WO2018225507A1

WO2018225507A1 - Sensor management device, position acquiring system, position acquiring method, and position acquiring program

Info

Publication number: WO2018225507A1
Application number: PCT/JP2018/019766
Authority: WO
Inventors: 相烈李; 哲二大和
Original assignee: オムロン株式会社
Priority date: 2017-06-06
Filing date: 2018-05-23
Publication date: 2018-12-13

Abstract

A fixed sensor receiving unit (32) acquires sensing data obtained by sensing an observed object, from each of a plurality of fixed sensors (10) placed in different locations. A moving sensor receiving unit (33) acquires sensing data obtained by a moving sensor (20) sensing the observed object. A position information estimating unit (34) estimates the position of the moving sensor (20) on the basis of a comparison result obtained by comparing the sensing data from the moving sensor (20) with the sensing data from each fixed sensor (10), and on the basis of position information indicating the placement position of each fixed sensor (10), stored in a virtual space model database (31).

Description

Sensor management device, position acquisition system, position acquisition method, and position acquisition program

The present invention relates to a technique for acquiring the position of a mobile sensor that senses an observation target such as an environment carried by a user.

Conventionally, satellite positioning systems such as GPS (Global Positioning System) are known as means for measuring an arbitrary position on the earth. In GPS, positioning processing is performed using broadcast radio waves received from artificial satellites. For this reason, the error of positioning processing by GPS increases in places such as indoors where broadcasting radio waves are difficult to reach. As a conventional method for measuring the position of a portable terminal moving indoors, Patent Document 1 discloses a positioning device that uses radio wave reception intensity from a Wi-Fi access point or a Bluetooth transmitter for short-range wireless communication. ing. Patent Document 1 discloses a positioning device that generates a learning model for positioning in advance using a proximity transmitter in addition to Wi-Fi and Bluetooth, and performs positioning using the learning model thereafter. Proposed.

That is, the positioning device described in Patent Document 1 obtains in advance the reception status of radio waves from other radio sources at the position where the radio wave from the proximity transmitter is received while moving the portable terminal that receives radio waves indoors, That is, a learning model is generated, and thereafter, the indoor position of the mobile terminal is measured with a predetermined accuracy while referring to the learning model with the proximity transmitter removed.

Japanese Unexamined Patent Publication No. 2016-170005

However, the positioning device of Patent Document 1 requires a proximity transmitter in the preparation stage, which is costly. In addition, the positioning operation of the proximity transmitter, the information on the radio wave reception status while moving the mobile terminal in advance are provided. Therefore, there is a problem in that the learning model creation work to be acquired in the next step and the work to remove the proximity transmitter are required, which takes time and makes the configuration complicated.

It is an object of the present invention to provide a technique for estimating the position of a movement sensor with a simple configuration.

The sensor management device according to the present invention includes a fixed sensor acquisition unit that acquires sensing data obtained by sensing an observation target by a plurality of fixed sensors that are arranged at different locations, and a movement sensor that is carried by a user. A movement sensor acquisition unit that acquires sensing data obtained by sensing an observation target, a position information storage unit that stores position information indicating a position of a place where the fixed sensor is disposed, and a fixed sensor The position of the movement sensor based on the comparison result obtained by comparing the sensing data of the fixed sensor with the sensing data of the movement sensor and the position information stored in the position information storage unit for each of the fixed sensors And a position estimation unit for estimating.

Further, the position acquisition system according to the present invention is different from the sensor management device in that the arranged location is different, and a plurality of fixed sensors that sense the observation target at the arranged location, and are carried by the user to sense the observation target. And a movement sensor.

In addition, the position acquisition method according to the present invention is such that, for each of a plurality of fixed sensors at different locations, the computer acquires sensing data obtained by sensing the observation target by the fixed sensor, and the mobile sensor carried by the user is Sensing data obtained by sensing an observation target is obtained, and for each of the fixed sensors, a comparison result obtained by comparing the sensing data of the fixed sensor with the sensing data of the moving sensor, and a position information storage unit are provided for each of the fixed sensors. The position of the movement sensor is estimated based on position information indicating the position of the place where the fixed sensor is stored.

