WO2020166058A1 - 測位装置、測位システム、移動端末及び測位方法 - Google Patents
測位装置、測位システム、移動端末及び測位方法 Download PDFInfo
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- WO2020166058A1 WO2020166058A1 PCT/JP2019/005527 JP2019005527W WO2020166058A1 WO 2020166058 A1 WO2020166058 A1 WO 2020166058A1 JP 2019005527 W JP2019005527 W JP 2019005527W WO 2020166058 A1 WO2020166058 A1 WO 2020166058A1
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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
- G01S5/0205—Details
- G01S5/0221—Receivers
- G01S5/02213—Receivers arranged in a network for determining the position of a transmitter
- G01S5/02216—Timing or synchronisation of the receivers
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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
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
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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
- G01S5/0205—Details
- G01S5/0226—Transmitters
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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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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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
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
-
- 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
- G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
- G01S2205/02—Indoor
Definitions
- the present invention relates to positioning technology for measuring position information using signal waves transmitted from a plurality of signal transmission sources.
- GNSS Global Navigation Satellite System
- Galileo Global Positioning System
- QSS Quasi-Zenith Satellite System QSS system
- GNSS global navigation satellite system
- a positioning technology other than GNSS a positioning technology using a plurality of access points in a wireless LAN (Wireless Local Area Network) or a plurality of signal sources such as a plurality of beacons each transmitting radio waves or inaudible sounds is known.
- the positions of the plurality of signal sources are used as known information.
- a positioning system based on the time of arrival (Time of Arrival, ToA) method may be used between a receiving terminal and a plurality of signal sources based on a measurement value of the arrival time of a signal wave propagating from the plurality of signal sources to the receiving terminal. Is measured, and the position information of the receiving terminal is estimated based on the measured distance.
- ToA Time of Arrival
- Patent Document 1 International Publication No. 2014/192893.
- the positioning system disclosed in Patent Document 1 includes a mobile terminal (reception terminal) carried by a user, a plurality of beacons (signal sources) that transmit inaudible sound to the mobile terminal while being placed in an indoor space, It is provided with a fixed receiver arranged in the indoor space and a server capable of communicating with the fixed receiver and the mobile terminal via a communication network.
- the mobile terminal acquires the receiver ID of the fixed receiver from a fixed receiver existing in the vicinity, and transmits the receiver ID to the server, thereby disabling the non-acceptance in each of the plurality of beacons. Acquiring auxiliary information regarding the timing of transmitting a sound from the server.
- the mobile terminal receives the inaudible sound from the plurality of beacons, and calculates the error ⁇ between the timer of the mobile terminal and the timer of the fixed receiver based on the inaudible sound and the auxiliary information.
- the mobile terminal can again receive the inaudible sound from the plurality of beacons, and can measure the position information of the mobile terminal using the reception time of the inaudible sound and the error ⁇ .
- a fixed receiver that transmits a receiver ID to a mobile terminal is installed in an indoor space in advance, and a server that provides auxiliary information to the mobile terminal in the indoor space. Since it is necessary to prepare in advance, there is a problem that the construction cost of the positioning system increases. In addition, in a communication environment in which auxiliary information cannot be received from the server, it is difficult to measure the position information of the mobile terminal with high accuracy.
- an object of the present invention is to provide a positioning device, a positioning system, and a mobile device that can keep the construction cost of the positioning system low and can measure highly accurate position information even in an environment where GNSS cannot be used.
- the point is to provide a terminal and a positioning method.
- a positioning device operates in cooperation with a signal receiver that receives a plurality of signal waves coming from at least one synchronous transmission unit that has a plurality of signal transmitters that operate in synchronization with each other.
- the arrival time detection unit for detecting the arrival time of each of the plurality of signal waves based on the received signal output from the signal receiver, and the plurality of signals based on the difference between the detected arrival times.
- a distance difference calculation unit that calculates a difference in distance from the transmitter to the signal receiver as a set of observation values, an observation vector indicating the set of observation values, and known position information of the plurality of signal transmitters are used.
- the positioning calculation unit that calculates the estimated state vector indicating the position information of the signal receiver by executing the positioning calculation based on the nonlinear Kalman filter is also provided.
- highly accurate position information can be measured even in an environment where GNSS cannot be used, and the cost of constructing a positioning system can be kept low.
- FIG. 7 is a functional block diagram showing a schematic configuration of a synchronous transmission unit according to a modified example of the first embodiment.
- FIG. 3 is a functional block diagram showing a schematic configuration of the positioning device according to the first embodiment.
- FIG. 3 is a functional block diagram showing a schematic configuration of a hardware configuration example of the positioning device according to the first embodiment.
- 5 is a flowchart schematically showing an example of a procedure of positioning processing according to the first embodiment. 5 is a flowchart schematically showing an example of a procedure of positioning processing according to the first embodiment.
- FIGS. 7A and 7B are schematic diagrams showing an example of the waveform of the output signal of the correlation processing unit according to the first embodiment. It is a figure which shows the example of the transition of the track (estimated state vector) of a mobile terminal. It is a functional block diagram which shows schematic structure of the positioning device in Embodiment 2 which concerns on this invention. 7 is a flowchart schematically showing an example of a procedure of positioning processing according to the second embodiment.
