JP7147406B2 - Position measurement system and program - Google Patents

Description

The present invention relates to a position measurement system and program.

Japanese Unexamined Patent Application Publication No. 2002-200001 discloses an information collection system in which a robot device periodically moves along a predetermined movement path to collect position information of an object in a certain space.

In Patent Document 2, a mobile robot estimates its own position from the distance to a fixed object on an environment map using an LRF (Laser Range Finder), and calculates the arrangement position of a movable object based on the estimated self-position. A system is disclosed that does so.

JP-A-2003-345053 JP 2012-089174 A

An object of the present invention is to identify the position of a device to be measured even when the positions of the device to be measured are measured by a plurality of measuring devices and the positions of the device to be measured by the plurality of measuring devices are different. It is to provide a possible localization system and program.

[Positioning system]
The present invention according to claim 1 comprises first measuring means for measuring the current position of the device itself, and second measuring means for measuring the relative position from the device itself of the device to be measured that transmits radio waves containing identification information. Calculation means for calculating the position of the device to be measured from the relative position measured by the second measurement means and the current position of the device itself measured by the first measurement means; estimating means for estimating the measurement error included in the position of the device to be measured calculated by the calculating means; transmitting the measurement error estimated by the estimating means, the position of the device to be measured, and identification information of the device to be measured a plurality of measuring devices, each of which includes a transmission means for transmitting data and a moving means for moving the device;
an information management device comprising a specifying means for specifying the position of the device under measurement based on the plurality of positions of the device under measurement transmitted from the plurality of measurement devices and the measurement errors at the plurality of positions;
A position measurement system having

In the present invention according to claim 2, the identifying means identifies the area composed of the positions of the device to be measured and measurement errors measured by the plurality of measuring devices as the area where the device to be measured may exist. A position determination system according to claim 1, characterized in that:

In the present invention according to claim 3, when the identifying means overlaps the areas composed of the positions of the devices to be measured measured by the plurality of measuring devices and the measurement errors, the devices to be measured exist in the overlapping regions. 3. The localization system of claim 2, wherein the probable region is identified.

In the present invention according to claim 4, the identifying means uses the position information whose measurement time is newer when the positions of the device to be measured measured by the plurality of measuring devices and the regions formed by the measurement errors do not overlap. 3. The position measurement system according to claim 2, wherein the position of the device to be measured is specified.

In the present invention according to claim 5, the identifying means uses the position information with the small measurement error when the positions of the device to be measured measured by the plurality of measuring devices and the regions formed by the measurement errors do not overlap. 3. The position measurement system according to claim 2, wherein the position of the device to be measured is specified.

According to a sixth aspect of the present invention, the estimating means estimates the measurement error using an amount of error preset based on the measurement accuracy of the second measuring means in the device itself. A position measurement system according to any of the preceding claims.

The present invention according to Claim 7 is any one of Claims 1 to 5, wherein the estimating means estimates the measurement error using an amount of error included in the current position of the device itself measured by the first measuring means. is a position measurement system according to claim 1.

The present invention according to claim 8 is the position measurement system according to any one of claims 1 to 5, wherein the estimation means estimates the measurement error using an error amount set according to the moving speed of the moving means. is.

According to the ninth aspect of the present invention, the second measuring means calculates the distance between the device to be measured and the device itself based on the received strength of radio waves from the device to be measured, and calculates the distance from a plurality of different positions. 9. The position measurement system according to any one of claims 1 to 8, wherein the position of the device to be measured relative to the device to be measured is measured using a plurality of distances to the device to be measured.

[program]
According to the tenth aspect of the present invention, there are provided first measuring means for measuring the current position of the device itself, and second measuring means for measuring the relative position of the device to be measured transmitting radio waves containing identification information from the device itself. Calculation means for calculating the position of the device to be measured from the relative position measured by the second measurement means and the current position of the device itself measured by the first measurement means; estimating means for estimating the measurement error included in the position of the device to be measured calculated by the calculating means; transmitting the measurement error estimated by the estimating means, the position of the device to be measured, and identification information of the device to be measured a step of receiving a plurality of positions of a device to be measured and respective measurement errors at the plurality of positions from a plurality of measuring devices each having a transmitting means for transmitting and a moving means for moving the device;
A program for causing a computer to execute a step of identifying the position of the device to be measured based on the received positions of the device to be measured and the respective measurement errors at the plurality of positions.

