WO2022124368A1 - 探索装置、集約装置、探索システム、探索方法及び非一時的なコンピュータ可読媒体 - Google Patents

探索装置、集約装置、探索システム、探索方法及び非一時的なコンピュータ可読媒体 Download PDF

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Publication number
WO2022124368A1
WO2022124368A1 PCT/JP2021/045329 JP2021045329W WO2022124368A1 WO 2022124368 A1 WO2022124368 A1 WO 2022124368A1 JP 2021045329 W JP2021045329 W JP 2021045329W WO 2022124368 A1 WO2022124368 A1 WO 2022124368A1
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WIPO (PCT)
Prior art keywords
terminal
communication request
search
request signal
approximate position
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Ceased
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PCT/JP2021/045329
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English (en)
French (fr)
Japanese (ja)
Inventor
一貴 吉田
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NEC Corp
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NEC Corp
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Publication date
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Priority to JP2022568330A priority Critical patent/JP7509237B2/ja
Priority to US18/265,176 priority patent/US20240111014A1/en
Publication of WO2022124368A1 publication Critical patent/WO2022124368A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G01S5/0257—Hybrid positioning
    • G01S5/0268—Hybrid positioning by deriving positions from different combinations of signals or of estimated positions in a single positioning system
    • 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
    • G01S5/0249—Determining position using measurements made by a non-stationary device other than the device whose position is being determined
    • 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
    • G01S5/06—Position of source determined 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
    • G01S2205/06—Emergency
    • 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
    • G01S5/04—Position of source determined by a plurality of spaced direction-finders
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial

Definitions

  • This disclosure relates to a search device, an aggregation device, a search system, a search method, and a search program.
  • the signal used in GPS positioning has strong straightness and is reflected by a building or the like, so that it cannot be used for positioning a terminal indoors.
  • the terminal is outdoors, it cannot be used to identify the victims under the rubble in the event of a large-scale disaster.
  • the positioning method used as an alternative to GPS is a positioning method using the radio wave reception status of the carrier mobile base station.
  • This is a method used when the positioning result cannot be actually acquired by the positioning by GPS in the positioning of the mobile terminal.
  • Patent Document 1 in a wireless communication network, the arrival time of a positioning reference signal sequence is estimated by a mobile terminal using a radio signal received from a base station, and the position of the mobile terminal is estimated from the estimated arrival time and the like.
  • Patent Document 2 discloses a technique for identifying the position of a mobile terminal of a disaster victim by using a temporary mobile base station in which a simple base station is mounted on a drone, a vehicle, or the like.
  • Patent Document 3 discloses a technique in which each radio base station measures an uplink arrival time and determines the position of a mobile terminal in a system including a network control device and at least three radio base stations.
  • Patent Document 4 discloses a technique in which a searched terminal automatically responds to a position search request and notifies a search requester of the position of the nearest radio base station that has received the response. In this technique, when the area where the searched terminal exists is found, a more accurate position of the searched terminal can be determined by using a direction finder.
  • the technique of acquiring the position information of the victim's mobile terminal by using the radio wave of the base station is known.
  • the radio wave reachable distance of a base station for 4G (4th generation mobile communication system) is several hundred meters to several kilometers. Therefore, if the location of the victim is specified using the radio wave from one base station, extremely insufficient positioning accuracy can be obtained. Therefore, as shown in FIG. 14, a method such as narrowing the position estimation range of the victim by performing three-point positioning or the like using a plurality of base station radio wave information received by the mobile terminal is adopted.
  • the information of the radio waves received from the plurality of base stations 900a to 900c is referred to on the terminal side, and the center point of the overlap (the star mark in the figure) is calculated as the positioning result.
  • the position of the terminal is within the shaded area in the figure, and this area is the positioning error.
  • the number of base stations may be four or more, and the higher the density of base stations, the higher the positioning accuracy can be expected.
  • the positioning error is about 50 m to 200 m, which is not an acceptable positioning accuracy in the event of a large-scale disaster.
  • Patent Document 2 it is desirable to perform positioning using a mobile base station in which a simple base station is mounted on a drone or a vehicle, as disclosed in Patent Document 2.
  • a mobile base station can flexibly move in the disaster area.
  • the mobile base station is gradually moved, and the estimation range of the mobile terminal position is narrowed from the condition of the radio wave received from the mobile terminal.
