a mobile terminal 4 such as a smart phone that is carried by a user who owns the communication device 3 . In this example, the communication device 3a and the communication device 3b are mobile terminals 4 possessed by different users. Alternatively, the communication device 3 may be, for example, an autonomous mobile body 5 such as an autonomously mobile robot or mobility. In this example, the communication device 3 c is the autonomous mobile body 5 . Each communication device 3 reads a program recorded on a recording medium and operates according to the program to execute each function. The recording medium for recording the program may be one built in the communication device 3 or one connected to the communication device 3, for example. The program may be installed in each communication device 3 through a communication network such as the Internet, or may be installed in each communication device 3 by reading from an external portable recording medium recording the program. may be installed on The program is, for example, application software installed in the communication device 3 such as a smartphone. Some or all of the plurality of communication devices 3 may be internal devices of the positioning system 1 or may be external devices of the positioning system 1 .

The positioning system 1 is a system that acquires the position of each communication device 3 in a positioning area. The positioning system 1 includes a base station device 6 and a management device 7 .

The base station device 6 is arranged at a reference position in the positioning area. The reference position is a position that serves as a reference for the position of each communication device 3 in the positioning area. In this example, the reference position is a preset position for the positioning area. The reference position is set, for example, at an elevator hall or the like. The base station device 6 and each communication device 3 are configured to be able to communicate with each other by radio signals. The base station device 6 is, for example, a radio beacon. The positioning area may be, for example, a range in which communication by radio signals of the base station device 6 is possible.

The management device 7 is a device that manages position information of each communication device 3 acquired in the positioning system 1 . The management device 7 is, for example, one or more server computers. Some or all of the functions of the management device 7 may be installed in one or more devices arranged inside or outside the facility 2 . Some or all of the functions of the management device 7 may be implemented on hardware shared with other devices. Some or all of the functions of the management device 7 may be implemented by storage or processing resources on a cloud service. The management device 7 communicates with an external device or the like through a communication network such as the Internet.

In the positioning system 1, the position of each communication device 3 is obtained by radio signal communication. For example, the relative positions of the communication device 3 and the base station device 6 are obtained by radio signal communication between the communication device 3 and the base station device 6 . Since the base station device 6 is arranged at the reference position, the position of each communication device 3 is obtained from the relative position and the reference position obtained by communicating the radio signals.

On the other hand, radio signals between the communication device 3 and the base station device 6 may be blocked by obstacles or the like. Shields are, for example, other communication devices 3 , users of facility 2 , structures of facility 2 , or other items placed in facility 2 . FIG. 1 shows an example of a situation in which a radio signal between communication device 3a and base station device 6 is blocked by a user possessing communication device 3b. At this time, the position of the communication device 3a is obtained from, for example, the relative positions of the communication devices 3a and 3b and the position of the communication device 3b. The relative position between the communication device 3a and the communication device 3b is obtained by radio signal communication between the communication device 3a and the communication device 3b. Thus, the position of the communication device 3a is obtained via the position of the communication device 3b when the radio signal between the communication device 3a and the communication device 3b is not blocked. The position of the communication device 3a may similarly be obtained via the position of the communication device 3c.

Here, the relative positions between devices include, for example, distance and direction information between devices. Information on the distance between devices is acquired by, for example, ToF (Time of Flight). Information on the direction between devices is acquired by, for example, PDoA (Phase Difference of Arrival). The relative positions of the communication device 3 and the base station device 6 are obtained, for example, as follows. The communication device 3 transmits a positioning signal, which is a radio signal, to the base station device 6 when acquiring the relative position. Upon receiving the positioning signal from the communication device 3 , the base station device 6 transmits a response signal, which is a radio signal, to the communication device 3 . At this time, the base station apparatus 6 transmits the response signal including information on the processing time required from the reception of the positioning signal to the transmission of the response signal. When the communication device 3 receives the response signal from the base station device 6, the communication device 3 communicates with the base station device 6 based on the time from the transmission time of the positioning signal to the reception time of the response signal, the processing time in the base station device 6, and the like. Calculate the time required for the radio signal to propagate between The communication device 3 acquires information on the distance to the base station device 6 based on the calculated time. Further, when the communication device 3 has, for example, a plurality of reception points for radio signals, the communication device 3 determines the direction of communication with the base station device 6 based on the phase difference of the response signals received at each reception point. Get information. A relative position between the two communication devices 3 is obtained as well. It should be noted that the method of acquiring the relative position between devices is not limited to the method exemplified here as long as it is based on radio signals communicated between devices.

FIG. 2 is a block diagram showing the configuration of the positioning system 1 according to Embodiment 1. As shown in FIG.

The base station device 6 and each communication device 3 have a positioning communication unit 8 . The positioning communication unit 8 is a part that performs communication of radio signals used for acquiring position information and positioning in the positioning system 1 . The position of the communication device 3 acquired by the positioning system 1 is the position of the positioning communication unit 8 mounted on the communication device 3 . The positioning communication unit 8 has an antenna 9 and a communication control unit 10 . The antenna 9 is a device that transmits and receives radio signals. The antenna 9 transmits and receives electromagnetic waves, for example, as radio signals. In this example, the antenna 9 transmits and receives UWB (Ultra Wide Band) radio signals. The antenna 9 performs communication by, for example, an impulse radio system. The communication control unit 10 is a device that controls transmission and reception of radio signals by the antenna 9 . The communication control unit 10 performs processing such as conversion of information included in a radio signal transmitted from the antenna 9 and conversion of information included in a radio signal received by the antenna 9, for example. The positioning communication unit 8 installed in the base station device 6 and each communication device 3 may have the same implementation or may have different implementations. The positioning communication unit 8 mounted on the base station device 6 is an example of a reference communication unit.

The base station device 6 has a reference information storage unit 11 . The reference information storage unit 11 is a part that has a function of storing information such as a reference position. Information such as the reference position is stored in the form of coordinates in the positioning area, for example.

Each communication device 3 includes a direct position calculation unit 12 , a position information storage unit 13 , an indirect position calculation unit 14 , a determination unit 15 , a correction unit 16 and a position information communication unit 17 .