- FIG. 1 is a functional block diagram showing a schematic configuration of the positioning system according to the first embodiment of the present invention.
- the positioning system shown in FIG. 1 includes a signal transmission system 1 and a mobile terminal 2.
- the signal transmission system 1 is arranged in a positioning space IS such as an indoor space or an underground space where positioning using GNSS cannot be performed.
- the signal transmission system 1 can measure the position information of the mobile terminal 2 with high accuracy even in such a positioning space IS.
- the signal transmission system 1 includes N synchronization transmission units 12 1 ,..., 12 N that transmit a plurality of signal waves for positioning, and transmission information necessary for transmission of the plurality of signal waves, the synchronization transmission unit 12 1 , , 12 N for transmitting information.
- N is an integer of 2 or more.
- Synchronous transmission unit 12 1, ..., 12 N are all assumed to have the same configuration.
- the n-th synchronous transmitter 12 n includes M signal transmitters Tx n,1 , Tx n,2 ,..., Tx n,M and the M signal transmitters Tx n,1 , Tx n,2. , ... have Tx n, and a time synchronization unit 14 n to be operated in synchronization with M together.
- n is an arbitrary integer in the range of 1 to N indicating the number of the synchronous transmission unit 12 n
- M is an integer of 3 or more indicating the number of signal transmitters Tx n,1 to Tx n,M. is there.
- Transmitting information supply unit 11 the signal transmitter Tx n, 1, Tx n, 2, ..., Tx n, the control signal D n, 1 for designating a signal wave of the waveform pattern to be transmitted from M, ..., D n and M are supplied to signal transmitters Tx n,1 , Tx n,2 ,..., Tx n,M , respectively.
- the signal transmitters Tx n,1 , Tx n,2 ,..., Tx n,M operate in synchronization with each other, and have a waveform pattern specified by the control signals D n,1 ,..., D n,M.
- the waves w n,1 , w n,2 ,..., W n,M (for example, radio waves or sound waves in the inaudible range) can be transmitted at the transmission timing designated by the synchronous transmission unit 12 n .
- the time synchronization unit 14 n realizes time synchronization between the signal transmitters Tx n,1 , Tx n,2 ,..., Tx n,M .
- time synchronization between the synchronization transmitters 12 1 ,..., 12 N is not always necessary.
- FIG. 2 is a functional block diagram showing a schematic configuration of the synchronous transmission unit 13 n according to the modification of the first embodiment.
- the synchronous transmitter 13 n transmits the signal transmitters Tx n,1 , Tx n,2 ,..., Tx n,M and the control signals D n,1 ,..., D n,M designating the waveform pattern, respectively.
- Tx n,M and a transmission information supply unit 11 n which supplies the information to the units Tx n,1 , Tx n,2 ,..., Tx n,M .
- the synchronous transmission unit 13 n shown in FIG. 2 may be used.
- the mobile terminal 2 includes signal waves w 1,1 to w 1,M ,..., W N,1 coming from the synchronous transmission units 12 1 ,..., 12 N in the signal transmission system 1. It is provided with a signal receiver Rx that receives up to w N,M , a positioning device 31 that operates in cooperation with the signal receiver Rx, and a transmission information supply unit 30.
- the transmission information supply unit 30 supplies the known position information of the synchronous transmission units 12 1 ,..., 12 N and a reference signal to be used for detecting the arrival time to the positioning device 31.
- a mobile communication terminal such as a smartphone or a digital communication device such as a tablet terminal can be used.
- the transmission information supply unit 30 is a component different from the positioning device 31, but is not limited to this.
- the transmission information supply unit 30 may be incorporated in the positioning device 31.
- the signal receiver Rx includes a reception sensor 21 for detecting the signal waves w 1,1 to w 1,M ,..., W N,1 to w N,M arriving from the synchronous transmission units 12 1 ,..., 12 N ,
- the reception signal processing unit 22 generates an analog reception signal output from the reception sensor 21 by performing analog signal processing such as amplification and analog-digital conversion to generate a digital reception signal.
- the reception sensor 21 of the signal receiver Rx may be, for example, a microphone having sensitivity in the non-audible range. Good.
- the digital reception signal (hereinafter, simply referred to as “reception signal”) output from the reception signal processing unit 22 is given to the positioning device 31.
- FIG. 3 is a functional block diagram showing a schematic configuration of the positioning device 31 in the first embodiment.
- the positioning device 31 synchronizes on the basis of the signal storage unit 40 that temporarily stores the reception signal output from the signal receiver Rx and the reception signal read from the signal storage unit 40.
- An arrival time (ToA) detection unit 41 for detecting the arrival time of each of a plurality of signal waves arriving from the signal transmitters Tx n,1 to Tx n,M for each transmission unit 12 n , and the difference between the detected arrival times.
- a distance difference calculation unit 46 that calculates a difference in distance from the signal transmitters Tx n,1 to Tx n,M to the signal receiver Rx for each synchronous transmission unit 12 n as a set of observation values, and a positioning calculation unit. (Tracking processing unit) 51.