Further, the position acquisition program according to the present invention includes a step of acquiring sensing data obtained by sensing an observation target for each of a plurality of fixed sensors at different locations, and a mobile sensor carried by the user A step of obtaining sensing data obtained by sensing an object; and for each of the fixed sensors, a comparison result obtained by comparing the sensing data of the fixed sensor with the sensing data of the moving sensor, and a position information storage unit including the fixed sensor And a step of estimating the position of the movement sensor based on position information indicating the position of the place where the fixed sensor is stored, which is stored every time.

In these inventions, for each of a plurality of fixed sensors at different locations, the relative values of the movement sensor and the fixed sensor are determined based on the comparison result obtained by comparing the sensing data of the fixed sensor with the sensing data of the movement sensor. The relative position is estimated. The position information storage unit stores position information indicating the position of the place where the fixed sensor is arranged for each fixed sensor. That is, the position of each fixed sensor is known. Therefore, the position of the movement sensor can be estimated based on the relative positional relationship with the fixed sensor and the position of the known fixed sensor. That is, the position of the movement sensor is estimated using sensing data sensed by an existing fixed sensor that senses an observation target such as the environment. This makes it possible to estimate the position of the movement sensor with a simple configuration without using a dedicated positioning sensor.

The position estimation unit estimates, as a position of the movement sensor, a position indicated by position information of the fixed sensor whose sensing data is most similar to the sensing data of the movement sensor among the plurality of the fixed sensors. It may be configured. If comprised in this way, the location where one of the fixed sensors is arrange | positioned will be estimated as a position of a movement sensor.

Further, by including at least one of temperature, humidity, noise, atmospheric pressure, and illuminance as the environment, it is possible to estimate the position of the movement sensor using one or more types of sensing data. .

Further, a position information adding unit that associates position information indicating the position of the movement sensor estimated by the position estimation unit with sensing data of the movement sensor may be additionally provided. If comprised in this way, a sensing position can be matched with the sensing data which the movement sensor sensed the observation object, Therefore The use value of the sensing data which this movement sensor sensed the observation object can be improved.

In the position information acquisition system, the sensor management device may be a mobile terminal in which the movement sensor is integrated. In other words, the sensor management device may be configured by a mobile terminal incorporating a movement sensor. With this configuration, the overall configuration is simplified, and the collected data can be browsed smoothly and quickly.

According to the present invention, the position of the movement sensor can be estimated with a simple configuration.

It is a schematic diagram of a sensing data distribution system. It is a figure which shows the state of a user's movement. It is a functional block diagram of a position acquisition system. It is a figure explaining the similarity of the sensing data of a fixed sensor, and the sensing data of a movement sensor, (A) is a figure which shows an example of each sensing data in fixed sensor 10A, 10B, 10C, (B) is a figure of fixed sensor The figure explaining the arrangement | positioning position and the movement condition of a movement sensor, (C) is a figure which shows the transition of the sensing data accompanying the movement of a movement sensor. It is a flowchart which estimates the position of the movement sensor performed by a sensor management apparatus. It is another functional block diagram of the positional information acquisition system shown in FIG. It is a flowchart which estimates the position of the movement sensor performed by the sensor management apparatus concerning another example.

FIG. 1 is a schematic diagram of a sensing data distribution system as an example to which a position acquisition system according to an embodiment of the present invention is applied. The sensing data distribution system 1 is a system that distributes sensing data obtained on the providing side as a transaction (sales) target from the providing side to the using side. The providing side includes a fixed sensor 10, a movement sensor 20, and a sensor management device 30 that are sensing devices. The user side includes an application system 50 (for example, a personal computer). Further, in the embodiment shown in FIG. 1, the providing side and the using side are connected to be able to perform data communication via a sensor network server 40 provided on a network 60 such as the Internet. The sensor network server 40 constitutes a sensing data distribution market that is a market place, that is, an SDTM (Sensing Data Trading Market).