According to the present invention of claim 1, when the position of the device to be measured is measured by a plurality of measuring devices, even if the positions of the device to be measured measured by the plurality of measuring devices are different, the position of the device to be measured is can be provided.

According to the second aspect of the present invention, it is possible to provide a position measurement system that identifies the position of a device to be measured measured by a plurality of measurement devices in consideration of included measurement errors.

According to the third aspect of the present invention, it is possible to provide a position measurement system capable of specifying an area in which the device to be measured is more likely to exist.

According to the present invention according to claim 4, even when the positions of the device to be measured measured by a plurality of measuring devices and the regions of the measurement errors do not overlap, the position of the device to be measured can be specified. system can be provided.

According to the present invention as defined in claim 5, position measurement capable of specifying the position of the device to be measured even when the positions of the device to be measured measured by a plurality of measuring devices and the measurement error regions do not overlap. system can be provided.

According to the sixth aspect of the present invention, it is possible to provide a position measurement system capable of estimating the measurement error included in the position of the device to be measured.

According to the seventh aspect of the present invention, it is possible to provide a position measurement system capable of estimating the measurement error included in the position of the device to be measured.

According to the eighth aspect of the present invention, it is possible to provide a position measurement system capable of estimating the measurement error included in the position of the device to be measured.

According to the ninth aspect of the present invention, there is provided a position measurement system capable of measuring the relative position between a device to be measured and its own device only by receiving radio waves transmitted from the specific target device. can do.

According to the tenth aspect of the present invention, when the position of the measurement target device is measured by a plurality of measurement devices, even if the positions of the measurement target device measured by the plurality of measurement devices are different, the position of the measurement target device It is possible to provide a program that can identify

It is a figure which shows the system configuration|structure of the information collection system of one Embodiment of this invention. FIG. 3 is a diagram for explaining how robot devices 10A and 10B measure installation locations of measurement target devices 50A and 50B installed in a certain area. 1 is a block diagram showing the hardware configuration of robot apparatuses 10A and 10B in one embodiment of the present invention; FIG. 1 is a block diagram showing functional configurations of robot apparatuses 10A and 10B according to an embodiment of the present invention; FIG. 5 is a diagram for explaining a method of measuring the relative position of the device to be measured 50A by the relative position measuring unit 42; FIG. 5 is a diagram for explaining a method of measuring the relative position of the device to be measured 50A by the relative position measuring unit 42; FIG. The specifics when the position calculation unit 44 calculates the position of the measurement target device 50A from the relative position measured by the relative position measurement unit 42 and the current position of the own device measured by the current position measurement unit 41 are as follows. It is a figure for explaining. FIG. 4 is a diagram showing an example of error amount based on measurement accuracy in each measuring device or the like of the robot apparatus; 4 is a diagram showing an example of a measurement error based on an error amount set according to the moving speed of the moving section 15; FIG. FIG. 10 is a diagram showing an example of position measurement results of the measurement target device 50A measured by the robot devices 10A and 10B; 2 is a block diagram showing the hardware configuration of an information management server 20 according to one embodiment of the present invention; FIG. 2 is a block diagram showing the functional configuration of an information management server 20 according to one embodiment of the present invention; FIG. FIG. 10 is a diagram for explaining a case where the position of the device to be measured 50A measured by the robot devices 10A and 10B and the region due to the measurement error overlap; FIG. 10 is a diagram for explaining a case where the position of the device to be measured 50A measured by the robot devices 10A and 10B and the region due to the measurement error do not overlap; FIG. 10 is a diagram for explaining a case where the robot device 10A loses sight of its own position and performs laser measurement of the surrounding shape using the LRF; FIG. 4 is a diagram for explaining a case where the robot device 10A can determine the current position based on whether or not communication with the measurement target device 50A is possible even when the same shape is measured by the laser positioning of the robot device 10; is. FIG. 4 is a diagram for explaining how the robot device 10A autonomously moves using the position information of the devices to be measured 50A to 50E.