The direct position calculator 12 of the communication device 3 calculates the position of the communication device 3 in the positioning area based on the relative position obtained by radio signal communication between the communication device 3 and the base station device 6 and the reference position. This part is equipped with a function to calculate Here, the information on the reference position is obtained based on radio signals transmitted from the base station device 6, for example. The radio signal is transmitted through the positioning communication unit 8 of the base station device 6 so as to include the reference position information read from the reference information storage unit 11, for example. Thus, the direct position calculator 12 directly calculates the position of the communication device 3 with reference to the reference position in the positioning area.

The position information storage unit 13 of the communication device 3 is a part having a function of storing information such as the position of the communication device 3 . Information such as the position of the communication device 3 is stored, for example, in the form of coordinates in the positioning area. The position information storage unit 13 stores, for example, the position of the communication device 3 calculated by the direct position calculation unit 12, and the like.

The indirect position calculation unit 14 of the communication device 3 calculates the position of the communication device 3 in the positioning area based on the relative position obtained by radio signal communication between the communication device 3 and another communication device 3, and the position of the other communication device 3. This is a portion that has a function of performing calculations based on the position of the communication device 3 . Here, information on the position of the other communication device 3 is acquired based on a radio signal transmitted from the other communication device 3, for example. The radio signal is transmitted through the positioning communication unit 8 of the other communication device 3 so as to include position information read from the position information storage unit 13 of the other communication device 3, for example. Thus, the indirect position calculator 14 indirectly calculates the position of the communication device 3 in the positioning area via the positions of other communication devices 3 .

The determination unit 15 of the communication device 3 is a part that has a function of determining whether or not the radio signal communicated between the communication device 3 and the base station device 6 is blocked. The determination unit 15 determines whether or not the radio signal is blocked based on, for example, the signal strength of the radio signal or its change. In addition, when a directly propagating radio signal is blocked by a shield or the like, the propagating radio signal may be received after being reflected by surrounding objects. Alternatively, when a radio signal is obstructed by an obstacle or the like, an error may occur in the information read from the radio signal. In such a case, the position of the communication device 3 calculated by the direct position calculator 12 may change. Therefore, the determination unit 15 may determine whether or not the radio signal is obstructed based on the change in the position of the communication device 3 calculated by the direct position calculation unit 12 .

The correction unit 16 of the communication device 3 is a part that has a function of correcting the position information of the communication device 3 stored in the position information storage unit 13 of the communication device 3 . The correction unit 16 of the communication device 3 corrects the position stored in the position information storage unit 13 of the communication device 3 when the radio signal communicated between the communication device 3 and the base station device 6 is obstructed. is corrected to the position of the communication device 3 calculated by the indirect position calculator 14 .

The position information communication unit 17 of the communication device 3 is a part having a function of transmitting information acquired as the position of the communication device 3 to the management device 7 . The position information communication unit 17 transmits position information stored in the position information storage unit 13 . Communication between the location information communication unit 17 and the management device 7 may be wired or wireless communication via another device.

The management device 7 includes a management communication unit 18 , a management information storage unit 19 and a distribution unit 20 .

The management communication unit 18 is a part that has a function of acquiring information from each communication device 3 . The management communication unit 18 receives position information from the position information communication unit 17 of each communication device 3, for example.

The management information storage unit 19 has a function of storing information such as the position of each communication device 3 in the positioning area.

The distribution unit 20 is a part having a function of distributing the information stored in the management information storage unit 19 to necessary devices. The distribution unit 20 distributes the position information of the communication device 3 to, for example, the autonomous mobile body 5 operating in the facility 2 . The autonomous mobile body 5 may be an autonomous mobile body 5 whose position is managed as the communication device 3 or may be an autonomous mobile body 5 not managed by the management device 7 . The autonomous mobile body 5 that receives the distribution from the distribution unit 20 avoids collision or interference with the communication device 3 or the user possessing the communication device 3 based on the distributed information when moving in the facility 2. and so on. Note that when the autonomous mobile body 5 operating in the facility 2 moves by remote control of a server device or the like, the distribution unit 20 may distribute the position information of the communication device 3 to the server device or the like. Alternatively, the distribution unit 20 may distribute the position information of the communication device 3 to, for example, an elevator provided in the facility 2 . The elevator that receives the distribution from the distribution unit 20 registers the elevator call based on the position of the communication device 3, for example.

FIG. 3 is a diagram showing an example of determination of radio signal inhibition by the determining unit 15 according to the first embodiment.
The horizontal axis of FIG. 3 represents time T. FIG.
The vertical axis in FIG. 3 represents the distance D from the reference position of the communication device 3 on which the determination unit 15 is mounted. The distance D is calculated based on the position of the communication device 3 calculated by the direct position calculator 12 of the communication device 3 .

In this example, communication device 3 is moving closer to base station device 6 . Therefore, the distance D gradually decreases with the lapse of time.

Here, at time T0, radio signals communicated between communication device 3 and base station device 6 are blocked. At this time, the distance D changes discontinuously. For example, when the distance D changes discontinuously, the determination unit 15 determines that the radio signal with the base station device 6 is blocked. The discontinuity of the distance D is determined based on, for example, a first-order or higher-order differential value or differential value of the distance D with respect to time. The determination unit 15 determines that the continuity of the distance D is lost when the magnitude of the differential value or difference value exceeds a preset threshold value, for example. Alternatively, the determination unit 15 may determine that the continuity of the distance D has been lost, for example, when the distance D changes from a gradual decrease to a sudden increase. For example, the determination unit 15 may determine that the continuity of the distance D is lost when the deviation from the tendency predicted based on the history of the distance D exceeds a preset threshold value. The predicted trend for the distance D is shown by the dashed line in FIG. 3, for example.

Next, an example of the operation of the positioning system 1 will be described with reference to FIGS. 4 to 6. FIG.
4 to 6 are flowcharts showing an example of the operation of the positioning system 1 according to Embodiment 1. FIG.

