WO2010106747A1 - 測位システム及び測位方法 - Google Patents
測位システム及び測位方法 Download PDFInfo
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- WO2010106747A1 WO2010106747A1 PCT/JP2010/001470 JP2010001470W WO2010106747A1 WO 2010106747 A1 WO2010106747 A1 WO 2010106747A1 JP 2010001470 W JP2010001470 W JP 2010001470W WO 2010106747 A1 WO2010106747 A1 WO 2010106747A1
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- pulse signal
- signal sequence
- positioning
- transmission
- target device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/003—Bistatic radar systems; Multistatic radar systems
Definitions
- the present invention relates to a positioning system and a positioning method for calculating the position of a positioning target device using a pulse signal.
- the reference clock of the base station and the reference clock of the wireless terminal are not synchronized, and the wireless terminal wakes up at an arbitrary time and transmits a pulse sequence including its own ID information as a UWB wireless signal.
- the UWB wireless signal is a wireless signal having a bandwidth of 500 MHz or more or a bandwidth of 20% or more with respect to the center frequency.
- Patent Documents 1 and 2 Examples of wireless positioning systems that employ the asynchronous method are disclosed in Patent Documents 1 and 2.
- This wireless positioning system has a plurality of base stations and wireless terminals. Then, each base station measures the arrival time TOA (Time-Of-Arrival) required to receive a pulse returned from the wireless terminal after transmitting a positioning signal, and calculates the coordinates of the wireless terminal To do.
- TOA Time-Of-Arrival
- a synchronous method for measuring the TOA by synchronizing the reference clock of the base station and the reference clock of the wireless terminal is known.
- An example of a wireless positioning system that employs this synchronization method is disclosed in Patent Document 3.
- a wireless terminal receives a pulse sequence transmitted from a base station, regenerates a reference clock, synchronizes its own clock with the reference clock of the base station, and then returns a pulse sequence. Then, the base station receives the pulse sequence returned from the wireless terminal and performs TOA measurement.
- This synchronization method has the merit that the distance from the wireless terminal can be measured by one base station.
- the asynchronous method needs to place multiple base stations around the positioning area, the synchronous method requires only one base station installed at the center of the positioning area.
- the synchronization method is simple.
- An object of the present invention is to provide a positioning system and a positioning method that improve the positioning accuracy by suppressing the occurrence of jitter.
- a positioning system includes a transmission device that transmits a pulse signal sequence, an amplifier that amplifies an input signal, a response pulse signal sequence after receiving the pulse signal sequence and amplifying the received pulse signal sequence with the amplifier.
- a positioning target device comprising: a transmission / reception means for transmitting as: a device separate from the transmission device, a detection means for detecting a reception timing of the response pulse signal sequence, and a transmission timing of the pulse signal sequence.
- a calculation device including position calculation means for calculating the position of the positioning target device based on the required propagation time until the detected reception timing.
- a positioning method includes a transmission device that transmits a pulse signal sequence, a positioning target device, and a calculation device that is a separate device from the transmission device and calculates the position of the positioning target device.
- the transmitting device transmits a pulse signal sequence
- the positioning target device receives the pulse signal sequence and amplifies the received pulse signal sequence, and then transmits the pulse signal sequence as a response pulse signal sequence.
- the calculation device detects the reception timing of the response pulse signal sequence, and determines the position of the positioning target device based on the required propagation time from the transmission timing of the pulse signal sequence to the detected reception timing. calculate.
- the present invention it is possible to provide a positioning system and a positioning method that improve the positioning accuracy by suppressing the occurrence of jitter.
- the figure which shows the positioning system which concerns on Embodiment 1 of this invention The block diagram which shows the structure of the base station which concerns on Embodiment 1 of this invention.
- 1 is a block diagram showing a configuration of a radio terminal according to Embodiment 1 of the present invention.
- Diagram for explaining UW bit sequence and ID bit sequence Block diagram showing a configuration of a reference station according to Embodiment 2 of the present invention
- Block diagram showing a configuration of a positioning station according to Embodiment 2 of the present invention The figure which shows the structural example of the positioning system which concerns on Embodiment 2 of this invention.
- Block diagram showing the configuration of a positioning station according to Embodiment 4 of the present invention The figure which uses for description of the position calculation processing by ID positioning section
- FIG. 1 is a diagram showing a positioning system 10 according to Embodiment 1 of the present invention.
- the positioning system 10 includes a base station 100 and a wireless terminal 200 whose position is measured by the base station 100.
- the base station 100 measures the position of the wireless terminal 200.
- An impulse ultra-wide band (UWB) radio signal is used for the measurement of this position.
- UWB ultra-wide band
- the base station 100 first transmits a pulse signal sequence.
- Radio terminal 200 receives this pulse signal sequence and transmits a response pulse signal sequence based on the received pulse signal sequence.
- the received pulse signal sequence is transmitted as a response pulse signal sequence by being re-radiated after being amplified in radio terminal 200.
- the base station 100 receives the response pulse signal sequence transmitted from the wireless terminal 200.
- Base station 100 measures the arrival time of the received pulse signal sequence and determines the position of radio terminal 200 from the measurement result.
- the base station 100 measures the round trip time, that is, the timing of receiving the response pulse signal sequence corresponding to this pulse signal sequence from the timing of transmitting the pulse signal sequence (that is, arrival time (TOA)). Measure the time until. Then, the base station 100 obtains the separation distance between the base station 100 and the wireless terminal 200 from the measured round trip time.
- TOA arrival time
- FIG. 2 is a block diagram showing a configuration of base station 100 according to Embodiment 1 of the present invention.
- the base station 100 includes a transmission control unit 101, a unique word (UW) generation unit 102, a pulse generation unit 103, antennas 104 and 105, a pulse detection unit 106, a time correlation processing unit 107, A TOA estimation unit 108, a bit determination unit 109, and an ID positioning unit 110 are included.
- UW unique word
- the transmission control unit 101 outputs a positioning start signal to the UW generation unit 102 when starting the positioning operation.
- the UW generation unit 102 When receiving the positioning start signal, the UW generation unit 102 generates a UW bit string and outputs it to the pulse generation unit 103.
