JP7349830B2 - Communication terminal device and position detection system for detecting location information - Google Patents

Description

The present invention relates to a position information detection communication terminal and a position detection system capable of detecting inter-area movement information indicating that a mobile body has moved between two movement areas located in the vertical direction.

Japanese Unexamined Patent Publication No. 2013-2933 (Patent Document 1) discloses a three-dimensional positioning system using an atmospheric pressure sensor. This system includes a movably arranged wireless sensor terminal, a server, and a plurality of wireless base stations placed indoors. The server and the plurality of wireless base stations are connected via LAN. A reference surface wireless sensor terminal capable of wireless communication with a LAN system is placed indoors. Both the wireless sensor terminal and the reference surface wireless sensor terminal have atmospheric pressure detection means for detecting the surrounding atmospheric pressure. The server has altitude information of the reference plane on which the reference plane wireless sensor terminal is placed, and also positions the altitude position of the wireless sensor terminal based on the atmospheric pressure detected by the reference plane wireless sensor terminal and the atmospheric pressure detection means of the wireless sensor terminal. do.

Further, Japanese Patent Application Publication No. 2016-57809 (Patent Document 2) discloses a construction site management system using an atmospheric pressure sensor. This construction site management system uses a barometric sensor that is held by a worker in a high-rise building under construction to measure atmospheric pressure and output measurement data, and a barometric sensor that is held by a worker and outputs measurement data. There is a wireless chip that transmits signals, a main receiver that is installed at the construction site and receives the measurement data transmitted from the wireless chip, and a main receiver that is installed at the reference height of the construction site that measures the atmospheric pressure at the reference height and sends the measurement data. The floor where the worker is located is determined based on the output standard atmospheric pressure sensor, the atmospheric pressure measurement data received by the main receiver, and the standard atmospheric pressure measurement data output from the standard atmospheric pressure sensor, and the lighting is turned on only on the determined floor. Equipped with a control panel to turn on the lights.

Japanese Patent Application Publication No. 2013-2933 Japanese Patent Application Publication No. 2016-57809

In the technologies described in Patent Documents 1 and 2, the floor where a moving wireless terminal is located is determined based on the reference atmospheric pressure output by a fixed reference atmospheric pressure sensor and the atmospheric pressure measured by an atmospheric pressure sensor provided on the moving wireless terminal. is being detected. However, atmospheric pressure varies depending on weather, location, and temperature. Therefore, when determining movement between a plurality of vertically arranged areas based on atmospheric pressure, an incorrect determination may be made due to fluctuations in the output of the reference atmospheric pressure sensor. In addition, if workers work at heights on the same floor or work while lying on the floor, it may be incorrectly determined that the worker holding the wireless terminal has moved to a different floor. There is a problem to be solved. These problems can be affected not only by general-purpose barometric pressure sensors but also by using high-precision barometric pressure sensors. Therefore, in the conventional technology, there was a problem in that it was not possible to correctly determine whether or not workers were working at heights in the same area (floor). Therefore, in the conventional technology, there was a problem in that it was not possible to correctly determine whether or not workers were working at heights in the same area (floor).

An object of the present invention is to provide a communication terminal for detecting position information and a position detection system that can correctly detect information regarding high-altitude work in the same area using an atmospheric pressure sensor. .

The communication terminal for detecting position information of the present invention provides position determination information for determining the position of a mobile object within a plurality of movement areas, and information for determining the position of a mobile object within two different movement areas located in the vertical direction. a position information detection unit that detects inter-area movement position information indicating that the moving object is moved; and an air pressure information detection unit that detects air pressure information used to determine the vertical height position of the moving object within the movement area;
It is equipped with a transmitter that transmits position determination information and atmospheric pressure information.

In the communication terminal for detecting location information of the present invention, the transmitting section transmits the held atmospheric pressure information detected and held by the atmospheric pressure information detecting section and the atmospheric pressure information detecting section when the position information detecting section detects inter-area movement position information. The currently detected atmospheric pressure information is transmitted together with inter-area movement position information at a predetermined transmission timing. In this way, the inter-area movement position information detected by the position information detection unit, the holding pressure information output by the barometric pressure information detection unit, and the currently detected barometric pressure information are input to the receiving-side management server together. The atmospheric pressure information output by the atmospheric pressure information detection section can be used as the atmospheric pressure information in the area obtained from the inter-area movement position information. Therefore, if the communication terminal for position information detection of the present invention is used, even if a general-purpose barometric pressure sensor is used, it will be possible to obtain information about the movement of a mobile object between different areas arranged in the vertical direction, and information about the movement of a moving object between different areas arranged in the vertical direction, and information about the movement of a moving object between different areas arranged in the vertical direction, and information about the movement of a moving object between different areas arranged in the vertical direction, and by using the communication terminal for detecting position information in the same area. It is possible to provide a communication terminal for detecting location information that can accurately detect information that the location information is being performed. It is preferable that the transmission timing is the timing at which the position information detection section transmits the position determination information from the transmission section.

The location information detection communication terminal may further include a temperature detection unit that detects the environmental temperature around the mobile object. In this case, the transmitting section transmits the temperature information output by the temperature detecting section together with the inter-area movement position information and atmospheric pressure information. In this way, the management server that has received the temperature information can correct the temperature of the atmospheric pressure, and can improve the accuracy of calculation of the vertical height position of the moving object in the same area.

The atmospheric pressure information detection section is configured to output data obtained by moving average of measured atmospheric pressure data within an output cycle as atmospheric pressure information. Using moving averaged atmospheric pressure data has the advantage of being less affected by fluctuations in atmospheric pressure. By obtaining moving averaged atmospheric pressure data in this way, the influence of data variations can be reduced.

When the communication terminal for positional information detection of the present invention is used, a plurality of reference atmospheric pressure information detection sections each installed in a plurality of moving areas and outputting the atmospheric pressure of the moving area as reference atmospheric pressure information, and a communication terminal for detecting positional information are provided. A moving object height that determines the moving area in which the moving object is present and the vertical height position of the moving object within the moving area based on the output of the terminal device and the output of the reference atmospheric pressure information detection unit. By further including a position determination unit, a position detection system for a moving body can be provided.

