WO2013047503A1 - Dispositif d'identification d'emplacement, procédé d'identification d'emplacement et programme - Google Patents

Dispositif d'identification d'emplacement, procédé d'identification d'emplacement et programme Download PDF

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Publication number
WO2013047503A1
WO2013047503A1 PCT/JP2012/074532 JP2012074532W WO2013047503A1 WO 2013047503 A1 WO2013047503 A1 WO 2013047503A1 JP 2012074532 W JP2012074532 W JP 2012074532W WO 2013047503 A1 WO2013047503 A1 WO 2013047503A1
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WIPO (PCT)
Prior art keywords
beacon
unit
carrier wave
estimated
weight
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PCT/JP2012/074532
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English (en)
Japanese (ja)
Inventor
宅原　雅人
義弘 馬渕
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三菱重工業株式会社
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Application filed by 三菱重工業株式会社 filed Critical 三菱重工業株式会社
Priority to SG2014008700A priority Critical patent/SG2014008700A/en
Publication of WO2013047503A1 publication Critical patent/WO2013047503A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system

Definitions

  • the present invention relates to a position specifying apparatus, a position specifying method, and a program for specifying a position where the own apparatus exists.
  • This application claims priority based on Japanese Patent Application No. 2011-210715 for which it applied to Japan on September 27, 2011, and uses the content here.
  • the position of the vehicle is specified by a position specifying device such as a car navigation system based on GPS (Global Positioning System) or autonomous navigation.
  • a position specifying device such as a car navigation system based on GPS (Global Positioning System) or autonomous navigation.
  • a signal on a carrier wave such as a radio wave or light is received from a beacon provided on the roadside, and the position where communication is established is corrected to the position of the beacon, thereby correcting the vehicle position.
  • the method of performing is used (for example, refer patent document 1).
  • the beacon irradiates a carrier wave to a predetermined range (for example, a range of 10 meters in the traveling direction) in order to reliably communicate with the position specifying device. Therefore, an error occurs in the size of the irradiation range of the carrier wave in the position information estimated based on the position where the position specifying device receives the signal from the beacon.
  • a predetermined range for example, a range of 10 meters in the traveling direction
  • the present invention has been made in view of the above problems, and provides a position specifying device, a position specifying method, and a program for specifying a position where the own apparatus exists by reducing an error due to the irradiation range of a carrier wave by a beacon. For the purpose.
  • a first aspect of the present invention is a position within an irradiation range of a carrier wave by the beacon based on a position estimation unit that estimates the position of the own device and a signal received from a beacon that emits a carrier wave carrying the signal.
  • a position estimated by the position estimation unit using a beacon position acquisition unit for acquiring a beacon position and a weight value indicating a larger value as the irradiation range of the carrier wave by the beacon is smaller as a weight of the beacon position acquired by the beacon position acquisition unit.
  • a position specifying unit that calculates a position indicated by a weighted average of the estimated position and the beacon position, and specifies the position as the position of the own apparatus.
  • the position specifying unit may use a weight value indicating a larger value as the error range of the position estimation by the position estimation unit is narrower as the weight of the estimated position and the estimated position.
  • a position indicated by a weighted average with the beacon position may be calculated.
  • the beacon position is a matrix indicating a position within an irradiation range of a carrier wave by the beacon in a predetermined orthogonal coordinate system
  • the estimated position is an own position in the orthogonal coordinate system. It is a matrix indicating positions where devices are estimated to exist, and the weight of the beacon position may be a variance covariance matrix indicating dispersion of positions at which signals from beacons can be normally received in the orthogonal coordinate system.
  • the weight of the beacon position may indicate a smaller value as the height at which the device is installed is higher.
  • the position specifying unit may specify the position of the own device using the weight acquired by the beacon weight acquisition unit.
  • the beacon position acquisition unit when the beacon position acquisition unit normally completes signal reception, the beacon position of the signal and the relationship between the beacon position and the intensity of the carrier are determined. Based on this, the beacon position may be estimated.
  • the first aspect of the present invention further includes a carrier strength recording unit that sequentially records the strength of the carrier wave from the beacon in a carrier strength storage unit in association with the position where the carrier wave is received.
  • the unit may estimate a position associated with the maximum value of the carrier strength stored in the carrier strength storage unit as a beacon position in the road extending direction.
  • the beacon position acquisition unit includes the maximum value of the carrier strength stored in the carrier strength storage unit, and the beacon position and the carrier in the direction orthogonal to the road extending direction.
  • the beacon position in the direction orthogonal to the road extending direction may be estimated based on the strength relationship.