- the positioning calculation unit 51 uses a non-linear Kalman filter (Nonlinear Kalman filter) that uses an observation vector indicating a set of observation values calculated by the distance difference calculation unit 46 and known position information of the signal transmitters Tx n,1 to Tx n,M. It has a function of calculating an estimated state vector indicating the position information of the target signal receiver Rx, that is, a track by executing a positioning calculation based on Filter).
- the positioning calculation unit 51 can track a track that changes from moment to moment.
- the ToA detection unit 41 has a correlation processing unit 43 and a ToA calculation unit 44.
- the correlation processing unit 43 executes a correlation process between the reference signal supplied from the transmission information supply unit 30 and the received signal.
- the correlation processing unit 43 as described above may be configured using a known matched filter, for example.
- a plurality of peaks respectively corresponding to the arrival times of the plurality of signal waves coming from the signal transmitters Tx n,1 to Tx n,M appear.
- the ToA calculation unit 44 can detect these peaks and calculate the arrival times corresponding to the detected peaks.
- the ToA calculation unit 44 can detect the peaks by comparing the amplitude or power of the output signal of the correlation processing unit 43 with the threshold value TH.
- the distance difference calculation unit 46 acquires the arrival time detected by the ToA detection unit 41, and based on the difference between the arrival times (hereinafter referred to as “arrival time difference”), the signal transmitter Tx for each synchronous transmission unit 12 n. A difference in distance from n,1 to Tx n,M to the signal receiver Rx (hereinafter referred to as “distance difference”) can be calculated.
- the signal transmitters Tx n,1 to Tx n,M existing in the positioning space IS four signal transmitters Tx n,A , Tx n,B , Tx n,C and Tx are included.
- n, the position coordinates and D, respectively, (x a, y a, z a), (x B, y B, z B), (x C, y C, z C), (x D, y D, z D ), and the position coordinates of the signal receiver Rx are represented as (x, y, z).
- the distances between the four signal transmitters Tx n,A , Tx n,B , Tx n,C , Tx n,D and the signal receiver Rx are respectively r A , r B , r C , r D. Shall be represented. At this time, the distances r A , r B , r C , and r D are represented by the following equations (1.1), (1.2), (1.3), (1.4).
- the propagation velocity of the signal wave in the positioning space IS represents the c, 4 pieces of signal transmitters Tx n, A, Tx n, B, Tx n, C, Tx n, among and D, the signal transmitter Tx n, A , Tx n, arrival time difference [delta] AB signal wave among B, signal transmitter Tx n, a, Tx n, AC arrival time difference of the signal wave among C [delta], the signal transmitter Tx n, a, Tx
- the arrival time difference of the signal wave between n and D is represented by ⁇ AD .
- ⁇ AD the arrival time difference of the signal wave between n and D is represented by ⁇ AD .
- the distance difference calculation unit 46 can calculate the three-dimensional observation vector z s (k) at time t k , for example, based on Expression (2).
- the superscript s is the number of each observation vector obtained by one transmission of the synchronous transmission units 12 1 ,..., 12 N.
- the positioning calculation unit 51 can measure the position information of the signal receiver Rx by executing the positioning calculation based on the nonlinear Kalman filter using the observation vector z s (k). As shown in FIG. 3, the positioning calculation unit 51 includes a correlation hypothesis generation unit 61, a correlation hypothesis evaluation unit 62, a hypothesis update unit 63, a hypothesis selection unit 64, a hypothesis storage unit 65, a track prediction unit 66, and a track determination unit 68. It is configured with. The configuration and operation of the positioning calculator 51 will be described later.
- All or some of the functions of the positioning device 31 described above include, for example, a semiconductor integrated circuit or a plurality of semiconductor integrated circuits such as a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Gate Array). It can be realized by a processor. Alternatively, all or some of the functions of the positioning device 31 are realized by one or more processors including a computing device such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) that executes program code of software or firmware. May be done.
- a computing device such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) that executes program code of software or firmware. May be done.
- CPU Central Processing Unit
- GPU Graphics Processing Unit
- the positioning device 31 it is possible to realize all or part of the functions of the positioning device 31 by a single processor or a plurality of processors including a combination of a semiconductor integrated circuit such as DSP, ASIC or FPGA and an arithmetic unit such as CPU or GPU. ..
- FIG. 4 is a functional block diagram showing a schematic configuration of a signal processing circuit 70 that is a hardware configuration example of the positioning device 31 according to the first embodiment.
- the signal processing circuit 70 shown in FIG. 4 includes a processor 71, an input/output interface 74, a memory 72, a storage device 73, and a signal path 75.
- the signal path 75 is a bus for connecting the processor 71, the input/output interface 74, the memory 72, and the storage device 73 to each other.
- the input/output interface 74 has a function of transferring the signal input from the signal receiver Rx to the processor 71 and a function of outputting the track data transferred from the processor 71 to the outside.
- the memory 72 includes a work memory used when the processor 71 executes digital signal processing, and a temporary storage memory in which data used in the digital signal processing is expanded.
- the memory 72 may be composed of a semiconductor memory such as a flash memory and an SDRAM.
- the memory 72 can be used as the signal storage unit 40 and the hypothesis storage unit 65 of FIG.
- the storage device 73 can be used as a storage area for storing a program code of software or firmware to be executed by the computing device.
- the storage device 73 may be composed of a non-volatile semiconductor memory such as a flash memory or a ROM (Read Only Memory).