A position detection system using the communication terminal for detecting position information of the present invention is installed in each of a plurality of movement areas, and uses the air pressure of the movement area as reference air pressure information. A plurality of reference air pressure information detection units that output, a plurality of reference temperature information detection units that output the temperature of the movement area as reference temperature information, and a plurality of movement units arranged in the vertical direction in which one or more moving objects move. A plurality of beacon signal generators are installed at a plurality of predetermined installation positions within an area and generate a beacon signal including a beacon ID, and a route through which a mobile object moves between two movement areas. One or more switching beacon signal generators that are installed and generate a switching beacon signal including a predetermined switching beacon ID, a position determining unit that determines the position of one or more moving objects within a movement area, and a communication terminal for detecting position information. The moving area in which the moving object is present and the vertical height position of the moving object within the moving area are determined based on the output of the device, the reference air pressure information detection section, and the reference temperature detection section. It is equipped with a management server having a moving object height determining section.

The location information detection section of one or more location information detection communication terminals includes a beacon ID determination section and an area ID determination section. The beacon ID determining unit receives one or more beacon signals, determines a beacon signal for position determination based on the radio field strength of the received one or more beacon signals at a predetermined determination cycle, and generates a beacon signal for position determination. The beacon ID of the beacon signal generator is determined as a beacon ID for position determination, and is stored as one of the position determination information. After receiving the switching beacon signal having a radio field strength equal to or higher than a predetermined radio field strength, the area ID determining unit determines in advance that the positioning beacon signal with the strongest radio field strength among the one or more received positioning beacon signals is predetermined. If it is equal to or greater than the area determination threshold, the beacon ID of the beacon signal for position determination is stored as an area ID. The transmitter of one or more location information detection communication terminals transmits location determination information including a beacon ID for location determination, a terminal ID for identifying itself, and an area ID as inter-area movement location information to the management server. When the position information detection unit detects the inter-area movement position information, the atmospheric pressure information detected and held by the air pressure information detection unit and the air pressure information currently detected by the air pressure information detection unit are used to determine the inter-area movement position. It is configured to be sent together with information.

Then, in the position determination unit of the management server, when the movement area determined from the beacon ID of the position determination beacon signal and the movement area determined from the area ID match, the beacon of the determined position determination beacon signal The beacon ID of the final current position is updated using the ID, and the mobile object height determining section of the management server corrects the standards of the held atmospheric pressure information and the currently detected atmospheric pressure information based on the standard atmospheric pressure information and standard temperature information, and The vertical position of the moving object within the movement area specified by the ID is determined based on currently detected atmospheric pressure information.

The moving object height determination unit of the management server calculates the height of the moving object using the average temperature, reference atmospheric pressure information, and offset atmospheric pressure value. In this way, the vertical position of the moving object can be determined based on the variation in atmospheric pressure accompanying the displacement of the vertical position of the moving object, so the accuracy of determining the vertical position can be increased. .

1 is a block diagram showing the configuration of an embodiment of a position detection system of the present invention. FIG. 2 is a diagram used to explain the operation of the position detection system of FIG. 1. FIG. (A) is a diagram showing the relationship between the distance between the beacon signal generator and the communication terminal for detecting location information and the radio field strength, and (B) is a diagram showing the difference in the distance traveled and the radio field strength in the relationship shown in Figure 4 (A). FIG. FIG. 3 is a diagram used to explain decision conditions. FIG. 3 is a diagram showing the relationship between distance and radio field intensity used to explain the determination conditions. FIG. 2 is a diagram used to explain an environment in which the embodiment is used. 2 is a flowchart of an algorithm for arithmetic processing for updating a beacon ID for location determination, which is used by one location information detection communication terminal to determine the location of a mobile object at every predetermined determination period. 8 is a flowchart showing details of step S2A in FIG. 7. FIG. (A) and (B) are diagrams showing the relationship between the switching threshold and the signal reach distance of the area determination threshold. FIG. 2 is a diagram conceptually illustrating beacon registration information in a position determination unit built in a communication terminal or a server. 7 is a flowchart showing an algorithm for processing outputs of an air pressure sensor and a temperature sensor in this embodiment. 3 is a flowchart showing a software algorithm used in the management server. (A) to (C) are diagrams used to explain offset atmospheric pressure when a mobile object (worker) enters the third floor from the second floor and changes in atmospheric pressure due to changes in vertical movement of the worker. .

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

(overall structure)
1 and 2, a position detection system 1 according to a first embodiment of the present invention has a plurality of movement areas arranged in the vertical direction (for example, from the first floor to the F floor) in which one or more moving objects move. floor: a plurality of beacon signal generators 101 to 10m (where F is a positive integer of 2 or more) are installed at a plurality of predetermined installation positions and generate beacon signals including beacon IDs (m is any positive integer). (an integer of ), and one or more switching beacon signal generators 111 to 11n ( (n is a positive integer of at least the number corresponding to the number of moving areas minus 1), and a plurality of position information detection communication terminals respectively attached to a plurality of moving objects (for example, workers) 61 to 6N (FIG. 2). 31 to 3N, and a management server 5 including a position determining unit 5C that determines the position of one or more of the plurality of moving bodies 61 to 6N within the movement area, and a management server 5 that is installed in each of the plurality of movement areas and has a reference atmospheric pressure. Reference atmospheric pressure information detection units 71 to 7f (f is the number of moving areas) that acquire reference atmospheric pressure information from the output from the measuring atmospheric pressure sensor 70, and reference temperature sensors that are installed in each of the plural moving areas and measure the reference temperature. Reference temperature information detection units 81 to 8f obtain reference temperature information based on the output from 80. Note that in this embodiment, there is no problem even if the accuracy of the atmospheric pressure sensor 70 used is not highly accurate.

The plurality of location information detection communication terminals 31 to 3N each include a location information detection section 3B including a signal reception section 3A, a beacon ID determination section 3Ca, and an area ID determination section 3Cb, a storage section 3D, an atmospheric pressure sensor 3E, and an atmospheric pressure information detection section. 3F, a temperature sensor 3G, a temperature detection section 3H, and a transmission section 3I. The position information detection communication terminals 31 to 3N realize their main functions using arithmetic elements such as microcomputers. The position information detection unit 3B collects position determination information for determining the positions of the mobile objects 61 to 6N within a plurality of movement areas, and information for determining the positions of the mobile objects 61 to 6N in the vertical direction. Detects inter-area movement position information indicating that the area has been moved. The beacon ID determining unit 3Ca receives one or more beacon signals, determines a beacon signal for position determination based on the radio field strength of the received one or more beacon signals at a predetermined determination cycle, and generates a beacon signal for position determination. The beacon IDs of the beacon signal generators 101 to 10m are determined as beacon IDs for position determination, and are stored in the storage unit 3D as one piece of position determination information. The area ID determination unit 3Cb predetermines a positioning beacon signal with the strongest radio field strength among the one or more positioning beacon signals received after receiving the switching beacon signal with a radio field strength equal to or higher than a predetermined radio field strength. If the beacon ID of the beacon signal for position determination is greater than or equal to the area determination threshold value, the beacon ID of the beacon signal for position determination is saved as an area ID. The positioning information including the beacon ID of the positioning beacon signal and the inter-area movement information are stored in the storage unit 3D.

