JP7236670B2 - LOCATION MANAGEMENT SYSTEM AND LOCATION MANAGEMENT METHOD - Google Patents

Description

The present invention relates to a location management system and location management method for managing location information measured by an indoor positioning system.

In recent years, a technique for measuring the current position of a moving object such as a person using a satellite positioning system such as GPS (Global Positioning System) has become widespread. In addition, although the satellite positioning system can be used outdoors, it cannot be used indoors where satellite radio waves do not reach. Therefore, indoor positioning systems based on various measurement principles have been proposed.

As a technology related to such an indoor positioning system, a person's current position is measured by transmitting and receiving positioning radio waves between a receiver possessed by a person and a transmitter installed in a positioning area. A technology for displaying the current position of a person on a map in a terminal (smartphone) is known (see Patent Document 1).

WO2017/154806

Now, when the positional information of a person as a moving object is acquired periodically, the line of flow of the person can be obtained based on the positional information, and the behavior of the person can be analyzed based on the line of flow. . For example, if the flow line of a person such as an employee, worker, or customer is acquired and the behavior of that person is analyzed, the analysis results can be used to improve business efficiency or for marketing.

On the other hand, if positioning radio waves are reflected or blocked by walls, pillars, shelves, or other obstacles in the positioning area, the radio waves for positioning cannot be properly received, and positioning results with sufficient accuracy cannot be obtained. positioning error may occur. In this case, since an accurate line of flow cannot be acquired, an erroneous analysis result is obtained, which hinders the analysis. In particular, the reflection and shielding conditions of radio waves for positioning differ from place to place, and it is impossible to know where the positioning failure has occurred. Therefore, there is a demand for a technique that evaluates the reliability of the positioning result of each point and enables grasping where the positioning failure occurs.

However, in the conventional technology, no consideration is given to the reliability of the positioning results of the indoor positioning system, and there is a problem that the reliability of the positioning results of the indoor positioning system cannot be evaluated.

SUMMARY OF THE INVENTION Accordingly, it is a primary object of the present invention to provide a position management system and a position management method capable of efficiently evaluating the reliability of positioning results for each location by an indoor positioning system.

The position management system of the present invention uses an indoor positioning system for measuring the position of a mobile object by transmitting and receiving positioning radio waves between a mobile device held by the mobile device and a fixed device installed in a positioning area. A location management system for managing results, comprising a location management device, the location management device accumulating measured location information at each time measured by the indoor positioning system in a storage unit, and obtaining evaluation position information about the position of the evaluation point where the mobile station is located at the evaluation point, obtaining evaluation time information about an evaluation time that is a period from the evaluation start time to the evaluation end time when the mobile station is located at the evaluation point, and obtaining the evaluation time Based on the information, the measurement position information of the time included in the evaluation time is extracted as the measurement position information of the evaluation point from the measurement position information of each time accumulated in the storage unit, and the measurement position information of the evaluation point is extracted. and the evaluation position information to obtain a measurement error, determine an abnormality in the measurement position information at each time based on the measurement error, and determine the occurrence of an abnormality at the evaluation point based on the determination result. By calculating the rate and determining whether or not the evaluation point is a location with poor positioning based on the rate of occurrence of abnormalities, it is possible to determine whether the evaluation point is a location with poor positioning as evaluation result information regarding the reliability of the positioning result at the evaluation point . It is configured to generate information on whether

Further, the position management method of the present invention is an indoor positioning system for measuring the position of a mobile object by transmitting and receiving positioning radio waves between a mobile device held by the mobile device and a fixed device installed in a positioning area. A position management method for managing positioning results by means of storing measured position information at each time measured by the indoor positioning system in a storage unit, and storing evaluation position information regarding the position of the evaluation point where the mobile station is located. obtaining evaluation time information relating to an evaluation time that is a period from an evaluation start time to an evaluation end time when the mobile station is located at an evaluation point, and stores the evaluation time information in the storage unit based on the evaluation time information; The measurement position information at the time included in the evaluation time is extracted as the measurement position information at the evaluation point from the measurement position information at each time, and the measurement position information at the evaluation point is compared with the evaluation position information. , acquire the measurement error, determine the abnormality of the measurement position information at each time based on the measurement error, calculate the abnormality occurrence rate at the evaluation point based on the determination result, and calculate the abnormality occurrence rate Based on the above, by determining whether or not the evaluation point is a poor positioning point, information regarding whether or not the evaluation point is a poor positioning point is generated as evaluation result information regarding the reliability of the positioning result of the evaluation point.

ADVANTAGE OF THE INVENTION According to this invention, the reliability of the positioning result of each point by an indoor positioning system can be evaluated efficiently. By presenting the evaluation result information to the analyst, erroneous analysis can be avoided.