Next, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a diagram showing the system configuration of an information collection system according to one embodiment of the present invention.

As shown in FIG. 1, an information collection system according to one embodiment of the present invention manages two autonomously movable robot devices 10A and 10B and information transmitted from the robot devices 10A and 10B. It is composed of an information management server 20 that The robot devices 10A and 10B and the information management server 20 are interconnected via a network 30 and a wireless LAN terminal 40. FIG.

In the information gathering system of this embodiment, the two robot devices 10A and 10B move autonomously within a set area, but the present invention is not limited to such a configuration. not something. The present invention is similarly applicable to a case in which three or more robot devices autonomously move within such an area.

In the information collection system of this embodiment, two robot devices 10A and 10B autonomously move within a certain set area, collect various kinds of information, and transmit the collected information to the information management server 20. FIG.

The two robot devices 10A and 10B are pre-stored with map information of the area to be moved, respectively. By comparing the grasped surrounding shape with the map information, the current position of the device is specified and autonomous movement is performed.

Further, when the robot devices 10A and 10B move in an outdoor area, the current position of the robot devices 10A and 10B may be specified by GPS (Global Positioning System).

In this embodiment, as shown in FIG. 2, the robot devices 10A and 10B measure the installation locations of the devices to be measured 50A to 50B installed within the area where the robot devices 10A and 10B move. explain. In other words, the information collection system of this embodiment will be described as a position measurement system in which the robot devices 10A and 10B function as measurement devices that measure the positions of the devices to be measured 50A to 50C.

In FIG. 2, the left end position of this area is defined as a reference position (0, 0), and the distance from this reference position is expressed as X coordinates and Y coordinates as position information.

In the area shown in FIG. 2, three measurement target devices 50A to 50C are installed at different locations. The measurement target devices 50A to 50C transmit radio waves containing different identification information. The devices to be measured 50A to 50C are, for example, devices such as wireless access points that transmit radio waves containing different SSIDs (Service Set Identifiers).

In the present embodiment, the measurement target device 50A transmits radio waves including identification information 0001234 through a Wi-Fi (registered trademark) line, and the measurement target devices 50B and 50C also transmit 0001235 and 0001236, respectively. A description will be given assuming that radio waves containing identification information are being transmitted.

In the following description, the two robot devices 10A and 10B are used to measure the position of the measurement target device 50A.

Next, FIG. 3 shows the hardware configuration of the robot devices 10A and 10B in the information collection system of this embodiment.

As shown in FIG. 3, the robot devices 10A and 10B are connected to a CPU 11, a memory 12, a storage device 13 such as a hard disk drive (HDD), a wireless LAN terminal 40 and a wireless LAN terminal 40 via a wireless line such as Wi-Fi (registered trademark). It has a wireless communication unit 14 for communicating with the devices to be measured 50A to 50C, a moving unit 15, and various sensors 16 for controlling movement. These components are connected to each other via a control bus 17 .

The CPU 11 executes predetermined processing based on control programs stored in the memory 12 or storage device 13 to control the operations of the robot devices 10A and 10B. In this embodiment, the CPU 11 reads and executes a control program stored in the memory 12 or the storage device 13. It is also possible to provide

FIG. 4 is a block diagram showing the functional configuration of the robot devices 10A and 10B realized by executing the above control program.

The robot devices 10A and 10B of this embodiment each include a wireless communication unit 14, a moving unit 15, a device control unit 31, and a sensor 16, as shown in FIG.

The moving unit 15 is composed of wheels, motors, etc., and is composed of various mechanisms for moving the positions of the robot devices 10A and 10B.

The sensor 16 is composed of various detection devices such as an LRF and a proximity sensor for grasping the shape of the surroundings, and detects the surrounding conditions of the robot devices 10A and 10B. The device control section 31 performs movement control of the moving section 15 based on the information obtained by the sensor 16 .

The device control unit 31 controls the overall operations of the robot devices 10A and 10B, and includes a current position measuring unit 41, a relative position measuring unit 42, a measurement error estimating unit 43, a position calculating unit 44, and a data transmission/reception unit 45 .

The wireless communication unit 14 performs wireless communication with the wireless LAN terminal 40 and the devices to be measured 50A to 50C.