- the UW bit string represents UW (unique word) which is identification information of the base station 100 itself.
- the UW bit string is generated, for example, by performing OOK (On / Off / Keying) modulation of UW (unique word).
- OOK On / Off / Keying
- a predetermined number of UW bit strings form one frame.
- the UW bit string is repeatedly transmitted for each frame.
- the pulse generation unit 103 generates pulses at a predetermined cycle, and generates a pulse sequence. Then, the pulse generator 103 generates a radio pulse sequence in the radio frequency band by performing OOK modulation on the generated pulse sequence according to the UW bit string received from the UW generator 102. This radio pulse sequence is transmitted via the antenna 104.
- the pulse detector 106 receives the response pulse signal sequence via the antenna 105 transmitted from the radio terminal 200.
- the pulse detection unit 106 performs envelope detection on the received pulse signal series and outputs the obtained baseband signal to the time correlation processing unit 107.
- the pulse detection unit 106 includes an LNA (Low-Noise-Amp), a diode detector, a comparator, or an A / D converter.
- a radio reception processing unit (not shown) is provided at the input stage of the pulse detection unit 106.
- the radio reception processing unit performs reception processing such as down-conversion on the received pulse signal sequence, and then outputs the received pulse signal sequence to the pulse detection unit 106.
- the time correlation processing unit 107 has information on a plurality of UW candidates.
- the time correlation processing unit 107 generates a UW replica for each UW candidate.
- the time correlation processing unit 107 performs cross-correlation processing on the time axis between the generated UW replica and the baseband signal received from the pulse detection unit 106.
- the time correlation result obtained by this cross-correlation processing is output to the TOA estimation unit 108 in units of frames.
- This time correlation result is a delay profile of the propagation path expressed by the signal intensity of the received pulse and its arrival time TOA.
- the TOA estimation unit 108 combines the delay profiles of a plurality of frames to form a combined delay profile, and detects a peak appearing in the combined delay profile. This peak position (that is, peak detection timing (TOA)) is output as a TOA estimation result.
- TOA peak detection timing
- the bit determination unit 109 detects the signal strength appearing in the delay profile received from the time correlation processing unit 107 for each frame, and compares the detected strength with a predetermined threshold value. Then, the bit determination unit 109 sequentially stores bit values corresponding to the comparison results. Thereby, a bit sequence based on the magnitude comparison result between the detection intensity and the threshold value of a plurality of frames is obtained.
- This bit sequence means the identification information of the wireless terminal 200, as will be described later.
- the ID positioning unit 110 calculates the position of the positioning target wireless terminal 200.
- the ID positioning unit 110 calculates the distance to the positioning target wireless terminal 200 as information on the position of the wireless terminal 200. Specifically, the ID positioning unit 110 measures a round trip time from the timing of receiving the positioning start signal to the arrival time measured by the TOA estimation unit 108. Then, the ID positioning unit 110 calculates a separation distance between the base station 100 and the wireless terminal 200 corresponding to the identification information received from the bit determination unit 109 based on the required round trip time.
- FIG. 3 is a block diagram showing a configuration of radio terminal 200 according to Embodiment 1 of the present invention.
- the wireless terminal 200 includes a UWB antenna 201, a circulator 202, an LNA (Low-Noise-Amplifier) 203, and an ID generation unit 204.
- LNA Low-Noise-Amplifier
- the circulator 202 outputs the received pulse series received via the UWB antenna 201 to the LNA 203. Further, the circulator 202 transmits a signal received from the LNA 203 via the UWB antenna 201.
- the ID generation unit 204 outputs an ID bit sequence indicating identification information (ID) of the wireless terminal 200 itself.
- ID identification information
- the ID generation unit 204 outputs the constituent bits of this ID bit sequence one by one for each frame.
- the LNA 203 amplifies the input pulse series according to the applied voltage.
- This applied voltage is a voltage value corresponding to the value of the bit received from the ID generation unit 204. Since the configuration bits are output from the ID generation unit 204 at the frame period, the applied voltage value is switched at the frame period. For example, the voltage value switched at the head of the first frame is held up to the head of the second frame that is the next switching timing. In this way, the identification information of the wireless terminal 200 can be replaced with the signal strengths of a plurality of frames. That is, identification information of the wireless terminal 200 composed of a plurality of bits can be converted into voltage transitions in a plurality of frames.
- FIG. 4 is a diagram illustrating a configuration example of the positioning system 10.
- FIG. 5 is a diagram for explaining the UW bit sequence and the ID bit sequence.
- the UW generation unit 102 starts generating a UW bit string.
- the bit pattern of this UW bit string is unique to the base station 100 (see the top row in FIG. 5).
- the UW bit string is composed of 128 bits here.
- a PN sequence is used for the UW bit string.
- the PN sequence is a pseudo noise sequence. More specifically, the autocorrelation function takes two-level values, and the number of 0s and 1s in one cycle differs by one.
- a maximum length shift register sequence (usually called an M sequence) is known.
- the pulse generation unit 103 performs OOK modulation on a pulse sequence including a plurality of pulses having a constant interval between adjacent pulses according to the UW bit string.
- a radio pulse sequence in the radio frequency band is obtained (see the top row in FIG. 5). This radio pulse sequence is transmitted via the antenna 104.
- N UW bit strings form one frame.
- the radio pulse sequence transmitted from the base station 100 is received by the radio terminals 200-1 and 200-2.
- the radio terminals 200-1 and 200-2 transmit a response pulse sequence.
- each of the wireless terminals 200-1 and 200-2 transmits its own ID information on a response pulse sequence. For example, depending on whether each constituent bit of the ID information (consisting of a plurality of bits) of the wireless terminal 200 is 1 or 0, the LNA 203 is switched on / off at a frame period, whereby one constituent bit is converted into a response pulse sequence of one frame. Can be used to communicate. In this way, the radio terminals 200-1 and 200-2 operate like a reflector for a single pulse, and can transmit a response pulse sequence in which the ID information is superimposed on the pulse sequence (see the bottom row in FIG. 5).