Here, an example of acquiring the position of the communication device 3a will be described. In this example, the positioning area is a range within which the base station apparatus 6 can communicate using radio signals. In acquiring the position of the communication device 3a, correction using the positions of the communication device 3b and the communication device 3c is performed when the radio signal between the communication device 3a and the base station device 6 is blocked. At this time, the communication device 3a is an example of the first communication device. Also, one of the communication device 3b and the communication device 3c is an example of a second communication device. The other of communication device 3b and communication device 3c is an example of a third communication device. The positioning communication unit 8, the direct position calculation unit 12, the position information storage unit 13, and the indirect position calculation unit 14 of the first communication device are respectively a first communication unit, a first direct position calculation unit, a first storage unit, and a first position calculation unit. 1 indirect position calculator. Similarly, the positioning communication unit 8, the direct position calculation unit 12, the position information storage unit 13, and the indirect position calculation unit 14 of the second communication device are the second communication unit, the second direct position calculation unit, and the second storage unit, respectively. , and a second indirect position calculator. Further, the positioning communication unit 8, the direct position calculation unit 12, the position information storage unit 13, and the indirect position calculation unit 14 of the third communication device are respectively the third communication unit, the third direct position calculation unit, the third storage unit, and a third indirect position calculator.

FIG. 4 shows an example of processing for directly calculating the position of the communication device 3a with reference to the reference position in the positioning area.

In step S401, the positioning communication unit 8 of the base station device 6 transmits a positioning inquiry signal, which is a radio signal, within the positioning area. After that, the processing of the base station device 6 proceeds to step S402.

In step S451, the communication device 3a determines whether it has entered the positioning area. For example, when the positioning communication unit 8 of the communication device 3a receives the positioning inquiry signal transmitted from the base station device 6, the communication device 3a determines that the communication device 3a has entered the positioning area. When determining that the communication device 3a has not entered the positioning area, the processing of the communication device 3a proceeds to step S451 again. On the other hand, when determining that the communication device 3a has entered the positioning area, the processing of the communication device 3a proceeds to step S452.

In step S452, the positioning communication unit 8 of the communication device 3a transmits a positioning signal, which is a radio signal. At this time, the positioning communication unit 8 of the communication device 3a transmits a positioning signal containing information specifying the communication device 3a as the transmission source. After that, the processing of the communication device 3a proceeds to step S453.

In step S402, the positioning communication unit 8 of the base station device 6 determines whether it has received the positioning signal from the communication device 3a. If the determination result is NO, the processing of the base station device 6 proceeds to step S401. On the other hand, if the determination result is YES, the processing of the base station device 6 proceeds to step S403.

In step S<b>403 , the communication control unit 10 of the base station device 6 reads the reference position information from the reference information storage unit 11 . The positioning communication unit 8 of the base station device 6 transmits a response signal, which is a radio signal, within the positioning area. At this time, the positioning communication unit 8 of the base station device 6 transmits the response signal including the information specifying the destination communication device 3a and the read reference position information. After that, the processing of the base station device 6 related to the direct calculation of the position of the communication device 3a with reference to the reference position ends.

In step S<b>453 , the positioning communication unit 8 of the communication device 3 a reads information such as the reference position included in the response signal received from the base station device 6 . The direct position calculator 12 of the communication device 3 a calculates the relative positions of the communication device 3 a and the base station device 6 based on the positioning signal and the response signal communicated with the base station device 6 . The direct position calculator 12 of the communication device 3a calculates the position of the communication device 3a in the positioning area based on the relative positions of the communication device 3a and the base station device 6 and the reference position information. After that, the processing of the communication device 3a proceeds to step S454.

In step S454, the position information storage unit 13 of the communication device 3a stores the position of the communication device 3a in the positioning area calculated by the direct position calculation unit 12 of the communication device 3a. In this example, the position information storage unit 13 of the communication device 3a stores position information in association with the time when the information was acquired. The position information storage unit 13 of the communication device 3 a may store position information in association with information as to whether or not the information is calculated by the direct position calculation unit 12 . After that, the processing of the communication device 3a related to direct calculation of the position with reference to the reference position ends.

FIG. 5 shows an example of processing for indirectly calculating the position of the communication device 3a in the positioning area via the position of the communication device 3b. The process of indirectly calculating the position of the communication device 3a in the positioning area via the position of the communication device 3c is performed in the same manner as in FIG.

In step S501, the communication device 3b determines whether both the communication device 3a and the communication device 3b have entered the positioning area. For example, when the positioning communication unit 8 of the communication device 3b receives the positioning inquiry signal transmitted from the base station device 6 in step S401 of FIG. determine that there is For example, when the positioning communication unit 8 of the communication device 3b receives the positioning signal transmitted from the communication device 3a in step S452 of FIG. judge. If it is determined that the communication device 3a has not entered the positioning area or the communication device 3b has not entered the positioning area, the processing of the communication device 3b proceeds to step S501 again. On the other hand, when determining that the communication device 3a has entered the positioning area and the communication device 3b has entered the positioning area, the processing of the communication device 3b proceeds to step S502.

In step S<b>502 , the communication control unit 10 of the communication device 3 b reads position information of the communication device 3 b from the position information storage unit 13 . The positioning communication unit 8 of the communication device 3b transmits a response signal, which is a radio signal, to the communication device 3a as a response to the positioning signal transmitted from the communication device 3a. At this time, the positioning communication unit 8 of the communication device 3b transmits the response signal including the information specifying the destination communication device 3a and the read positional information of the communication device 3b. After that, the processing of the communication device 3b related to the indirect calculation of the position of the communication device 3a via the position of the communication device 3b ends.

In step S551, the positioning communication unit 8 of the communication device 3a determines whether it has received a response signal from the communication device 3b. If the determination result is YES, the processing of the communication device 3a proceeds to step S552. On the other hand, when the determination result is NO, the processing of the communication device 3a related to indirect position calculation via the position of the communication device 3b ends.

In step S552, the positioning communication unit 8 of the communication device 3a reads information such as the position of the communication device 3b included in the response signal received from the communication device 3b. The indirect position calculator 14 of the communication device 3a calculates the relative positions of the communication device 3a and the communication device 3b based on the positioning signal and the response signal communicated with the communication device 3b. The indirect position calculator 14 of the communication device 3a calculates the position of the communication device 3a in the positioning area based on the relative positions of the communication devices 3a and 3b and the position information of the communication device 3b. After that, the processing of the communication device 3a proceeds to step S553.