A plurality of fixed sensors 10, for example, a plurality of indoor indoor locations where the user Pa will live, for example, a living room on the first floor, a kitchen, a washroom and a sleeping room, a stair lift or a window on a second floor room Etc. That is, in this example, a plurality of fixed sensors 10 are installed at different locations. The fixed sensor 10 is a sensor that continuously or periodically senses at least one of temperature, humidity, atmospheric pressure, noise, illuminance, and the like (that is, any combination of environments) at an existing position. The fixed sensor 10 configured to sense a plurality of types of environments may have a configuration in which a plurality of sensing devices are incorporated in a single housing, for example. In addition, the some fixed sensor 10 from which the kind of environment to sense differs may be installed in the same location.

The fixed sensor 10 transmits sensing data obtained by sensing an observation target to the sensor management device 30. Identification information is set in the fixed sensor 10. The fixed sensor 10 associates (sets) the set identification information, the sensing data, and the sensing time of the sensing data, and transmits them to the sensor management device 30. Note that the fixed sensor 10 is not limited to a sensing device that senses the environment, and may include at least a part of a sensing device that senses another observation target depending on the application or the like.

The movement sensor 20 is carried by the user Pa (see FIG. 2) and may be the same sensor as the fixed sensor 10 or may be a sensor that senses the same type of observation target data in part with the fixed sensor 10. The movement sensor 20 performs sensing processing and communication processing with the sensor management device 30. Identification information is set in the movement sensor 20. The movement sensor 20 associates (sets) the set identification information, sensing data, and sensing time of the sensing data with each other, and transmits them to the sensor management device 30.

The sensor management device 30 receives sensing data from the fixed sensor 10 and the movement sensor 20, creates a catalog for matching transaction objects, and transmits sensing data selected as transaction objects to the application system 50 side. And the process which estimates the position (position information) of the movement sensor 20 mentioned later is performed. Further, the sensor management device 30 stores, for each fixed sensor 10, position information indicating a location where the fixed sensor 10 is installed, for example, position code information (position information) defined in advance in common. Sensing data to be traded includes data from the fixed sensor 10 and data from the movement sensor 20. In the present embodiment, the catalog is an information aggregate that is created according to a predetermined format and presents transaction-target sensing data and corresponding attribute information (for example, sensor identification information, sensor position information, sensing time). Say. The sensor network server 40 receives the catalog from the sensor management device 30 and registers it. The user side can browse the catalog using the application system 50. The sensor network server 40 selects sensing data to be a transaction target desired by the user side based on a matching result corresponding to a usage request from the user side. In principle, the user side acquires sensing data and attribute information to be traded, selected by matching, from the sensor management device 30 via the network 60. Thereby, the user side can utilize the requested environmental information smoothly.

The sensor management device 30 may be a personal computer, a mobile terminal such as a smartphone or a tablet, or other information processing device. FIG. 2 is an embodiment in which the sensor management device 30 is a mobile terminal, and shows a state where the user Pa is carrying the sensor management device 30 together with the movement sensor 20. The movement sensor 20 and the sensor management device 30 may be configured integrally.

Sensing data from the movement sensor 20 becomes highly reliable (commercial value) transaction target information by being associated with the position information, and can be suitably distributed between the providing side and the using side. .

FIG. 3 is a functional configuration diagram of the position information acquisition system. The position information acquisition system includes a fixed sensor 10, a movement sensor 20, and a sensor management device 30. The fixed sensor 10 includes a sensing data collection unit 11 and a transmission unit 12. The sensing data collection unit 11 includes a sensing device and a memory unit that temporarily stores sensing data. The transmission unit 12 transmits the collected sensing data to the sensor management device 30. The transmission unit 12 is connected to the sensor management device 30 by wire or wireless.