The current position measurement unit 41 measures the current position of its own device. Specifically, the current position measurement unit 41 measures the current position by, for example, collating the map information with the surrounding shape measured by the LRF as described above. Note that the current position measuring unit 41 measures the current position of its own device by position measurement using GPS, position measurement using a beacon signal, and position measurement using a gyro sensor and wheel rotation information in the moving unit 15. can be

The relative position measurement unit 42 measures relative positions of the devices to be measured 50A to 50C transmitting radio waves containing identification information from the own device.

For example, when measuring the relative position of the measurement target device 50A with respect to the measurement target device 50A, the relative position measurement unit 42 measures the distance between the measurement target device 50A and the measurement target device 50A based on the reception strength (electric field strength) of the radio wave from the measurement target device 50A. , and using a plurality of distances to the measurement target device 50A calculated from a plurality of different positions, the relative position of the measurement target device 50A from its own device is measured.

Here, the relative positions of the devices to be measured 50A to 50C from the robot devices 10A and 10B refer to the positions of the devices to be measured 50A to 50C from the reference position when the positions of the robot devices 10A and 10B are set as the reference positions. means position.

A method of measuring the relative position of the measurement target device 50A by the relative position measuring unit 42 will be described with reference to FIGS. 5 and 6. FIG. Here, a case will be described in which the relative position measurement unit 42 measures the relative position of the measurement target device 50A by a measurement method called three-point positioning.

In FIG. 5, the robot device 10A receives radio waves transmitted from the measurement target device 50A at three different positions, and calculates the distance between the robot device 10A and the measurement target device 50A based on the reception strength of the received radio waves. How to do it is shown.

Here, the distance to the measurement target device 50A when measured from the position (X1, Y1) is α, the distance to the measurement target device 50A when measured from the position (X2, Y2) is β, (X3, Assume that the distance from the position Y3) to the device to be measured 50A is γ.

Then, as shown in FIG. 6, the relative position measuring unit 42 calculates the position of the measurement target device 50A from each measurement position and the distance to the measurement target device 50A.

Although the position of the measurement target device 50A is measured from three different distances here, it is possible to roughly identify the position if the distances from two different positions are known. It is also possible to identify the position of the device to be measured 50A by combining with the above.

Then, the position calculator 44 calculates the position of the device to be measured 50A from the relative position measured by the relative position measuring unit 42 and the current position of the own device measured by the current position measuring unit 41 .

For example, as shown in FIG. 7, the current position of the robot device 10A is (X1, Y1), and the relative position of the measurement target device 50A measured from this current position is (Xr, Yr). That is, the description will be made assuming that the position of the measurement target device 50A is (Xr, Yr) when the current position (X1, Y1) of the robot device 10A is taken as the reference position.

In the case shown in FIG. 7, the position (absolute position from the reference position (0, 0)) of the device 50A to be measured is the current position (X1, Y1) of the robot device 10A and the current position (X1, Y1) of the robot device 10A. The relative position of the measurement target device 50A measured from is obtained by vector addition of (Xr, Yr).

That is, the position calculator 44 calculates the position of the measurement target device 50A as (X1+Xr, Y1+Yr).

The measurement error estimator 43 estimates the measurement error included in the position of the device to be measured 50A calculated by the position calculator 44 .

For example, the measurement error estimation unit 43 estimates the measurement error using the amount of error included in the current position of the device itself measured by the current position measurement unit 41 . Specifically, when the current position measurement unit 41 measures the current position by comparing the surrounding shape measured by the LRF with the map information, the error generated by the measurement method is used to measure the measurement error. to estimate In addition, when the current position measurement unit 41 measures the current position of its own device using GPS, it estimates the measurement error using the amount of error generated by the GPS measurement method.

Also, the measurement error estimator 43 estimates the measurement error using an amount of error preset based on the measurement accuracy of the relative position measurement unit 42 in its own device.