FIG. 1 is an overall configuration diagram of an indoor positioning system and its position management system according to this embodiment. Explanatory diagram showing the status of the worker's evaluation condition input work Explanatory diagram showing the positioning principle of the indoor positioning system Block diagram showing a schematic configuration of the positioning server 3 Block diagram showing a schematic configuration of the tablet terminal 5 Explanatory diagram showing an evaluation condition input screen displayed on the tablet terminal 5 Flow chart showing the operation procedure of the tablet terminal 5 Block diagram showing a schematic configuration of the management server 6 Explanatory diagram showing various information processed by the management server 6 Explanatory diagram showing an evaluation result screen displayed on the administrator terminal 7 Flow chart showing the operation procedure of the management server 6

A first invention, which has been made to solve the above-mentioned problems, locates the position of a mobile object by transmitting and receiving positioning radio waves between a mobile device held by the mobile object and a fixed device installed in a positioning area. A position management system for managing positioning results by an indoor positioning system to be measured, comprising a position management device, the position management device storing measured position information at each time measured by the indoor positioning system in a storage unit. , obtaining evaluation position information regarding the position of the evaluation point where the mobile station is located, and evaluation time information regarding the evaluation time, which is the period from the evaluation start time to the evaluation end time, during which the mobile station is located at the evaluation point is obtained, and based on the evaluation time information, the measurement position information at the time included in the evaluation time is extracted as the measurement position information of the evaluation point from the measurement position information at each time accumulated in the storage unit. , comparing the measurement position information of the evaluation point with the evaluation position information to obtain a measurement error, determining an abnormality of the measurement position information at each time based on the measurement error, and based on the determination result , by calculating the rate of occurrence of anomalies at the evaluation point and determining whether or not the evaluation point is a location with poor positioning based on the rate of occurrence of anomalies . It is configured to generate information regarding whether or not a location is a poor positioning location .

According to this, it is possible to efficiently evaluate the reliability of the positioning result of each point by the indoor positioning system. By presenting the evaluation result information to the analyst, erroneous analysis can be avoided. Also, the administrator can grasp where the positioning failure occurs. Furthermore, it is possible to accurately determine whether or not the evaluation point is a bad positioning point.

The second invention further comprises an evaluation condition input device possessed by the worker as the moving object, the evaluation condition input device displaying a map of the positioning area, and displaying the position of the evaluation point on the map. The evaluation position information is acquired according to the operation of the operator who inputs the .

According to this, it is possible to efficiently acquire the evaluation position information. In this case, the operator should carry the evaluation condition input device together with the mobile device, stop at the position of the evaluation point, and input the current position as the position of the evaluation point.

In a third aspect of the invention, the evaluation condition input device acquires the evaluation time information according to an operator's operation of inputting the evaluation time for each evaluation point.

According to this, the evaluation time information can be acquired efficiently. In this case, the operator may perform an operation of inputting the current time as the evaluation time (for example, evaluation start time and evaluation end time) while standing still at the position of the evaluation point.

In a fourth invention, the evaluation condition input device is a tablet terminal, and an evaluation condition input application is installed.

According to this, necessary operations and information generation can be performed with a general-purpose tablet terminal.

In a fifth aspect of the present invention, the location management device generates an evaluation result screen for displaying the poor positioning area on a map of the positioning area based on the evaluation result information, and displays the evaluation result screen on the display device. It is configured to be displayed.

According to this, the administrator can easily grasp where the positioning failure occurs.

A sixth aspect of the present invention is positioning by an indoor positioning system that measures the position of a mobile object by transmitting and receiving positioning radio waves between a mobile device held by the mobile device and a fixed device installed in a positioning area. A position management method for managing results, wherein measurement position information at each time measured by the indoor positioning system is stored in a storage unit, and evaluation position information regarding the position of the evaluation point where the mobile station is located is acquired. obtaining evaluation time information regarding an evaluation time that is a period from an evaluation start time to an evaluation end time when the mobile station is located at an evaluation point, and based on the evaluation time information, stored in the storage unit From the measurement position information at each time, the measurement position information at the time included in the evaluation time is extracted as measurement position information at the evaluation point, and the measurement position information at the evaluation point and the evaluation position information are compared to perform measurement. An error is obtained, based on the measurement error, the abnormality of the measured position information at each time is determined, based on the determination result, the abnormality occurrence rate at the evaluation point is calculated, and based on the abnormality occurrence rate By determining whether or not the evaluation point is a poor positioning point, information regarding whether or not the evaluation point is a poor positioning point is generated as evaluation result information regarding the reliability of the positioning result of the evaluation point.

According to this, similarly to the first invention, it is possible to efficiently evaluate the reliability of the positioning result of each point by the indoor positioning system.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is an overall configuration diagram of an indoor positioning system and its position management system according to this embodiment.