The atmospheric pressure information detection unit 3F detects atmospheric pressure information used to determine the vertical height position of the moving object within the movement area . In the present embodiment, the atmospheric pressure information detection unit 3F is configured to output as atmospheric pressure information the moving average of eight times (eight seconds) of measured atmospheric pressure data output at an output cycle of 1 second. . Using moving averaged atmospheric pressure data has the advantage of being less affected by fluctuations in atmospheric pressure. By obtaining moving averaged atmospheric pressure data in this way, the influence of data variations can be reduced.

In this embodiment, when the position information detection unit 3B detects inter-area movement position information, the storage unit 3D stores the atmospheric pressure information detected by the atmospheric pressure information detection unit 3F as retained atmospheric pressure information, and The currently detected atmospheric pressure information output by the information detection section 3F at an output cycle of every second is also stored in the storage section 3D.

Furthermore, the communication terminals 31 to 3N for position information detection of this embodiment further include a temperature detection unit 3H that detects the environmental temperature around the moving objects 61 to 6N with a temperature sensor 3G and outputs the information. . Temperature information output by the temperature detection section 3H is also stored in the storage section 3D. The transmitter 3I then transmits the temperature information output by the temperature detector 3H together with the inter-area movement position information and atmospheric pressure information. In this way, the management server 5 that has received the temperature information can correct the temperature of the atmospheric pressure, and can improve the accuracy of calculations in the height direction in the same area.

In the location information detection communication terminals 31 to 3N of this embodiment, when the location information detection section 3B detects inter-area movement location information, the atmospheric pressure information detection section 3F detects and holds the held atmospheric pressure information and the atmospheric pressure information. The transmitter 3I transmits the atmospheric pressure information currently detected by the detector 3F together with the inter-area movement position information at a predetermined transmit timing. The transmission timing in this embodiment is the timing at which the position information detection section 3B transmits position determination information from the transmission section 3I.

In this way, the management server 5 on the receiving side receives the inter-area movement position information detected by the position information detection unit 3B via the reception unit 5A, the holding pressure information output by the air pressure information detection unit 3F, and the currently detected information. Atmospheric pressure information, temperature information detected by the temperature detecting section 3H, reference atmospheric pressure information output from the reference atmospheric pressure information detecting sections 71 to 7f, and reference temperature information output from the reference temperature information detecting sections 81 to 8f are input together. and stored in the storage unit 5B. The atmospheric pressure information output by the atmospheric pressure information detection unit 3B can be used as atmospheric pressure information in the area obtained from the inter-area movement position information. Therefore, according to the present embodiment, it is possible to correctly detect information that a moving object has moved between different areas arranged in the vertical direction and information that the moving object is performing high-altitude work in the same area. .

In this embodiment, the management server 5 includes a position determining unit 5C that determines the position of the mobile object within the movement area based on position determining information transmitted from the transmitting unit 3I and stored in the storage unit 5B. There is. Further, in this embodiment, reference atmospheric pressure sensors 70 are installed in each of a plurality of moving areas to detect the atmospheric pressure of the moving areas , and a plurality of reference atmospheric pressure information outputs output from the reference atmospheric pressure sensors 70 as reference atmospheric pressure information. It includes detection units 71 to 7f and reference temperature detection units 81 to 8f of reference temperature sensors 80 installed in a plurality of movement areas, respectively. Furthermore, the management server 5 determines whether the moving object is located based on the outputs of the position information detection communication terminals 31 to 3N, the outputs of the reference pressure information detection units 71 to 7f, and the outputs of the reference temperature detection units 81 to 8f. It further includes a moving object height determining section 5D that determines the moving area and the vertical height position of the moving objects 61 to 6N within the moving area.

The transmitting unit 3I transmits positioning information including a beacon ID for positioning, a terminal ID for identifying itself, and an area ID as inter-area movement information to the management server 5, and the positional information detecting unit 3B transmits between areas. When the movement position information is detected, the atmospheric pressure information detected by the air pressure information detection unit 3F and held in the storage unit 3D and the air pressure information currently detected by the air pressure information detection unit 3F are stored together with the inter-area movement position information. send. Then, in the position determination unit 5C of the management server 5, when the movement area determined from the beacon ID of the position determination beacon signal and the movement area determined from the area ID match, the determined position determination beacon signal The beacon ID of the final current position is updated with the beacon ID of The vertical position of the moving object within the movement area specified by the ID is determined based on currently detected atmospheric pressure information.

The moving object height determination unit 5D of the management server 5 determines the vertical position of the moving object based on the average temperature, reference atmospheric pressure information, and offset atmospheric pressure value. In this way, the vertical position of the moving object can be determined based only on the variation in atmospheric pressure due to the displacement of the vertical position of the moving object, so the accuracy of determining the vertical position can be increased. can.

(Basics of positioning)
In the example shown in FIG. 2, eight beacon signal generators 101, 102, . . . , 108 are shown within one movement area. It is preferable that the plurality of beacon signal generators 101 to 10m be mounted, for example, on the ceiling within the movement area in order not to impede the movement of the moving bodies 61 and 62 and to avoid the influence of objects existing in the movement area. The beacon signal generators 101, 102, . . . , 108 are arranged in a matrix at a predetermined distance from each other. Each beacon signal generator 101, 102...108 emits a beacon signal including a unique beacon ID (identifier) downward at a predetermined radio field strength.

In FIG. 2, position information detection communication terminals 31 and 32 are provided in mobile bodies 61 and 62, respectively. Each beacon signal emitted from a distance of 10 m is received by an omnidirectional antenna, and the received result is processed by a beacon ID determination unit 3Ca. At a construction site or in a factory, position information detection communication terminals 31 and 32 are attached to a worker's helmet.

The beacon ID determining unit 3Ca determines a beacon signal for position determination from the radio field strength of one or more received beacon signals at a predetermined determination period (specifically, for example, 1 second), and generates the beacon signal for position determination. The beacon ID of the beacon signal generator that generates this is determined as the beacon ID for position determination, and is stored in the storage unit 3D. The transmitter 3I transmits positioning information including a beacon ID for positioning and a terminal ID for identifying itself to the management server 5.