For example, as shown in FIG. 8, if there is a difference in measurement accuracy between the measurement devices of the robot apparatus 10A, etc., the amount of error based on the measurement accuracy is stored in each robot apparatus as a measurement error for each robot apparatus. Keep

Also, the measurement error estimating section 43 estimates the measurement error using the error amount set according to the moving speed of the moving section 15 . For example, as shown in FIG. 9, the measurement error is 20 cm when the moving speed is 15 km/h or more, 10 cm when the speed is 5 km/h or more and less than 15 km/h, and 0 cm when the speed is less than 5 km/h. The estimation unit 43 estimates the measurement error included in the measurement position based on the moving speed when the measurement was performed.

Then, the measurement error estimator 43 calculates the position by summing the measurement error due to the movement speed described above, the measurement error due to the measurement accuracy of each robot device, the measurement accuracy due to the measurement method of the relative position measurement unit 42, and the like. It is estimated as a measurement error included in the position of the measurement target device 50A calculated by the unit 44 .

The data transmission/reception unit 45 transmits the measurement error estimated by the measurement error estimation unit 43 , the position of the measurement target device 50</b>A, and the identification information of the measurement target device 50</b>A to the information management server 20 via the wireless communication unit 14 .

FIG. 10 shows an example of the position measurement result of the measurement target device 50A measured in this way. In FIG. 10, the measurement position of the measurement target device 50A measured by the robot device 10A is (Xa, Ya), and the measurement error included in the measurement position is 80 cm. Further, the measurement position of the measurement target device 50A measured by the robot device 10B is (Xb, Yb), and the measurement error included in the measurement position is 100 cm.

The information management server 20 that has received the measurement results as shown in FIG. 10 from the robot devices 10A and 10B cannot uniquely specify the position of the measurement target device 50A as it is because the respective measurement positions are different.

Therefore, in the information management server 20, when the measurement positions of the same measurement target device 50A transmitted by the plurality of robot devices 10A and 10B are different, the position of the measurement target device 50A is uniquely identified by the method described below. do.

The configuration of the information management server 20 will be described below.

First, the hardware configuration of the information management server 20 will be described with reference to FIG.

As shown in FIG. 11, the information management server 20 transmits and receives data to and from external devices via a CPU 21, a memory 22, a storage device 23 such as a hard disk drive (HDD), and a network 30. It has a communication interface (IF) 24, a user interface (UI) device 25 including a touch panel or liquid crystal display and a keyboard. These components are connected to each other via a control bus 26 .

The CPU 21 executes predetermined processing based on control programs stored in the memory 22 or storage device 23 to control the operation of the information management server 20 . In this embodiment, the CPU 21 will be described as reading and executing a control program stored in the memory 22 or storage device 23. can also be provided.

FIG. 12 is a block diagram showing the functional configuration of the information management server 20 realized by executing the above control program.

The information management server 20 of this embodiment includes a control unit 51, a data transmission/reception unit 52, and a location information storage unit 53, as shown in FIG. The control unit 51 also controls the operation of the information management server 20 and has a specifying unit 54 for specifying the position of the measurement target device 50A.

The data transmission/reception unit 52 receives identification information such as the measurement position, measurement error, and ID number of the measurement target device 50A transmitted from the robot devices 10A and 10B.

The position information storage unit 53 stores the measurement position, measurement error, and identification information of the measurement target device 50A received by the data transmission/reception unit 52 . That is, the position information storage unit 53 stores information such as measurement positions and measurement errors for each of the robots 10A and 10B, which are measurement devices, as shown in FIG.

When the measurement positions of the measurement target device 50A transmitted from the robot devices 10A and 10B are different, the specifying unit 54 determines the positions of the measurement target device 50A transmitted from the robot devices 10A and 10B, The position of the measurement target device 50A is specified from each measurement error in the position.

Specifically, the identification unit 54 identifies an area composed of the positions of the measurement target device 50A measured by the plurality of robot devices 10A and 10B and measurement errors as an area in which the measurement target device 50A may exist. . Then, when the positions of the measurement target device 50A measured by the plurality of robot devices 10A and 10B and the regions of the measurement errors overlap, the identifying unit 54 detects the overlapped region as the measurement target device 50A. Identify the area.

For example, as shown in FIG. 13, when the position of the measurement target device 50A measured by the robot device 10A is (Xa, Ya) and the measurement error estimated to be included in that position is 80 cm, the measurement target device 50A A region where there is a possibility of existing is a circular region with a radius of 80 cm centered on (Xa, Ya).