The indoor positioning system measures the position of a mobile object (person or various devices) to be positioned. device) and

A transmitter 1 is held by a mobile body. This transmitter 1 transmits radio waves (beacon) for positioning.

A plurality of receivers 2 are installed at appropriate locations within the positioning area. This receiver 2 receives radio waves for positioning transmitted from the transmitter 1 .

The positioning server 3 is composed of a PC (information processing device). This positioning server 3 measures the position of the mobile object (transmitter 1 ) based on the reception status of radio waves for positioning by the receiver 2 .

The location management system includes a tablet terminal 5 (evaluation condition input device), a management server 6 (location management device), and an administrator terminal 7 (display device).

The tablet terminal 5 is possessed together with the transmitter 1 by the operator (mobile body). The tablet terminal 5 is installed with an evaluation condition input application for the operator to input the current position as an evaluation position. Note that a smart phone, a notebook PC, or the like may be used instead of the tablet terminal 5 .

The management server 6 is composed of a PC (information processing device). This management server 6 determines the reliability of the positioning result at each point in the positioning area based on the measured position information of the worker (mobile body) obtained from the positioning server 3 and the evaluation position information obtained from the tablet terminal 5. (Accuracy) is evaluated.

The administrator terminal 7 is operated by an administrator. In this administrator terminal 7, evaluation result information regarding the reliability of the positioning result is delivered from the management server 6, and the administrator can confirm the evaluation result. The administrator terminal 7 may be a PC or a tablet terminal, but the evaluation results may be displayed on a monitor connected to the management server 6. FIG.

Next, the operator's evaluation condition input work will be described with reference to FIG. FIG. 2 is an explanatory diagram showing the status of an operator's evaluation condition input work.

A worker possesses a transmitter 1 and a tablet terminal 5 . A map of the positioning area (site) is displayed on the tablet terminal 5 . The operator refers to the map displayed on the tablet terminal 5, moves within the measurement area, stops at the evaluation point when reaching the evaluation point, and performs an operation of inputting the current position as an evaluation position on the tablet terminal 5. - 特許庁The operator also performs an operation of inputting the evaluation time (evaluation start time and evaluation end time). At this time, the worker remains stationary at the evaluation point during the evaluation time. While sequentially moving to a plurality of evaluation points, the operator repeats the operation of inputting the evaluation position and the evaluation time for each evaluation point. The tablet terminal 5 transmits the evaluation position information and the evaluation time information acquired by the operator's input operation to the management server 6 .

Note that the evaluation points may be set at predetermined intervals (for example, 1 m). Also, a point that is assumed to have many obstacles and poor radio wave conditions may be set as an evaluation point.

A receiver 2 is installed in the positioning area. When the receiver 2 receives the radio wave for positioning from the transmitter 1 carried by the worker, the receiver 2 transmits radio wave information (information on the reception status of the radio wave for positioning) to the positioning server 3, and the positioning server 3 transmits the radio wave The position information of the worker (transmitter 1) is acquired based on the information, and the position information is transmitted to the management server 6. FIG.

In the management server 6, based on the evaluation time information received from the tablet terminal 5, position information (measurement position information) of the transmitter 1 measured at the evaluation time, that is, with the transmitter 1 placed at the evaluation point The measured location information is extracted from the location information of the transmitter 1 acquired from the positioning server 3 . Then, the evaluation position information and the measurement position information acquired from the tablet terminal 5 are compared to calculate the measurement error, and based on the measurement error, the reliability of the positioning result at each evaluation point is evaluated. It is determined whether or not the point is a bad positioning point.

Next, the positioning principle of the indoor positioning system will be explained. FIG. 3 is an explanatory diagram showing the positioning principle of the indoor positioning system.

A plurality of receivers 2 are installed in the positioning area, and each receiver 2 receives radio waves transmitted by a transmitter 1 held by a mobile object. At this time, when the direction of arrival of radio waves is detected by each receiver 2 and the angles of arrival of radio waves α and β formed by the direction of arrival of radio waves and the reference direction are calculated, these angles of arrival of radio waves α and β correspond to the position of the transmitter 1. Therefore, the position of the transmitter 1 can be estimated based on the radio wave arrival angles α and β and the position information of the receiver 2 .

In such an indoor positioning system, in addition to receiving radio waves (direct waves) arriving directly from the transmitter 1, the receiver 2 receives radio waves (reflected waves) reflected by walls, pillars, etc. Since the receiver 2 cannot distinguish between the direct wave and the reflected wave, an erroneous positioning result is obtained when positioning is performed based on the reflected wave.