The position determination unit 5C receives the beacon ID and terminal ID for position determination periodically transmitted from each communication terminal device 31 and 32 for position information detection, and the predetermined information within the movement area of each beacon signal generator 101 to 10m. Based on information on multiple installation positions (corresponding to information stored as map data of the installation positions of beacon signal generators within the movement area), the movement is performed at a predetermined determination cycle (specifically, for example, 5 seconds). The positions of bodies 61 and 62 within the movement area are determined. Note that in this embodiment, the radio field strength is not used directly to determine the location, but is used to determine the conditions for updating the beacon ID for position determination, and the radio field strength is used to determine the conditions for updating the beacon ID for position determination. It does not determine the location.

In this embodiment, the current position is determined by determining whether a mobile object (communication terminal device) exists within the range of the radio waves of which beacon signal generator. Therefore, it is not determined how far away the mobile object (communication terminal) is from the beacon signal generator. Therefore, the calculations required for position determination do not become complicated.

In the present embodiment, the beacon ID determination unit 3Ca determines that the difference in strength between the previous radio field strength and the current radio field strength of one beacon signal adopted for determining the beacon ID for position determination is set to a predetermined limit threshold. The beacon ID for position determination will not be updated until the following. FIG. 3(A) is a diagram showing the relationship between the distance between the beacon signal generator and the communication terminal and the radio field strength, and FIG. 3(B) is a diagram showing the difference in the distance traveled and the radio field strength in the relationship shown in FIG. 3(A). FIG. As shown in FIGS. 3(A) and (B), the radio field strength of the beacon signal has a large rate of change (strength difference) in the radio field strength (RSSI) in the area close to the beacon signal generator, and As the distance increases, the intensity difference (rate of change) in radio wave intensity (RSSI) becomes smaller. Therefore, the beacon ID determination unit 3Ca determines whether the strength difference between the previous radio field strength and the current radio field strength of one beacon signal adopted for determining the beacon ID for position determination is set to a predetermined limit threshold (FIG. 3(A)). In this example, the beacon ID for position determination is set to 5 dB) or lower (to put it another way, until the communication terminal is a certain distance away from the beacon signal generator used to determine the beacon ID for previous position determination). Do not update. In the example of FIG. 3(A), the limit threshold value becomes approximately 4 dB when the distance is from 4 m to 6 m.

In this way, even if the moving objects 61 to 6N enter the boundary area of the output range of a plurality of beacon signals, the previously determined beacon ID for position determination is retained. Then, when it is detected that the mobile object (communication terminal) has moved a certain distance from the beacon signal generator used to determine the previous beacon ID for position determination based on the difference in radio field strength, the beacon ID for position determination is updated. I will do it. The position determination unit 5C receives the update of the beacon ID for position determination and updates the current position of the mobile object.

To explain this with reference to FIG. 2, a mobile object (worker) 61 equipped with a communication terminal 31 is performing work while repeatedly moving within the work area R. In such a case, if the beacon ID (current position) for location determination is determined simply based on the radio wave intensity, the position of the mobile object 61 will be determined frequently between the beacon signal generators 101, 102, 103, and 104 in a short period of time. It changes and changes. In this embodiment, for example, if the moving body 61 moves from the direction in which the beacon signal generator 103 is installed into the work area where the beacon signal generator 102 is installed, four beacon signal generators 101 to 104, only the radio field strength of the beacon signal generator 103 used to determine the beacon ID (current position) for position determination is a problem, and the previous radio field strength of the beacon signal generator 103 and the current radio field strength are the same. The beacon ID for position determination (current position) is not updated unless the intensity difference between the two becomes equal to or less than a predetermined threshold.

In the example of FIG. 2, if the moving object 61 does not move far from the beacon signal generator 103 and moves only within a certain work area, the radio field strength of the other beacon signal generators 101, 102, or 104 will be higher. Even if this is the case, the beacon ID (current location) for determining the location will not be updated. When the work in the work area is completed and the mobile object 61 moves, the difference in radio field strength between the previous and current radio wave strengths of the beacon signal generator 103 becomes smaller. Since the user has moved far away, the beacon ID of the beacon signal generator with the highest radio wave intensity at that time is adopted as the beacon ID for position determination, and the current position is updated. For example, if a worker enters the radio wave area of the beacon signal generated by the beacon signal generator 102, the location specified by the beacon ID of the beacon signal generator 102 is updated as the current location where the worker currently exists.

With this control, for example, even if the mobile object 61 equipped with the communication terminal 31 is near the beacon signal generator 103, it is possible to correctly receive the beacon signal from the beacon signal generator 103 within one second. It is also possible to prevent malfunctions in which a beacon signal from a more distant beacon signal generator 102 or the like is adopted and the current position is updated when the current position cannot be detected.

This limit threshold value (approximately 4 dB in the example of FIG. 3(A)) is determined so as to prevent false detection due to reception of outputs from two or more beacon signal generators 101. Theoretically, the critical threshold value is determined by the intensity difference (the previous value of one beacon signal used to determine the beacon ID for position determination) within the boundary area where the output ranges of two or more beacon signal generators 101 overlap. If the difference between the radio field strength and the current radio field strength is set so that it does not become less than the critical threshold value, it is possible to prevent the beacon ID for position determination from frequently switching and realize accurate position detection. The specific numerical value is determined based on the strength of the radio waves emitted by the beacon signal generators 101, the installation intervals, and the like.

The beacon ID determination unit 3Ca calculates the average value of the radio field strength of a plurality of beacon signals received at a measurement cycle shorter than the determination cycle (1/10 second in this embodiment) within one cycle of the determination cycle. This average value is determined as the radio field strength and stored in internal memory. The beacon ID determination unit 3Ca determines a beacon ID for position determination based on this average value. That is, the beacon ID determination unit 3Ca records and holds the average value of the previous radio wave intensity in an internal memory, and when determining the beacon ID for position determination, the beacon ID determination unit 3Ca records the previous average value of the radio field intensity read from the internal memory, and The newly calculated average value of the radio field strength is compared with this value. By using the average value in this way, it is possible to correct variations in measurement data, and the influence of measurement errors can be minimized.

In this embodiment, the "average value" is obtained as a simple average of multiple radio wave intensities of multiple beacon signals received at a predetermined measurement cycle shorter than the determination cycle within one cycle. In this embodiment, it is determined as the median value of the radio field intensities of a plurality of beacon signals, or as a simple average value of the remaining radio field intensities excluding the maximum and minimum values of the radio field intensities of a plurality of beacon signals.

The beacon ID determination unit 3Ca changes the beacon ID for position determination under the following beacon ID update conditions in addition to the above determination conditions. This determination condition will be explained using FIGS. 4 and 5. When passing through an area where four beacon signal generators 1' to 4' are installed as shown in FIG. The radio wave intensity of the beacon signal received from the station is as shown in FIG. Note that in FIG. 5, the beacon signal generators 1' to 4' are omitted as "beacons 1' to 4'".

