JPWO2014033874A1 - Measuring position indicating device, measuring position indicating method - Google Patents

Abstract

Provided is a technique capable of appropriately indicating a position where a set of position information and a radio wave intensity at the position to be collected is used to generate a mathematical model representing an intensity distribution of a radio wave transmitted by a radio wave transmitting device. The measurement position indicating device according to the present invention estimates a position where a difference exists between a mathematical model representing the intensity distribution of a radio wave transmitted by a radio wave transmitting device and a true radio wave intensity distribution, and position information and An instruction is given to recollect the set of radio wave intensities at that position (see FIG. 8).

Description

  The present invention relates to a technique for estimating a current position using intensity of radio waves transmitted from a radio wave transmission device.

  2. Description of the Related Art Conventionally, a technique for estimating a current position using reception intensity of a radio wave transmitted from a radio wave transmission device has been developed. One method is to estimate the current position by sampling the received radio field strength and its reception position multiple times and creating a mathematical model of the radio field intensity in advance and applying the received radio field strength at the current position to the mathematical model. There is.

  In the above method, the accuracy of the mathematical model of radio field strength affects the position estimation accuracy. The mathematical model can be most simply expressed as a mathematical formula in which the radio wave intensity is simply attenuated in inverse proportion to the square of the distance from the radio wave transmitting device. However, in the actual positioning environment, there are influences of reflected waves and radio wave attenuation due to walls and obstacles, so the distribution of radio wave intensity is not a simple attenuation function. Non-Patent Document 1 below describes a technique for accurately creating a mathematical model of a radio wave intensity distribution in view of such a situation.

Yaemi Teramoto, et. Al, “Indoor positioning based on radio signal strength distribution modeling using mirror image method”, ISA '11 Proceedings of the 3rd ACM SIGSPATIAL International Workshop on Indoor Spatial Awareness, Pages 15-22

  In order to accurately create a mathematical model of the radio wave intensity distribution, it is important to sample the received radio wave intensity and the reception position as much as possible. This is because the higher the degree of coincidence between the mathematical model and the sampling point, the better the mathematical model reflects the actual radio wave intensity.

  Non-Patent Document 1 describes a method for accurately creating a mathematical model, but as a premise, how to determine the reception radio wave intensity and the position where the reception position should be sampled is further examined. There seems to be room.

  The present invention has been made in view of the above problems, and a set of position information and radio wave intensity at the position used to generate a mathematical model representing the intensity distribution of the radio wave transmitted by the radio wave transmitting device. An object of the present invention is to provide a technique capable of appropriately indicating a position to be collected.

  The measurement position indicating device according to the present invention estimates a position where a difference exists between a mathematical model representing a radio wave intensity distribution generated using sampled data and a true radio wave intensity distribution. Instructs to re-collect a set of position information and radio wave intensity at that position.

  According to the measurement position indicating apparatus according to the present invention, by recollecting a set of position information and radio wave intensity at the position where the mathematical model representing the radio wave intensity distribution deviates from the true radio wave intensity distribution, The mathematical model can be corrected efficiently and accurately.

  Problems, configurations, and effects other than those described above will become apparent from the following description of embodiments.

1 is a configuration diagram of a positioning system 1000 according to Embodiment 1. FIG. 1 is a configuration diagram of a measurement position indicating device 100. FIG. It is a flowchart explaining the procedure in which the teacher data collection part 1411 collects teacher data. It is a figure which shows the structure and data example of the teacher data table 400 which the teacher data collection part 1411 produces. 10 is a flowchart for explaining a procedure by which the model generation unit 1412 generates a mathematical model using the teacher data table 400. It is a flowchart explaining the procedure which the position estimation part 1413 estimates the present position of the receiving terminal 320 using a numerical formula model (positioning). It is the figure which showed typically distribution of the radio wave intensity which a radio wave transmission source transmits. It is a figure which illustrates the numerical formula model which the model production | generation part 1412 produced | generated. It is a flowchart explaining the process which pinpoints the part enclosed with the dotted-line ellipse of the right side of FIG.8 (b). It is a flowchart explaining the process which pinpoints the part enclosed with the dotted-line ellipse of the right side of FIG.8 (b). 10 is a flowchart illustrating the operation of a positioning error evaluation unit 1422. 10 is a flowchart for explaining the operation of an obstacle characteristic calculation unit 1424. It is a figure which shows the example of a screen display which the collection position output part 143 outputs. It is a figure which shows the example of another display which the collection position output part 143 outputs. It is a figure which shows the example of another display which the collection position output part 143 outputs. It is a block diagram of the measurement position instruction | indication apparatus 100 which concerns on Embodiment 2. FIG. 22 is a flowchart for explaining the operation of the positioning variation evaluation unit 1423. 10 is a flowchart for explaining the operation of an initial collection position designation unit 1425. 10 is a diagram showing a screen display example in which the collection position output unit 143 displays the output result of the initial collection position specifying unit 1425. FIG. 6 is a configuration diagram of a receiving terminal 320 in Embodiment 3. FIG.

<Embodiment 1: System configuration>
FIG. 1 is a configuration diagram of a positioning system 1000 according to Embodiment 1 of the present invention. The positioning system 1000 is a system that measures a current position using a mathematical model that represents a distribution of radio wave intensity, and includes a measurement position indicating device 100 and a radio wave transmitting device 200. A plurality of radio wave transmission devices 200 are arranged in the positioning target space 400.