Further, if there is an obstacle between the transmitter 1 and the receiver 2, the radio wave from the transmitter 1 cannot be received by the receiver 2, so positioning cannot be performed. In addition, even if the receiver 2 near the transmitter 1 cannot receive the radio waves of the transmitter 1, the receiver 2 far away from the transmitter 1 can receive the radio waves of the transmitter 1 and can perform positioning. However, in this case, since the accuracy of the radio wave arrival angle is low, highly accurate positioning results cannot be obtained.

In the present embodiment, in the indoor positioning system, positioning is performed based on the radio wave arrival angle when the receiver 2 receives the positioning radio waves emitted by the transmitter 1. However, such a positioning principle is not limited to, and a known positioning principle may be adopted. Further, in the present embodiment, the transmitter 1 (mobile device) is held by a moving body (person, etc.), and a plurality of receivers 2 (fixed devices) are installed at appropriate locations within the positioning area. and may be reversed. That is, there are cases where a plurality of transmitters are installed at appropriate locations within a positioning area and receivers are held by mobile bodies.

Next, a schematic configuration of the positioning server 3 will be described. FIG. 4 is a block diagram showing a schematic configuration of the positioning server 3. As shown in FIG.

The positioning server 3 includes an input/output unit 11 , a communication unit 12 , a storage unit 13 and a control unit 14 .

The input/output unit 11 is connected to the receiver 2 . In this embodiment, radio wave information (radio wave arrival angle, etc.) output from the receiver 2 is input.

The communication unit 12 communicates with the management server 6 . In this embodiment, the measurement position information acquired by the control unit 14 is transmitted to the management server 6 .

The storage unit 13 stores position information of the receiver 2 . The storage unit 13 also stores programs and the like that are executed by the processors that constitute the control unit 14 .

The control unit 14 has a positioning unit 21 . The control unit 14 is configured by a processor, and the positioning unit 21 is realized by executing a program stored in the storage unit 13 by the processor.

The positioning unit 21 estimates the position of the transmitter 1 based on the radio wave information (radio wave arrival angle, etc.) acquired from the receiver 2 and the position information of the receiver 2 stored in the storage unit 13, and transmits Acquire the position information (measurement position information) of the aircraft 1 .

Next, a schematic configuration of the tablet terminal 5 will be described. FIG. 5 is a block diagram showing a schematic configuration of the tablet terminal 5. As shown in FIG.

The tablet terminal 5 includes a communication section 31 , a display input section 32 , a storage section 33 and a control section 34 .

The communication unit 31 communicates with the management server 6 . In this embodiment, the evaluation position information (position information of the evaluation point) and evaluation time information (evaluation start time and evaluation end time) acquired by the control unit 34 are transmitted to the management server 6 .

The display input unit 32 is composed of a touch panel display in which a display panel 35 and a touch panel 36 are integrated.

The storage unit 33 stores map information and coordinate information of the positioning area. The storage unit 33 also stores programs and the like that are executed by the processors that constitute the control unit 34 .

The control unit 34 includes a map registration unit 41 , a display control unit 42 , an input control unit 43 , an evaluation position acquisition unit 44 and an evaluation time acquisition unit 45 . The control unit 34 is configured by a processor, and each unit of the control unit 34 is realized by executing a program (evaluation condition input application) stored in the storage unit 33 by the processor.

The map registration unit 41 registers map information and coordinate information of the measurement area in the evaluation condition input application. The map information is image information such as a layout map showing the layout of the measurement area. The coordinate information is information that associates the coordinates representing the position on the map displayed on the display panel 35 with the coordinates representing the position within the measurement area (site). This map registration process is performed in advance, and the map information and the coordinate information are stored in the storage unit 33 .

The display control unit 42 displays an evaluation condition input screen (see FIG. 6) on the display panel 35 . At this time, based on the map information stored in the storage unit 33, a map of the measurement area is displayed on the evaluation condition input screen.

The input control unit 43 detects the position (touch position) touched by the operator on the touch panel 36, and detects the screen operation by the operator based on the touch position. In this embodiment, an operation of inputting the position of the evaluation point and a button operation of inputting the evaluation time (evaluation start time and evaluation end time) are detected.

When the input control unit 43 detects an operation to input the position of the evaluation point, the evaluation position acquisition unit 44 acquires the position information (evaluation position information) of the evaluation point based on the touch position at that time. At this time, based on the coordinate information stored in the storage unit 33, the coordinates of the evaluation point within the measurement area (site) are acquired from the coordinates of the touch position on the screen.

When the input control unit 43 detects a button operation for inputting an evaluation time, the evaluation time acquisition unit 45 acquires evaluation time information (evaluation start time and evaluation end time) according to the button operation.