  • the present disclosure has been made to solve such a problem, and provides a search device, an aggregation device, a search system, a search method, and a search program capable of searching a terminal owned by a disaster victim with high accuracy. The purpose is.
  • the search device is A transmitter that transmits the first communication request signal to the terminal at multiple points, A receiving unit that receives a first response signal to the first communication request signal from the terminal, and a receiving unit.
  • a calculation unit that calculates the approximate position of the terminal, and Equipped with The receiving unit receives the first response signal including the reception time of the first communication request signal at the terminal.
  • the calculation unit calculates a time difference obtained from the transmission time and the reception time of the first communication request signal, and OTDOA (Observed Time) obtained based on the time difference at at least two of the plurality of points. Difference Of Arrival) is used to calculate the approximate position of the terminal.
  • OTDOA Observed Time
  • the aggregation device is Transmission time of the first communication request signal from a plurality of search devices that transmit the first communication request signal to the terminal at a plurality of points and receive the first response signal to the first communication request signal from the terminal.
  • the communication unit that receives the reception time of the first communication request signal at the terminal, and A calculation unit that calculates the time difference obtained from the transmission time and the reception time, and calculates the approximate position of the terminal using the OTDOA obtained based on the time difference at at least two of the plurality of points. It is equipped with.
  • the search system for this disclosure is A terminal that transmits a first response signal in response to a first communication request signal, A transmission unit that transmits a first communication request signal to the terminal at a plurality of points, and a reception unit that receives the first response signal including the reception time of the first communication request signal at the terminal from the terminal.
  • the time difference obtained from the communication unit that receives the transmission time and the reception time of the first communication request signal from the plurality of search devices and the transmission time and the reception time is calculated, and among the plurality of points.
  • An aggregation device having a calculation unit for calculating the approximate position of the terminal using OTDOA obtained based on the time difference at at least two points. It is equipped with.
  • the search method for this disclosure is The computer The step of transmitting the first communication request signal to the terminal at multiple points, A step of receiving a first response signal to the first communication request signal from the terminal, The step of calculating the approximate position of the terminal and Equipped with In the receiving step, the first response signal including the reception time of the first communication request signal at the terminal is received. In the calculation step, a time difference obtained from the transmission time and the reception time of the first communication request signal is calculated, and OTDOA obtained based on the time difference at at least two of the plurality of points is used. The approximate position of the terminal is calculated.
  • the search program for this disclosure is The step of transmitting the first communication request signal to the terminal at multiple points, A step of receiving a first response signal to the first communication request signal from the terminal, The step of calculating the approximate position of the terminal and Let the computer run In the receiving step, the first response signal including the reception time of the first communication request signal at the terminal is received. In the calculation step, a time difference obtained from the transmission time and the reception time of the first communication request signal is calculated, and OTDOA obtained based on the time difference at at least two of the plurality of points is used. The approximate position of the terminal is calculated.
  • a search device an aggregation device, a search system, a search method, and a search program capable of searching a terminal owned by a disaster victim with high accuracy.
  • FIG. It is a block diagram which shows the structure of the search apparatus which concerns on Embodiment 1.
  • FIG. It is a block diagram which shows the structure of the search system which concerns on Embodiment 2.
  • FIG. It is explanatory drawing of the operation in the terminal identification phase of the search apparatus which concerns on Embodiment 2.
  • FIG. It is explanatory drawing of the operation in the terminal identification phase of the search apparatus which concerns on Embodiment 2.
  • FIG. It is explanatory drawing of OTDOA used in Embodiment 2.
  • AoA used in Embodiment 2.
  • AoD used in Embodiment 2.
  • FIG. 1 is a block diagram showing a configuration of the search device 10 according to the present embodiment.
  • the search device 10 includes a transmission unit 11, a reception unit 12, and a calculation unit 13.
  • the transmission unit 11 transmits the first communication request signal to the terminal at a plurality of points.
  • the receiving unit 12 receives the first response signal to the first communication request signal from the terminal.
  • the calculation unit 13 calculates the approximate position of the terminal.
  • the receiving unit 12 receives the first response signal including the reception time of the first communication request signal at the terminal.
  • the calculation unit 13 calculates the time difference obtained from the transmission time and the reception time of the first communication request signal.