  • the second aspect of the present invention is a position specifying method using a position specifying device for specifying a position where the own device exists, wherein the position estimating unit estimates the position of the own device, and a beacon position acquiring unit.
  • a weight value indicating a larger value is used as a weight of the beacon position acquired by the beacon position acquisition unit, and a position indicated by a weighted average of the estimated position and the beacon position that is the position estimated by the position estimation unit is calculated.
  • the position is specified as the position of the own device.
  • the third aspect of the present invention relates to a position identification device that identifies a position where the own device exists, a position estimation unit that estimates the position of the own device, and a signal received from a beacon that emits a carrier wave carrying a signal.
  • the beacon position acquisition unit Based on the beacon position acquisition unit that acquires a beacon position that is a position within the irradiation range of the carrier wave by the beacon, the beacon position acquisition unit acquires a weight value indicating a larger value as the irradiation range of the carrier wave by the beacon is narrower
  • the position specifying unit calculates the position indicated by the weighted average of the estimated position and the beacon position as the position of the own device. Therefore, it is possible to reduce the error due to the irradiation range of the carrier wave by the beacon and specify the position where the own apparatus exists.
  • FIG. 1 is a schematic block diagram showing the configuration of the position specifying device according to the first embodiment of the present invention.
  • the position specifying device is a device that is mounted on a vehicle and specifies a position where the own device exists, and includes a position estimating unit 1, a position storing unit 2, an estimation error calculating unit 3, a beacon signal receiving unit 4, and a beacon position acquiring unit 5.
  • the position estimation unit 1 estimates the position of the own device based on GPS and autonomous navigation, and records the estimated position Pc indicating the estimated position in the position storage unit 2 in association with the estimated time.
  • the estimated position P c is a matrix shown in Expression (1).
  • x c and y c are values indicating the latitude and longitude of the estimated position, respectively.
  • the position storage unit 2 stores position information indicating the position of the own apparatus estimated by the position estimation unit 1 or specified by the position specifying unit 7.
  • the estimation error calculation unit 3 is based on the history of the estimated position P c accumulated in the position storage unit 2 and the GPS estimation accuracy by the position estimation unit 1, and the parallel direction and meridian of the estimated position P c by the position estimation unit 1.
  • An estimation error R c that is a variance covariance matrix indicating an error in the direction is calculated. Note that the estimation error R c is a matrix shown in Equation (2).
  • ⁇ c — xx is a value indicating the variance in the parallel direction of the estimated position.
  • ⁇ c_yy is a value indicating the variance in the meridian direction of the estimated position.
  • ⁇ c — xy is a value indicating the covariance between the latitude direction and the meridian direction of the estimated position. That is, each element of the estimated error R c is shows a larger value as a wide error range of position estimation by the position estimation unit 1.
  • the beacon signal receiving unit 4 receives a signal by capturing a carrier wave output by a beacon provided on the roadside and extracting the signal from the carrier wave.
  • Beacon position acquisition unit 5 the signal beacon signal receiver 4 has received, read the beacon position P b indicating the position in the irradiation range of the carrier wave by the beacon.
  • the beacon position P b, the position and the beacon is installed, the radio wave intensity and the strongest positions are set in the irradiation range.
  • the beacon position Pb is a matrix shown in Expression (3).
  • x b and y b are values indicating the latitude and longitude of the beacon position, respectively.
  • Beacon error acquisition unit 6 reads out from the signal beacon signal receiver 4 has received a beacon error R b is the variance-covariance matrix that indicates the irradiation range of the carrier wave around the beacon position P b. Note that the beacon error Rb is a matrix shown in Equation (4).
  • ⁇ b — xx is a value indicating the dispersion in the latitude direction of the position where the signal irradiated by the beacon is received.
  • ⁇ b_yy is a value indicating the dispersion in the meridian direction at the position where the signal irradiated by the beacon is received.
  • ⁇ b — xy is a value indicating the covariance between the latitude direction and the meridian direction at the position where the signal emitted by the beacon is received. That is, each element of the beacon error Rb indicates a larger value as the irradiation range of the carrier wave by the beacon is wider.
  • Position specifying section 7 the estimation error R c which is the estimated error calculating unit 3 to calculate, and the weight of the beacon position P b beacon position acquisition unit 5 acquires, a beacon error R b beacon error acquisition unit 6 acquires, as the weight of the estimated position P c that position storage unit 2 stores, calculates the weighted average of the beacon position P b and the estimated position P c, the resulting position P, and identified as the position of its own device.