The movement sensor 20 includes a sensing data collection unit 21, a transmission unit 22, a position information addition transmission unit 23, and a reception unit 24. The sensing data collection unit 21 includes a sensing device and a memory unit that temporarily stores sensing data. The transmission unit 22 is connected to the sensor management device 30 by wire or wirelessly, and transmits collected sensing data to the sensor management device 30. The position information giving / transmitting unit 23 is connected to the sensor management device 30 in a wired or wireless manner, and adds the position information obtained by the sensor management device 30 to the sensing data collected by the sensing data collection unit 21; The sensing data to which the information is assigned is transmitted to the distribution sensing data DB 36. The receiving unit 24 is connected to the sensor management device 30 by wire or wireless.

The sensor management device 30 includes a virtual space model DB (database) 31, a fixed sensor receiving unit 32, a movement sensor receiving unit 33, a position information estimating unit 34, and a position information transmitting unit 35.

The virtual space model DB 31 is a database that stores the sensing data from each fixed sensor 10 and the sensing time of the sensing data in association with each other. Further, the virtual space model DB 31 also stores position information indicating the location where the fixed sensor 10 is installed for each fixed sensor 10. The sensor management device 30 receives an input of position information indicating a location installed for each fixed sensor 10 and stores it in the virtual space model DB 31. The sensor management device 30 displays a virtual image of the house indicating the location where each fixed sensor 10 is installed based on the position information indicating the location where each fixed sensor 10 is stored, which is stored in the virtual space model DB 31. You may provide the structure displayed on a part etc. In this example, the virtual space model DB 31 corresponds to the position information storage unit referred to in the present invention. The fixed sensor receiver 32 receives sensing data and sensing time information transmitted from the transmitter 12 of each fixed sensor 10 in units of fixed sensors. In this example, the fixed sensor receiver 32 corresponds to the fixed sensor acquisition unit referred to in the present invention. The movement sensor reception unit 33 receives sensing data and sensing time information transmitted from the transmission unit 22 of the movement sensor 20. In this example, the movement sensor reception unit 33 corresponds to the movement sensor acquisition unit referred to in the present invention.

The sensor management device 30 is configured by a computer or the like and has at least one hardware processor. The position information estimation unit 34 executes the following processing by a processing program stored in a storage unit (not shown). To do. The position information estimation unit 34 estimates the position of the movement sensor 20 by comparing the similarity between the sensing data received from the movement sensor 20 and the sensing data of the fixed sensor 10 stored in the virtual space model DB 31. Specifically, the position information estimation unit 34 sequentially performs a calculation process of a numerical value representing a similarity as described later for each fixed sensor 10 and associates the sensing data with the highest similarity with the fixed sensor 10 that sensed the sensing data. The position indicated by the position information is estimated as the position of the movement sensor 20. In this example, the position information estimation unit 34 corresponds to the position estimation unit referred to in the present invention. The position information transmission unit 35 transmits the position information indicating the estimated position of the movement sensor 20 (position information associated with the fixed sensor 10 sensing the sensing data with the highest similarity) to the reception unit 24 of the movement sensor 20. To the position information addition transmission unit 23. The position information addition transmission unit 23 adds (links) the received position information to the sensing data of the movement sensor 20 used by the position information estimation unit 34 to estimate the position of the movement sensor 20, and performs distribution sensing. It transmits to data DB36.