  • the calculation unit 13 uses the OTDOA (Observed Time Difference Of Arrival) obtained based on the time difference at at least two points among the plurality of points at which the first communication request signal is transmitted to roughly position the terminal (hereinafter referred to as “the terminal”). Approximate position) is calculated.
  • OTDOA Observed Time Difference Of Arrival
  • the search device 10 transmits a communication request signal to the terminal at a plurality of points, and receives a response signal including the reception time of this signal at the terminal.
  • the search device 10 calculates a time difference obtained from the transmission time of the communication request signal and the reception time included in the received response signal. Further, the search device 10 calculates the approximate position of the terminal using the OTDOA obtained based on the time difference at at least two points among the plurality of points. As a result, the search device 10 can search for the terminal owned by the victim with high accuracy.
  • FIG. 2 is a block diagram showing the overall configuration of the search system 1000 according to the present embodiment.
  • the search system 1000 includes search devices 100a and 100b, an aggregation device 200, a mobile terminal 300, and a searcher terminal 400.
  • the search system 1000 is, for example, a system for searching a mobile terminal 300 owned by a disaster victim by a search device 100 that can move in the air in the event of a disaster as described above.
  • the search device 100 identifies the position of the mobile terminal 300 and notifies the searcher terminal 400 owned by the searcher of the result.
  • FIG. 2 shows the search devices 100a and 100b and the aggregation device 200 that aggregates the information acquired by these, but the search device 100 can independently search the mobile terminal 300. Therefore, here, a method in which the search device 100a independently searches for the mobile terminal 300 will be mainly described.
  • the processing executed by the search system 1000 can be roughly divided into two phases.
  • the first phase is the search area search phase
  • the second phase is the terminal position identification phase.
  • FIG. 3 is a diagram showing the operation of the search device 100a in the search area search phase.
  • Vehicles and drones are mainly used to use mobile base stations in the event of a disaster.
  • the search device 100a may be, for example, a drone equipped with an antenna capable of receiving GPS and a simple base station.
  • the entire damaged area is divided into a plurality of areas and set as a search area of the search device 100a.
  • the search area is, for example, an area indicated by a 1 km square as shown in FIG.
  • the search area may be appropriately set according to the reach of radio waves that can be emitted from the search device 100a.
  • the search area can be set with a length less than the reach of radio waves that can be emitted by the search device 100a as the length of one side.
  • the search device 100a moves while repeatedly transmitting a communication request signal (first communication request signal) to the mobile terminal 300 at a radio wave strength capable of sufficiently covering the search area.
  • the communication request is transmitted with the radio wave angle narrowed toward the search area. This is to improve the stability of positioning using the radio wave angle in the terminal position specifying phase.
  • the search device 100a starts the search from the point A which is the apex of the search area.
  • the search device 100a moves as shown by an arrow shown in the figure while transmitting a communication request signal to the mobile terminal 300, and ends the process in this phase at the point B.
  • the search device 100a When the search device 100a transmits a communication request at a certain point and receives a response signal (first response signal) from the mobile terminal 300 within a certain period of time, the search device 100a stores the radio wave information contained therein.
  • the response signal received from the mobile terminal 300 includes the reception time of the communication request signal in the mobile terminal 300. Further, this response signal may include AoD of a communication request signal from a point used for OTDOA described later, a terminal ID for identifying a mobile terminal 300, and the like. Further, in the following description, information such as the reception time, AoD, and terminal ID included in the response signal from the mobile terminal 300 may be referred to as response information.
  • the search device 100a receives the response signal or does not receive the response signal from the mobile terminal 300 even after a certain period of time has elapsed, the search device 100a moves to the next position.
  • the search device 100a moves along the search area so that there is no area in the search area where the communication request signal has not reached.
  • the search device 100a may always move a certain distance or may move a different distance. For example, when it is known that there is only one mobile terminal 300 in the search area, the moving distance from the point where the response signal is received to the next point may be longer than usual. As a result, the time required for the search can be shortened. On the contrary, when it is known that a plurality of mobile terminals 300 exist in the search area, or when the search for a specific area is intensively performed, the moving distance to the next point is usually set. It may be shorter. Further, the search device 100a may widen or narrow the radio wave angle of the communication request signal depending on the search situation.