- the radio terminals 200-1 and 200-2 basically transmit the received pulse signal as a response pulse signal simply by performing an amplification process. That is, since the radio terminals 200-1 and 200-2 operate like a reflector for a single pulse, the response pulse sequence synchronized with the reference clock of the base station 100 can be transmitted without reproducing the reference clock.
- the method of the ranging system in which the wireless terminal basically transmits the response pulse sequence simply by performing amplification processing on the received pulse signal is referred to as “semi-passive method”.
- the reference clock is not regenerated in the radio terminals 200-1 and 200-2, it is possible to suppress the occurrence of jitter in the radio terminal 200 due to the influence of the multipath propagation path. Thereby, the transmission timing of the response pulse sequence re-radiated from the radio terminal 200 can be stabilized.
- the pulse signal sequence emitted from the radio terminal 200 is received by the base station 100.
- the received pulse signal sequence is detected, and the obtained detection result is output to the time correlation processing unit 107.
- the time correlation processing unit 107 performs a cross-correlation process between the detection result and each UW bit sequence replica. Thereby, a delay profile for each UW candidate is obtained. Since the same UW bit string is repeated in the response pulse signal sequence, the time correlation processing unit 107 repeatedly performs cross-correlation processing using one UW bit sequence replica. Thereby, a plurality of delay profiles corresponding to the length of the UW bit string are obtained. In the cross-correlation process, a coding gain can be ensured according to the length of the UW bit sequence replica. Since UW is individual identification information for each base station 100, a delay profile for each base station 100 is obtained. Here, since it is assumed that there is one base station 100, the time correlation processing unit 107 performs a cross-correlation process between the detection result and the UW bit sequence replica of the base station 100.
- TOA estimation unit 108 a plurality of delay profiles obtained by the time correlation processing unit 107 are combined to form a combined delay profile. This delay profile synthesis process is performed for each UW candidate. Then, a peak appearing in each composite delay profile is detected. This peak position (that is, peak detection timing (TOA)) is output as a TOA estimation result.
- TOA peak detection timing
- the bit determination unit 109 the signal strength appearing in the delay profile received from the time correlation processing unit 107 is detected for each frame, and the detected strength is compared with a predetermined threshold value. Then, bit values corresponding to the comparison results are sequentially stored. Thereby, a bit sequence based on the magnitude comparison result between the detection intensity and the threshold value of a plurality of frames is obtained.
- the bit sequence obtained by the bit determination unit 109 corresponds to the ID information of the wireless terminal 200.
- the radio terminal 200 that is the transmission source of the reception response pulse signal sequence can be identified by the bit sequence obtained by the bit determination unit 109. Further, since the terminal ID is not superimposed on the pulse signal sequence reflected and returned by the reflector shown in FIG. 4, the pulse signal sequence reflected by the reflector and the response pulse signal sequence can be discriminated. .
- the ID positioning unit 110 calculates a separation distance between the base station 100 and the positioning target wireless terminal 200.
- the base station 100 of the positioning system 10 includes the base station 100 and the radio terminal 200 and measures the position of the radio terminal 200 to be measured using a pulse signal.
- the generation unit 103 transmits a pulse signal sequence, and the ID positioning unit 110 requires a round trip from the transmission timing of the pulse signal sequence to the reception timing of the response pulse signal sequence transmitted from the wireless terminal 200 that has received the pulse signal sequence.
- Time is calculated and the position of the wireless terminal 200 is calculated based on the required round trip time.
- the distance between base station 100 and radio terminal 200 is calculated as information regarding the position of radio terminal 200.
- the LNA 203 amplifies the received pulse signal sequence and transmits it to the base station 100 as a response pulse signal.
- the radio terminal 200 operates like a reflector for a single pulse, and thus can transmit a response pulse sequence synchronized with the reference clock of the base station 100 without reproducing the reference clock.
- the radio terminal 200 since it is not necessary for the radio terminal 200 to regenerate the reference clock, it is possible to suppress the occurrence of jitter in the radio terminal 200 due to the influence of the multipath propagation path.
- the TOA estimation accuracy can be improved.
- positioning of the radio terminal 200 can be performed by one base station 100 without using a plurality of base stations 100, and positioning accuracy can be improved.
- Embodiment 2 relates to a positioning system in which the transmission system and the reception system of base station 100 of Embodiment 1 are separate devices.
- FIG. 6 is a block diagram showing a configuration of reference station 300 according to Embodiment 2 of the present invention.
- Reference station 300 corresponds to the transmission system of base station 100 of the first embodiment.
- FIG. 7 is a block diagram showing a configuration of positioning station 400 according to Embodiment 2 of the present invention.
- Positioning station 400 corresponds to the receiving system of base station 100 of the first embodiment.
- FIG. 8 is a diagram illustrating a configuration example of the positioning system 20.
- the reference station 300 first transmits a pulse signal sequence.
- Radio terminal 200 receives this pulse signal sequence and transmits a response pulse signal sequence based on the received pulse signal sequence.
- the positioning station 400 receives the response pulse signal sequence transmitted from the wireless terminal 200. Then, the positioning station 400 measures the arrival time of the received pulse signal sequence and determines the position of the wireless terminal 200 from the measurement result.
- the positioning station 400 measures the detour propagation path required time, that is, the timing at which the positioning station 400 receives a response pulse signal sequence corresponding to the pulse signal sequence from the timing at which the reference station 300 transmits the pulse signal sequence. The time until (that is, the arrival time (TOA)) is measured. Then, the positioning station 400 determines the position of the wireless terminal 200 from the measured round trip time.
- TOA arrival time
- the separation distance between the positioning station 400 and the wireless terminal 200 is not directly obtained, but the separation distance between the reference station 300 and the wireless terminal 200 and the wireless terminal 200 The sum of the distance from the positioning station 400, that is, the distance of the detour propagation path is obtained.
- the distance of the detour propagation path can be an index of the separation distance between the reference station 300 and the wireless terminal 200.
- the ID positioning unit 110 can hold the separation distance between the reference station 300 and the positioning station 400 in advance.