- the number of processors 71 is one, but the number is not limited to this.
- the hardware configuration of the positioning device 31 may be realized using a plurality of processors that operate in cooperation with each other.
- FIGS. 5 and 6 are flowcharts schematically showing an example of the procedure of the positioning process according to the first embodiment.
- the flowcharts shown in FIGS. 5 and 6 are connected to each other via connectors C1 and C2.
- the ToA detection unit 41 selects one synchronous transmission unit 12 n from the synchronous transmission units 12 1 ,..., 12 N (step ST11), and the signal transmitter Tx n in the synchronous transmission unit 12 n . , 1 to Tx n,M to the signal receiver Rx, the respective arrival times of the signal waves w n,1 to w n,M are detected (step ST12).
- the correlation processing unit 43 executes the correlation processing between the reference signal supplied from the transmission information supply unit 30 and the reception signal read from the signal storage unit 40.
- the ToA calculation unit 44 detects the peak appearing in the output signal by comparing the amplitude or power of the output signal of the correlation processing unit 43 with the threshold value TH, and calculates the arrival time corresponding to each of the detected peaks. be able to.
- the threshold TH may be determined based on the false detection probability due to noise, for example.
- the ToA calculation unit 44 when interference occurs between signal waves, a situation may occur in which the output signal waveform Pf is caused by the signal wave and the output signal waveform Pb is not caused by the signal wave, as shown in the example of FIG. 7B. .. If such a situation is assumed, the ToA calculation unit 44 may detect a false peak. Therefore, in order to prevent detection of false peaks, the ToA calculation unit 44 preferably sets the threshold value based on peaks other than the peak having the maximum amplitude among the plurality of peaks. In the case of FIG.
- the ToA calculation unit 44 is less than the amplitude of the peak (peak having the maximum amplitude) of the output signal waveform Pf among the peaks of the output signal waveforms Pf and Pb, and the false peak of the output signal waveform Pb.
- the threshold value TH can be set to a value exceeding the amplitude of. This makes it possible to avoid false peak detection.
- the ToA calculation unit 44 changes the output signal waveform to the output signal waveform. All the appearing peaks should be detected and used.
- step ST12 of FIG. 5 when all of the synchronous transmission units 12 1 ,..., 12 N are not selected (NO in step ST13), the ToA detection unit 41 synchronizes among the remaining synchronous transmission units. One transmitting unit 12 n is selected (step ST14). Then, step ST12 is executed.
- the distance difference calculation unit 46 acquires the arrival time detected by the ToA detection unit 41 as described above. A distance difference based on the arrival time difference is calculated for each synchronous transmission unit 12 n (step ST21). At this time, the distance difference calculation unit 46 supplies the observation vector including the calculated distance difference to the positioning calculation unit 51.
- the extended Kalman filter Extended Kalman Filter, EKF
- EKF Extended Kalman Filter
- ⁇ (k) is a target state vector at time t k
- f() and h() are nonlinear function vectors, respectively.
- w(k ⁇ 1) is a system noise vector indicating the ambiguity of the target motion velocity
- the average value of the system noise vector w(k ⁇ 1) is 0, and its covariance matrix is Q k
- v(k) is an observation noise vector
- the average value of the observation noise vector v(k) is 0, and its covariance matrix is R k .
- the target state vector ⁇ (k) is represented by, for example, the following expression (4), the three-dimensional position components x(k), y(k), z(k) and the velocity component dx(k)/dt. , Dy(k)/dt, dz(k)/dt are 6-dimensional vectors.
- the superscript T is a symbol representing transposition.
- the formula (3.1) can be expressed as the following formula (5).
- F k in Expression (5) can be expressed by a matrix of 6 rows and 6 columns as shown in the following Expression (6).
- I 3 ⁇ 3 is a unit matrix of 3 rows and 3 columns.
- the covariance matrix Q k of the system noise vector w(k) is as shown in the following equation (7) (q is the power spectral density of the system noise and is a constant value).
- the estimated state vector indicating the estimated state of the target at the past time t k ⁇ 1 is represented by ⁇ i (k ⁇ 1
- the superscript i is an integer of 1 or more indicating the number of the estimated state vector.
- k ⁇ 1) at time t k ⁇ 1 is defined as in the following Expression (8).
- c i (k ⁇ 1) is an evaluation value indicating the likelihood of the hypothesis H i (k ⁇ 1
- k ⁇ 1) of the equation (8) is the estimated state vector ⁇ i (k ⁇ 1
- the hypothesis storage unit 65 stores a hypothesis H i (k ⁇ 1
- 0) at time t 0 is given as an initial parameter.
- step ST31 the track prediction unit 66 acquires the hypothesis H i (k ⁇ 1
- the track prediction unit 66 uses the hypothesis H i (k ⁇ 1
- the track prediction unit 66 can calculate the prediction state vector ⁇ i (k
- the track prediction unit 66 can calculate the prediction error covariance matrix P i (k ⁇ 1
- F k ⁇ 1 in Expression (10) is a partial differential matrix (Jacobian) as shown in Expression (11) below.
- step ST32 the track prediction unit 66 uses the prediction state vector ⁇ i (k
- k ⁇ 1) as shown in the following expression (12) is generated (step ST33).