  The measurement position indicating device 100 creates a mathematical model representing the intensity distribution of the radio wave transmitted by the radio wave transmitting device 200 in advance, and applies the radio wave intensity received by the receiving terminal 320 to the mathematical model to determine the current position of the receiving terminal 320. Positioning. In addition, it has a function of instructing a position where a set of position information and radio wave intensity at that position (teacher data) should be collected, which is used when creating a mathematical model. Details of the measurement position indicating device 100 will be described later.

  The receiving terminal 320 receives the radio wave transmitted by the radio wave transmitting device 200 and notifies the measurement position indicating device 100 of the reception intensity. The measurement position indicating device 100 measures the current position of the receiving terminal 320 by applying the received intensity to the mathematical model. The positioning person 310 possesses the receiving terminal 320 and moves in the space 400, the positioning system 1000 measures the current position of the positioning person 310, and displays the result on the receiving terminal 320 or the external output terminal.

  FIG. 2 is a configuration diagram of the measurement position indicating device 100. The measurement position indicating device 100 includes a CPU (Central Processing Unit) 110, a memory 120, a communication device 130, a program storage device 140, and a data storage device 150.

  The CPU 110 executes each program stored in the program storage device 140. The memory 120 temporarily stores data used when the CPU 110 executes the program. The communication device 130 is an interface that communicates with other devices such as the receiving terminal 320.

  The program storage device 140 stores a positioning unit 141, a collection position estimation unit 142, and a collection position output unit 143. The positioning unit 141 further includes a teacher data collection unit 1411, a model generation unit 1412, and a position estimation unit 1413. The collection position estimation unit 142 further includes a model analysis unit 1421, a positioning error evaluation unit 1422, and an obstacle characteristic calculation unit 1424.

  The teacher data collection unit 1411 collects a set of position information and radio wave intensity at the position (teacher data) used to create a mathematical model of the radio wave intensity distribution transmitted by the radio wave transmitting device 200. Details will be described with reference to FIGS. The model generation unit 1412 generates a mathematical model using the teacher data collected by the teacher data collection unit 1411. Details will be described with reference to FIG. The position estimation unit 1413 estimates (positions) the current position of the reception terminal 320 by applying the radio wave intensity received by the reception terminal 320 to the mathematical model generated by the model generation unit 1412. Details will be described with reference to FIG.

  The model analysis unit 1421 estimates a position where there is a difference between the mathematical model generated by the model generation unit 1412 and the true radio wave intensity distribution transmitted by the radio wave transmission device 200. Details will be described with reference to FIGS. The positioning error evaluation unit 1422 evaluates the mathematical model generated by the model generation unit 1412 and estimates a position where a positioning error is considered to be included in the mathematical model. Details will be described with reference to FIG. The obstacle characteristic calculation unit 1424 calculates a place where the obstacle is considered to have an influence on the mathematical model based on the position and shape of the obstacle present in the space 400. Details will be described with reference to FIG.

  The collection position output unit 143 outputs the position estimated by the collection position estimation unit 142 to recollect teacher data in a form such as a data file describing the estimation result or a screen display. A screen display example will be described later.

  The data storage device 150 stores a map database 151. The map database 151 is a database that stores map information such as the coordinates of each radio wave transmitting device 200 in the space 400, the coordinates and shape of an obstacle, and these data are stored in advance.

  The positioning unit 141, the collection position estimation unit 142, the collection position output unit 143, and the functional units included in these units can be configured by using hardware such as a circuit device that realizes these functions. It can also be realized by the CPU 110 executing the installed program. In the following description, it is assumed that the latter is implemented.

  The configuration of the positioning system 1000 has been described above. Hereinafter, a basic method for positioning the current position of the receiving terminal 320 by the positioning system 1000 will be described, and then a method for estimating a position where teacher data should be recollected will be described.

<Embodiment 1: Positioning Procedure>
FIG. 3 is a flowchart for explaining a procedure by which the teacher data collection unit 1411 collects teacher data. This flowchart is performed before the model generation unit 1412 generates the mathematical model, that is, before the operation of the positioning system 1000 is started. Hereinafter, each step of FIG. 3 will be described.

(FIG. 3: Step S301)
The positioning person 310 has the receiving terminal 320 and moves in the space 400. The receiving terminal 320 receives the radio wave transmitted by each radio wave transmitting device 200 and records the radio wave intensity together with the identifier of each radio wave transmitting device 200 as radio wave intensity data. The teacher data collection unit 1411 receives the radio field intensity data from the receiving terminal 320.

(FIG. 3: Step S302)
The teacher data collection unit 1411 stores the radio wave intensity data received in step S301 in the teacher data table 400 described with reference to FIG.

  FIG. 4 is a diagram illustrating a configuration and data example of the teacher data table 400 created by the teacher data collection unit 1411. The teacher data table 400 is a data table that stores teacher data (a set of position information and radio wave intensity at the position) used when the model generation unit 1412 generates a mathematical model of the radio wave intensity distribution. The teacher data table 400 may be stored in a storage device such as the program storage device 140 or the data storage device 150, for example.