- the reference station 300 and the positioning station 400 can be obtained.
- the ID information of the radio terminal 200 is superimposed on the pulse signal sequence that has reached the positioning station 400 directly without passing through the radio terminal 200 and the response pulse signal sequence that has reached the positioning station 400 via the radio terminal 200. It can be determined based on whether or not there is.
- the ID positioning unit 110 of the positioning station 400 can obtain the distance of the detour propagation path and the separation distance between the reference station 300 and the positioning station 400. Then, the ID positioning unit 110 can identify the elliptic sphere in which the wireless terminal 200 exists from these two distance information.
- the two focal points of the elliptic sphere are the position of the reference station 300 and the position of the positioning station 400.
- the reference station 300 and the wireless terminal 200 are at the same height (that is, the reference station 300 and the wireless terminal 200 are on the same plane), and the positioning station 400 is relatively Installed on a high ceiling. That is, generally, the wireless terminal 200 carried by a person exists on one plane.
- the wireless terminal 200 is located on the circumference of an ellipse, which is a cross section of the elliptic sphere crossed by the plane on which the wireless terminal 200 exists.
- reference station 300 transmits a pulse signal sequence
- positioning station 400 separate from reference station 300 determines the pulse signal sequence from the transmission timing of the pulse signal sequence.
- the detour propagation path required time until the reception timing of the response pulse signal sequence transmitted from the radio terminal 200 that has received is calculated, and the position of the radio terminal 200 is calculated based on the detour propagation path required time.
- the positioning system 300 is separated from the reference station 300 that transmits the pulse signal sequence and the positioning station 400 that receives the response pulse signal sequence and calculates the position of the wireless terminal 200 based on the time required for the detour propagation path.
- System coverage measurable range
- the distance between the reference station 300 that is the transmission source and the radio terminal 200 is compared with the case where the base station 100 of Embodiment 1 is the transmission source of the pulse signal sequence.
- the radio terminal 200 can re-radiate the pulse signal sequence more reliably.
- the present invention is not limited to this, and a plurality of wireless terminals 200 may exist.
- the positioning station 400 can identify the transmission source radio terminal 200 of the reception response pulse signal based on the detected ID information.
- a plurality of reference stations 300 may exist in the positioning system 20. By doing so, the system coverage (measurable range) of the positioning system 20A can be further improved.
- a plurality of ellipses which are cross sections of elliptical spheres crossed by the plane in which the wireless terminal 200 exists, are obtained except when the positional relationship between the plurality of reference stations 300 is special. Therefore, by obtaining the intersection of these ellipses, the position of the wireless terminal 200 can be narrowed down to four points at most. That is, the position of the wireless terminal 200 can be narrowed down by a simple process of calculating the distance based on the detour propagation path required time.
- FIG. 9 shows the overall configuration of the ranging system 20A in the case where there are a plurality of reference stations 300 and wireless terminals 200, respectively.
- the two wireless terminals 200 each receive a pulse sequence transmitted from the adjacent reference station 300 and superimpose their own ID information to re-radiate.
- the two reference stations 300-1 and 300-2 transmit pulse signal sequences generated using different UWs.
- the two radio terminals 200-1 and 200-2 also have different ID information, and different ID information is superimposed on the two response pulse signal sequences re-radiated from the radio terminals 200-1 and 200-2.
- the UW of the reference stations 300-1 and 300-2 and the ID information of the wireless terminals 200-1 and 200-2 are registered in advance.
- a delay profile for each UW is calculated by time division processing and parallel arithmetic processing.
- the radio terminals 200-1 and 200-2 are discriminated based on the ID information using the bit determination result for each UW.
- the positioning station 400 having functions such as pulse series correlation reception, ID detection, and distance measurement is inevitably expensive, increasing the number of installed stations increases costs. Therefore, for example, assuming an indoor environment, the positioning station 400 is preferably installed near the center of the room or hallway and on the ceiling or wall where a line-of-sight is easily secured with respect to the positioning area.
- the reference station 300 is not only installed in the vicinity of the positioning station 400 to determine the positioning area, but also in the vicinity of the positioning area or out of line of sight from the positioning station 400 to complement this. It is preferable to install in a so-called dead band of radio waves. That is, since the degree of freedom is obtained in the arrangement of the reference stations 300, the distance between the reference station 300 that is the transmission source and the radio terminal 200 can be shortened, and the radio terminal 200 can re-radiate the pulse signal sequence more reliably.
- the positioning station 400 and the reference station 300 are installed so that the flow line becomes a positioning area when the system is initially introduced. Is preferred.
- the positioning area is made efficient by changing only the installation location of the reference station 300 without rearranging the positioning station 400 corresponding to the new flow line. Can be updated and reconfigured well.
- Embodiment 3 relates to a positioning system including a base station 100 and a reference station 300. That is, from another point of view, the present invention relates to a positioning system in a state where the configuration of the receiving system of the base station 100 is added to the positioning station 400 of the second embodiment.
- FIG. 10 is a diagram illustrating a configuration example of the positioning system 30 according to the third embodiment of the present invention.
- the positioning system 30 includes a base station 100, a reference station 300, and a wireless terminal 200.
- the distance measurement described in the first embodiment is performed between the base station 100 and the wireless terminal 200.
- the base station 100, the reference station 300, and the wireless terminal 200 perform the distance measurement described in the second embodiment.
- a sphere in which the radio terminal 200 is located around the position of the base station 100 (or a circumference when the plane on which the radio terminal 200 is located) is specified. Desired.
- the elliptical sphere in which the wireless terminal 200 is located if the plane on which the wireless terminal 200 is located is specified) Lap is required.
- the base station 100 obtains the intersection of the circle and the ellipse to narrow down the position of the wireless terminal 200 to at most four points. Can do. That is, the position of the wireless terminal 200 can be specified by a simple process called distance measurement.
- the reference station 300 is also provided as a device for transmitting a pulse signal sequence, so that the system coverage (measurable range) of the positioning system 30 can be improved.
- the positioning station specifies the direction in which the wireless terminal is located.