Initially, the strength difference D between the radio field strength of one beacon signal (beacon 1' in Fig. 5) adopted to determine the beacon ID for position determination and the radio field strength of another beacon signal (beacon 2') is determined in advance. When the intensity difference becomes larger than a predetermined intensity difference threshold (for example, 10 dB), the beacon ID of another beacon signal generator 2 (beacon 2' in FIGS. 4 and 5) whose intensity difference is larger than the intensity difference threshold is moved to a new position. This is the beacon ID for determination. The position determining unit 5C updates the current position of the communication terminal based on the updated beacon ID for position determination. This means that when the radio field intensity of the beacon signal from another beacon signal generator 2' is clearly high, there is no difference that there is a moving object near that beacon signal generator 2', and there is no risk of false detection. Therefore, updating the current position allows more accurate position determination.

This current position update process is performed when, for example, the difference between the current radio field strength of the previously determined beacon signal and the radio field strength of the beacon signal with the strongest reception strength among the current times exceeds a strength difference threshold of 10 dBm. Applies to cases. This intensity difference threshold value is determined according to the radio wave intensity of the beacon signal emitted by the beacon signal generator 101, the installation interval, the assumed moving speed of the moving object 61, and the like.

Furthermore, the beacon ID determination unit 3Ca of the present embodiment is configured such that the difference in the radio wave intensities of the beacon signals used to determine the positioning beacon ID used to determine the current position is equal to or less than the limit threshold, and the positioning When the strength difference between the radio field strength of one beacon signal adopted for determining the beacon ID for position determination and the radio field strength of another beacon signal is larger than a predetermined strength difference threshold, the beacon ID for position determination is determined. Determine to which of a plurality of predetermined peak hold value ranges the peak hold value of the radio field strength of the position determination beacon signal adopted for determination belongs, and determine the peak hold value range to which the peak hold value belongs. When there is a peak hold value measured next within the range, the beacon ID for position determination is not updated, and when the peak hold value range is exceeded, the maximum of one or more beacon signals received at that time is An update condition is adopted in which the beacon ID of the beacon signal with the radio field intensity is used as the beacon ID for position determination. The position determination unit 5C updates the current position of the mobile object based on the beacon ID for position determination and information on the installation positions of the plurality of beacon signal generators.

Note that the peak hold value is the value of the strongest radio field strength among the received beacon signals for each period. As the radio field strength increases as it approaches, the value is recorded and updated in the beacon ID determining section 3Ca each time. As the mobile object moves away from its beacon signal generator, the radio field strength gradually weakens, so the peak hold value is never updated.

The peak hold value range can be arbitrarily set depending on the intensity of radio waves emitted by the beacon signal generators 101 to 10m, the installation interval, and the like. Table 1 shows an example of the relationship between peak hold values and peak hold value ranges corresponding to the peak hold values in this embodiment. For example, if the peak hold value is -60 dBm, the corresponding peak hold value range will be "peak hold value -20", so if the peak hold value measured after that falls below -80 dBm, the peak hold value range will be changed. It will exceed.

For example, in FIG. 1, if the peak hold value of the beacon signal from the beacon signal generator 103 for the moving object 61 is -60 dBm, while the moving object 61 is moving within the current work area, the next measurement will be performed. The peak hold value does not exceed -80 dBm, and the beacon ID for position determination is not updated. As the mobile object 61 leaves the current work area and moves to another work area, the next measured peak hold value from the beacon signal generator 103 gradually becomes weaker and eventually exceeds -80 dBm. The beacon ID for position determination is updated for the first time.

In this way, even before the radio field strength of the beacon signal from other beacon signal generators 101... clearly changes significantly, if no error occurs even if the beacon ID for position determination is updated, Updates can be made to enable more accurate position determination.

In this embodiment, the peak hold value is obtained as a simple average of the peak values of the radio field intensities of the plurality of beacon signals, but in other embodiments, the peak hold value is the median of the peak values of the radio field intensities of the plurality of beacon signals. or as a simple average value of the peak hold values of the remaining radio field intensities excluding the maximum and minimum values of the peak values of the radio field intensities of a plurality of beacon signals. As a result, even if there are variations in the measured radio field strength data, the possibility of incorrect position determination can be significantly reduced.

The position detection system of this embodiment includes a BLE beacon that emits a beacon signal including a beacon ID, a position information detection communication terminal worn by a worker (mobile object), and transmission data from the position information detection communication terminal. It can be composed of a management server that receives information and performs various processes.

[Detection of inter-area movement position information]
In this embodiment, as shown in FIG. 6, when one or more moving areas are divided into upper and lower moving areas, or when the partition wall between moving areas is thin, the Alternatively, receiving a beacon signal from a beacon signal generator installed in a moving area on another floor or in an adjacent moving area through a thin partition wall prevents making an incorrect determination. In FIG. 6, there is a staircase passageway between the movement area 1F on the first floor and the movement area 2F on the second floor, and between the movement area 2F on the second floor and the movement area 3F on the third floor. Therefore, in this example, switching beacon signal generators 100 . . . whose switching beacon ID is set to a common "ID:50000" are provided at the entrance or exit of the stairs of each floor. A plurality of position determination beacon signal generators 101, 102, etc., whose beacon IDs are set to ID:13, ID24, etc. are installed in the movement area 1F on the first floor, and in the movement area 2F on the second floor. A plurality of position determination beacon signal generators 103, 104, etc., whose beacon IDs are set to ID:21, ID9, etc., are installed in the mobile area 3F on the 3rd floor. :59, ID31... A plurality of position determining beacon signal generators 105, 106, etc. are installed. In such an environment, in order to avoid making an erroneous determination due to the arrival of a beacon signal from another moving area, this embodiment devises a software algorithm used in the communication terminal.

Note that FIG. 6 shows reference atmospheric pressure information detection units 71 to 73 and reference temperature detection units 81 to 83 installed in the movement areas on the upper and lower floors, and position information detection communication terminals 31 and 32 attached to the worker's helmet. is also illustrated.

[Software algorithm for position detection]
A software algorithm for position detection used in the communication terminal for position information detection of this embodiment will be explained with reference to FIG. FIG. 7 shows that one of the location information detection communication terminals (31 to 3N) shown in FIG. The flowchart of the algorithm of the arithmetic processing for updating the beacon ID for position determination used for determination every determination cycle is shown. This calculation process is performed for each of the plurality of location information detection communication terminals (31 to 3N).

In this algorithm, the beacon ID determination unit 3Ca determines whether or not a beacon has been received within one cycle (step S1), and if a beacon has been received, performs area ID processing (step S2A). FIG. 8 is a flowchart showing details of step S2A in FIG.