- k ⁇ 1) of the equation (12) is the prediction state vector ⁇ i (k
- the correlation hypothesis generation unit 61 uses the observation vector z s (k) and the prediction hypothesis H i (k
- k-1) are calculated (step ST34).
- k ⁇ 1) of the equation (13.1) is calculated by using the prediction state vector ⁇ i (k
- the correlation hypothesis evaluation unit 62 calculates the correlation hypotheses M (i,s) (k
- the new evaluation values c i (k) and d i (k) can be calculated based on the following equations (14.1) and (14.2).
- g i (k) is the likelihood of the track
- p D is the detection probability
- ⁇ FT is the preset false detection occurrence rate.
- k-1) are expressed by the following equations (15.1) and (15.2). It
- k-1) is obtained by predicting the prediction state vector ⁇ i (k
- k ⁇ 1) is predicted. It is a combination of the state vector ⁇ i (k
- the hypothesis updating unit 63 updates the updated correlation hypotheses N (i,s) (k
- k) are calculated based on the following equations (16.1) and (16.2). It is possible.
- K k i is an extended Kalman gain matrix
- H k is a partial differential matrix (Jacobian).
- the extended Kalman gain matrix K k i is expressed by the following equation (17).
- the partial differential matrix H k is expressed by the following equation (18).
- k) can be calculated by the following equations (19.1) and (19.2). ..
- the hypothesis updating unit 63 calculates the estimated state vectors ⁇ (i,s) (k
- k) has an estimated state vector ⁇ (i,s) (k
- the hypothesis selection unit 64 evaluates a relatively high value from the hypothesis candidates H (i,s) (k
- k) is a reallocated number, and is an integer of 1 or more.
- the track determination unit 68 has the highest value among the hypothesis candidates H (i,s) (k
- the track (estimated state vector) of the hypothesis candidate having the evaluation value is determined as the track at the current time t k (step ST40).
- the determined track data (track data) is output to the outside.
- step ST40 the positioning calculation section 51 determines whether or not to continue the positioning calculation (step ST41), and when it is determined to continue the positioning calculation (YES in step ST41), increments the time number k. Then (step ST42), the positioning process is returned to step ST11 in FIG. On the other hand, when it is determined that the positioning calculation is not continued (NO in step ST41), the positioning calculation section 51 ends the positioning process.
- the positioning calculation unit 51 uses the observation vector z s (k) and the known position information of the signal transmitters Tx n,1 to Tx n,M to perform the nonlinear operation. By executing the positioning calculation based on the Kalman filter, the estimated state vector ⁇ i (k
- FIG. 8 is a diagram showing an example of transition of a target track (estimated state vector). As shown in FIG.
- is (k-2 k-2) , a plurality of track phi 1 at time t k-1 (k-1
- the evaluation value of the correlation hypothesis consists of the accumulation of the likelihood at each time, so the evaluation value of the correlation hypothesis including the likely track may gradually increase. Be expected. Therefore, as shown in FIG. 8, the track ⁇ 1 (k-1
- the hypothesis selection unit 64 does not select the track ⁇ 2 (k
- the server that provides the auxiliary information as disclosed in Patent Document 1 since the server that provides the auxiliary information as disclosed in Patent Document 1 is not required, it is possible to keep the construction cost of the positioning system low.
- the distance difference calculation unit 46 calculates an observation vector indicating the set of distance differences for each synchronous transmission unit 12 n , and the positioning calculation unit 51 executes the positioning calculation based on the nonlinear Kalman filter using the observation vector. Therefore, the highly accurate estimated state vector ⁇ i (k
- FIG. 9 is a functional block diagram showing a schematic configuration of the mobile terminal 3 according to the second embodiment of the present invention.
- the mobile terminal 3 includes a signal receiver Rx, a transmission information supply unit 30, and a positioning device 32.
- the positioning device 32 includes a signal storage unit 40 and an arrival time (ToA).
- the detection unit 42, the distance difference calculation unit 46, and the positioning calculation unit (tracking processing unit) 52 are included.
- the configuration of the positioning system according to the present embodiment has the ToA detection unit 42 of FIG. 9 in place of the ToA detection unit 41 of FIG. 3, and the trajectory prediction unit of FIG. 9 instead of the trajectory prediction unit 66 of FIG.
- the configuration is the same as that of the positioning system according to the first embodiment except that it has 67.
- a mobile communication terminal such as a smartphone or a digital communication device such as a tablet terminal can be used.
- the ToA detection unit 42 of this embodiment includes a correlation processing unit 43, a ToA calculation unit 44, and a maximum likelihood estimation unit 45.
- the maximum likelihood estimation unit 45 has a function of estimating the arrival time of each of a plurality of signal waves by executing a process (maximum likelihood estimation process) based on the maximum likelihood estimation method for each synchronous transmission unit 12 n . ..
- the ToA calculation unit 44 calculates the arrival time with low accuracy, or calculates the arrival time required to configure the observation vector z i (k). I can't do it. Even in such a case, the maximum likelihood estimation unit 45 can calculate the maximum likelihood estimated value of the arrival time.