In step S553, the position information storage unit 13 of the communication device 3a stores the position in the positioning area of the communication device 3a calculated by the indirect position calculation unit 14 of the communication device 3a as a candidate position of the communication device 3a. The candidate positions of the communication device 3a are positions that are candidates for correction values for the position of the communication device 3a. In this example, the position information storage unit 13 of the communication device 3a stores the information of the candidate position in association with the time when the information was acquired. After that, the processing of the communication device 3a related to the indirect calculation of the position via the position of the communication device 3b ends.

In FIG. 6, an example of the process of correcting the position of the communication device 3a and distributing the corrected position information is shown. The processing shown in FIG. 6 is executed after the processing in FIGS. 4 and 5, for example.

In step S601, the determination unit 15 of the communication device 3a determines whether the radio signal communicated between the communication device 3a and the base station device 6 is blocked. The determination unit 15 of the communication device 3a may determine whether or not the radio signal is obstructed based on the change in the position of the communication device 3a calculated by the direct position calculation unit 12, for example. At this time, the determination unit 15 of the communication device 3a reads, for example, the position information of the communication device 3a calculated by the direct position calculation unit 12 at a plurality of times in the past from the position information storage unit 13 of the communication device 3a. Determine if the signal is obstructed. Alternatively, the determining unit 15 of the communication device 3a, for example, when the communication device 3a has not received the response signal from the base station device 6 in step S453 of FIG. It may be determined that the wireless signal being communicated is obstructed. When determining that the radio signal is obstructed, the processing of the communication device 3a proceeds to step S602. On the other hand, when determining that the radio signal is not obstructed, the processing of the communication device 3a proceeds to step S604.

In step S602, the correction unit 16 of the communication device 3a determines whether the position information storage unit 13 of the communication device 3a stores candidate positions. If the determination result is YES, the processing of the communication device 3a proceeds to step S603. On the other hand, if the determination result is NO, the processing of the communication device 3a proceeds to step S604.

In step S603, the correction unit 16 of the communication device 3a corrects the position of the communication device 3a stored in the position information storage unit 13 of the communication device 3a. For example, when the position of the communication device 3a indirectly calculated via the position of the communication device 3b is stored as the candidate position, the correction unit 16 of the communication device 3a corrects the position information storage unit 13 of the communication device 3a. updates and corrects the position of the communication device 3a stored by to the candidate position. Alternatively, for example, when the position of the communication device 3a indirectly calculated via the position of the communication device 3c is stored as the candidate position, the correction unit 16 of the communication device 3a stores the position information of the communication device 3a. The position of the communication device 3a stored in the unit 13 may be updated and corrected to the candidate position. Further, when the position information storage unit 13 of the communication device 3a stores a plurality of candidate positions, the correction unit 16 of the communication device 3a selects one of the candidate positions and stores the position information of the communication device 3a. The position of the communication device 3a stored in the unit 13 is corrected. The multiple candidate positions include, for example, the position of the communication device 3a indirectly calculated via the position of the communication device 3b and the position of the communication device 3a indirectly calculated via the position of the communication device 3c. . The correction unit 16 of the communication device 3a selects one of the plurality of candidate positions, for example, based on the result of comparing the distance between each candidate position and the reference position. The correction unit 16 of the communication device 3a selects, for example, the candidate position with the shortest distance from the reference position. After that, the processing of the communication device 3a proceeds to step S604.

In step S604, the position information communication unit 17 of the communication device 3a notifies the management device 7 of the position of the communication device 3a stored in the position information storage unit 13 of the communication device 3a. Here, if the correction in step S603 has been performed, the position information communication unit 17 of the communication device 3a notifies the management device 7 of the corrected position of the communication device 3a. On the other hand, if the correction in step S603 has not been performed, the position information communication unit 17 of the communication device 3a notifies the management device 7 of the position of the communication device 3a calculated by the direct position calculation unit 12 of the communication device 3a. After that, the processing of the communication device 3a related to position correction ends.

In step S<b>651 , the management communication unit 18 of the management device 7 stores the location information notified from the communication device 3 a in the management information storage unit 19 . After that, the processing of the management device 7 proceeds to step S652.

In step S<b>652 , the distribution unit 20 of the management device 7 reads position information of each communication device 3 from the management information storage unit 19 . The distribution unit 20 distributes the read information to, for example, the autonomous mobile bodies 5 operating in the facility 2 . After that, the processing of the management device 7 related to the distribution of the positional information ends.

The autonomous mobile body 5 that receives the distribution from the distribution unit 20 grasps the position of the communication device 3 or the user possessing the communication device 3 based on the distributed information. Based on the grasped position of the user or the like, the autonomous mobile body 5 determines the range in which it can currently move in the positioning area or the range in which it will be able to move in the future in the positioning area. The autonomous mobile body 5 performs actions such as avoiding collisions or interference with users or the like based on whether or not it is possible to move within the facility 2 .

The process of correcting the position of the communication device 3b or the communication device 3c and distributing the corrected positional information is performed in the same manner as in FIG. At this time, the position of the communication device 3b in the positioning area is indirectly calculated via the position of the communication device 3a or the communication device 3c, and the position of the communication device 3c in the positioning area is calculated by the communication device 3a or the communication device 3b. The process of indirectly calculating through the position of is performed in the same manner as in FIG.