In this embodiment, as shown in FIG. ) is further provided with one or more switching beacon signal generators 100 that are installed on the route through which the moving bodies 60A, 60B pass when moving, and generate switching beacon signals including a predetermined switching beacon ID (ID: 50000). Then, the beacon ID determination units 3Ca of the plurality of location information detection communication terminals (31 to 3N) execute the area ID processing of step S2A in FIG.

In the area ID processing shown in FIG. 8, in step S21, it is determined whether the switching beacon signal is being received at a switching threshold value or higher (for example, −75 dB) or higher. If Yes, the process advances to step S22 and shifts to the switching mode. If the answer is No, the process advances to step S23, where it is determined whether the mode is the switching mode. If it is the switching mode, the process advances to step S24, and if the positioning beacon ID of the positioning beacon signal with the strongest radio field strength among the one or more received positioning beacon signals is greater than or equal to the area determination threshold. (For example, -70 dB or more), this beacon ID is saved as an area ID (steps S24 and S25). Then, in step S26, the switching mode is canceled and the mode shifts to the normal mode. Note that the relationship between the above-mentioned switching threshold and the signal reach distance (X: 30 m, for example) of the area determination threshold is as shown in FIGS. 9(A) and 9(B).

In step S2B in the normal mode, for each beacon ID issued by each beacon signal generator 101... The average value of the radio field strength is calculated, and the calculated average value is recorded and held as the radio field strength in the internal memory of the beacon ID determination unit 3Ca. As described above, the average value is a simple average of the radio field strengths for each ID received in a predetermined measurement cycle shorter than the determination cycle within one cycle.

Next, the beacon ID determination unit 3Ca... determines that the difference in strength between the radio field strength of the previous beacon signal used to determine the beacon ID for position determination and the radio field strength of the current beacon signal is less than or equal to a predetermined limit threshold. Calculation processing to determine whether there is a beacon ID (step S3), the strength difference between the radio field strength of one beacon signal adopted for determining the beacon ID for position determination and the radio field strength of other beacon signals is less than a predetermined strength difference threshold is also large (step S4), and setting a peak hold value range according to the peak hold value and calculating whether the next measured peak hold value is within the peak hold value range (step S5, Do 6). These three processes are performed as a premise for the determinations in step S7 and subsequent steps, which will be described later, so the order of each calculation process does not matter, and the calculation processes may be performed in parallel.

First, it is determined whether the determination in step S3 is OK (step S7), and if No (the intensity difference exceeds the limit threshold), the beacon ID for position determination is not updated (step S8), and one cycle A beacon ID for position determination is adopted. If step S7 is Yes, it is then determined whether the determination in step S4 is OK (step S9), and if No (the intensity difference is smaller than the intensity difference threshold), the beacon ID for position determination is not updated ( Step S8), if Step S4 is Yes, it is determined whether or not the determination in Step S6 is OK (Step S10), if Yes, the beacon ID for position determination is updated (Step S11), and if No, the location The beacon ID for determination is not updated (step S8).

Note that the current position in the position determination unit 5C is updated by setting the installation position of one of the beacon signal generators 10A to 10N with the highest radio field intensity measured this time as the current position of the mobile object 60A.

Finally, the transmission data is recorded, held and updated in the beacon ID determination unit 3Ca for determination of the next cycle (step S12), and the processing for one determination cycle is completed. Specifically, the beacon ID for position determination, the radio field strength of the beacon signal used for determination, and the peak hold value are updated. It should be noted that the position determination section 5C has a built-in position storage section for storing the determined current position.

As described above, according to the position detection method according to the present embodiment, the accuracy of position determination can be improved. The determination period (for example, 5 seconds) in which the position determination unit determines the position of the moving object has a length longer than the determination period (1 second). Therefore, even when the number of moving objects increases, the calculation processing of the position determining section 5C can be reduced, and it is possible to cope with the increase in the number of moving objects. Preferably, the length of the determination period is adjustable. In this way, the calculation load on the position determining section 5C can be adjusted in accordance with an increase or decrease in the number of moving objects.

In order to quickly detect a displacement in the position of a mobile object, if the beacon ID determining unit 3Ca saves the update of the beacon ID for position determination before one determination cycle expires, the transmitting unit 3I is updated. The beacon ID and terminal ID for position determination may be immediately transmitted to the position determination unit 5C.

Furthermore, even if the transmitter 3I immediately transmits the updated beacon ID and terminal ID for position determination to the position determiner 5C so that the displacement of the position of the moving object can be quickly detected, the position determiner 5C It is possible to reduce the computational load. For example, when a request for transmission is issued from the position determining unit 5C to the transmitting unit 3I in a determination cycle, the transmitting unit 3I transmits the latest position determining beacon ID stored in the storage unit 3D to the position determining unit 5C. A transmitting section 3I is configured. On top of that, if the position determination unit 5C is sent the updated beacon ID and terminal ID for position determination from the transmitter 3I before the expiration of one cycle of the determination cycle, even if the one cycle has expired, Configure to not issue outgoing requests. In this way, unnecessary call requests are not issued, so the load on the position determining section 5C can be reduced.

Further, when a request for transmission is issued from the position determining section 5C to the transmitting section 3I at the determination cycle, the transmitting section 3I transmits the latest beacon ID for position determination stored in the beacon ID determining section 3C to the position determining section 5C. Even if the transmitting unit 3I is configured as shown in FIG. The unit 3I may immediately transmit the updated beacon ID and terminal ID for position determination to the position determination unit 5C. In this way, even if the determination cycle is set to be long, if there is a displacement in the position of the moving body, the displacement can be detected quickly.

In particular, according to the present embodiment, the positioning beacon signal with the strongest radio field strength among the one or more positioning beacon signals received after receiving the switching beacon signal with the radio field strength equal to or higher than the predetermined radio field strength is received. Since the beacon ID that is equal to or greater than the area determination threshold is set as the area ID, there is no need to associate the switching beacon ID with position information like a beacon ID for position determination. As a result, there is no problem even if all the switching beacon IDs are the same, and the switching beacon signal generator can be placed at any position. The beacon ID for positioning of the beacon signal for positioning with the strongest radio field strength is saved as an area ID, and from then on until a switching beacon signal with a predetermined radio field strength or higher is received, movement specified by this area ID will be performed. Only the beacon ID of the beacon signal from the beacon signal generator installed in the area is used to update the beacon ID for position determination (update the current position). As a result, it is possible to prevent erroneous determinations from being made due to the influence of beacon signals coming from other moving areas.