Next, the evaluation condition input screen displayed on the tablet terminal 5 will be described. FIG. 6 is an explanatory diagram showing an evaluation condition input screen displayed on the tablet terminal 5. As shown in FIG.

An evaluation condition input screen is displayed on the display panel 35 of the tablet terminal 5 . This evaluation condition input screen is used by the operator to input the position of the evaluation point and the evaluation time (evaluation start time and evaluation end time) as evaluation conditions. , an evaluation start button 52 , an evaluation end button 53 , and an elapsed time display section 54 are provided.

A map of the measurement area (field map) is displayed on the map display section 51 . When an arbitrary position on the map is touch-operated, that position (touch position) is input as the position of the evaluation point, and a mark 55 representing the position of the evaluation point is displayed on the map. Also, a display frame 56 in which the coordinates of the evaluation point are described is displayed near the mark 55 . This allows the operator to check whether there is an error in the position of the input evaluation point.

When the evaluation start button 52 is operated, the current time is set as the evaluation start time, and the elapsed time from the evaluation start time is started. When the evaluation end button 53 is operated, the counting of the elapsed time is ended and the current time is set as the evaluation end time. When the elapsed time measurement is started, the evaluation start button 52 is grayed out and cannot be operated, and when the elapsed time measurement is finished, the evaluation end button 53 is grayed out and cannot be operated.

The elapsed time display section 54 displays the elapsed time from the time when the evaluation start button 52 is operated (evaluation start time). The operator operates the evaluation end button 53 when the time displayed on the elapsed time display section 54 reaches the evaluation time. This allows the operator to enter an arbitrary length of evaluation time.

Note that, in the present embodiment, the evaluation time (the time from the evaluation start time to the evaluation end time) can be adjusted by the timing at which the evaluation end button 53 is operated. If the evaluation time is fixed, the evaluation end time may be the time when the evaluation time has passed since the evaluation start button 52 was operated (evaluation start time). In this case, the evaluation end button 53 can be omitted. Alternatively, the evaluation start time may be the time when the position of the evaluation point is input on the map. In this case, the evaluation start button 52 can be omitted.

Next, the operating procedure of the tablet terminal 5 will be described. FIG. 7 is a flowchart showing the operating procedure of the tablet terminal 5. As shown in FIG.

In the tablet terminal 5, when the operator performs an operation to start the evaluation condition input application, the display control section 42 displays the evaluation condition input screen (see FIG. 6) on the display panel 35 (ST101). At this time, based on the map information stored in the storage unit 33, a map of the positioning area is displayed on the evaluation condition input screen. The worker refers to the map of the positioning area displayed on the evaluation condition input screen, moves to the evaluation point, and touches the position of the evaluation point on the map when the worker arrives at the evaluation point. Enter

Here, when the input control unit 43 detects the operator's operation of inputting the position of the evaluation point (Yes in ST102), the evaluation position acquisition unit 44 detects the position information (evaluation position information) of the evaluation point input by the worker. ) is acquired (ST103).

Next, the display control unit 42 displays the mark 55 indicating the position of the evaluation point on the evaluation condition input screen (ST104). Here, the operator confirms whether there is an error in the evaluation position.

Next, when the input control unit 43 detects that the operator has operated the evaluation start button 52 (see FIG. 6) (Yes in ST105), the evaluation time acquisition unit 45 acquires the current time as the evaluation start time (ST106). ). At this time, the evaluation time acquisition unit 45 starts measuring the elapsed time from the time when the evaluation start button 52 is operated (evaluation start time), and the display control unit 42 displays the elapsed time on the evaluation condition input screen. .

Next, when the input control unit 43 detects that the operator has operated the evaluation end button 53 (Yes in ST107), the evaluation time acquisition unit 45 acquires the current time as the evaluation end time (ST108). At this time, the worker confirms the elapsed time displayed on the evaluation condition input screen, and operates the evaluation end button 53 when the elapsed time reaches the evaluation time.

Next, the communication unit 31 transmits the evaluation position information acquired by the evaluation position acquisition unit 44 and the evaluation time information (evaluation start time and evaluation end time) acquired by the evaluation time acquisition unit 45 to the management server 6 ( ST109).

The above processing is repeated until the processing at all evaluation points is completed.

Next, a schematic configuration of the management server 6 will be described. FIG. 8 is a block diagram showing a schematic configuration of the management server 6. As shown in FIG. FIG. 9 is an explanatory diagram showing various types of information processed by the management server 6. As shown in FIG.

As shown in FIG. 8 , the management server 6 includes a communication section 61 , a storage section 62 and a control section 63 .