  The teacher data table 400 includes a time field 401, a terminal ID field 402, a transmission device ID field 403, a radio wave intensity field 404, an X coordinate field 405, and a Y coordinate field 406.

  The time field 401 holds the date and time when the receiving terminal 320 acquired the radio wave intensity data. The terminal ID field 402 holds the identifier of the receiving terminal 320. The transmission device ID field 403 holds an identifier of the radio wave transmission device 200. The radio field strength field 404 holds the value of the received radio field strength received by the receiving terminal 320. The X coordinate field 405 and the Y coordinate field 406 hold the coordinates in the space 400 of the position where the receiving terminal 320 received the radio wave. These coordinates may be manually input by the positioning person 310, for example, or may be held by other appropriate means. Further, the Z coordinate may be acquired and held in addition to the XY coordinate.

  FIG. 5 is a flowchart for explaining a procedure in which the model generation unit 1412 generates a mathematical model using the teacher data table 400. This flowchart is executed before the operation of the positioning system 1000 is started. Hereinafter, each step of FIG. 5 will be described.

  The model generation unit 1412 reads teacher data from the teacher data table 400 (S501). The model generation unit 1412 generates a mathematical model that most closely matches the teacher data acquired in step S501 (S502). The optimum parameters (such as the coefficient of the mathematical formula) of this mathematical formula can be obtained using, for example, the method described in Non-Patent Document 1. The model generation unit 1412 stores the mathematical model created in step S502 and its parameters in a storage device such as the program storage device 140 or the data storage device 150 (S503).

  The model generation unit 1412 generates a mathematical model of the radio wave distribution intensity of each radio wave transmission device 200 by executing the flowchart of FIG. 5 for each radio wave intensity data received from each radio wave transmission device 200.

  FIG. 6 is a flowchart illustrating a procedure in which the position estimation unit 1413 estimates (positions) the current position of the receiving terminal 320 using a mathematical model. Step S601 of this flowchart is executed when the position estimation unit performs positioning after outputting the model parameters in S503. The generated pseudo teacher data may be saved in a database or the like and used repeatedly. Steps S <b> 602 and S <b> 603 are executed when the measurement position indicating device 100 receives the radio wave intensity data from the receiving terminal 320. Note that, for example, the measurement position indicating device may perform positioning only when the receiving terminal 320 transmits a request to determine the current position together with the radio wave intensity data, and the measurement position indicating device 100 receives the request. Good. Hereinafter, each step of FIG. 6 will be described.

(FIG. 6: Step S601)
The position estimation unit 1413 applies the mathematical model generated by the model generation unit 1412 to each coordinate in the space 400 (coordinate granularity and the like are appropriately determined according to the environment), and each radio wave transmission device 200 at each coordinate. Calculate the radio field strength expected to be received from Each calculated radio wave intensity can be expressed as a radio wave intensity vector having the same dimension as the number of radio wave transmitting devices 200 and having each radio wave intensity as an element value. That is, the position estimation unit 1413 calculates this radio wave intensity vector for each coordinate in the space 400. The radio wave intensity vector for each coordinate is called pseudo teacher data.

(FIG. 6: Step S602)
The receiving terminal 320 transmits the radio wave intensity data received from each radio wave transmitting device 200 to the measurement position indicating device 100. The position estimation unit 1413 calculates the distance between the radio wave intensity data received from the receiving terminal 320 (the radio wave intensity vector having the same dimension as the number of radio wave transmission devices 200) and the radio wave intensity vector at each coordinate calculated in step S601. calculate.

(FIG. 6: Step S603)
The position estimation unit 1413 identifies the smallest one of the distances between the radio wave intensity vectors calculated in step S602. The position estimation unit 1413 estimates that the receiving terminal 320 exists at the coordinates corresponding to the radio field intensity vector, and outputs the estimation result.

  The method for positioning the current position of the receiving terminal 320 by the positioning system 1000 has been described above. In the following, a situation where teacher data should be recollected will be described first, and then a method for estimating a position where teacher data should be recollected will be described.

<Embodiment 1: Procedure for designating recollection position>
FIG. 7 is a diagram schematically showing the distribution of the radio wave intensity transmitted from the radio wave source. FIG. 7A shows the distribution when there is no obstacle, and FIG. 7B shows the distribution when there is an obstacle. When there is no element that obstructs radio wave propagation such as an obstacle, the radio wave intensity attenuates in inverse proportion to the square of the distance from the transmission source. However, when there are obstacles or other elements that interfere with or reflect radio waves, the radio wave intensity distribution does not decrease as such, and as illustrated in FIG. (Enclosed part) occurs.

  If there is a distorted portion as exemplified in FIG. 7B, there is a high possibility that the mathematical model accuracy of the radio wave intensity distribution is lowered. Therefore, the model analysis unit 1421 assumes that there is a high possibility that the mathematical model does not reflect the true radio field intensity distribution at such a location, and specifies that the location should be recollected after identifying the same location. Instruct.

  FIG. 8 is a diagram illustrating a mathematical model generated by the model generation unit 1412. The vertical axis represents the intensity of the radio wave transmitted from the radio wave transmitting device 200, and the horizontal axis represents the coordinates in the space 400. Although the mathematical model is illustrated here as a two-dimensional graph for convenience of description, the mathematical model is actually a three-dimensional function in order to express the XY coordinates in the space 400 and the radio wave intensity at each coordinate as a mathematical model. In FIG. 8, mathematical formula models corresponding to FIGS. 7A and 7B are shown as FIGS. 8A and 8B, respectively.