Note that FIG. 10 is a diagram conceptually showing beacon registration information in the position determination unit 5C built in the communication terminals (31 to 3N) or the server. According to this concept, the installation location of the position determining beacon signal generator can be determined from the beacon ID of the current position. Note that data on the installation location is not required for processing within the communication terminal.

Although the above description has been made on the assumption that there are stairs between the two movement areas, the present embodiment can also be applied to a case where an elevator is used to move from floor to floor. In this case, a switching beacon signal generator may be installed inside the elevator.

[Processing algorithm for atmospheric pressure information]
In the communication terminals 31 to 3N for positional information detection according to the present embodiment, the transmitting unit 3I detects and holds the information detected and held by the atmospheric pressure information detecting unit 3F when the positional information detecting unit 3B detects inter-area movement positional information. The atmospheric pressure information and the temperature information currently detected by the atmospheric pressure information and atmospheric pressure information detection unit 3F are transmitted together with the inter-area movement position information at a predetermined transmission timing. FIG. 11 is a flowchart showing an algorithm for processing the outputs of the atmospheric pressure sensor 3E and the temperature sensor 3G in this embodiment.

In this algorithm, the measured atmospheric pressure data detected by the atmospheric pressure sensor as a moving average of 8 cycles of data with an output cycle of 1 second is outputted as atmospheric pressure information, and is saved as atmospheric pressure information. The temperature information output by the temperature detection section 3H is stored in the storage section 3D (steps S101, 102).

Next, in step S103, it is determined whether the area ID has been updated. That is, it is determined whether inter-area movement position information (change of area ID) has been output from the position information detection unit 3B. If Yes, the process advances to step S104, where the held atmospheric pressure information and the current atmospheric pressure information are updated with the current atmospheric pressure information. If No, the process advances to step S105. In step S105, it is determined whether or not it is a preset data transmission timing, and when the data transmission timing has come, the process proceeds to step S106, where the inter-area movement position information detected by the position information detection unit 3B and the atmospheric pressure information detection unit 3F The maintained atmospheric pressure information and current atmospheric pressure information detected by the temperature sensing section 3H and the temperature information detected by the temperature detection section 3H are transmitted together to the management server 5. If it is not the data transmission timing in step S105, the process returns to the start. Preferably, the data transmission timing is the timing at which the position information detection section 3B transmits the position determination information from the transmission section 3I.

In this way, the inter-area movement position information detected by the position information detection section, the held atmospheric pressure information output by the atmospheric pressure information detection section, and the currently detected atmospheric pressure information are input to the management server 5 on the receiving side together. Therefore, the atmospheric pressure information output by the atmospheric pressure information detection section can be used as the atmospheric pressure information in the area obtained from the inter-area moving position information. Furthermore, the management server 5 side that has received the temperature information can perform temperature correction for atmospheric pressure. Furthermore, since the management server 5 is provided with a moving object height determining section 5D, the height position of the moving object within the movement area can be determined using this information. The accuracy of calculations in the height direction in the same area can be improved. Therefore, if the communication terminal for position information detection of this embodiment is used, information that a mobile object has moved between different areas arranged in the vertical direction and information that the mobile object is performing high-altitude work in the same area can be obtained. can be detected correctly.

[Management server algorithm]
In this embodiment, the management server 5 includes a position determining section 5C that determines the current position of the mobile object within the movement area based on the position determining information transmitted from the transmitting section 3I. The management server 5 also includes the outputs of the position information detection communication terminals 31 to 3N (held pressure information, pressure information, and temperature information), the outputs of the reference pressure information detection sections 71 to 7f (reference pressure information), and the reference temperature detection section. A moving object height determination unit that determines the moving area in which the moving object is present and the height position of the moving objects 61 to 6N within the moving area based on the output (reference temperature information) of 81 to 8f and the offset atmospheric pressure value. It also has 5D. These means are realized by software installed in the server. FIG. 12 is a flowchart showing the algorithm of this software.

In this flowchart, in step 201, data from the position information detection communication terminals 31 to 3N and data from the reference atmospheric pressure information detection units 71 to 7f are received. Then, in step S202, the current atmospheric pressure information and temperature information are updated, and the reference atmospheric pressure information and reference temperature information for each floor are updated. Next, in steps S203 to S205, if the movement area determined from the beacon ID of the positioning beacon signal and the movement area determined from the area ID match, the beacon ID of the determined positioning beacon signal is The beacon ID of the final current position is updated, and if the beacon ID of the final current position is different, the beacon ID of the final current position is not updated. Then, in step S206, it is determined whether the moving area has changed, and if it has changed, the process advances to step S207, and if it has not changed, the process advances to step S209. In step S207, the held atmospheric pressure data (held atmospheric pressure information) is updated, and in step S208, the held atmospheric pressure data (held atmospheric pressure information) is compared with the reference atmospheric pressure data (the reference atmospheric pressure when the area ID is changed). ) to calculate the offset value Voff.

Then, in step S209, the currently detected atmospheric pressure value is corrected by the offset value, and the correction value is set as the offset atmospheric pressure value). Next, it is determined whether the reference temperature information (output of the reference temperature detection unit) and the temperature information (temperature information of the communication terminal for position information detection) are equal to or higher than a threshold value (3° C.) (step S210). When the temperature difference is greater than the threshold value (3° C.), the atmospheric pressure fluctuation becomes large and correct detection cannot be performed, so the process ends. In step 211, the average temperature [the average value of the reference temperature information T(P0) and the temperature information T(P)] is calculated. Then, in step S212, the height of the moving object is calculated using the average temperature, reference atmospheric pressure, and offset atmospheric pressure value.

Figures 13 (A) to (C) are used to explain the offset atmospheric pressure when a mobile object (worker) enters the third floor from the second floor and the change in atmospheric pressure due to changes in the vertical movement of the worker. It is a diagram. FIG. 13(A) is an example of atmospheric pressure values held as reference atmospheric pressure and held atmospheric pressure information, and FIG. 13(B) is a partially enlarged view of FIG. 13(A). In this example, the value obtained by subtracting the maintained atmospheric pressure - the reference atmospheric pressure when the area ID is changed = 0.17 hPa from the atmospheric pressure value (atmospheric pressure value - 0.17) becomes the offset atmospheric pressure value. FIG. 13(C) shows a change in the offset air pressure as the worker moves in the vertical direction after the worker enters the third floor.