The communication unit 61 communicates with the positioning server 3 , the tablet terminal 5 and the administrator terminal 7 . In this embodiment, the measurement location information at each time, which is constantly and periodically transmitted from the positioning server 3, is received (see FIG. 9A). It also receives evaluation position information and evaluation time information (evaluation start time and evaluation end time) transmitted from the tablet terminal 5 (see FIG. 9B). Further, the display information of the evaluation result screen (see FIG. 10) generated by the control unit 63 is transmitted to the administrator terminal 7. FIG.

The storage unit 62 sequentially accumulates the measured position information received from the positioning server 3 . The storage unit 62 also stores the evaluation position information and evaluation time information (evaluation start time and evaluation end time) received from the tablet terminal 5 . The storage unit 62 also stores programs and the like executed by the processors that constitute the control unit 63 .

The control unit 63 includes a measurement position information extraction unit 71 , a reliability evaluation unit 72 and an evaluation result presentation unit 73 . The control unit 63 is configured by a processor, and each unit of the control unit 63 is realized by executing a program stored in the storage unit 62 by the processor.

Based on the evaluation time information, the measurement position information extraction unit 71 extracts the measurement position information of the time included in the evaluation time from the measurement position information of each time accumulated in the storage unit 62, and extracts the measurement position information of the evaluation point. Extract as The measurement position information of this evaluation point is the position information of the transmitter 1 measured with the transmitter 1 placed at the evaluation point.

The reliability evaluation unit 72 evaluates the reliability of the positioning result for each evaluation point, and includes a measurement error acquisition unit 81, a measurement abnormality determination unit 82, a statistical processing unit 83, and a positioning failure point determination unit 84. , is equipped with

The measurement error acquisition unit 81 acquires the measurement error of the measurement position information at each time based on the measurement position information of the evaluation point acquired by the measurement position information extraction unit 71 and the evaluation position information acquired from the tablet terminal 5. . Specifically, the measurement error ε, that is, the amount of deviation between the measurement position (X _M , Y _M ) and the evaluation position (X _E , Y _E ) is calculated as in the following equation. Thereby, as shown in FIG. 9C, the measurement error of the measurement position information at each time is obtained.

The measurement abnormality determination unit 82 determines whether or not the measurement position information at each time is abnormal based on the measurement error of the measurement position information at each time acquired by the measurement error acquisition unit 81 . Specifically, the measurement error is compared with a predetermined threshold, and if the measurement error is equal to or greater than the threshold, it is determined to be abnormal. As a result, as shown in FIG. 9C, the determination result of whether or not the measurement position information at each time is abnormal is obtained.

It should be noted that the threshold used as the criterion for judging the abnormality of the measured position information may be appropriately set. , the threshold is set to 2m.

Based on the determination result of the measurement abnormality determination unit 82, the statistical processing unit 83 calculates the ratio (abnormal appearance rate) of the measurement location information determined to be abnormal among the measurement location information at all times included in the evaluation time. Calculated for each evaluation point. As a result, as shown in FIG. 9D, an abnormality occurrence rate for each evaluation point is obtained. This rate of occurrence of anomalies serves as an evaluation criterion for evaluating the reliability of the positioning results of evaluation points.

The poor positioning point determination unit 84 evaluates the reliability of the positioning result of the evaluation point based on the abnormal appearance rate for each evaluation point acquired by the statistical processing unit 83 . In this embodiment, as an evaluation of the reliability of positioning results, each evaluation point is either a point where highly reliable positioning results can be obtained (positioning good points) or a point where highly reliable positioning results cannot be obtained (poor positioning location). Specifically, the abnormality occurrence rate is compared with a predetermined threshold value, and if the abnormality occurrence rate is equal to or higher than the threshold value, the point is determined to be a location with poor positioning. As a result, evaluation results for each evaluation point are obtained as shown in FIG. 9(D).

Note that the threshold value, which serves as a criterion for judging the location with poor positioning, may be set appropriately, but is set to 30%, for example. Here, for example, if the evaluation time is 1 minute and the measurement interval is 1 second, the measurement is performed 60 times within the evaluation time, and 60 pieces of measurement position information are obtained. If the location information is abnormal, the occurrence rate of abnormality is 33.3%, which is 30% or more of the threshold value, so the location is determined to be a location with poor positioning.

Further, in this embodiment, the reliability of the positioning result is evaluated for each evaluation unit area (see FIG. 10) obtained by dividing the positioning area into a lattice. That is, it is determined whether each evaluation unit area is an area where highly reliable positioning results can be obtained (good positioning area) or an area where highly reliable positioning results cannot be obtained (poor positioning area). As a result, an evaluation result for each evaluation unit area is obtained as shown in FIG. 9(E).