- FIG. 11 is a block diagram showing a configuration of positioning station 500 according to Embodiment 4 of the present invention.
- the positioning station 500 includes an array antenna including array antenna elements 501-1 to 50-3, an array receiving unit 502, an IQ generating unit 503, a spatial correlation processing unit 504, a DOA estimating unit 505, an ID positioning unit. Part 506.
- the array antenna elements 501-1 to 50-3 constitute an array antenna for DOA estimation.
- the array antenna elements 501-1 to 503-1 may select and receive, for example, about 100 MHz as a bandwidth necessary for DOA estimation when receiving UWB pulses having a bandwidth of 500 MHz or more. Therefore, the UWB antenna 105 requires a UWB wide-band antenna, while the array antenna elements 501-1 to 503-1 can use a single-resonance antenna such as a monopole antenna.
- Array receiving section 502 converts the received signals received by array antenna elements 501-1 to 501-1 to IF (Inter-Frequency) signals and outputs them to IQ generating section 503.
- Array receiving section 502 includes RF sections 511-1 through 51-1 and IF sections 512-1 through 512-1.
- the RF units 511-1 to 511-3 are configured by LNA or RF band BPF (Band-Pass-Filter) or the like.
- the IF units 512-1 to 512-3 are configured by a down converter, an IF band BPF, or the like.
- the IF signal output from the array receiver 502 is band-limited, for example, to 20 MHz or less.
- the array antenna element 501-1, the RF unit 511-1, and the IF unit 512-1 described above constitute a first reception system
- the array antenna element 501-2, the RF unit 511-2, and the IF unit 512- 2 constitutes a second reception system
- array antenna element 501-3, RF unit 511-3, and IF unit 512-3 constitute a third reception system.
- the IQ generation unit 503 obtains a discretized IQ baseband signal by performing IQ orthogonalization after A / D converting the IF signal received from the array reception unit 502. A / D conversion and IQ orthogonalization processing are performed for each IF signal of each reception system. IQ baseband signals obtained in each reception system are output to the spatial correlation processing unit 504.
- the spatial correlation processing unit 504 performs spatial cross-correlation processing using the IQ baseband signal obtained in each receiving system. That is, the spatial correlation processing unit 504 performs cross-correlation between two IQ baseband signals for each combination of reception systems. Therefore, the spatial correlation result obtained by the cross correlation on the spatial axis is obtained as a correlation matrix.
- This correlation matrix is output to the DOA estimation unit 505 in units of frames, like the time correlation processing unit 107. Note that the frame synchronization is established using a timing signal having a frame period output from the time correlation processing unit 107.
- the DOA estimation unit 505 adds and averages the correlation matrices input in units of frames. This addition averaging is performed for each identification information received from the bit determination unit 109. Then, the DOA estimation unit 505 executes a DOA estimation algorithm typified by a beamformer method, a CAPON method, a MUSIC method, a SAGE method, and the like using the correlation matrix obtained by the averaging, and obtains a DOA estimation result. That is, DOA estimation section 505 performs correlation matrix addition averaging processing and DOA estimation processing for each wireless terminal 200 corresponding to the identification information received from bit determination section 109, and results of DOA estimation for each wireless terminal 200. Is obtained.
- the ID positioning unit 506 calculates the separation distance between the base station 100 and the wireless terminal 200 corresponding to the identification information received from the bit determination unit 109, based on the round trip time, similarly to the ID positioning unit 110. Thereby, the ID positioning unit 506 identifies the elliptical sphere in which the wireless terminal 200 exists based on the distance of the detour propagation path and the separation distance between the reference station 300 and the positioning station 500, as in the second embodiment. be able to.
- the ID positioning unit 506 calculates the direction in which the wireless terminal 200 is located corresponding to the identification information received from the bit determination unit 109 based on the DOA estimation result. That is, the ID positioning unit 506 calculates the azimuth angle ⁇ and the elevation angle ⁇ that indicate the direction of the wireless terminal 200 viewed from the positioning station 500.
- the coordinate origin serving as a reference for the angle and distance is the position of the positioning station 500 or the position of the reference station 300 whose position is known in advance.
- the ID positioning unit 506 obtains the intersection of the elliptic sphere and the line segment extended from the positioning station 500 in the direction indicated by the vector represented by the azimuth angle ⁇ and the elevation angle ⁇ .
- the coordinates of this intersection are the position coordinates of the wireless terminal 200.
- the number of array element elements for DOA estimation is set to 3. This is because, in principle, at least three elements are required for two-dimensional DOA estimation. That is, since the above-described function can be realized if there are three or more elements, the number of array elements is not particularly limited if it is three or more.
- the IF bandwidth used for DOA estimation is exemplified as 20 MHz or less, this is a reference value when it is assumed that 3-10 GHz, which is the RF band of the microwave UWB, is used.
- the DOA estimation by the array antenna theoretically has a limitation of the ratio band with respect to the center frequency of the RF band, and therefore a design that takes this into consideration is necessary in practice. That is, if the RF frequency is increased, the IF bandwidth is increased accordingly.
- the configuration of the receiving system of the base station 100 may be added to the positioning station 500.
- the measurable range can be expanded.
- the position of the wireless terminal 200 is narrowed down to four points, and the direction in which the wireless terminal 200 is located is also used for specifying the position of the wireless terminal 200. As a result, the positioning accuracy can be further improved.
- a plurality of positioning stations 500 and a plurality of reference stations 300 may exist.
- a plurality of positioning stations and a plurality of reference stations may be used.
- the measurable range of the entire system can be further expanded.
- the DOA estimation unit 505 calculates the direction in which the wireless terminal 200 is located with reference to the position of the positioning station 500, and the ID positioning unit 506 500 and the position of the reference station 300 as two focal points, and the sum of the distances from the two focal points to any point on the surface is the distance of the detour propagation path, and the above calculation from the position of the positioning station 500 The intersection with the line segment extending in the direction is calculated as the position of the wireless terminal 200.
- the position of the wireless terminal 200 can be narrowed down to one point.