  If there is an obstacle in the space 400, the radio wave transmitted from the radio wave transmitting device 200 is blocked or reflected by the obstacle, so that the radio wave intensity distribution is not simply attenuated as shown in FIG. In other words, a distorted portion is generated like a portion surrounded by a dotted ellipse in FIG. The model analysis unit 1421 assumes that there is a high possibility that the mathematical model does not reflect the true radio wave intensity distribution for these distortion locations, and identifies the locations as positions where teacher data should be recollected. Processing for specifying each part will be described with reference to FIGS.

  FIG. 9 is a flowchart for explaining processing for specifying a portion surrounded by a dotted-line ellipse on the right side of FIG. Hereinafter, each step of FIG. 9 will be described.

(FIG. 9: Step S901)
The model analysis unit 1421 calculates a radio wave intensity value at each position using the mathematical model generated by the model generation unit 1412. This corresponds to calculating the curve of FIG. 8B according to the mathematical model. What is necessary is just to determine suitably the granularity of the coordinate made into the object of this step according to the precision etc. which are calculated | required by a numerical formula model. The same applies to the following steps.

(FIG. 9: Step S902)
The model analysis unit 1421 calculates the radio wave intensity value at each position of the radio wave transmitted by the radio wave transmission device 200 according to a theoretical formula. In general, a calculation formula assuming that the radio wave intensity attenuates in inverse proportion to the square of the distance from the transmission source is used, but the present invention is not limited to this. This step corresponds to calculating the curve of FIG.

(FIG. 9: Step S903)
The model analysis unit 1421 identifies a position where the difference between the radio wave intensity value calculated in step S901 and the radio wave intensity value calculated in step S902 is equal to or greater than a predetermined threshold value. This is because the position where the radio wave intensity value greatly differs between the mathematical model and the theoretical value is considered to be highly likely that the mathematical model does not reflect the true radio wave intensity distribution. The model analysis unit 1421 outputs the identified location to the data storage device 150, for example.

  FIG. 10 is a flowchart for explaining processing for specifying a portion surrounded by a dotted-line ellipse on the right side of FIG. Hereinafter, each step of FIG. 10 will be described.

(FIG. 10: Step S1001)
The model analysis unit 1421 calculates the gradient of the radio wave intensity at each position using the mathematical model generated by the model generation unit 1412. The granularity of coordinates targeted by this flowchart is the same as in FIG.

(FIG. 10: Step S1002)
The model analysis unit 1421 calculates the slope at each position of the radio wave transmitted by the radio wave transmission device 200 according to a theoretical formula. As for the theoretical formula, the same one as in FIG. 9 may be used, or another theoretical formula may be used.

(FIG. 10: Step S1003)
The model analysis unit 1421 identifies a position where the difference between the inclination calculated in step S1001 and the inclination calculated in step S1002 is equal to or greater than a predetermined threshold. This is because there may be a position where the slope is greatly different even if the radio wave intensity value is close between the mathematical model and the theoretical value, as in the part surrounded by the dotted ellipse on the left side of FIG. . At such a position, it is highly likely that the mathematical model does not reflect the true radio wave intensity distribution, as in the dotted ellipse on the right side of FIG. The model analysis unit 1421 outputs the identified location to the data storage device 150, for example.

  FIG. 11 is a flowchart for explaining the operation of the positioning error evaluation unit 1422. In FIGS. 7 to 10, it has been described that the mathematical model reflects the true radio field intensity distribution by comparing the mathematical model with the theoretical formula, but without comparing with the theoretical formula, The accuracy of the mathematical model can also be evaluated by evaluating the positioning error derived from the mathematical model. FIG. 11 shows an example of the processing. Hereinafter, each step of FIG. 11 will be described.

(FIG. 11: Step S1101)
The positioning error evaluation unit 1422 divides the teacher data collected by the teacher data collection unit 1411 into an appropriate number (assuming N pieces) of sets. The number of records in one set is set to a number that can be used as teacher data in step S1103 described later.

(FIG. 11: Step S1102)
The positioning error evaluation unit 1422 selects N-1 sets excluding one set arbitrarily selected from the N sets created in step S1101 (test data in step S1103) as teacher data for generating a new mathematical model. To do. The positioning error evaluation unit 1422 instructs the model generation unit 1412 to newly generate a mathematical model using the N-1 sets of teacher data selected in step S1101. The model generation unit newly generates a mathematical model using the N-1 sets of teacher data.

(FIG. 11: Step S1103)
The positioning error evaluation unit 1422 calculates a positioning error when using the mathematical model newly created in step S1102. Specifically, first, pseudo teacher data is created by applying step S601 of FIG. 6 to the mathematical model newly created in step S1102. Next, using this pseudo-teacher data, the processing in steps S602 and 603 is applied to the set of test data selected in step S1102, and a positioning result is calculated. The error between is calculated.

(FIG. 11: Steps S1102 to S1103: Supplement)
In these steps, some teacher data is used as test data and other teacher data is evaluated. Therefore, the test data and the evaluation target data using the same need to be different data sets.