Further, the number of communication devices 3 that are positioned by the positioning system 1 may be two, or may be four or more. At this time, the correction unit 16 of the communication device 3 may correct the position of the communication device 3 using candidate positions selected from three or more candidate positions. Further, the position of the other communication device 3 included in the response information transmitted from the other communication device 3 to the communication device 3 may be the position corrected by the correction unit 16 of the other communication device 3 . That is, in the positioning system 1 , the position of the communication device 3 may be calculated via the positions of a plurality of other communication devices 3 between the communication device 3 and the base station device 6 . At this time, the response information sent by the other communication device 3 to the communication device 3 is the number of relays, that is, the total number of positions of the communication device 3 used for correction when calculating the position of the other communication device 3. may include

As described above, the positioning system 1 according to Embodiment 1 includes the base station device 6 and multiple communication devices 3 . The positioning communication unit 8 of the base station device 6 is located at the reference position in the positioning area. Each communication device 3 is movable in the positioning area. Each communication device 3 has a positioning communication unit 8 . The base station device 6 and the positioning communication unit 8 of each communication device 3 can communicate with each other by radio signals. Each communication device 3 includes a direct position calculation unit 12 , a position information storage unit 13 , an indirect position calculation unit 14 , a determination unit 15 and a correction unit 16 . The direct position calculator 12 of the communication device 3 calculates the position of the positioning communication unit 8 of the communication device 3 in the positioning area based on the radio signal and the reference position communicated with the base station device 6 . The position information storage unit 13 of the communication device 3 stores the position of the positioning communication unit 8 of the communication device 3 in the positioning area calculated by the direct position calculation unit 12 . The indirect position calculation unit 14 of the communication device 3 calculates the position of the positioning communication unit 8 of the communication device 3 in the positioning area between the positioning communication unit 8 of the communication device 3 and the positioning communication units 8 of other communication devices 3. It is calculated based on the radio signal to be communicated and the position of the other communication device 3 stored by the other communication device 3 . The determination unit 15 of the communication device 3 determines whether or not the radio signal communicated between the base station device 6 and the positioning communication unit 8 of the communication device 3 is obstructed. When it is determined that the radio signal is obstructed, the correction unit 16 of the communication device 3 corrects the position of the positioning communication unit 8 of the communication device 3 stored in the position information storage unit 13 of the communication device 3. , the position calculated by the direct position calculator 12 is corrected to the position calculated by the indirect position calculator 14 .
Further, the positioning method according to Embodiment 1 is a positioning method for the communication device 3 that can move in the positioning area including the reference position. The positioning method includes a direct position calculation step, a storage step, an indirect position calculation step, a determination step, and a correction step. The direct position calculation step is a step of calculating the position of the communication device 3 in the positioning area based on the radio signals communicated with the base station device 6 and the reference position. The storage step is a step of storing the position of the communication device 3 in the positioning area calculated in the direct position calculation step. In the indirect position calculation step, the position of the communication device 3 in the positioning area is calculated from the radio signal communicated with the other communication device 3 and the position of the other communication device 3 stored in the other communication device 3. is a step of calculating based on The determination step is a step of determining whether the radio signal communicated with the base station device 6 is obstructed. In the correction step, when it is determined in the determination step that the radio signal communicated with the base station device 6 is obstructed, the position of the communication device 3 in the positioning area stored in the storage step is directly stored in the position calculation step. is a step of correcting the position calculated in the step to the position calculated in the indirect position calculation step.
Further, the positioning program according to Embodiment 1 provides the communication device 3 movable in the positioning area including the reference position with a direct position calculation step, a storage step, an indirect position calculation step, a determination step, a correction step, , is executed.

With such a configuration, even if there is a shield that blocks the radio signal, correction is performed by the position in the positioning area indirectly calculated via the position of the other communication device 3. A decrease in positioning accuracy can be suppressed. As a result, the possibility of collision or interference with the user of the facility 2 or the like of the autonomous mobile body 5 moving within the facility 2 is suppressed. In particular, the autonomous mobile body 5 can move efficiently even in places where users, etc., can concentrate, such as elevator halls and cars. In addition, since the positioning accuracy is less likely to decrease, the autonomous mobile body 5 can easily use the elevator. is suppressed. Since the efficiency of movement of the autonomous mobile body 5 is improved, the efficiency of the work etc. which the autonomous mobile body 5 performs is improved.

Positioning communication unit 8 , direct position calculation unit 12 , position information storage unit 13 , indirect position calculation unit 14 , determination unit 15 and correction unit 16 are installed in each communication device 3 .

With such a configuration, positioning calculations are performed on the side of each communication device 3, so that a decrease in positioning response due to concentration of processing of positioning calculations can be suppressed. Also, the limitation of the angle that can be measured due to the preference of the antenna 9 of the positioning communication unit 8, such as the range of ±60° in front of the antenna 9, is avoided.

Further, when it is determined that the radio signal is obstructed, the correction unit 16 of the communication device 3 corrects the positioning communication unit 8 of the communication device 3 stored in the position information storage unit 13 of the communication device 3. The position is corrected from the position calculated by the direct position calculator 12 to a position selected from among a plurality of candidate positions. The plurality of candidate positions are, for a plurality of other communication devices 3, wireless signals communicated with the other communication devices 3 and positions of the other communication devices 3 stored in the other communication devices 3. including the position calculated by the indirect position calculator 14 based on

With such a configuration, the correction unit 16 can select a candidate position to be used for correction from a plurality of candidate positions, thereby suppressing the occurrence of a situation where there are no available candidate positions and the positioning accuracy is degraded.

Also, the radio signals communicated between the respective positioning communication units 8 are UWB radio signals.

Such a configuration further enhances the positioning accuracy of the communication device 3 . In addition, since the UWB radio signal is less likely to be affected by diffraction or the like, it is possible to more clearly determine whether or not the radio signal is obstructed by an obstacle. This makes it easier to determine whether the position information of the communication device 3 should be corrected. In addition, the construction cost of the positioning system 1 can be reduced by using UWB installed in a general-purpose smartphone or the like.

Further, the correction unit 16 selects one of the plurality of candidate positions based on the comparison result of the distance between each candidate position and the reference position.

With such a configuration, since candidate positions are selected based on simple criteria, deterioration in positioning response due to complication of positioning calculation processing, etc., can be suppressed. As the distance from the reference position increases, the signal strength of the wireless signal decreases and the probability of the presence of obstructing objects increases. Decrease can be suppressed more effectively.

Further, the determination unit 15 of the communication device 3 communicates with the base station device 6 based on the position change of the positioning communication unit 8 of the communication device 3 in the positioning area calculated by the direct position calculation unit 12. Determine if the radio signal is obstructed.

With such a configuration, even when a radio signal that bypasses a shielding object and propagates through reflection from a surrounding object or the like is received, interference of direct communication of the radio signal by the shielding object is detected. This makes it possible to more effectively suppress deterioration in positioning accuracy.