Further, as shown in FIG. 13, when the position of the measurement target device 50A measured by the robot device 10B is (Xb, Yb) and the measurement error estimated to be included in that position is 100 cm, the measurement target device 50A A region where there is a possibility of exists is a circular region with a radius of 100 cm centered on (Xb, Yb).

Then, as shown in FIG. 13, the description will be made assuming that these two circular regions overlap. In this case, the identifying unit 54 identifies the diagonally shaded area where the two circular areas overlap as an area where the measurement target device 50A may exist.

Further, when the positions of the measurement target device 50A measured by the plurality of robot devices 10A and 10B and the areas of the measurement errors do not overlap, the specifying unit 54 determines the position of the measurement target device 50A using the position information whose measurement time is newer. identify.

For example, as shown in FIG. 14, when a circular region with a radius of 80 cm centered at (Xa, Ya) and a circular region with a radius of 100 cm centered at (Xb, Yb) do not overlap, the specifying unit 54 Of the measurement positions (Xa, Ya) and the measurement positions (Xb, Yb), the measurement position with the newer measurement time, ie, the later measurement time, is specified as the position of the measurement target device 50A.

This is because, for example, if the measurement target device 50A is a device that may move, there is a higher possibility that a measurement position with a newer measurement time is the current correct position.

Further, when the positions of the measurement target device 50A measured by the plurality of robot devices 10A and 10B and the regions of the measurement errors do not overlap, the specifying unit 54 determines the position of the measurement target device 50A using the position information with the small measurement error. may be specified.

For example, as shown in FIG. 14, when the two circular regions do not overlap, the identifying unit 54 identifies the measurement position (Xa, Ya) with a measurement error of 80 cm and smaller than 100 cm as the position of the device to be measured 50A. You can make it work.

The positional information of the devices to be measured 50A to 50C specified in this way is stored in the positional information storage unit 53 of the information management server 20, and the robot devices 10A and 10B can determine the positions of the devices to be measured 50A to 50C. Information can be received and verified.

In the information collection system of the present embodiment, the positions of the devices to be measured 50A to 50C are specified by performing the processing described above. In other words, although the measurement target devices 50A to 50C themselves do not transmit position information, but simply transmit radio waves containing identification information, the robot devices 10A and 10B, which are measurement devices, are the measurement targets. By measuring the positions of the devices 50A to 50C and transmitting the measured positions to the information management server 20, the information management server 20 identifies the positions of the measurement target devices 50A to 50C based on the measured positions.

Therefore, when the robot devices 10A and 10B move autonomously, the devices to be measured 50A to 50 can be used as marks on the map.

Furthermore, by updating the position information each time the robot devices 10A and 10B communicate with the devices to be measured 50A to 50C, even if the devices to be measured 50A to 50C move, the positions after movement can be measured. It can be used continuously as it is as a mark on the map.

Therefore, even if the position of the robot devices 10A and 10B on the map cannot be specified while the robot devices 10A and 10B are moving autonomously, the position information of the communicable measurement target devices among the measurement target devices 50A to 50C can be obtained. can be used to specify the position of the device itself, or to correct the position of the device itself if the position of the device itself is incorrect.

For example, as shown in FIG. 15, when the robot apparatus 10A loses track of its own position and performs laser measurement of the surrounding shape by LRF, the case where the shape of the surrounding wall happens to be the same will be described.

Even in such a case, as shown in FIG. 16, if the position of the measurement target device 50A has already been specified, and if the robot device 10 can communicate with the measurement target device 50A, the robot device 10A will can be determined to be in Further, if the robot device 10 cannot communicate with the measurement target device 50A, it can be determined that the robot device 10A is at the Y point.

In other words, by using the specified position information of the devices to be measured 50A to 50C, autonomous movement can be performed with higher accuracy using the devices to be measured 50A to 50C as landmarks.

Therefore, as shown in FIG. 17, by measuring in advance the positions of the devices to be measured 50A to 50E arranged on a complicated path and storing them in the information management server 20, the robot device 10A can With only the positional information of the devices to be measured 50A to 50E stored in 20, it is also possible to roughly grasp the current position of the own device and move autonomously.