  • the position specifying unit 7 specifies the position P of its own device by solving Equation (5). Further, the position specifying unit 7 overwrites the specified position P on the estimated position stored in the position storage unit 2.
  • the estimation error R c calculated by the estimation error calculation unit 3 is used as the weight of the beacon position P b acquired by the beacon position acquisition unit 5, and the beacon error R b acquired by the beacon error acquisition unit 6 is used.
  • the weight of the estimated position P c stored in the position storage unit 2 is used.
  • the weight R b of the estimated position P c becomes to exhibit a relatively large value for the weight R c enough beacon position P b error range is narrow position estimate.
  • the weight R c of the beacon position P b indicates a relatively large value with respect to the weight R b of the estimated position P c as the beacon communication range is narrower.
  • FIG. 2 is a diagram showing a vehicle position specifying method according to the first embodiment of the present invention.
  • the estimation error R c and the beacon error R b are represented by a 2 ⁇ 2 variance-covariance matrix. Therefore, when these errors are projected onto a two-dimensional plane having latitude and meridians as axes, the errors have an elliptical spread as shown in FIG.
  • the position output unit 8 outputs the position information stored in the position storage unit 2 to the display.
  • a beacon in the present embodiment includes a storage unit for storing the beacon position P b and beacon error R b, and outputs a signal indicating the information the storage unit is stored in a predetermined irradiation range placed on a carrier.
  • the beacon error Rb may be a value determined in advance when designing a beacon, or may be a value obtained by actually measuring the beacon error Rb while passing the vehicle.
  • FIG. 3 is a flowchart showing the operation of the position specifying device according to the first embodiment of the present invention.
  • the position estimating unit 1 estimates the position of the own apparatus, that is, the position of the vehicle on which the own apparatus is mounted, by GPS or autonomous navigation (step S1).
  • the position estimation unit 1 includes a Kalman filter that estimates a current position based on a history of past position information stored in the position storage unit 2 and a position acquired by GPS or autonomous navigation, and outputs the Kalman filter. The value is output as the estimated position Pc .
  • the position estimation unit 1 records the estimated position Pc in the position storage unit 2 (step S2).
  • the position estimation unit 1 calculates an estimation error R c of the estimated position (step S3). Specifically, when the position estimation unit 1 performs position estimation by GPS in step S1, a DOP (Division Of Precision) value is calculated based on a direction vector of a GPS satellite used for position estimation, and based on the DOP value. Thus, an estimation error R c is calculated. On the other hand, when the position estimation unit 1 performs position estimation by autonomous navigation in step S1, an error learned in the Kalman filter of the position estimation unit 1 is set as an estimation error Rc .
  • a DOP Division Of Precision
  • the beacon signal receiving unit 4 determines whether a signal is received from the beacon (step S4). Note that the beacon signal receiving unit 4 determines that a signal has been received from the beacon when the signal reception is completed without error. If the beacon signal receiving unit 4, it is determined that it has received the signal from the beacon (step S4: YES), the beacon position acquisition unit 5, information indicating the beacon position P b where beacon signal receiver 4 is included in the received signal Is acquired (step S5). Further, the beacon error acquisition unit 6 acquires the beacon error Rb included in the signal received by the beacon signal reception unit 4 (step S6).
  • the position specifying unit 7 specifies the vehicle position P by solving the above equation (5) using the estimated position P c , the estimated error R c , the beacon position P b , and the beacon error R b (step S7). ).
  • the weight can be dynamically determined according to the magnitude of the error.
  • the weight for the R c becomes smaller, vehicle position P specified position smaller the error range of the estimated (the higher estimation accuracy) beacon location P b is a position close to the estimated position P c.
  • the position specifying unit 7 overwrites the specified vehicle position on the estimated position recorded in step S2 and records it in the position storage unit 2 (step S8).
  • step S10 determines whether or not a processing end request has been input from the outside by an operation by the user, an interrupt process, or the like (step S10).
  • step S10: NO the position specifying device returns to step S1 and estimates the vehicle position.
  • step S10: YES the position specifying device ends the process.
  • the weighted average of the weight values R c showing a larger value as a narrow irradiation range of the carrier wave by the beacon as the weight of the beacon position P b, and the estimated position P c and the beacon position P b Is calculated, and the position is specified as the position of the own apparatus.
  • the irradiation range of the carrier wave by the beacon is narrow, that is, when the beacon position P b is reliable, the position close to the beacon position P b is specified as the vehicle position P, and when the irradiation range of the carrier wave by the beacon is wide, that is, the beacon position P b is positioned to identify the vehicle position P close to the estimated position P c from a beacon located P b when unreliable.
  • the beacon position P b is positioned to identify the vehicle position P close to the estimated position P c from a beacon located P b when unreliable.
  • the position indicated by the weighted average is calculated.