(FIG. 11: Steps S1104 to S1105)
The positioning error evaluation unit 1422 performs the same process as steps S1102 to S1103 N times while changing the test data selected in step S1102 (S1104). The positioning error evaluation unit 1422 outputs the position where the positioning error output in S1104 is large (for example, a position that is equal to or greater than a predetermined threshold) to the data storage device 150 or the like.

  FIG. 12 is a flowchart for explaining the operation of the obstacle characteristic calculation unit 1424. 7 to 11, the position where the mathematical model does not reflect the true radio wave intensity distribution is estimated, but the same processing may be performed using the map database 151 instead of the mathematical model. FIG. 12 shows an example of the processing. Hereinafter, each step of FIG. 12 will be described.

(FIG. 12: Step S1201)
The obstacle characteristic calculation unit 1424 specifies the coordinates of the boundary portion of the obstacle in the space 400 based on the description of the map database 151. The obstacle here is an object other than the radio wave transmitting device 200 and interferes with or reflects the radio wave propagation. For example, a fixture or a wall installed in the space 400 corresponds to this. .

(FIG. 12: Step S1202)
The obstacle characteristic calculation unit 1424 specifies a position where an obstacle (or a boundary portion of the obstacle) exists between the radio wave transmission device 200 in the space 400. For example, the determination in this step is performed based on whether or not an obstacle exists on a straight line connecting an arbitrary position in the space 400 and each radio wave transmitting device 200.

(FIG. 12: Step S1202: Supplement)
Regarding the position where the distance from the radio wave transmitting device 200 is more than a certain distance, the radio wave intensity is low regardless of the presence or absence of an obstacle, so it is difficult to expect the accuracy of the mathematical model from the beginning. Therefore, in this step, out of the positions where obstacles exist on the straight line connecting with each transmitting device 200, those whose distance from each transmitting device 200 exceeds a predetermined range are excluded from the scope of this step. Also good.

(FIG. 12: Step S1203)
The obstacle characteristic calculation unit 1424 outputs the position specified in each of steps S1201 and S1202 to the data storage device 150, for example. Since it is generally considered that the electric field intensity distribution is likely to be distorted at the boundary portion of the obstacle, it is considered that teacher data should be collected with focus at such a position. In addition, it is considered that teacher data should be collected intensively at a position where an obstacle exists between the radio wave transmitting device 200 and the obstacle obstructs radio wave propagation. Therefore, we decided to identify these positions and present them as positions where teacher data should be recollected.

<Embodiment 1: Display example of recollection position>
FIG. 13 is a diagram illustrating a screen display example output by the collection position output unit 143. The collection position output unit 143 can output the position estimated by the collection position estimation unit 142 that the teacher data should be collected again on a screen display as shown in FIG. Here, an example is shown in which the positions output by the respective function units of the collection position estimation unit 142 are displayed by crosses.

  FIG. 14 is a diagram illustrating another display example output by the collection position output unit 143. Here, the position where teacher data should be recollected is displayed by a circle centered on the position output by each function unit of the collection position estimation unit 142. In FIG. 14, the x mark (the center of the circle) is a position output by each functional unit of the collection position estimation unit 142. The radius of a circle is determined as follows.

  The radius of the circle centered on the position output by the model analysis unit 1421 is determined according to the magnitude of the difference obtained in FIG. 9 or FIG. That is, if the difference is large, it is considered that more teacher data should be recollected in the vicinity, so the radius of the circle is increased. Similarly, the radius of the circle centered on the position output by the positioning error evaluation unit 1422 is determined according to the difference obtained in FIG. In order to convert the difference obtained in FIGS. 9 to 11 into a circle radius, for example, an appropriate coefficient may be multiplied.

  FIG. 15 is a diagram illustrating another display example output by the collection position output unit 143. Here, the area where the teacher data is to be re-collected is displayed in an arbitrary shape. The range of each area is determined as follows.

  As for the output of the model analysis unit 1421, an area where the difference obtained in FIG. 9 or FIG. The threshold value at this time may be the same as the threshold value used in FIG. 9 or FIG. 10, or a different display threshold value may be adopted.

  For the output of the positioning error evaluation unit 1422, an area where the difference obtained in FIG. 11 is equal to or greater than a predetermined threshold is displayed. The threshold value at this time may be the same as the threshold value used in FIG. 11, or a different display threshold value may be adopted.

  For the output of the obstacle characteristic calculation unit 1424, an area where the distance from the boundary portion of the obstacle is within a predetermined range is displayed. Step S1202: When the standard described in the supplement is adopted, those whose distance from each transmitting device 200 exceeds a predetermined range may be excluded from display targets.

  In the display examples described with reference to FIGS. 13 to 15, the position where teacher data should be re-collected can be displayed by color shading or coloring instead of graphic display such as x marks or circles. For example, in the display example of FIG. 13 or FIG. 14, the x mark can darken the color, and the color can be lightened as the distance from the x mark increases. In the display example of FIG. 15, the color becomes darker as the position is closer to the center and the center of gravity of the region surrounded by the dotted line, and the color can be lightened as the distance from the position is increased. When displaying by coloring, the color itself may be changed according to the same reference instead of the color intensity.