[Modification]
In the above embodiment, a case where a device such as a Wi-Fi (registered trademark) wireless access point is used as a measurement target device for position measurement has been described, but the present invention is not limited to this. The present invention can be similarly applied to any device such as an IC tag that transmits radio waves containing identification information.

10A, 10B robot device 11 CPU
REFERENCE SIGNS LIST 12 memory 13 storage device 14 wireless communication unit 15 mobile unit 16 sensor 17 control bus 20 information management server 21 CPU
22 memory 23 storage device 24 wireless communication unit 25 UI device 26 control bus 30 network 40 wireless LAN terminal 41 current position measurement unit 42 relative position measurement unit 43 measurement error estimation unit 44 position calculation unit 45 data transmission/reception unit 50A to 50E measurement target Apparatus 51 Control Unit 52 Data Transmission/Reception Unit 53 Location Information Storage Unit 54 Identification Unit

Claims (10)

first measuring means for measuring the current position of the device itself; second measuring means for measuring the relative position of the device to be measured transmitting radio waves containing identification information from the device itself; Calculation means for calculating the position of the device to be measured from the relative position measured by the measurement means and the current position of the device itself measured by the first measurement means; and the measurement target calculated by the calculation means. estimating means for estimating the measurement error included in the position of the device; transmitting means for transmitting the measurement error estimated by the estimating means, the position of the device to be measured, and identification information of the device to be measured; a plurality of measuring devices comprising a moving means for
an information management device comprising a specifying means for specifying the position of the device to be measured based on the plurality of positions of the device to be measured transmitted from the plurality of measuring devices and the respective measurement errors at the plurality of positions;
A position measurement system comprising: 2. The position measurement according to claim 1, wherein said identifying means identifies a region composed of the positions of said device to be measured measured by said plurality of measuring devices and measurement errors as a region in which said device to be measured may exist. system. wherein, when regions formed by positions of the device to be measured and measurement errors measured by the plurality of measuring devices overlap, the identifying means identifies the overlapping region as a region in which the device to be measured may exist. Item 3. The position measurement system according to item 2. wherein, if the positions of the device to be measured measured by the plurality of measuring devices and regions of measurement errors do not overlap, the specifying means specifies the position of the device to be measured using position information with a new measurement time. Item 3. The position measurement system according to item 2. wherein, when the positions of the device to be measured measured by the plurality of measuring devices and regions of measurement errors do not overlap, the specifying means specifies the position of the device to be measured using position information with a small measurement error. Item 3. The position measurement system according to item 2. 6. The position measuring system according to any one of claims 1 to 5, wherein said estimating means estimates said measurement error using an error amount preset based on the measurement accuracy of said second measuring means in said device. 6. The position measuring system according to any one of claims 1 to 5, wherein said estimating means estimates said measurement error using an amount of error included in the current position of said device measured by said first measuring means. 6. The position measurement system according to any one of claims 1 to 5, wherein said estimation means estimates said measurement error using an error amount set according to the moving speed of said moving means. The second measuring means calculates a distance between the device under measurement and the device itself according to the received strength of radio waves from the device under measurement, and calculates distances from a plurality of different positions to the device under measurement. 9. The position measurement system according to any one of claims 1 to 8, wherein the relative position of the device to be measured from the device itself is measured using the distance of . first measuring means for measuring the current position of the device itself; second measuring means for measuring the relative position of the device to be measured transmitting radio waves containing identification information from the device itself; Calculation means for calculating the position of the device to be measured from the relative position measured by the measurement means and the current position of the device itself measured by the first measurement means; and the measurement target calculated by the calculation means. estimating means for estimating the measurement error included in the position of the device; transmitting means for transmitting the measurement error estimated by the estimating means, the position of the device to be measured, and identification information of the device to be measured; receiving a plurality of positions of the device to be measured and the respective measurement errors at the plurality of positions from a plurality of measuring devices provided with moving means for adjusting the
identifying the position of the device under measurement based on the received plurality of positions of the device under measurement and respective measurement errors at the plurality of positions;
A program that causes a computer to run

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