- the wireless terminal is allowed to have both the function of the wireless terminal 200 of the first embodiment and the function of the reference station 300 of the second embodiment. From another viewpoint, the fifth embodiment relates to a positioning system in a state where the configuration of the transmission system of the base station 100 is added to the radio terminal 200 of the first embodiment.
- FIG. 13 is a diagram illustrating a configuration example of the positioning system 40 according to Embodiment 5 of the present invention.
- the positioning system 40 includes a base station 100 and wireless terminals 600-1 and 600-2.
- the radio terminals 600-1 and 600-2 have the transmission system configuration of the base station 100 as described above. That is, radio terminals 600-1 and 600-2 each have an active tag function (that is, a function that autonomously transmits a pulse signal sequence in the same manner as reference station 300 in Embodiment 2) and a semi-passive tag function (that is, implementation). As in the case of the wireless terminal 200 of the first embodiment, the wireless terminal 200 has both of the functions of re-radiating after amplification only when a desired pulse signal sequence is received.
- an active tag function that is, a function that autonomously transmits a pulse signal sequence in the same manner as reference station 300 in Embodiment 2
- a semi-passive tag function that is, implementation
- the wireless terminals 600-1 and 600-2 switch between the active tag function and the semi-passive tag function according to the system environment.
- the radio terminals 600-1 and 600-2 can perform the positioning operation with the base station 100 as in the first embodiment. Further, the radio terminals 600-1 and 600-2 can perform a positioning operation in the same manner as in the second embodiment by setting one to the active mode and the other to the semi-passive mode.
- FIG. 14 is a block diagram showing a configuration of radio terminal 600 according to Embodiment 5 of the present invention.
- radio terminal 600 includes UWB antenna 601, pulse generation section 602, pulse detection section 603, timing detection section 604, and operation mode selection section 605.
- the pulse detection unit 603 performs envelope detection on the pulse signal series received via the UWB antenna 601, and outputs the detection result to the timing detection unit 604 and the pulse generation unit 602. In addition, when receiving a control signal for selecting the active mode as the mode from the operation mode selection unit 605, the pulse detection unit 603 stops the operation during the autonomous transmission period of the pulse signal sequence by the pulse generation unit 602. Thereby, it is possible to prevent the sneak reception of the pulse signal sequence transmitted from the own apparatus and to prevent wasteful power consumption.
- the timing detection unit 604 detects the reception timing of the pulse signal sequence transmitted from the base station 100 based on the detection result of the pulse detection unit 603 (that is, the pulse detection waveform periodically received), and determines the detection timing.
- the data is output to the operation mode selection unit 605.
- the operation mode selection unit 605 selects the active mode or the semi-passive mode as the operation mode based on the reception timing received from the timing detection unit 604. Specifically, the operation mode selection unit 605 basically selects the semi-passive mode. The operation mode selection unit 605 cannot stably receive the pulse sequence transmitted from the base station 100 when the reception timing received from the timing detection unit 604 varies greatly or when it is determined that the reception timing cannot be detected. Judge that it is in the situation and select the active mode. At this time, the operation mode selection unit 605 outputs a control signal indicating that the active mode is selected as the mode to the pulse detection unit 603 and the pulse generation unit 602.
- the pulse generation unit 602 includes the circulator 202 and the LNA 203 in the wireless terminal 200 according to Embodiment 1, and is configured to be able to perform a reflection operation in the semi-passive mode.
- the pulse generation unit 602 stops the reflection operation and transmits the pulse signal sequence only during the autonomous transmission period. Send.
- the base station 100 transmits a pulse signal sequence S602.
- radio terminal 600-1 operates in the semi-passive mode, receives pulse signal sequence S602 from base station 100, and transmits a response pulse signal sequence based on this received pulse signal sequence.
- base station 100 receives the response pulse signal sequence transmitted from radio terminal 600-1.
- base station 100 measures the arrival time of the received pulse signal sequence and determines the position of radio terminal 600-1 from the measurement result.
- the wireless terminal 600-2 starts up in a semi-passive mode.
- the radio terminal 600-2 cannot stably detect the transmission pulse sequence S602 from the base station 100 because it is located at the end of the cover area of the base station 100.
- the wireless terminal 600-2 changes the operation from the semi-passive mode to the active mode. That is, the operation mode selection unit 605 outputs a control signal to the pulse generation unit 602 so as to autonomously transmit pulses.
- the radio terminal 600-1 receives the pulse signal sequence S602 transmitted from the base station 100, and not only transmits the response pulse signal sequence, but also transmits the pulse signal sequence S603 transmitted from the radio terminal 600-2. In the same manner, reception is performed and a response pulse signal sequence is transmitted.
- the pulse transmission cycle of the pulse signal sequence transmitted from the base station 100 and the pulse signal sequence transmitted from the radio terminal 600-2 are set differently in advance.
- the radio terminal 600-1 can identify the pulse signal sequence S602 transmitted from the base station 100 and the pulse signal sequence S603 transmitted from the radio terminal 600-2.
- the wireless terminal 600-1 detects the frequency component of the received pulse signal sequence.
- the transmission source can be identified.
- a pulse signal sequence S603 transmitted from the radio terminal 600-2 operating in the active mode like the reference station 300 and a pulse signal sequence S602 transmitted from the base station 100 are mutually connected. You may make it produce
- the base station 100 can measure the position of the radio terminal 600-1 operating in the semi-passive mode by the method described in the first embodiment. Furthermore, after positioning the radio terminal 600-1, the base station 100 can also specify the position of the radio terminal 600-2 based on the position information. Specifically, the base station 100 measures the time required for the bypass propagation path with reference to the timing of directly receiving the transmission pulse signal sequence S603 of the radio terminal 600-2. That is, the base station 100 measures the time difference until the timing (that is, the arrival time (TOA)) of receiving the response pulse signal sequence of the radio terminal 600-1 for the pulse signal sequence S603. Then, the base station 100 obtains the position of the radio terminal 600-2 using the measured time difference and the position of the radio terminal 600-1 measured in advance.