  • the search device 100a repeatedly transmits / receives and moves a signal to / from the mobile terminal 300, and determines that this phase has ended when the movement of two sides of the search area is completed. Then, the search device 100a shifts to the terminal position specifying phase.
  • FIGS. 4 and 5 are diagrams showing the operation of the search device 100a in the terminal position specifying phase.
  • the search device 100a first utilizes the information included in the response signal from the mobile terminal 300 obtained in the search area search phase, and the calculation unit 170 calculates the approximate position of the mobile terminal 300.
  • the approximate position of the mobile terminal 300 is calculated using cell-based positioning (positioning utilizing base station radio wave information) introduced in 5G (5th generation mobile communication system).
  • 5G 5th generation mobile communication system
  • the calculation unit 170 calculates the approximate position of the mobile terminal 300 that responded based on the information stored in the search area search phase.
  • the search device 100a is roughly composed of a combination of OTDOA, AoA (Angle of Arrival), and AoD (Angle of Departure) obtained from the information of the radio wave reception time and the radio wave reception angle obtained in the search area search phase. Calculate the position.
  • the calculated approximate positions are indicated by stars.
  • FIG. 6 is an explanatory diagram of a positioning method using OTDOA.
  • each base station transmits a communication request signal to the mobile terminal 300 at the same time, and the mobile terminal 300 receives the communication request signal. It is assumed that the times of the base stations at points A and B are synchronized.
  • the mobile terminal 300 uses the transmission time (same time) of the communication request signal from each base station and the reception time of each communication request signal in the mobile terminal 300, and the signal arrival time difference tA from each base station and Calculate tB.
  • the OTDOA curve as shown in the figure can be obtained.
  • a plurality of curves are created using a plurality of base stations, and the intersection is calculated as the position of the mobile terminal 300.
  • the search device 100a since the search device 100a can communicate with the mobile terminal 300 at the points A and B while moving, the OTDOA curve as shown in the figure can be obtained without requiring a plurality of base stations. be able to. Specifically, the search device 100a acquires the reception time of the communication request signal at the points A and B at the mobile terminal 300 from the mobile terminal 300 at each point.
  • the calculation unit 170 can obtain a curve by OTDOA by calculating the arrival time of the radio wave from each point to the mobile terminal 300 by using the transmission time of the radio wave at each point and the acquired reception time.
  • the figure shows the OTDOA curve between points A and B.
  • the calculation unit 170 can calculate the portion where the two obtained curves overlap as the approximate position of the mobile terminal 300.
  • the calculation unit 170 can use the overlapping portion as an approximate position. Positioning can be performed with high accuracy.
  • one search device 100 may obtain a curve by OTDOA from the response information of a plurality of points, and synchronize the time between the plurality of search devices 100. Therefore, the curve by OTDOA may be obtained in the same manner as in the case of the base station described above. In the latter case, a communication request signal is transmitted from the plurality of search devices 100 that have been time-synchronized to the mobile terminal 300 at the same time. The plurality of search devices 100 acquire the reception time of each communication request signal from the mobile terminal 300.
  • the OTDOA can be calculated by aggregating the information by the aggregation device 200 that aggregates the information of the search device 100.
  • FIG. 7 is an explanatory diagram of a positioning method using AoA.
  • AoA is a method of performing positioning by using the radio wave angle of the radio wave received from the terminal on the base station side.
  • the arrival angle of the uplink radio wave is measured by a plurality of base stations, and the intersection of the obtained straight lines is used as the positioning result.
  • the search device 100a moves to a plurality of points and receives radio waves from the mobile terminal 300 at each point. Therefore, the search device 100a measures, for example, the arrival angles A1 and B1 of the radio waves received from the mobile terminal 300 at the points A and B, respectively. Then, the calculation unit 170 calculates the intersection of the straight line A10 obtained by the arrival angle A1 and the straight line B10 obtained by the arrival angle B1 as the positioning result.
  • FIG. 8 is an explanatory diagram of a positioning method using AoD.
  • AoD is a method of performing positioning by using the arrival angle of radio waves received from a base station on the terminal side. In AoD, the intersection of straight lines obtained from the arrival angles of radio waves received from a plurality of base stations is used as the positioning result of the terminal.
  • the search device 100a moves to a plurality of points and transmits a communication request signal to the mobile terminal 300 at each point. Therefore, the mobile terminal 300 receives, for example, the communication request transmitted from the points A and B by the search device 100a at the same position.