- the track predicting unit 67 of the present embodiment has the same function as the track predicting unit 66 of the first embodiment, and further, before the positioning calculation is executed, the target (signal receiver Rx) at the current time t k . It has a function of calculating the prediction state vector ⁇ i (k
- FIG. 10 is a flowchart schematically showing an example of the procedure of the positioning process according to the second embodiment.
- the flowchart shown in FIG. 10 is combined with the flowchart shown in FIG. 6 via connectors C1 and C2.
- the track prediction unit 67 calculates the predicted state vector ⁇ i (k
- the ToA detection unit 42 executes steps ST11 to ST14 as in the case of the first embodiment (FIG. 5).
- the maximum likelihood estimation unit 45 determines whether or not to perform the maximum likelihood estimation process (step ST15). For example, when the accuracy of the arrival time calculated by the ToA calculation unit 44 is low, or when the arrival time required to form the observation vector z i (k) is not calculated, the maximum likelihood estimation unit 45 May execute the maximum likelihood estimation process (steps ST16 to ST17). When it is determined that the maximum likelihood estimation process is not executed (NO in step ST15), step ST21 is executed as in the case of the first embodiment (FIG. 5).
- the maximum likelihood estimation unit 45 causes the transmission information supply unit 30 to transmit the signal transmitters Tx 1,1 to Tx 1,M ,..., Tx N. ,1 to Tx N,M known position information is acquired, and the signal transmitters Tx 1,1 to Tx 1 are calculated using the known position information and the predicted position of the signal receiver Rx calculated in step ST2.
- M 2 ,..., Tx N,1 to Tx N,M the predicted arrival times T p,1 , T p,2 ,..., T p,I of the respective signal waves propagating from the signal receiver Rx to the signal receiver Rx are calculated ( Step ST14).
- I is a positive integer indicating the number of arrival times to be predicted.
- the maximum likelihood estimation unit 45 acquires the reception signal from the signal storage unit 40, acquires the reference signal from the transmission information supply unit 30, and uses the reception signal and the reference signal to calculate the predicted arrival time T p. , 1 , T p,2 ,..., T p,I are used as initial values to perform the maximum likelihood estimation process to calculate the maximum likelihood estimation value at the arrival time (step ST17). Then, the distance difference calculation unit 46 calculates the distance difference based on the arrival time maximum likelihood estimated value (step ST21). After that, step ST31 is executed as in the case of the first embodiment (FIG. 6).
- the maximum likelihood estimator 45 is based on a known maximum likelihood estimation algorithm such as a steepest descent method, a Newton-Raphson method or a quasi-Newton method (BFGS method: Brloyden-Fletcher-Goldfarb-Shanno algorithm).
- a known maximum likelihood estimation algorithm such as a steepest descent method, a Newton-Raphson method or a quasi-Newton method (BFGS method: Brloyden-Fletcher-Goldfarb-Shanno algorithm.
- the arrival time vector t ToA in Expression (21) is represented by the following Expression (22).
- T 1 , T 2 ,..., T I are variables of arrival times corresponding to the predicted arrival times T p,1 , T p,2 ,..., T p,I , respectively.
- ⁇ (t ToA ) as shown in the following equation (23) can be used.
- ⁇ 2 is the variance of the noise power
- L is the number of samples of the reception signal acquired from the signal storage unit 40
- w is the L row and 1 column having the sample value of the reception signal as an element.
- A(t ToA ) is a matrix
- S is a vector
- H is a symbol representing Hermitian conjugation.
- the matrix A( tToA ) of the equation (23) is represented by the following equation (24), for example.
- r 1 (T 1 ),..., r I (T I ) are vectors obtained by sampling L sample values from each of the I reference signals.
- the matrix A(t ToA ) is a matrix with L rows and I columns.
- the vector S of the equation (23) is represented by the following equation (25) when the amplitude and the initial phase of the i-th reference signal are represented by a i and ⁇ i , respectively.
- the ToA calculation unit 44 calculates the arrival time with low accuracy, or calculates the arrival time required to configure the observation vector z i (k). Even when it is not possible, the maximum likelihood estimator 45 can calculate the maximum likelihood estimated value of the arrival time. This makes it possible to provide a highly reliable positioning system.
- the maximum likelihood estimation unit 45 executes the maximum likelihood estimation process using the predicted arrival times T p,1 , T p,2 ,..., T p,I as initial values (step ST17), the time required to search for the arrival time can be shortened, and the calculation amount of the maximum likelihood estimation processing can be reduced.
- the maximum likelihood estimator 45 Predicted arrival times T p,1 , T p,2 ,..., T p,I are sampled multiple times from the I normal distribution using the average value, and the sample value is used as the initial value.
- the estimation process may be executed.
- all or some of the functions of the positioning device 32 described above can be realized by one or more processors having a semiconductor integrated circuit such as DSP, ASIC, or FPGA.
- all or some of the functions of the positioning device 32 may be implemented by one or more processors including a computing device such as a CPU or GPU that executes program code of software or firmware.
- all or part of the functions of the positioning device 32 can be realized by one or more processors including a combination of a semiconductor integrated circuit such as DSP, ASIC or FPGA and an arithmetic unit such as CPU or GPU. ..
- the hardware configuration of the positioning device 32 may be realized by the signal processing circuit 70 shown in FIG.