Here, the similarity between the sensing data of the plurality of fixed sensors 10 and the sensing data of the movement sensor 20 will be described with reference to FIG. FIG. 4A shows sensing data for, for example, atmospheric pressure, temperature, and noise sensed in the time direction (horizontal axis in the figure) by the respective fixed sensors 10 arranged at three locations in the room. Now, it is assumed that three fixed sensors 10 are arranged, the fixed sensor 10A is arranged at an appropriate position on the first floor, the fixed sensor 10B is arranged immediately near the second floor, and the fixed sensor 10C is arranged on the second floor. It is assumed that it is arranged at the window. In FIG. 4A, when comparing the sensing data between the fixed sensors 10A to 10C, the fixed sensors 10B and 10C are on the second floor, so the atmospheric pressure is relatively lower than the fixed sensor 10A on the first floor. Further, the fixed sensor 10B has a relatively high noise compared to the fixed sensors 10A and 10C. Further, the temperature of the fixed sensor 10C is relatively high compared to the fixed sensors 10A and 10B because the temperature is positive at the window. As described above, generally, the sensing data of each fixed sensor 10 has a characteristic based on a difference in each installation position and its environmental condition.

In the above, as shown in FIGS. 4B and 4C, it is assumed that the user Pa rises from the first floor to the second floor and moves to the window. The sensing data of the movement sensor 20 is most similar to the sensing data of the fixed sensor 10A while the user Pa is on the first floor, and is most similar to the sensing data of the fixed sensor 10B when the user Pa rises to the second floor. When the user Pa moves near the window, it is most similar to the sensing data of the fixed sensor 10C. The position information estimation unit 34 obtains a difference between the types of sensing data of the movement sensor 20 and each fixed sensor 10 for each type, and performs known statistical processing to obtain numerical values such as the degree of similarity and the proximity of the distance. In other words, by performing such processing with all the fixed sensors 10, the most similar (that is, the minimum value) fixed sensor 10 is specified. Then, the position information estimation unit 34 estimates the position indicated by the specified position information of the fixed sensor 10 as the position (position information) of the movement sensor 20. When the fixed sensor 10 and the movement sensor 20 have the same configuration, the similarity processing is performed efficiently, and the number of sensing environments may be one, but the accuracy increases as the number increases. .

In the embodiment, the position of any one of the fixed sensors 10 is estimated as the position of the movement sensor 20, but for example, the atmospheric pressure sensed by the movement sensor 20 is 1st floor (fixed sensor 10A) and 2 When the intermediate value of the floor (fixed sensors 10B, 10B) is shown, the position of the user Pa can be estimated as the middle of the staircase. The position is not necessarily limited to the position of the fixed sensor 10.

FIG. 5 is a flowchart for estimating the position of the movement sensor 20 executed by the sensor management device 30. In the following description, the position of any one of the fixed sensors 10 is estimated as the position of the movement sensor 20. When the sensor management device 30 receives sensing data from the fixed sensor 10 that performs sensing continuously or periodically by the fixed sensor receiver 32 (step S1), the sensor management device 30 stores the sensing data in the virtual space model DB 31 ( Step S3). The fixed sensor 10 transmits the set identification information and sensing time to the sensor management device 30 together with the sensing data. That is, in step S1, the identification information of the fixed sensor 10 and the sensing time are received from the fixed sensor 10 together with the sensing data. In step S3, the identification information of the fixed sensor 10, the sensing data, and the sensing time of the sensing data received from the fixed sensor 10 are stored in the virtual space model DB 31 in association with each other.

On the other hand, when the sensor management device 30 receives the sensing data from the movement sensor 20 by the movement sensor reception unit 33 (step S5), the position information estimation unit 34 determines the similarity of the sensing data between the movement sensor 20 and each fixed sensor 10. Are calculated and compared by the method as described above (step S7). When the comparison with the respective sensing data of all the fixed sensors 10 is completed (Yes in Step S9), the position information estimation unit 34 extracts the position information of the fixed sensor 10 having the highest similarity (Step S11). As sensing data on the fixed sensor 10 side for similarity comparison processing, it is preferable to use data at the same time as the sensing time at the mobile sensor 20 or at the closest time. In addition, an average value may be applied when the fluctuation is large at the most recent time. The position information of each fixed sensor 10 is stored in the virtual space model DB 31.