Note that the correction unit 16 may select from among a plurality of candidate positions based on the number of relays. For example, the correction unit 16 selects a candidate position with a smaller number of relays as a candidate position to be used for correction.

Next, an example of the hardware configuration of the positioning system 1 will be described using FIG.
FIG. 7 is a hardware configuration diagram of main parts of the positioning system 1 according to the first embodiment.

Each function of the positioning system 1 can be realized by a processing circuit. The processing circuitry comprises at least one processor 100a and at least one memory 100b. The processing circuitry may include at least one piece of dedicated hardware 200 in conjunction with, or as an alternative to, processor 100a and memory 100b.

When the processing circuit includes the processor 100a and the memory 100b, each function of the positioning system 1 is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is written as a program. The program is stored in memory 100b. The processor 100a realizes each function of the positioning system 1 by reading and executing the programs stored in the memory 100b.

The processor 100a is also called a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. The memory 100b is composed of, for example, nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM.

Where the processing circuitry comprises dedicated hardware 200, the processing circuitry may be implemented, for example, in single circuits, multiple circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof.

Each function of the positioning system 1 can be implemented by a processing circuit. Alternatively, each function of the positioning system 1 can be collectively realized by a processing circuit. A part of each function of the positioning system 1 may be realized by the dedicated hardware 200 and the other part may be realized by software or firmware. Thus, the processing circuit implements each function of the positioning system 1 with dedicated hardware 200, software, firmware, or a combination thereof.

Embodiment 2.
In the second embodiment, the differences from the example disclosed in the first embodiment will be described in detail. Any feature of the example disclosed in the first embodiment may be employed for features not described in the second embodiment.

FIG. 8 is a block diagram showing the configuration of the positioning system 1 according to Embodiment 2. As shown in FIG.

In the positioning system 1 according to Embodiment 2, the functions performed by the base station device 6 according to Embodiment 1 are performed by the autonomous mobile body 5 operating in the facility 2 . The autonomous mobile body 5 is configured to be able to measure its own position. The autonomous mobile body 5 measures its own position by a technique such as SLAM (Simultaneous Localization And Mapping), for example. In this example, the reference position is the self position of the autonomous mobile body 5 . The positioning area is, for example, the area around the autonomous mobile body 5 . The autonomous mobile body 5 includes a positioning communication unit 8 and a reference information storage unit 11 . The reference information storage unit 11 stores the self-position measured by the autonomous mobile body 5 while sequentially updating it as a reference position. The positioning communication unit 8 mounted on the autonomous mobile body 5 is an example of a reference communication unit.

As described above, in the positioning system 1 according to Embodiment 2, the positioning communication unit 8 serving as the reference position is mounted on the autonomous mobile body 5 that moves in the positioning area and can perform positioning using the reference position as its own position. be.

With such a configuration, the autonomous mobile body 5 can play the role of the base station device 6, so installation of equipment in the facility 2 such as an elevator hall or a car becomes unnecessary, and the positioning system 1 Construction costs can be reduced.