- first and second embodiments according to the present invention have been described above with reference to the drawings, the first and second embodiments are examples of the present invention, and various embodiments other than the first and second embodiments and These variations are possible. Within the scope of the present invention, it is possible to freely combine the first and second embodiments, modify any constituent element of each embodiment, or omit any constituent element of each embodiment.
- the positioning device, mobile terminal, positioning system, and positioning method according to the present invention can measure highly accurate position information even in an environment where GNSS cannot be used, and therefore, for example, a mobile terminal in an indoor space or an underground space. It is suitable for use in a navigation system that uses the positioning information of the above and a hybrid positioning system that uses a combination of a plurality of types of positioning technologies.
- IS positioning space 1 signal transmission system, 2, 3 mobile terminals, 11, 11 n transmission information supply unit, 12 1 ,..., 12 N , 13 n synchronous transmission unit, Tx 1,1 to Tx N,M signal transmitter , 14 1 ,..., 14 N time synchronization unit, Rx signal receiver, 21 reception sensor, 22 reception signal processing unit, 30 transmission information supply unit, 31, 32 positioning device, 32 positioning device, 40 signal storage unit, 41, 42 arrival time (ToA) detection unit, 43 correlation processing unit, 44 arrival time (ToA) calculation unit, 45 maximum likelihood estimation unit, 46 distance difference calculation unit, 51, 52 positioning calculation unit (tracking processing unit), 61 correlation hypothesis Generation unit, 62 correlation hypothesis evaluation unit, 63 hypothesis update unit, 64 hypothesis selection unit, 65 hypothesis storage unit, 66,67 track prediction unit, 68 track determination unit, 70 signal processing circuit, 71 processor, 72 memory, 73 storage device , 74 Input/output interface, 75 Signal path.
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Abstract
Description
図1は、本発明に係る実施の形態1の測位システムの概略構成を示す機能ブロック図である。図1に示される測位システムは、信号送信システム1及び移動端末2を備えて構成されている。信号送信システム1は、GNSSを用いた測位を実行することができない屋内空間または地下空間などの測位空間IS内に配置されている。信号送信システム1は、そのような測位空間ISでも移動端末2の位置情報を高精度に計測することができる。
ここで、Φ(k)は、時刻tkにおける目標の状態ベクトルであり、f(),h()は、それぞれ非線形関数ベクトルである。w(k-1)は、目標の運動速度の曖昧さを示すシステム雑音ベクトルであり、システム雑音ベクトルw(k-1)の平均値は0、その共分散行列はQkである。また、v(k)は、観測雑音ベクトルであり、観測雑音ベクトルv(k)の平均値は0、その共分散行列はRkである。
ここで、上付き添え字Tは、転置を表す記号である。
ここで、ci(k-1)は、仮説Hi(k-1|k-1)の尤もらしさを示す評価値である。式(8)の仮説Hi(k-1|k-1)は、推定状態ベクトルφi(k-1|k-1),推定誤差共分散行列Pi(k-1|k-1)及び評価値ci(k-1)の組み合わせである。
ここで、z0(k)は、観測ベクトルzs(k)(s=1,2,…)が割り当てられないことを便宜上示す符号である。式(13.1)の相関仮説M(i,s)(k|k-1)は、予測状態ベクトルφi(k|k-1),予測誤差共分散行列Pi(k|k-1),評価値ci(k-1),及び,割り当てられた観測ベクトルzs(k)の組み合わせであり、式(13.2)の相関仮説M(i,0)(k|k-1)は、予測状態ベクトルφi(k|k-1),予測誤差共分散行列Pi(k|k-1),評価値ci(k-1),及び,符号z0(k)の組み合わせである。
ここで、gi(k)は航跡の尤度であり、pDは検出確率であり、βFTはあらかじめ設定された誤検出発生率である。