Next, the sensor management device 30 transmits the position information extracted in step 11 to the movement sensor 20 in the position information transmission unit 35 (step S13). The movement sensor 20 adds the sensing time and the position information received this time to the sensing data of the movement sensor 20 used by the position information estimation transmission unit 23 to estimate the position of the movement sensor 20 in the position information addition transmission unit 23. (Link) and transmit to the distribution sensing data DB 36. Accordingly, in this example, the sensing data sensed by the mobile sensor 20 can be associated with the sensing time and sensing position and stored in the distribution sensing data DB 23. In this example, the movement sensor 20 includes a display unit for position confirmation, and the position of the movement sensor 20 is displayed on the display unit based on the position information received from the sensor management device 30. Good. If comprised in this way, in the movement sensor 20, the present position can be confirmed.

FIG. 6 is a functional configuration diagram of another embodiment of the position information acquisition system shown in FIG. In the position information acquisition system illustrated in FIG. 6, the movement sensor 120 includes a sensing data collection unit 21 and a transmission unit 22. Further, the sensor management device 130 includes a position information addition / transmission unit 135 on the output side of the position information estimation unit 34. The position information adding / transmitting unit 135 adds the position information estimated by the position information estimating unit 34 to the sensing data and transmits it to the sensing data DB 36 for distribution. In this example, the position information addition transmission unit 135 corresponds to the position information addition unit referred to in the present invention.

FIG. 7 is a flowchart for estimating the position of the movement sensor 20 executed by the sensor management apparatus 130 according to this example. In FIG. 7, the same processing as that in FIG. 5 has the same step number.

When the sensor management apparatus 130 according to this example executes the processing of Step 1 to Step 11 described above, the position information addition / transmission unit 135 calculates the sensing time and the position information estimated this time for the sensing data of the movement sensor 20. It is attached (linked) and transmitted to the distribution sensing data DB 36 (step 15). The sensor management apparatus 130 according to this example executes the process according to step 15 instead of the step 11 described above. Therefore, also in this example, the sensing data sensed by the mobile sensor 20 can be associated with the sensing time and sensing position and stored in the distribution sensing data DB 23.

In the comparison process for the similarity of sensing data between the movement sensor 20 and the fixed sensor 10, weighting may be performed according to the type of sensing data. In addition, the type of data to be referred to may be changed using time information (season, daytime, nighttime, weather). In addition to a method based on a known statistical process, the similarity determination is performed by using a known method that evaluates the size using a deviation between multiple variables (identifies the fixed sensor 10 that minimizes the deviation). Also good.

Moreover, in this embodiment, although the movement range of the movement sensor 20 was made into the residence of user Pa, it is applicable indoors, such as a store, an apartment house, a small and medium-sized building, and a common use part in a dwelling house other than this general house. . In addition, in the case of the user etc. which are used in a residence, it is good also as an aspect which attached to the movement sensor 20 the sensing device which senses body information (blood pressure value, a pulse rate, etc.) so that a user's health information may be included. Furthermore, the arrangement position of the fixed sensor 10 and the movement area of the movement sensor 20 are not necessarily limited to indoors depending on the purpose of data collection.

In the present invention, the transaction processing part such as the data catalog and the sensing data is not essential among the fixed sensor 10, the

movement sensors

20, 120 and the

sensor management devices

30, 130.

Further, the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Moreover, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine suitably the component covering different embodiment.

Further, a part or all of the above embodiment can be described as in the following supplementary notes, but is not limited thereto.

(Appendix 1)
Having at least one hardware processor;
The hardware processor is
For each of a plurality of fixed sensors with different locations, obtain the sensing data obtained by sensing the observation target by the fixed sensor,
The mobile sensor carried by the user acquires the sensing data obtained by sensing the observation target,
For each of the fixed sensors, a position information storage unit that stores position information indicating the position of the place where the fixed sensor is disposed;
For each of the fixed sensors, the comparison result obtained by comparing the sensing data of the fixed sensor with the sensing data of the movement sensor, and the position information storage unit stores the fixed sensor, and the fixed sensor is arranged. The sensor management apparatus which estimates the position of the said movement sensor based on the positional information which shows the position of the performed location.