  • the estimation error R c and the beacon error R b are each represented by a 2 ⁇ 2 variance-covariance matrix.
  • the vehicle position can be specified using the weights R c and R b spreading in an elliptical shape in a two-dimensional orthogonal coordinate space indicated by latitude and longitude. As shown in FIG. 2, it is not limited to the case where the axis perpendicular to the latitude direction and the meridian direction is the major axis and the minor axis. It can be expressed by a variance-covariance matrix. Most of the irradiation range of the carrier wave by the beacon can be approximated to an ellipse having a long axis in the extending direction of the road.
  • the vehicle position can be specified using a weight that matches the shape of the beacon carrier wave irradiation range.
  • the signal transmitted from the beacon in the first embodiment includes a beacon error Rb for each vehicle type.
  • FIG. 4 is a diagram illustrating an example of a beacon error stored in a beacon according to the second embodiment of the present invention.
  • Beacon as the beacon error R b, passenger beacon error R b v, bus beacon error R b b, stores the beacon error R b m bike, a signal containing the respective beacon error R b to the carrier Put it on and send it out.
  • the beacon error R b v of the passenger car stored in the beacon is larger than the beacon error R b b of the bus.
  • the position identification device installed in the bus is usually lower in antenna than the position identification device installed in the passenger car because the installation height of the position identification device in the passenger car is lower than the installation height of the position identification device in the bus.
  • the beacon error Rb stored by the beacon indicates a smaller value as the height at which the position specifying device is installed is higher.
  • FIG. 5 is a schematic block diagram showing the configuration of the position specifying device according to the second embodiment of the present invention.
  • the position specifying device according to the second embodiment further includes a vehicle type information acquiring unit 9 in the position specifying device according to the first embodiment, and the operation of the beacon error acquiring unit 6 is different.
  • the vehicle type information acquisition unit 9 acquires the vehicle type information of the vehicle in which the device is installed from the vehicle-mounted device.
  • the beacon error acquisition unit 6 acquires the beacon error Rb included in the signal received by the beacon signal reception unit 4 and associated with the vehicle type information acquired by the vehicle type information acquisition unit 9. Thereby, the position specific
  • the signal transmitted from the beacon in the first embodiment includes a beacon error Rb for each road.
  • FIG. 6 is a diagram illustrating an example of a situation of an intersection where a beacon is installed.
  • the beacon carrier irradiation range may vary.
  • the example shown in FIG. 6 is an example of an intersection where the road 3 is provided in the extending direction of the road 1 and the road 4 is provided in the extending direction of the road 2, and the roads 1, 3 and the roads 2, 4 intersect. It is.
  • the widths of the roads 1 and 3 are wider than the widths of the roads 2 and 4, vacant land is spread on both sides of the road 2, and buildings are built on both sides of the road 4.
  • the beacon is provided so that the beacon position is at the center of the intersection.
  • the roads 1 and 3 are wider than the roads 2 and 4. Therefore, the irradiation range of the carrier in the road width direction of the roads 1 and 3 is the irradiation range of the carriers of the roads 2 and 4. Wider. Moreover, since both sides of the road 4 are buildings, the irradiation range of the carrier wave in the road extending direction is narrower than the road 2 where both sides are vacant. Thus, since the spread of the carrier wave differs depending on the road, it is preferable to make the beacon error Rb different for each road.
  • FIG. 7 is a diagram illustrating an example of a beacon error stored in a beacon according to the third embodiment of the present invention.
  • the beacon is a beacon error for each road as a beacon error R b (in the example of FIG. 6, a beacon error R b 1 for road 1 , a beacon error R b 2 for road 2 , a beacon error R b 3 for road 3 , and a road 4 Beacon error R b 4 ), and a signal including each beacon error R b is transmitted on a carrier wave.
  • FIG. 8 is a schematic block diagram showing the configuration of the position specifying device according to the third embodiment of the present invention.
  • the position specifying device according to the third embodiment includes a road specifying unit 10 in addition to the position specifying device according to the first embodiment, and the operation of the beacon error acquiring unit 6 is different.
  • the road specifying unit 10 specifies the road on which the vehicle currently exists based on the vehicle position stored in the position storage unit 2.
  • the beacon error acquiring unit 6 acquires the beacon error Rb included in the signal received by the beacon signal receiving unit 4 and associated with the road specified by the road specifying unit 10. Thereby, the position specific
  • the beacon position Pb is specified by a method different from the first embodiment.
  • the beacon position was contained in the signal transmitted from a beacon, and the beacon position acquisition part 5 demonstrated the case acquired by reading a beacon position from a signal.
  • a mode in which the beacon position is estimated from the strength of the carrier wave at the time of receiving a signal from the beacon will be described.
  • the position specifying device can estimate the beacon position.