ここで、更新された相関仮説N(i,s)(k|k-1)は、予測状態ベクトルφi(k|k-1),予測誤差共分散行列Pi(k|k-1),割り当てられた観測ベクトルzs(k),及び,更新された評価値ci(k)の組み合わせであり、更新された相関仮説N(i,0)(k|k-1)は、予測状態ベクトルφi(k|k-1),予測誤差共分散行列Pi(k|k-1),符号z0(k),及び,更新された評価値di(k)の組み合わせである。
ここで、Kk iは拡張カルマンゲイン行列であり、Hkは偏微分行列(ヤコビアン)である。拡張カルマンゲイン行列Kk iは、次式(17)で表現される。
ここで、仮説候補H(i,s)(k|k)は、推定状態ベクトルφ(i,s)(k|k),推定誤差共分散行列P(i,s)(k|k),及び,評価値ci(k)の組み合わせであり、仮説候補H(i,0)(k|k)は、推定状態ベクトルφ(i,0)(k|k),推定誤差共分散行列P(i,0)(k|k),及び,評価値di(k)の組み合わせである。
次に、本発明に係る実施の形態2について説明する。図9は、本発明に係る実施の形態2の移動端末3の概略構成を示す機能ブロック図である。図9に示されるように、移動端末3は、信号受信器Rx,送信情報供給部30及び測位装置32を備えて構成されており、測位装置32は、信号記憶部40、到来時刻(ToA)検出部42、距離差算出部46及び測位演算部(追尾処理部)52を有する。本実施の形態の測位システムの構成は、図3のToA検出部41に代えて図9のToA検出部42を有し、かつ、図3の航跡予測部66に代えて図9の航跡予測部67を有する点を除いて、実施の形態1の測位システムの構成と同じである。なお、移動端末3としては、たとえば、スマートフォンなどの移動体通信端末、あるいは、タブレット端末などのディジタル通信機器が使用可能である。
ここで、σ2は、雑音電力の分散であり、Lは、信号記憶部40から取得された受信信号のサンプル数であり、wは、受信信号のサンプル値を要素とするL行1列のベクトルであり、A(tToA)は行列であり、Sはベクトルであり、上付き添え字Hは、エルミート共役を表す記号である。
ここで、r1(T1),…,rI(TI)は、それぞれ、I個の参照信号の各々からL個のサンプル値をサンプリングして得られるベクトルである。行列A(tToA)は、L行I列の行列となる。
Claims (11)
- 互いに同期して動作する複数の信号送信器を有する少なくとも1つの同期送信部から到来した複数の信号波を受信する信号受信器と連携して動作する測位装置であって、
前記信号受信器から出力された受信信号に基づいて前記複数の信号波それぞれの到来時刻を検出する到来時刻検出部と、
当該検出された到来時刻の差に基づき、前記複数の信号送信器から前記信号受信器までの距離の差を観測値の組として算出する距離差算出部と、
当該観測値の組を示す観測ベクトルと前記複数の信号送信器の既知の位置情報とを用いた非線形カルマンフィルタに基づく測位演算を実行することにより、前記信号受信器の位置情報を示す推定状態ベクトルを算出する測位演算部と
を備えることを特徴とする測位装置。 - 請求項1に記載の測位装置であって、
前記少なくとも1つの同期送信部は、複数の同期送信部で構成されており、
前記複数の同期送信部の各々は、M個の信号送信器を含み(Mは2以上の整数)、
前記距離差算出部は、前記同期送信部ごとに前記観測値の組を算出する、
ことを特徴とする測位装置。 - 請求項1または請求項2に記載の測位装置であって、
前記到来時刻検出部は、
前記受信信号と参照信号との間の相関処理を実行する相関処理部と、
前記相関処理部の出力信号に現れる複数のピークのうち閾値以上の振幅または電力を有するピークに対応する時刻を前記到来時刻として算出する到来時刻算出部と
を含むことを特徴とする測位装置。 - 請求項3に記載の測位装置であって、前記到来時刻算出部は、前記複数のピークのうちの最大振幅を有するピーク以外のピークに基づいて前記閾値を設定することを特徴とする測位装置。
- 請求項1または請求項2に記載の測位装置であって、前記到来時刻検出部は、最尤推定処理を実行することにより前記複数の信号波それぞれの到来時刻を推定することを特徴とする測位装置。
- 請求項1または請求項2に記載の測位装置であって、前記到来時刻検出部は、前記複数の信号波それぞれの予測到来時刻を用いた最尤推定処理を実行することにより前記複数の信号波それぞれの到来時刻を推定することを特徴とする測位装置。
- 請求項1から請求項6のうちのいずれか1項に記載の測位装置であって、前記測位演算部は、前記非線形カルマンフィルタに基づく測位演算を実行することにより前記推定状態ベクトルの複数の候補を算出するとともに、当該複数の候補の尤度をそれぞれ表す複数の評価値を算出し、当該複数の評価値に基づいて前記複数の候補の中から少なくとも1つの候補を選択することを特徴とする測位装置。
- 請求項1から請求項7のうちのいずれか1項に記載の測位装置であって、前記複数の信号波は非可聴域の音波であることを特徴とする測位装置。
- 請求項1から請求項8のうちのいずれか1項に記載の測位装置と、前記信号受信器とを備えることを特徴とする移動端末。
- 請求項1から請求項8のうちのいずれか1項に記載の測位装置及び前記信号受信器を有する移動端末と、前記少なくとも1つの同期送信部とを備えることを特徴とする測位システム。
- 互いに同期して動作する複数の信号送信器を有する少なくとも1つの同期送信部から到来した複数の信号波を受信する信号受信器と連携して動作する測位装置において実行される測位方法であって、
前記信号受信器から出力された受信信号に基づいて前記複数の信号波それぞれの到来時刻を検出するステップと、
当該検出された到来時刻の差に基づき、前記複数の信号送信器から前記信号受信器までの距離の差を観測値の組として算出するステップと、
前記観測値の組を示す観測ベクトルと前記複数の信号送信器の既知の位置情報とを用いた非線形カルマンフィルタに基づく測位演算を実行することにより、前記信号受信器の位置情報を示す推定状態ベクトルを算出するステップと
を備えることを特徴とする測位方法。
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JP6877663B2 (ja) | 2021-05-26 |
GB2594413B (en) | 2022-04-20 |
US11796626B2 (en) | 2023-10-24 |
GB202109938D0 (en) | 2021-08-25 |
US20210333354A1 (en) | 2021-10-28 |
JPWO2020166058A1 (ja) | 2021-05-20 |
GB2594413A (en) | 2021-10-27 |
CN113412432A (zh) | 2021-09-17 |
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