At this time, if there is one evaluation point in one evaluation unit area, the abnormality appearance rate of that evaluation point is adopted as the abnormality appearance rate of the evaluation unit area. On the other hand, if one evaluation unit area has a plurality of evaluation points, the abnormality appearance rate of each evaluation point is averaged to obtain the abnormality appearance rate of the evaluation unit area. Further, the maximum value of the abnormal appearance rates for each evaluation point may be adopted as the abnormality appearance rate for the evaluation unit area.

The evaluation result presentation unit 73 generates an evaluation result screen (see FIG. 10) based on the evaluation result of the reliability evaluation unit 72, and transmits the display information of the evaluation result screen from the communication unit 61 to the administrator terminal 7. do. As a result, the evaluation result screen is displayed on the administrator terminal 7, and the administrator can confirm the evaluation result.

Next, the evaluation result screen displayed on the administrator terminal 7 will be described. FIG. 10 is an explanatory diagram showing an evaluation result screen displayed on the administrator terminal 7. As shown in FIG.

An evaluation result screen distributed from the management server 6 is displayed on the administrator terminal 7 . In this evaluation result screen, the evaluation result for each evaluation unit area is displayed on the map of the positioning area. In the example shown in FIG. 10, areas where highly reliable positioning results can be obtained (good positioning areas) and areas where highly reliable positioning results cannot be obtained (poor positioning areas) are displayed in different colors. This allows the administrator to immediately distinguish between the good positioning area and the poor positioning area.

In this embodiment, the evaluation results for each evaluation unit area are displayed on the map of the positioning area, but a list of evaluation results (see FIG. 9E) may be displayed.

Next, operation procedures of the management server 6 will be described. FIG. 11 is a flow diagram showing the operating procedure of the management server 6. As shown in FIG.

In management server 6, as shown in FIG. 11A, communication section 61 receives measurement position information transmitted from positioning server 3 (ST201), and stores the measurement position information in storage section 62 (ST202). ). At this time, the positioning server 3 constantly performs positioning of the transmitter 1 periodically at predetermined time intervals and sequentially transmits the measured position information at each time, and the management server 6 transmits the measured position information at each time. Receive sequentially.

Further, in the management server 6, as shown in FIG. When received (ST 211 ), the evaluation position information and evaluation time information are accumulated in the storage section 62 .

Note that the evaluation position information and the evaluation time information for each evaluation point may be sequentially transmitted from the tablet terminal 5 to the management server 6 in accordance with the operator's input operation at each evaluation point. The evaluation position information and the evaluation time information for all the evaluation points may be collectively transmitted after the operator has completed the input operation at the points. Also, the evaluation position information and the evaluation time information may be transferred from the tablet terminal 5 to the management server 6 via an appropriate storage medium.

Next, based on the evaluation time information, the measurement position information extraction unit 71 extracts the measurement position information of the time included in the evaluation time from the measurement position information of each time accumulated in the storage unit 62, and extracts the measurement position information of the evaluation point. It is extracted as measurement position information (ST212).

Next, the measurement error acquisition section 81 acquires the measurement error of the measurement position information at each time based on the measurement position information and the evaluation position information at each time for each evaluation point (ST213).

Next, the measurement abnormality determination section 82 determines whether or not the measurement position information at each time is abnormal based on the measurement error of the measurement position information at each time for each evaluation point (ST214).

Next, the statistical processing section 83 calculates the rate at which abnormal measurement position information appears (abnormal appearance rate) for each evaluation point (ST215). This rate of occurrence of anomalies is the ratio of measured position information determined to be abnormal to the measured position information at all times included in the evaluation time.

Next, the poor positioning point determination unit 84 determines whether or not each evaluation point is a poor positioning point based on the rate of occurrence of abnormality for each evaluation point (ST216). At this time, when presenting the evaluation result for each evaluation unit area obtained by dividing the positioning area into a lattice, each evaluation unit area is determined to have positioning failure based on the abnormality occurrence rate for each evaluation point included in each evaluation unit area. Determine whether it is an area or not.

Next, the evaluation result presentation unit 73 generates an evaluation result screen (see FIG. 10) that displays the evaluation results for each evaluation point (evaluation unit area), and manages the display information of the evaluation result screen from the communication unit 61. is transmitted to the user terminal 7 (ST217). As a result, the evaluation result screen is displayed on the administrator terminal 7, and the administrator can confirm the evaluation result.

As described above, in this embodiment, it is possible to present the evaluation results regarding the reliability of the positioning results of the indoor positioning system to the administrator or the analyst. Therefore, it is possible to avoid erroneous analysis by performing analysis in consideration of the evaluation results, for example, by excluding the positioning results of poorly positioned points from the analysis target. In addition, when an indoor positioning system is introduced and its operation is started, by evaluating the reliability of the positioning result of each point, it is possible to review the indoor positioning system, such as increasing the number of receivers 2 or changing the installation position. This makes it possible to construct an indoor positioning system with few poor positioning points.