- TOA arrival time
- the radio terminal 600-1 when receiving the pulse signal sequence transmitted from the base station 100, the radio terminal 600-1 transmits a response pulse signal sequence on which its own ID information is superimposed. On the other hand, when the pulse signal sequence transmitted from the wireless terminal 600-2 is received, the ID information is not superimposed. In other words, when relaying the transmission pulse signal sequence from wireless terminal 600-2, wireless terminal 600-1 operates so as to load an ID of “1”. Such a transmission function is realized in the pulse generation unit 602. Therefore, the pulse information sequence transmitted by radio terminal 600-1 is preliminarily superposed with its own ID information by the method shown in the first embodiment.
- each functional block used in the description of the above embodiment is typically realized as an LSI which is an integrated circuit. These may be individually made into one chip, or may be made into one chip so as to include a part or all of them.
- the name used here is LSI, but it may also be called IC, system LSI, super LSI, or ultra LSI depending on the degree of integration.
- the method of circuit integration is not limited to LSI, and implementation with a dedicated circuit or a general-purpose processor is also possible.
- An FPGA Field Programmable Gate Array
- a reconfigurable processor that can reconfigure the connection and setting of circuit cells inside the LSI may be used.
- the positioning system and positioning method of the present invention have an effect of improving the positioning accuracy by suppressing the occurrence of jitter, and are useful for measuring the position of a wireless tag or the like.
- Base station 101 Transmission control unit 102 Unique word (UW) generation unit 103,602 Pulse generation unit 104,105 Antenna 106,603 Pulse detection unit 107 Time correlation processing unit 108 TOA estimation unit 109 Bit determination Unit 110, 506 ID positioning unit 200, 600 Wireless terminal 201, 601 UWB antenna 202 Circulator 203 LNA 204 ID generation unit 300 Reference station 400, 500 Positioning station 501 Array antenna element 502 Array reception unit 503 IQ generation unit 504 Spatial correlation processing unit 505 DOA estimation unit 511 RF unit 512 IF unit 604 timing detection unit 605 operation mode selection unit
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Abstract
Description
[測位システムの概要]
図1は、本発明の実施の形態1に係る測位システム10を示す図である。図1において、測位システム10は、基地局100と、基地局100によって位置を測定される無線端末200とを有する。
図2は、本発明の実施の形態1に係る基地局100の構成を示すブロック図である。図2において、基地局100は、送信制御部101と、ユニークワード(UW)生成部102と、パルス生成部103と、アンテナ104,105と、パルス検波部106と、時間相関処理部107と、TOA推定部108と、ビット判定部109と、ID測位部110とを有する。
送信制御部101は、測位動作の開始時に測位開始信号をUW生成部102に出力する。
パルス検波部106は、無線端末200より送信されたアンテナ105を介して応答パルス信号系列を受信する。パルス検波部106は、受信パルス信号系列を包絡線検波し、得られたベースバンド信号を時間相関処理部107へ出力する。パルス検波部106は、LNA(Low-Noise-Amp)、ダイオード検波器、コンパレータ、又は、A/D変換器を含んで構成される。なお、パルス検波部106の入力段には、無線受信処理部(図示せず)が設けられている。この無線受信処理部は、受信パルス信号系列をダウンコンバートなどの受信処理した後に、パルス検波部106へ出力する。
図3は、本発明の実施の形態1に係る無線端末200の構成を示すブロック図である。図3において、無線端末200は、UWBアンテナ201と、サーキュレータ202と、LNA(Low-Noise-Amplifier)203と、ID生成部204とを有する。
以上の構成を有する測位システム10の動作について説明する。図4は、測位システム10の構成例を示す図である。図5は、UWビット系列及びIDビット系列の説明に供する図である。
基地局100において、UW生成部102は、測位開始信号を受け取ると、UWビット列の生成を開始する。このUWビット列のビットパタンは、基地局100に固有である(図5最上段参照)。UWビット列は、ここでは128ビットで構成される。そして、UWビット列には、例えば、PN系列が用いられる。PN系列とは、擬似雑音(Pseudo Noise)系列のことである。具体的には、自己相関関数が2レベルの値をとり、1周期中の0と1の個数が1つだけ異なる系列である。代表的なPN系列としては、最大周期シフトレジスタ(Maximum Length shift register)系列(通常M系列と呼ばれる)が知られている。
基地局100から送信された無線パルス系列は、無線端末200-1,2で受信される。これに応じて、無線端末200-1,2は、応答パルス系列を送信する。
無線端末200から放出されたパルス信号列は、基地局100で受信される。
実施の形態2では、実施の形態1の基地局100の送信系と受信系とが別体の装置である測位システムに関する。
実施の形態3は、基地局100及び基準局300を含む測位システムに関する。すなわち、別の見方をすれば、実施の形態2の測位局400に基地局100の受信系の構成が追加された状態の測位システムに関する。