(Appendix 2)
Using at least one hardware processor,
For each of a plurality of fixed sensors with different locations, obtain the sensing data obtained by sensing the observation target by the fixed sensor,
The mobile sensor carried by the user acquires the sensing data obtained by sensing the observation target,
For each of the fixed sensors, a position information storage unit that stores position information indicating the position of the place where the fixed sensor is disposed;
For each of the fixed sensors, the comparison result obtained by comparing the sensing data of the fixed sensor with the sensing data of the movement sensor, and the position information storage unit stores the fixed sensor, and the fixed sensor is arranged. The position acquisition method of estimating the position of the said movement sensor based on the positional information which shows the position of the performed location.

10, 10A, 10B, 10C ... fixed sensor 20 ... movement sensor 30 ... sensor management device 31 ... virtual space model DB (position information storage unit)
32 ... Fixed sensor reception unit 33 ... Movement sensor reception unit 34 ... Position

information estimation unit

23, 135 ... Position information addition transmission unit (position information addition unit)

Claims

For each of a plurality of fixed sensors having different locations, a fixed sensor acquisition unit that acquires sensing data obtained by sensing the observation target by the fixed sensor;
A mobile sensor acquisition unit for acquiring sensing data obtained by sensing an observation target by a mobile sensor carried by the user;
For each of the fixed sensors, a position information storage unit that stores position information indicating the position of the place where the fixed sensor is disposed;
For each of the fixed sensors, based on the comparison result obtained by comparing the sensing data of the fixed sensor with the sensing data of the movement sensor, and the position information stored in the position information storage unit for each of the fixed sensors. And a position estimation unit that estimates a position of the movement sensor.
The position estimating unit estimates, as a position of the movement sensor, a position indicated by position information of the fixed sensor whose sensing data is most similar to the sensing data of the movement sensor among the plurality of fixed sensors. The sensor management apparatus according to claim 1.
The sensor management apparatus according to claim 1 or 2, wherein the observation target includes at least one of temperature, humidity, noise, atmospheric pressure, and illuminance.
The sensor management apparatus according to any one of claims 1 to 3, further comprising a position information adding unit that associates position information indicating the position of the movement sensor estimated by the position estimation unit with sensing data of the movement sensor. .
A sensor management device according to any one of claims 1 to 4,
A plurality of fixed sensors that sense the observation target at the arranged locations are different, and
A position acquisition system comprising a movement sensor that is carried by a user and senses an observation target.
The position acquisition system according to claim 5, wherein the sensor management device is a mobile terminal in which the movement sensor is integrated.
Computer
For each of a plurality of fixed sensors with different locations, obtain the sensing data obtained by sensing the observation target by the fixed sensor,
The mobile sensor carried by the user acquires the sensing data obtained by sensing the observation target,
For each of the fixed sensors, the comparison result obtained by comparing the sensing data of the fixed sensor with the sensing data of the moving sensor, and the position information storage unit stores the information for each of the fixed sensors. The position acquisition method of estimating the position of the said movement sensor based on the positional information which shows the position of the performed location.
For each of a plurality of fixed sensors at different locations, a step of acquiring sensing data obtained by sensing the observation target by the fixed sensor;
A step of acquiring sensing data obtained by sensing an observation target by a mobile sensor carried by a user;
For each of the fixed sensors, the comparison result obtained by comparing the sensing data of the fixed sensor with the sensing data of the moving sensor, and the position information storage unit stores the information for each of the fixed sensors. The position acquisition program for making a computer perform the step which estimates the position of the said movement sensor based on the positional information which shows the position of the performed location.