<Embodiment 1: Summary>
As described above, the positioning system 1000 according to the first embodiment estimates a position where the mathematical model of the radio wave intensity distribution created using the teacher data does not reflect the true radio wave intensity distribution, and the teacher data at that position. For example, by the screen display described with reference to FIGS. By recollecting the teacher data and regenerating the mathematical model, the mathematical model is expected to be closer to the true radio field intensity distribution. Thereby, positioning accuracy can be improved.

<Embodiment 2: System configuration>
In FIGS. 8 to 10 of the first embodiment, the method for evaluating the mathematical model based on the difference from the theoretical formula has been described. In FIG. 11, the mathematical model was evaluated by using a part of the teacher data as test data. It is desirable to implement these methods before starting to operate positioning using a mathematical model (that is, a period until the mathematical model is completed).

  On the other hand, after starting to use the positioning using the mathematical model (that is, after the mathematical model is once completed), it is necessary to separately examine how to evaluate the accuracy of the mathematical model. Therefore, in the second embodiment of the present invention, a method for instructing a position where teacher data should be recollected will be described using only positioning results without using test data. As a result, the accuracy of the mathematical model is evaluated without acquiring test data again.

  FIG. 16 is a configuration diagram of the measurement position indicating device 100 according to the second embodiment. In the second embodiment, the measurement position instruction apparatus 100 newly includes a positioning variation evaluation unit 1423 and an initial collection position designation unit 1425 as functional units in the collection position estimation unit 142 in addition to the configuration described in the first embodiment. Since the other structure of the positioning system 1000 is the same as that of Embodiment 1, it demonstrates below centering on difference.

  The positioning variation evaluation unit 1423 determines the accuracy of the mathematical model and the position where the teacher data should be recollected by evaluating the degree of variation in the positioning result performed using the mathematical model generated by the model generation unit 1412. To do. Details will be described with reference to FIG. The initial collection position designation unit 1425 is a functional unit that designates a position where teacher data should be collected first, and is an optional function. Details will be described with reference to FIG.

  FIG. 17 is a flowchart for explaining the operation of the positioning variation evaluation unit 1423. The positioning variation evaluation unit 1423 is a functional unit that determines the accuracy of the mathematical model without using correct data describing the true value of the position and the radio wave intensity. This flow chart assumes that the operation will be performed after starting to operate the positioning using the mathematical model (that is, after the mathematical model has been completed once). May be. Hereinafter, each step of FIG. 17 will be described.

(FIG. 17: Step S1701)
The positioning variation evaluation unit 1423 creates a plurality of device sets in which one or more radio wave transmission devices 200 are selected at random. It is not always necessary to cover all radio wave transmitting devices 200. The radio wave transmitting devices 200 may overlap between device sets, but care is taken so that the radio wave transmitting devices 200 in the device set are not exactly the same as other device sets.

(FIG. 17: Step S1702)
The positioning variation evaluation unit 1423 acquires the radio wave intensity received by the receiving terminal 320 from each radio wave transmitting device 200 included in each device set created in step S1701. The position estimation unit 1413 applies the radio wave intensity from each radio wave transmission device 200 to the mathematical model related to the radio wave transmission device 200 that is the radio wave transmission source, and measures the current position of the receiving terminal 320. A specific positioning method is the same as that in FIG. 6 except that in this step, only the radio wave transmitting device 200 included in the device set is used instead of using the entire radio wave transmitting device 200. Similar positioning is performed for each device set.

(FIG. 17: Step S1702: Supplement)
As a result of this step, the same number of positioning results as the number of device sets are obtained. Even if the positioning is performed for the same position, the positioning results may vary between device sets depending on the accuracy of the mathematical model.

(FIG. 17: Steps S1703 to S1704)
The positioning variation evaluation unit 1423 specifies a combination of device sets in which the dispersion of the positioning results in step S1702 is equal to or greater than a predetermined threshold (S1703). The positioning variation evaluation unit 1423 outputs the representative position (for example, the average of the measurement results) of the measurement results of each device set identified in step S1703 to the data storage device 150 or the like as a position where new teacher data should be recollected. .

  FIG. 18 is a flowchart for explaining the operation of the initial collection position designation unit 1425. When creating a mathematical model for the first time, it is necessary to collect a set of position information and radio wave intensity as teacher data. At this time, the position information must be separately provided by, for example, manual input. It will be a burden for you. The initial collection position designation unit 1425 is a functional unit that aims to reduce this burden. Hereinafter, each step of FIG. 18 will be described.

(FIG. 18: Step S1801)
The initial collection position specifying unit 1425 specifies the position of the radio wave transmitting device 200 according to the description of the map database 151. Since the coordinates of this position are known, it is considered that the positioning person 310 does not need to input the position information again.

(FIG. 18: Step S1802)
The initial collection position designating unit 1425 identifies a straight path that connects the positions of the radio wave transmitting devices 200. As for the straight path between the radio wave transmitting devices 200, the position of the positioning person 310 can be estimated by a method such as integrating the moving speed or acceleration of the positioning person 310, so that the positioning person 310 inputs the position information again. It is not considered necessary. However, a sensor for acquiring the speed or acceleration of the positioner 310 is separately required.

(FIG. 18: Step S1802: Supplement)
When the movement trajectory of the positioning person 310 can be tracked by means other than the speed sensor or the acceleration sensor, that means can also be used. For example, it is conceivable to use GPS (Global Positioning System) or the like appropriately according to the required accuracy.