Possible configurations of the technology according to the present disclosure include each configuration shown below.
(1)
a reference communication unit located at a reference position in the positioning area;
a first communication unit capable of radio signal communication with the reference communication unit in the positioning area;
a second communication unit capable of radio signal communication with the reference communication unit and capable of radio signal communication with the first communication unit in the positioning area;
a first direct position calculator that calculates the position of the first communication unit in the positioning area based on the reference position and a radio signal communicated between the reference communication unit and the first communication unit;
a first storage unit that stores the position of the first communication unit in the positioning area calculated by the first direct position calculation unit;
a second direct position calculator that calculates the position of the second communication unit in the positioning area based on the reference position and a radio signal communicated between the reference communication unit and the second communication unit;
a second storage unit that stores the position of the second communication unit in the positioning area calculated by the second direct position calculation unit;
the first communication unit in the positioning area based on the position of the second communication unit stored in the wireless signal and the second storage unit that are communicated between the first communication unit and the second communication unit; a first indirect position calculator that calculates the position of
a determination unit that determines whether a radio signal communicated between the reference communication unit and the first communication unit is obstructed;
When the determination unit determines that the radio signal communicated between the reference communication unit and the first communication unit is obstructed, the first radio signal in the positioning area stored in the first storage unit is detected. a correction unit that corrects the position of the communication unit from the position calculated by the first direct position calculation unit to the position calculated by the first indirect position calculation unit;
A positioning system comprising:
(2)
The first communication unit, the first direct position calculation unit, the first storage unit, the first indirect position calculation unit, the determination unit, and the correction unit are mounted on a first communication device that moves in the positioning area. is,
The second communication unit, the second direct position calculation unit, and the second storage unit are mounted on a second communication device that moves in the positioning area,
The positioning system according to (1).
(3)
A radio signal communicated between the reference communication unit and the first communication unit, a radio signal communicated between the reference communication unit and the second communication unit, and the first communication unit and the second communication unit The radio signals communicated between are UWB radio signals,
The positioning system according to (1) or (2).
(4)
a third communication unit capable of radio signal communication with the reference communication unit and capable of radio signal communication with the first communication unit in the positioning area;
a third direct position calculator that calculates the position of the third communication unit in the positioning area based on the reference position and a radio signal communicated between the reference communication unit and the third communication unit;
a third storage unit that stores the position of the third communication unit in the positioning area calculated by the third direct position calculation unit;
with
The first indirect position calculation unit, based on a radio signal communicated between the first communication unit and the third communication unit and the position of the third communication unit stored in the third storage unit, calculating the position of the first communication unit in the positioning area;
The correction unit performs the positioning stored in the first storage unit when the determination unit determines that a radio signal communicated between the reference communication unit and the first communication unit is obstructed. correcting the position of the first communication unit in the area from the position calculated by the first direct position calculation unit to a position selected from among a plurality of candidate positions;
The plurality of candidate positions are
calculated by the first indirect position calculation unit based on the radio signal communicated between the first communication unit and the second communication unit and the position of the second communication unit stored in the second storage unit the position, and the first indirect position calculation unit based on the radio signal communicated between the first communication unit and the third communication unit and the position of the third communication unit stored in the third storage unit including the position computed by
The positioning system according to (1).
(5)
The first communication unit, the first direct position calculation unit, the first storage unit, the first indirect position calculation unit, the determination unit, and the correction unit are mounted on a first communication device that moves in the positioning area. is,
The second communication unit, the second direct position calculation unit, and the second storage unit are mounted on a second communication device that moves in the positioning area,
The third communication unit, the third direct position calculation unit, and the third storage unit are mounted on a third communication device that moves in the positioning area,
The positioning system according to (4).
(6)
The correction unit selects from among the plurality of candidate positions based on a comparison result of the distance between each of the plurality of candidate positions and the reference position.
The positioning system according to (4) or (5).
(7)
A radio signal communicated between the reference communication unit and the first communication unit, a radio signal communicated between the reference communication unit and the second communication unit, and between the reference communication unit and the third communication unit The radio signals communicated in UWB, the radio signals communicated between the first communication unit and the second communication unit, and the radio signals communicated between the first communication unit and the third communication unit are UWB is the radio signal of
The positioning system according to any one of (4) to (6).
(8)
The determination unit receives a radio signal communicated between the reference communication unit and the first communication unit based on a change in the position of the first communication unit in the positioning area calculated by the first direct position calculation unit. is blocked,
The positioning system according to any one of (1) to (7).
(9)
The reference communication unit is mounted on an autonomous mobile body that moves in the positioning area and can perform positioning using the reference position as its own position.
The positioning system according to any one of (1) to (8).
(10)
A communication device movable in a positioning area including a reference position,
In the positioning area, radio signal communication is possible with a reference communication unit located at the reference position, radio signal communication is possible with the reference communication unit, and its own position in the positioning area is stored. a positioning communication unit capable of communicating radio signals with other communication devices that
a direct position calculation unit that calculates the position of the positioning communication unit in the positioning area based on the reference position and a radio signal communicated between the reference communication unit and the positioning communication unit;
a position information storage unit that stores the position of the positioning communication unit in the positioning area calculated by the direct position calculation unit;
The position of the positioning communication unit in the positioning area is calculated based on the radio signal communicated between the positioning communication unit and the other communication device and the position of the other communication device stored in the other communication device. an indirect position calculator;
a determination unit that determines whether a radio signal communicated between the reference communication unit and the positioning communication unit is obstructed;
the positioning communication unit in the positioning area stored in the position information storage unit when the determination unit determines that a radio signal communicated between the reference communication unit and the positioning communication unit is obstructed; a correction unit that corrects the position of from the position calculated by the direct position calculation unit to the position calculated by the indirect position calculation unit;
A communication device comprising:
(11)
A positioning method for a communication device movable in a positioning area including a reference position,
a direct position calculation step of calculating the position of the communication device in the positioning area based on the reference position and a radio signal communicated with a reference communication unit located at the reference position;
a storage step of storing the position of the communication device in the positioning area calculated in the direct position calculation step;
A radio signal communicated with another communication device capable of radio signal communication with the reference communication unit and storing its own position in the positioning area, and the other communication stored in the other communication device an indirect position calculation step of calculating the position of the communication device in the positioning area based on the position of the device;
a determination step of determining whether a wireless signal communicated with the reference communication unit is obstructed;
When it is determined in the determination step that a radio signal communicated with the reference communication unit is obstructed, the position of the communication device in the positioning area stored in the storage step is calculated in the direct position calculation step. a correction step of correcting the position calculated in to the position calculated in the indirect position calculation step;
A positioning method comprising:
(12)
A communication device movable in a positioning area including a reference position,
a direct position calculation step of calculating the position of the communication device in the positioning area based on the reference position and a radio signal communicated with a reference communication unit located at the reference position;
a storage step of storing the position of the communication device in the positioning area calculated in the direct position calculation step;
A radio signal communicated with another communication device capable of radio signal communication with the reference communication unit and storing its own position in the positioning area, and the other communication stored in the other communication device an indirect position calculation step of calculating the position of the communication device in the positioning area based on the position of the device;
a determination step of determining whether a wireless signal communicated with the reference communication unit is obstructed;
When it is determined in the determination step that a radio signal communicated with the reference communication unit is obstructed, the position of the communication device in the positioning area stored in the storage step is calculated in the direct position calculation step. a correction step of correcting the position calculated in to the position calculated in the indirect position calculation step;
Positioning program to run.

1 Positioning System 2 Facility 3, 3a, 3b, 3c Communication Device 4 Mobile Terminal 5 Autonomous Mobile 6 Base Station Device 7 Management Device 8 Positioning Communication Unit 9 Antenna 10 Communication Control Unit 11 Reference information storage unit 12 direct position calculation unit 13 position information storage unit 14 indirect position calculation unit 15 determination unit 16 correction unit 17 position information communication unit 18 management communication unit 19 management information storage unit 20 distribution unit , 100a processor, 100b memory, 200 dedicated hardware

Claims (12)