  • the beacon according to the fourth embodiment stores information indicating the relationship between the radio wave intensity and the distance from the reception position to the beacon position instead of the beacon position, and transmits a signal including the information on a carrier wave.
  • the beacon position acquisition unit 5 of the position specifying device according to the fourth embodiment reads the intensity of the carrier wave when the beacon signal reception unit 4 receives the signal and the information included in the received signal.
  • the beacon position acquisition unit 5 reads the distance to the beacon position associated with the strength of the carrier wave when the signal is received in the read information. Then, the beacon position is calculated by adding the distance read in the road extending direction (or the vehicle traveling direction) of the current estimated position stored in the position storage unit 2.
  • the beacon position can be calculated based on the reception intensity of the carrier wave at the time of signal reception from the beacon.
  • the fifth embodiment is a mode in which the beacon position Pb is specified by a method different from the first embodiment and the fourth embodiment.
  • the beacon position was contained in the signal transmitted from a beacon, and the beacon position acquisition part 5 demonstrated the case acquired by reading a beacon position from a signal.
  • the beacon position is estimated from the strength of the carrier wave at the time of receiving the signal from the beacon has been described.
  • 5th Embodiment demonstrates the form which estimates a beacon position based on the peak value of the intensity
  • the beacon position acquisition unit 5 of the position specifying device according to the fifth embodiment sequentially stores the estimated position of the position specifying device and the strength of the carrier wave detected by the beacon signal receiving unit 4 at the estimated position. Next, when the intensity of the carrier wave detected by the beacon signal receiving unit 4 has passed the peak, the beacon position acquisition unit 5 reads the estimated position associated with the peak intensity as the beacon position.
  • the beacon position can be calculated based on the reception intensity of the carrier wave at the time of signal reception from the beacon.
  • FIG. 9 is a diagram illustrating the relationship between the traveling position and the strength of the carrier wave when the beacon position is on the roadside.
  • the beacon according to the sixth embodiment stores information indicating the relationship between the peak intensity of the carrier wave and the beacon position in the road width direction instead of the beacon position, and transmits a signal including the information on the carrier wave. .
  • the beacon position acquisition unit 5 of the position specifying device reads the peak intensity of the carrier wave detected by the beacon signal reception unit 4 and information included in the received signal.
  • the beacon position acquisition unit 5 reads the beacon position in the road width direction associated with the peak intensity of the carrier wave in the read information.
  • the beacon position in the road extending direction and the road width direction can be calculated based on the reception intensity of the carrier wave at the time of signal reception from the beacon.
  • the embodiment of the present invention has been described in detail with reference to the drawings.
  • the specific configuration is not limited to the above, and various design changes and the like can be made without departing from the scope of the present invention.
  • the beacon outputs a signal indicating the beacon position P b and the beacon error R b has been described.
  • the present invention is not limited to this, and the beacon is associated with the identification information of each beacon.
  • the beacon position Pb and the beacon error Rb may be stored in advance.
  • the estimation error Rc may be a fixed value.
  • the estimation error R c is used as the weight of the beacon position P b and the beacon error R b is used as the weight of the estimation position P c is described.
  • the present invention is not limited to this. using the inverse of R c as the weight of the estimated position P c, may be used reciprocal beacon error R b as the weight of the beacon position P b.
  • the present invention is not limited to this, and a scalar value may be used as the weight value.
  • the case where the variance-covariance matrix is used as the weight values R b and R c has been described.
  • the present invention is not limited to this.
  • other dispersion degrees such as the standard deviation and range of the beacon position are used.
  • a representative value such as an average value or a median value of the distance from the reception position to the beacon position may be used.
  • the above-described position specifying device has a computer system inside.
  • the operation of each processing unit described above is stored in a computer-readable recording medium in the form of a program, and the above processing is performed by the computer reading and executing this program.
  • the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like.
  • the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.
  • the program may be for realizing a part of the functions described above. Furthermore, what can implement
  • the position specifying unit calculates the position indicated by the weighted average of the estimated position and the beacon position as the position of the own apparatus. . Thereby, it is possible to reduce the error due to the irradiation range of the carrier wave by the beacon and specify the position where the own apparatus exists.
  • Position estimation unit 2 ... Position memory 3 . Estimated error calculator 4 ... Beacon signal receiver 5 . Beacon position acquisition unit 6: Beacon error acquisition unit 7: Position specifying part 8 Position output unit 9 ... Vehicle information acquisition unit 10 ... Road specific part