(FIG. 18: Step S1803)
The initial collection position specifying unit 1425 outputs the position and route specified in steps S1801 and S1802 to the data storage device 150 and the like.

(FIG. 18: Step S1803: Supplement)
When the positioning person 310 actually collects teacher data according to the position and route specified in steps S1801 and S1802, the measurement position indicating device 100 uses the radio wave having the highest radio field intensity measured at the measurement start point and end point. By specifying the transmitting device, querying the map database 151 using the identifier of the radio wave transmitting device 200, and specifying the position corresponding to the radio wave transmitting device 200 (that is, the position of the positioning person 310), the measurement start position and The end position can be specified.

<Embodiment 2: Display example of teacher data collection position>
In the second embodiment, when the screen display example described with reference to FIG. 13 is used, the position output by the positioning variation evaluation unit 1423 can be displayed on the screen as a cross.

  In the second embodiment, when the screen display example described with reference to FIG. 14 is used, the position output by the positioning variation evaluation unit 1423 can be set as a cross. The radius of the circle is determined according to the size of the variance calculated in FIG. That is, if the variance is large, it is considered that more teacher data should be recollected in the vicinity, so the radius of the circle is increased.

  In the second embodiment, when the screen display example described with reference to FIG. 15 is used, teacher data should be recollected for an area including a plurality (preferably all) of the representative positions of the measurement results of each device set identified in step S1703. It can be displayed on the screen as an area. Alternatively, a similar region is displayed by displaying circles having radii set according to the magnitudes of the dispersion values so as to overlap each other with the representative position of the measurement result of each device set specified in step S1703 as the center. You can also.

  FIG. 19 is a diagram illustrating a screen display example in which the collection position output unit 143 displays the output result of the initial collection position specifying unit 1425. A cross indicates the position of the radio wave transmitting device 200, and an arrow indicates a route that the positioning person 301 should move. The positioning person 301 moves in the space 400 according to the instruction on the screen, measures the radio wave intensity, and transmits it to the measurement position instruction apparatus 100.

<Embodiment 2: Summary>
As described above, the positioning system 1000 according to the second embodiment evaluates the accuracy of the mathematical model based on the degree of variation in the result of positioning using the mathematical model. Thus, the mathematical model can be evaluated without acquiring correct data that correctly represents the set of position information and radio wave intensity. As a result, it is possible to reduce the load for specifying the position where teacher data should be recollected.

<Embodiment 3>
In the first and second embodiments, it is assumed that the measurement position instruction device 100 is a server device different from the reception terminal 320, but the reception terminal 320 can also have a function as the measurement position instruction device 100. In the third embodiment of the present invention, a configuration example will be described.

  FIG. 20 is a configuration diagram of the receiving terminal 320 in the third embodiment. The receiving terminal 320 has the same configuration as each functional unit included in the measurement position indicating device 100 described in the first and second embodiments. Furthermore, the display part 321 which displays the output of the collection position output part 143 on a screen is provided. With this configuration, the same effects as those of the first and second embodiments can be exhibited without transmitting and receiving data between the measurement position indicating device 100 and the receiving terminal 320.

  The present invention is not limited to the embodiments described above, and includes various modifications. The above embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to the one having all the configurations described. A part of the configuration of one embodiment can be replaced with the configuration of another embodiment. The configuration of another embodiment can be added to the configuration of a certain embodiment. Further, with respect to a part of the configuration of each embodiment, another configuration can be added, deleted, or replaced.

  Each of the above-described configurations, functions, processing units, processing means, and the like may be realized in hardware by designing a part or all of them, for example, with an integrated circuit. Each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by the processor. Information such as programs, tables, and files for realizing each function can be stored in a recording device such as a memory, a hard disk, an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.

  100: Measurement position instruction device, 110: CPU, 120: Memory, 130: Communication device, 140: Program storage device, 141: Positioning unit, 1411: Teacher data collection unit, 1412: Model generation unit, 1413: Position estimation unit, 142: Collection position estimation unit, 1421: Model analysis unit, 1422: Positioning error evaluation unit, 1423: Positioning variation evaluation unit, 1424: Obstacle characteristic calculation unit, 1425: Initial collection position designation unit, 143: Collection position output unit, 150: data storage device, 151: map database, 200: radio wave transmission device, 310: positioning person, 320: receiving terminal, 400: positioning target space, 1000: positioning system.