実施の形態4では、測位局が無線端末の位置する方向を特定する。
実施の形態5では、無線端末に、実施の形態1の無線端末200が有する機能、及び、実施の形態2の基準局300が有する機能の両方を持たせる。別の見方をすれば、実施の形態5は、実施の形態1の無線端末200に基地局100の送信系の構成が追加された状態の測位システムに関する。
図13は、本発明の実施の形態5に係る測位システム40の構成例を示す図である。
図14は、本発明の実施の形態5に係る無線端末600の構成を示すブロック図である。図14において、無線端末600は、UWBアンテナ601と、パルス生成部602と、パルス検波部603と、タイミング検出部604と、動作モード選択部605とを有する。
はじめに、基地局100が、パルス信号系列S602を送信する。ここで、無線端末600-1は、セミパッシブモードで動作しており、基地局100からのパルス信号系列S602を受信し、この受信パルス信号系列に基づいて応答パルス信号系列を送信している。このとき、基地局100は、無線端末600-1から送信された応答パルス信号系列を受信する。そして、基地局100は、受信パルス信号系列の到来時間を測定し、この測定結果から無線端末600-1の位置を決定する。
(1)上記実施の形態では、パルス信号系列がOOK変調により形成される場合について説明したが、本発明はこれに限定されるものではなく、BPSKなど他の変調方式によって形成されても良い。
100 基地局
101 送信制御部
102 ユニークワード(UW)生成部
103,602 パルス生成部
104,105 アンテナ
106,603 パルス検波部
107 時間相関処理部
108 TOA推定部
109 ビット判定部
110,506 ID測位部
200,600 無線端末
201,601 UWBアンテナ
202 サーキュレータ
203 LNA
204 ID生成部
300 基準局
400,500 測位局
501 アレーアンテナ素子
502 アレー受信部
503 IQ生成部
504 空間相関処理部
505 DOA推定部
511 RF部
512 IF部
604 タイミング検出部
605 動作モード選択部
Claims (8)
- パルス信号系列を送信する送信装置と、
入力信号を増幅する増幅器と、パルス信号系列を受信し当該受信パルス信号系列を前記増幅器で増幅した後に応答パルス信号系列として送信する送受信手段と、を具備する測位対象装置と、
前記送信装置と別体の装置であって、前記応答パルス信号系列の受信タイミングを検出する検出手段と、前記パルス信号系列の送信タイミングから、前記検出された受信タイミングまでの伝搬所要時間に基づいて、前記測位対象装置の位置を算出する位置算出手段とを具備する算出装置と、
を具備する測位システム。 - 前記算出装置は、複数のアンテナ素子を有するアレーアンテナと、前記アレーアンテナを介して受信した応答パルス信号系列に基づいて前記算出装置を基準とする前記測位対象装置の位置する方向を算出する方向算出手段と、をさらに具備し、
前記位置算出手段は、前記伝搬所要時間に基づいて、前記送信装置と前記測位対象装置との第2の離間距離と前記第1の離間距離との和である迂回伝搬距離とを算出し、前記算出装置及び前記送信装置の位置を2つの焦点とし且つ当該2つの焦点から表面上の任意の点までの距離の和が前記迂回伝搬距離である楕円球と、前記算出装置の位置から前記算出された方向に延ばした線分との交点を、前記測位対象装置の位置として算出する、
請求項1に記載の測位システム。 - 前記増幅器は、印加電圧に応じた増幅率で前記入力信号を増幅し、
前記測位対象装置は、自装置に固有の識別データに対応するパタンで前記増幅器に電圧を印加する電圧印加手段をさらに具備する、
請求項1に記載の測位システム。 - 前記測位システムは、前記送信装置を複数有し、
各送信装置は、自装置に固有の識別データに基づいて前記パルス信号系列を生成する生成手段を具備する、
請求項1に記載の測位システム。 - 前記算出装置は、前記パルス信号系列を送信する送信手段を、さらに具備し、
前記検出手段は、前記送信手段から送信されたパルス信号系列に基づいて前記測位対象装置から送信された応答パルス信号の受信タイミングを第2の受信タイミングとして検出し、
前記位置算出手段は、前記送信手段からパルス信号系列が送信された第2の送信タイミングから、前記検出された第2の受信タイミングまでの往復所要時間に基づいて、前記測位対象装置と前記算出装置との第1の離間距離を算出し、前記伝搬所要時間に基づいて、前記送信装置と前記測位対象装置との第2の離間距離と前記第1の離間距離との和である迂回伝搬距離とを算出し、前記第1の離間距離及び前記迂回伝搬距離に基づいて、前記測位対象装置の位置を算出する、
請求項1に記載の測位システム。 - 前記位置算出手段は、前記算出装置の位置を中心とし且つ前記第1の離間距離を半径とする球と、前記算出装置及び前記送信装置の位置を2つの焦点とし且つ当該2つの焦点から表面上の任意の点までの距離の和が前記迂回伝搬距離である楕円球との交わる部分を、前記測位対象装置の位置として算出する、
請求項5に記載の測位システム。 - 前記測位対象装置は、前記測位対象装置として応答パルス信号系列を送信する第1の機能及び前記送信装置としての第2の機能を有すると共に、前記受信パルス信号系列の受信タイミングに基づいて、前記第1の機能を動作させる第1のモード、又は、前記第2の機能を動作させる第2のモードを選択するモード選択手段を有する、
請求項1に記載の測位システム。 - パルス信号系列を送信する送信装置と、測位対象装置と、前記送信装置と別体の装置であり且つ前記測位対象装置の位置を算出する算出装置とを具備する測位システムにおける、測位方法であって、
前記送信装置が、パルス信号系列を送信し、
前記測位対象装置が、パルス信号系列を受信し当該受信パルス信号系列を増幅した後に応答パルス信号系列として送信し、
前記算出装置が、前記応答パルス信号系列の受信タイミングを検出し、前記パルス信号系列の送信タイミングから、前記検出された受信タイミングまでの伝搬所要時間に基づいて、前記測位対象装置の位置を算出する、
測位方法。
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JP2019184467A (ja) * | 2018-04-12 | 2019-10-24 | 東芝テック株式会社 | 情報処理装置及びそのプログラム並びに固定局配置場所決定方法 |
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JPS63298084A (ja) * | 1987-05-29 | 1988-12-05 | Nippon Precision Kk | 受動形ssr装置 |
JP2008039497A (ja) * | 2006-08-03 | 2008-02-21 | Matsushita Electric Works Ltd | 障害物検出装置 |
Cited By (5)
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JP2018091071A (ja) * | 2016-12-05 | 2018-06-14 | 株式会社Soken | 携帯機位置推定システム |
US10857976B2 (en) | 2016-12-05 | 2020-12-08 | Denso Corporation | Mobile device position estimation system |
JP2019184467A (ja) * | 2018-04-12 | 2019-10-24 | 東芝テック株式会社 | 情報処理装置及びそのプログラム並びに固定局配置場所決定方法 |
JP7097217B2 (ja) | 2018-04-12 | 2022-07-07 | 東芝テック株式会社 | 情報処理装置及びそのプログラム並びに固定局配置場所決定方法 |
JP7384137B2 (ja) | 2020-09-22 | 2023-11-21 | 株式会社Soken | 測位装置 |
Also Published As
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JPWO2010106747A1 (ja) | 2012-09-20 |
US20120014412A1 (en) | 2012-01-19 |
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