Finally, in step S210, the vertical height of the moving body within the moving area is calculated using the average temperature, reference atmospheric pressure information, and offset atmospheric pressure value. The height h can be calculated using, for example, the following formula.

h=-RT/g*log(P/P0)
In the above equation, g is the gravitational acceleration, R is the gas constant of dry air (287 J/K·kg), P0 is the standard atmospheric pressure, P is the offset atmospheric pressure value, and T is the average temperature. The average temperature is the average value [(T(P0)+T(P))/2+273.15] of the reference temperature information T(P0) and the temperature information T(P).

In accordance with the above-mentioned algorithm, the management server 5 determines the area in which each mobile object is located, the position within the determined area, and Determine the vertical position of the moving object within the area.

According to the position detection system of the present invention, the accuracy of position determination can be improved by avoiding erroneous position determination as much as possible.

101 to 10n Beacon signal generator 111 to 11n Switching beacon signal generator 31 to 3N Communication terminal for position information detection 3A Signal receiving unit 3B Position information detection unit 3C Beacon ID determination unit 3D Storage unit 3E Barometric pressure sensor 3F Barometric pressure information detection unit 3G Temperature sensor 3H Temperature detection section 3I Transmission section 5 Management server 5A Receiving section 5B Storage section 5C Position determination section 5D Mobile object height determination section 60A, 60B Mobile object 70 Reference atmospheric pressure sensor 71 to 7f Reference atmospheric pressure information detection section 80 Reference temperature sensor 81~8f Reference temperature information detection section

Claims (7)

Detecting positioning information for determining the position of a moving object within a plurality of moving areas and inter-area movement position information indicating that the moving object has moved between two different moving areas located in the vertical direction. a location information detection unit,
an atmospheric pressure information detection unit that detects atmospheric pressure information used to determine the vertical height position of the moving body within the moving area;
A communication terminal for detecting positional information, comprising a transmitting unit that transmits the positioning information, the inter-area movement positional information, and the atmospheric pressure information,
The transmitting unit transmits held atmospheric pressure information detected and held by the atmospheric pressure information detecting unit and atmospheric pressure information currently detected by the atmospheric pressure information detecting unit when the position information detecting unit detects the inter-area movement position information. A communication terminal for detecting location information, characterized in that the communication terminal transmits the information together with the inter-area movement location information at a predetermined transmission timing. 2. The communication terminal for positional information detection according to claim 1, wherein the transmission timing is a timing at which the positional information detection section transmits the positioning information from the transmission section. further comprising a temperature detection unit that detects an environmental temperature around the moving object,
2. The communication terminal for detecting location information according to claim 1, wherein the transmitter transmits the temperature information output by the temperature detector at the transmit timing. 3. The communication terminal for detecting positional information according to claim 1, wherein the atmospheric pressure information detection section is configured to output data obtained by performing a moving average of measured atmospheric pressure data within an output cycle as the atmospheric pressure information. A communication terminal for detecting location information according to any one of claims 1 to 4;
a plurality of reference atmospheric pressure information detection sections each installed in a plurality of moving areas and outputting the atmospheric pressure of the moving area as reference atmospheric pressure information;
Based on the output of the communication terminal for position information detection and the output of the reference atmospheric pressure information detection section, the moving area where the moving object is present and the height position of the moving object in the vertical direction within the moving area are determined. A moving object position detection system comprising a moving object height determination unit that determines a moving object height. The communication terminal for detecting position information according to any one of claims 1 to 4, which is attached to one or more moving objects, respectively;
a plurality of reference atmospheric pressure information detection sections each installed in a plurality of moving areas and outputting the atmospheric pressure of the moving area as reference atmospheric pressure information;
a plurality of beacon signal generators each installed at a plurality of predetermined installation positions within a plurality of vertically arranged movement areas in which one or more mobile objects move, and each generating a beacon signal including a beacon ID;
one or more switching beacon signal generators that are installed on a route that the moving object passes when moving between the two movement areas and generate a switching beacon signal that includes a predetermined switching beacon ID;
The presence of the mobile body is determined based on the output of the position determining unit that determines the position of the one or more mobile bodies within the movement area, the output of the position information detection communication terminal, and the output of the reference atmospheric pressure information detection unit. comprising a moving area and a management server having a moving body height determination unit that determines a vertical height position of the moving body within the moving area,
The location information detection unit of the one or more location information detection communication terminals receives one or more of the beacon signals, and determines a location determination beacon signal from the radio wave intensity of the one or more received beacon signals. a beacon ID determination unit that determines at a determination cycle, determines the beacon ID of the beacon signal generator that generates the beacon signal for position determination as a beacon ID for position determination, and stores the beacon ID as one piece of position determination information; and an area where the positioning beacon signal with the strongest radio field strength among the one or more positioning beacon signals received after receiving the switching beacon signal having a radio field strength equal to or higher than a predetermined radio field strength is predetermined. comprising an area ID determination unit that stores the beacon ID of the beacon signal for position determination as an area ID if it is equal to or higher than a determination threshold;
The beacon ID determination unit determines whether the one or more position determining beacon signal generators installed in the movement area specified by the area ID among the one or more beacon signals received within the determination period are determining the beacon signal for position determination from the radio wave intensity of the one or more generated beacon signals;
The transmitter of the one or more location information detection communication terminals transmits the location determination information including the location determination beacon ID and the terminal ID for identifying itself, and the area ID as inter-area movement information. The information is sent to the management server, and when the position information detection unit detects the inter-area movement position information, the atmospheric pressure information detected and held by the atmospheric pressure information detection unit and the atmospheric pressure information currently detected by the atmospheric pressure information detection unit. configured to transmit atmospheric pressure information together with the inter-area movement position information,
In the position determination unit of the management server, when the movement area determined from the beacon ID of the position determination beacon signal and the movement area determined from the area ID match, the determined position determination unit Update the beacon ID of the final current position with the beacon ID of the beacon signal,
The mobile object height determination unit of the management server corrects the standards of the held atmospheric pressure information and the currently detected atmospheric pressure information based on the standard atmospheric pressure information, and corrects the standards of the held atmospheric pressure information and the currently detected atmospheric pressure information, and A position detection system characterized in that the vertical position of the moving body is determined based on the currently detected atmospheric pressure information. Further comprising a plurality of reference temperature information detection units that output the temperatures of the plurality of moving areas as reference temperature information, and a temperature detection unit that detects the environmental temperature around the moving object and outputs it as temperature information,
The mobile object height determination unit of the management server offsets the difference between the reference temperature information and the average temperature obtained as the average value of the temperature information, the reference atmospheric pressure information, the held atmospheric pressure information, and the reference atmospheric pressure information. 7. The method according to claim 6, wherein the vertical position of the movable body within the moving area is determined using an offset atmospheric pressure value obtained by correcting the currently detected atmospheric pressure information. Position sensing system as described.