Claims (15)

A teacher data collection unit that collects a set of position information and radio wave intensity at the position, which is used to generate a mathematical model representing the intensity distribution of the radio wave transmitted by the radio wave transmitting device;
A model generation unit that generates the mathematical model using a set of the position information and radio wave intensity collected by the teacher data collection unit;
Among positions on the mathematical model generated by the model generation unit, a position where a difference exists between the mathematical model generated by the model generation unit and a true intensity distribution of radio waves transmitted by the radio transmission device An estimation unit for estimating
A collection position output unit that outputs information indicating that the set of position information and radio wave intensity should be recollected at the position estimated by the estimation unit;
A measurement position indicating device comprising: The estimation unit includes
Assuming that the intensity distribution of the radio wave transmitted by the radio wave transmitting device is monotonically attenuated with distance from the radio wave transmitting device, between the theoretical mathematical model representing the intensity distribution and the mathematical model generated by the model generation unit 2. The measurement position indicating device according to claim 1, wherein a difference between the mathematical model and the true radio wave intensity distribution is estimated to exist at a position where the difference is equal to or greater than a predetermined threshold. The estimation unit includes
There is a difference between the mathematical model and the true radio wave intensity distribution at a position where the difference between the value of the theoretical mathematical model and the value of the mathematical model generated by the model generation unit is equal to or greater than a predetermined threshold. The measurement position indicating device according to claim 2, wherein the measurement position indicating device is estimated. The estimation unit includes
There is a difference between the mathematical model and the true radio field intensity distribution at a position where a difference between the gradient of the theoretical mathematical model and the gradient of the mathematical model generated by the model generation unit is equal to or greater than a predetermined threshold. The measurement position indicating device according to claim 2, wherein the measurement position indicating device is estimated. The measurement position indicating device includes:
A position estimation unit that estimates the current position by applying the radio wave intensity transmitted by the radio wave transmission device to the mathematical model,
The model generation unit
Generating the mathematical model using a plurality of sets of the position information and the radio wave intensity collected by the teacher data collection unit;
The estimation unit includes
Using the mathematical model generated by the model generation unit, position estimation of data not used for model generation is performed to calculate a positioning error, and at a position where the positioning error is equal to or greater than a predetermined threshold, the mathematical model and the true model are calculated. The measurement position indicating device according to claim 1, wherein there is a difference between the distribution and the radio field intensity distribution. The estimation unit includes
Obtaining the estimation result of the current position estimated by the position estimation unit using each of the radio waves transmitted by the plurality of radio wave transmission devices for each of the radio wave transmission devices,
If the variance of the estimation result is equal to or greater than a predetermined threshold, it is estimated that there is a difference between the mathematical model and the true radio wave intensity distribution at a position representing the estimation result or a plurality of the estimation results. The measurement position indicating device according to claim 1. The measurement position indicating device includes:
A map database that describes the position of the radio wave transmitting device and the shape and position of obstacles existing around the radio wave transmitting device;
The estimation unit includes
According to the description of the map database, identify the position where the obstacle exists between the radio wave transmitting device,
Estimating that there is a difference between the mathematical model and the true radio wave intensity distribution at the specified position, or at the boundary portion of the obstacle existing between the specified position and the radio wave transmitting device. The measurement position indicating device according to claim 1, wherein: The estimation unit includes
8. It is estimated that a difference between the mathematical model and the true radio wave intensity distribution exists at a position within a predetermined range of the specified position from the radio wave transmitting device. Measuring position indicating device. The measurement position indicating device includes:
A map database that describes the position of the radio wave transmitting device and the shape and position of obstacles existing around the radio wave transmitting device;
The estimation unit includes
A collection position designating unit for designating a position at which the teacher data collection unit collects a set of the position information and radio wave intensity used by the model generation unit to generate the mathematical model;
The collection position designation unit
In accordance with the description of the map database, specify that the set of the position information and the radio wave intensity is collected at the same position as the radio wave transmitting device,
The teacher data collection unit
The measurement position indicating device according to claim 1, wherein the position of the radio wave transmitting device described in the map database is used as the position information. The measurement position indicating device includes:
A position specifying unit for specifying a position where the set of the position information and the radio wave intensity is collected;
The collection position designation unit
In accordance with the description of the map database, specify that the set of the position information and the radio wave intensity is collected on a route connecting the radio wave transmitting devices,
The teacher data collection unit
The measurement position indicating device according to claim 9, wherein the position specified by the position specifying unit is used as the position information. The collection position output unit
The re-collection of the position estimated by the estimation unit or a region including the position, the area of which is set according to a numerical value representing a difference between the mathematical model and the true radio wave intensity distribution. It outputs as a position which should be implemented. The measurement position instruction | indication apparatus of Claim 2 characterized by the above-mentioned. The collection position output unit
The measurement position according to claim 5, wherein a region where a positioning error when using the mathematical model generated by the model generation unit is equal to or greater than the predetermined threshold is output as a position where the recollection is to be performed. Pointing device. The collection position output unit
An area in which an area is set according to the variance centered on an average position of the estimation results whose variance is equal to or greater than the predetermined threshold, or a region including a plurality of the estimation results whose variance is equal to or greater than the predetermined threshold. The measurement position indicating device according to claim 6, wherein the position is output as a position to be collected. The collection position output unit
The measurement position indicating device according to claim 7, wherein an area within a predetermined range from the obstacle is output as a position where the recollection is to be performed. A teacher data collection step for collecting a set of position information and the radio wave intensity at the position, which is used to generate a mathematical model representing the intensity distribution of the radio wave transmitted by the radio wave transmitting device;
A model generation step of generating the mathematical model using the set of the position information and the radio wave intensity collected in the teacher data collection step;
An estimation step for estimating a position where a difference exists between the mathematical model generated in the model generation step and a true intensity distribution of a radio wave transmitted by the radio wave transmission device;
A collection position output step for outputting information indicating that the set of position information and radio wave intensity should be recollected at the position estimated in the estimation step;
A measurement position indicating method characterized by comprising:

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