a reference communication unit located at a reference position in the positioning area;
a first communication unit capable of radio signal communication with the reference communication unit in the positioning area;
a second communication unit capable of radio signal communication with the reference communication unit and capable of radio signal communication with the first communication unit in the positioning area;
a first direct position calculator that calculates the position of the first communication unit in the positioning area based on the reference position and a radio signal communicated between the reference communication unit and the first communication unit;
a first storage unit that stores the position of the first communication unit in the positioning area calculated by the first direct position calculation unit;
a second direct position calculator that calculates the position of the second communication unit in the positioning area based on the reference position and a radio signal communicated between the reference communication unit and the second communication unit;
a second storage unit that stores the position of the second communication unit in the positioning area calculated by the second direct position calculation unit;
the first communication unit in the positioning area based on the position of the second communication unit stored in the wireless signal and the second storage unit that are communicated between the first communication unit and the second communication unit; a first indirect position calculator that calculates the position of
a determination unit that determines whether a radio signal communicated between the reference communication unit and the first communication unit is obstructed;
When the determination unit determines that the radio signal communicated between the reference communication unit and the first communication unit is obstructed, the first radio signal in the positioning area stored in the first storage unit is detected. a correction unit that corrects the position of the communication unit from the position calculated by the first direct position calculation unit to the position calculated by the first indirect position calculation unit;
A positioning system comprising: The first communication unit, the first direct position calculation unit, the first storage unit, the first indirect position calculation unit, the determination unit, and the correction unit are mounted on a first communication device that moves in the positioning area. is,
The second communication unit, the second direct position calculation unit, and the second storage unit are mounted on a second communication device that moves in the positioning area,
The positioning system according to claim 1. A radio signal communicated between the reference communication unit and the first communication unit, a radio signal communicated between the reference communication unit and the second communication unit, and the first communication unit and the second communication unit The radio signals communicated between are UWB radio signals,
The positioning system according to claim 1 or 2. a third communication unit capable of radio signal communication with the reference communication unit and capable of radio signal communication with the first communication unit in the positioning area;
a third direct position calculator that calculates the position of the third communication unit in the positioning area based on the reference position and a radio signal communicated between the reference communication unit and the third communication unit;
a third storage unit that stores the position of the third communication unit in the positioning area calculated by the third direct position calculation unit;
with
The first indirect position calculation unit, based on a radio signal communicated between the first communication unit and the third communication unit and the position of the third communication unit stored in the third storage unit, calculating the position of the first communication unit in the positioning area;
The correction unit performs the positioning stored in the first storage unit when the determination unit determines that a radio signal communicated between the reference communication unit and the first communication unit is obstructed. correcting the position of the first communication unit in the area from the position calculated by the first direct position calculation unit to a position selected from among a plurality of candidate positions;
The plurality of candidate positions are
calculated by the first indirect position calculation unit based on the radio signal communicated between the first communication unit and the second communication unit and the position of the second communication unit stored in the second storage unit the position, and the first indirect position calculation unit based on the radio signal communicated between the first communication unit and the third communication unit and the position of the third communication unit stored in the third storage unit including the position computed by
The positioning system according to claim 1. The first communication unit, the first direct position calculation unit, the first storage unit, the first indirect position calculation unit, the determination unit, and the correction unit are mounted on a first communication device that moves in the positioning area. is,
The second communication unit, the second direct position calculation unit, and the second storage unit are mounted on a second communication device that moves in the positioning area,
The third communication unit, the third direct position calculation unit, and the third storage unit are mounted on a third communication device that moves in the positioning area,
The positioning system according to claim 4. The correction unit selects from among the plurality of candidate positions based on a comparison result of the distance between each of the plurality of candidate positions and the reference position.
The positioning system according to claim 4 or 5. A radio signal communicated between the reference communication unit and the first communication unit, a radio signal communicated between the reference communication unit and the second communication unit, and between the reference communication unit and the third communication unit The radio signals communicated in UWB, the radio signals communicated between the first communication unit and the second communication unit, and the radio signals communicated between the first communication unit and the third communication unit are UWB is the radio signal of
The positioning system according to any one of claims 4 to 6. The determination unit receives a radio signal communicated between the reference communication unit and the first communication unit based on a change in the position of the first communication unit in the positioning area calculated by the first direct position calculation unit. is blocked,
The positioning system according to any one of claims 1 to 7. The reference communication unit is mounted on an autonomous mobile body that moves in the positioning area and can perform positioning using the reference position as its own position.
The positioning system according to any one of claims 1 to 8. A communication device movable in a positioning area including a reference position,
In the positioning area, radio signal communication is possible with a reference communication unit located at the reference position, radio signal communication is possible with the reference communication unit, and its own position in the positioning area is stored. a positioning communication unit capable of communicating radio signals with other communication devices that
a direct position calculation unit that calculates the position of the positioning communication unit in the positioning area based on the reference position and a radio signal communicated between the reference communication unit and the positioning communication unit;
a position information storage unit that stores the position of the positioning communication unit in the positioning area calculated by the direct position calculation unit;
The position of the positioning communication unit in the positioning area is calculated based on the radio signal communicated between the positioning communication unit and the other communication device and the position of the other communication device stored in the other communication device. an indirect position calculator;
a determination unit that determines whether a radio signal communicated between the reference communication unit and the positioning communication unit is obstructed;
the positioning communication unit in the positioning area stored in the position information storage unit when the determination unit determines that a radio signal communicated between the reference communication unit and the positioning communication unit is obstructed; a correction unit that corrects the position of from the position calculated by the direct position calculation unit to the position calculated by the indirect position calculation unit;
A communication device comprising: A positioning method for a communication device movable in a positioning area including a reference position,
a direct position calculation step of calculating the position of the communication device in the positioning area based on the reference position and a radio signal communicated with a reference communication unit located at the reference position;
a storage step of storing the position of the communication device in the positioning area calculated in the direct position calculation step;
A radio signal communicated with another communication device capable of radio signal communication with the reference communication unit and storing its own position in the positioning area, and the other communication stored in the other communication device an indirect position calculation step of calculating the position of the communication device in the positioning area based on the position of the device;
a determination step of determining whether a wireless signal communicated with the reference communication unit is obstructed;
When it is determined in the determination step that a radio signal communicated with the reference communication unit is obstructed, the position of the communication device in the positioning area stored in the storage step is calculated in the direct position calculation step. a correction step of correcting the position calculated in to the position calculated in the indirect position calculation step;
A positioning method comprising: A communication device movable in a positioning area including a reference position,
a direct position calculation step of calculating the position of the communication device in the positioning area based on the reference position and a radio signal communicated with a reference communication unit located at the reference position;
a storage step of storing the position of the communication device in the positioning area calculated in the direct position calculation step;
A radio signal communicated with another communication device capable of radio signal communication with the reference communication unit and storing its own position in the positioning area, and the other communication stored in the other communication device an indirect position calculation step of calculating the position of the communication device in the positioning area based on the position of the device;
a determination step of determining whether a wireless signal communicated with the reference communication unit is obstructed;
When it is determined in the determination step that a radio signal communicated with the reference communication unit is obstructed, the position of the communication device in the positioning area stored in the storage step is calculated in the direct position calculation step. a correction step of correcting the position calculated in to the position calculated in the indirect position calculation step;
Positioning program to run.

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