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Traffic Control Systems (AREA)

Abstract

Selon l'invention, une unité d'identification d'emplacement (7) calcule un emplacement indiqué par une moyenne pondérée d'un emplacement estimé et d'un emplacement de balise comme l'emplacement du dispositif lui-même. Par conséquent, il est possible de réduire l'erreur résultant d'une plage d'émission d'une onde porteuse au moyen d'une balise afin d'identifier l'emplacement où se trouve le dispositif.
PCT/JP2012/074532 2011-09-27 2012-09-25 Dispositif d'identification d'emplacement, procédé d'identification d'emplacement et programme WO2013047503A1 (fr)

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SG2014008700A SG2014008700A (en) 2011-09-27 2012-09-25 Location identification device, location identification method, and program

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JP2011-210715 2011-09-27
JP2011210715A JP5871536B2 (ja) 2011-09-27 2011-09-27 位置特定装置、位置特定方法、及びプログラム

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WO2019123558A1 (fr) * 2017-12-20 2019-06-27 株式会社日立製作所 Système d'estimation de position de soi

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JP6610035B2 (ja) * 2015-07-01 2019-11-27 トヨタ自動車株式会社 位置情報提供システム
FR3084150B1 (fr) * 2018-07-17 2021-02-26 Renault Sas Procede de localisation d'un vehicule
WO2020226071A1 (fr) * 2019-05-08 2020-11-12 日立オートモティブシステムズ株式会社 Dispositif de détection de position de véhicule, et dispositif de création d'ensemble de paramètres permettant la détection de position de véhicule
JP2022071237A (ja) * 2020-10-28 2022-05-16 株式会社日立製作所 測位方法

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