By the way, in the present embodiment, the worker stops at the evaluation point and inputs the current position to the tablet terminal 5 as the evaluation position. can be Specifically, the order of the evaluation positions is set in advance, and the evaluation position is indicated by the tablet terminal 5 according to the order. time). In this way, it is also possible to acquire the evaluation time information for each evaluation position.

Alternatively, the tablet terminal 5 may be used to instruct the worker to stop at the evaluation position during a preset evaluation time (between the evaluation start time and the evaluation end time). In this case, the evaluation time (evaluation start time and evaluation end time) is displayed on the tablet terminal 5, and the current time is also displayed on the tablet terminal 5. , remains stationary at that position for the duration of the indicated evaluation time.

As described above, the embodiments have been described as examples of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can also be applied to embodiments with modifications, replacements, additions, omissions, and the like. Further, it is also possible to combine the constituent elements described in the above embodiments to create new embodiments.

The position management system and the position management method according to the present invention have the effect of efficiently evaluating the reliability of the positioning results of each location by the indoor positioning system, and manages the position information measured by the indoor positioning system. It is useful as a position management system and a position management method.

1 transmitter (mobile device)
2 Receiver (fixed machine)
3 Positioning server (positioning device)
5 Tablet terminal (evaluation condition input device)
6 Management server (location management device)
7 Administrator terminal (display device)
11 input/output unit 12 communication unit 13 storage unit 14 control unit 21 positioning unit 31 communication unit 32 display input unit 33 storage unit 34 control unit 61 communication unit 62 storage unit 63 control unit

Claims (6)

A position management system that manages the positioning results of an indoor positioning system that measures the position of a mobile object by transmitting and receiving positioning radio waves between a mobile device held by the mobile device and a fixed device installed in the positioning area. There is
Equipped with a position management device,
This position management device
accumulating measurement position information at each time measured by the indoor positioning system in a storage unit;
Acquiring evaluation position information regarding the position of the evaluation point where the mobile station is located;
Acquiring evaluation time information regarding an evaluation time, which is a period from an evaluation start time to an evaluation end time, during which the mobile station is located at an evaluation point;
based on the evaluation time information, extracting the measurement position information at the time included in the evaluation time from the measurement position information at each time accumulated in the storage unit as the measurement position information of the evaluation point;
Comparing the measurement position information of the evaluation point with the evaluation position information to obtain a measurement error,
Based on the measurement error, determine an abnormality of the measured position information at each time,
Based on the judgment result, calculate the abnormal appearance rate at the evaluation point,
By determining whether or not the evaluation point is a location with poor positioning based on the rate of occurrence of anomalies, information regarding whether or not the evaluation point is a location with poor positioning is generated as evaluation result information regarding the reliability of the positioning result at the evaluation point. A location management system characterized by: Furthermore, an evaluation condition input device possessed by the worker as the mobile body is provided,
The evaluation condition input device is
Display the map of the positioning area,
2. The position management system according to claim 1, wherein the evaluation position information is obtained in response to an operator's operation of inputting the position of the evaluation point on the map. The evaluation condition input device is
3. The position management system according to claim 2, wherein the evaluation time information is acquired in response to an operator's operation of inputting the evaluation time for each evaluation point. The evaluation condition input device is
3. The location management system according to claim 2, wherein the location management system is a tablet terminal and installed with an evaluation condition input application. The location management device
2. The position according to claim 1, wherein an evaluation result screen for displaying the poor positioning area on the map of the positioning area is generated based on the evaluation result information, and the evaluation result screen is displayed on the display device. management system. A position management method that manages the positioning results of an indoor positioning system that measures the position of a mobile object by transmitting and receiving positioning radio waves between a mobile device held by the mobile device and a fixed device installed in the positioning area. There is
accumulating measurement position information at each time measured by the indoor positioning system in a storage unit;
Acquiring evaluation position information regarding the position of the evaluation point where the mobile station is located;
Acquiring evaluation time information regarding an evaluation time, which is a period from an evaluation start time to an evaluation end time, during which the mobile station is located at an evaluation point;
based on the evaluation time information, extracting the measurement position information at the time included in the evaluation time from the measurement position information at each time accumulated in the storage unit as the measurement position information of the evaluation point;
Comparing the measurement position information of the evaluation point with the evaluation position information to obtain a measurement error,
Based on the measurement error, determine an abnormality of the measured position information at each time,
Based on the judgment result, calculate the abnormal appearance rate at the evaluation point,
By determining whether or not the evaluation point is a location with poor positioning based on the rate of occurrence of anomalies, information regarding whether or not the evaluation point is a location with poor positioning is generated as evaluation result information regarding the reliability of the positioning result at the evaluation point. A location management method characterized by:

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