  • the mobile terminal 300 measures the arrival angles A2 and B2 of the radio waves received from the search device 100a at the points A and B, respectively.
  • the mobile terminal 300 replies including the arrival angle A2 in the response to the search device 100a from the point A and the arrival angle B2 in the response to the search device 100a from the point B.
  • the calculation unit 170 calculates the intersection of the straight line A20 obtained by the arrival angle A2 and the straight line B20 obtained by the arrival angle B2 as the positioning result.
  • FIG. 9 is an explanatory diagram when OTDOA and AoA are used in combination.
  • the combination of OTDOA and AoA is shown, but the same can be considered when the combination of OTDOA and AoD is used.
  • the calculation unit 170 calculates the center point of the fan shape as the approximate position of the mobile terminal 300.
  • the calculation unit 170 calculates the center point of the fan shape as the approximate position of the mobile terminal 300.
  • calculation unit 170 can also combine these to calculate a more accurate approximate position. For example, let a be the center point of the fan shape created by OTDOA and AoA, and b be the center point of the fan shape created by OTDOA and AoD. The calculation unit 170 can calculate the center point c of the straight line a connecting the center points a and b as the approximate position of the mobile terminal 300.
  • the calculation unit 170 calculates the approximate position of the mobile terminal 300 for each terminal ID. Further, when the response signals are received from the mobile terminal 300 having the same terminal ID at three or more points, the calculation unit 170 can calculate the approximate position with higher accuracy by using the response information. For example, when there is a response from the mobile terminal 300 from three points, the calculation unit 170 connects the intersection d of the curve obtained by OTDOA, the intersection e of the straight line obtained by AoA, and the intersection f of the straight line obtained by AoD. The center point of the def is used as an approximate position. As a result, it is possible to calculate an approximate position with higher accuracy than when radio wave information from two points is used.
  • the calculation unit 170 may calculate the approximate position by another method. For example, it is assumed that the search device 100a receives the response of the mobile terminal 300 from the three points A, B, and C.
  • the calculation unit 170 can obtain a fan shape by OTDOA and AoA from the radio wave information of two of the three points (for example, points A and B). Further, since the calculation unit 170 can use AoD instead of AoA, it is possible to obtain a fan shape by OTDOA and AoD. Therefore, the calculation unit 170 can obtain two sectors from the radio wave information of the points A and B.
  • the calculation unit 170 can obtain two fan shapes different from the above-mentioned fan shape by similarly using the radio wave information of two points (for example, points A and C) having a combination different from these two points. .. In this case, the calculation unit 170 obtains a total of four sectors. The calculation unit 170 may calculate the center of a quadrangle connecting the centers of these four sectors and use this as the approximate position of the mobile terminal 300. As a result, the calculation unit 170 can obtain the approximate position with higher accuracy.
  • the calculation unit 170 can correct the radio wave information as necessary and calculate the approximate position. For example, the intersection of the straight lines obtained by AoA or AoD may deviate from the beam angle of the radio wave transmitted from the search device 100a. In this case, the calculation unit 170 corrects the position of the intersection so that the intersection falls within the range of the beam angle, and draws a straight line of AoA or AoD again. Specifically, the intersection before correction outside the beam is moved on the straight line of the radio wave orthogonal to the intersection, and the position after the movement is set as the intersection of the straight lines obtained by AoA or AoD.
  • the calculation unit 170 calculates the approximate position without using any or all of the plurality of curves obtained by OTDOA, if necessary. You may. For example, as shown in FIG. 10, a fan shape may not be formed depending on the curve of OTDOA obtained from the radio wave information of points A and B and the straight lines A10 and B10 obtained by AoA obtained at the same point. In such a case, the calculation unit 170 calculates the approximate position using the radio wave information obtained at two other points (for example, points A and C) without using these curves and straight lines. In this way, the calculation unit 170 can calculate the approximate position with high accuracy by appropriately correcting the acquired radio wave information.
  • the search device 100a specifies a more detailed position for the mobile terminal 300. First, as shown in FIG. 4, the search device 100a moves to the calculated approximate position of the mobile terminal 300. The search device 100a may move to the vicinity of the approximate position depending on the environment such as surrounding obstacles.
  • the search device 100a uses a weak radio wave that reaches a predetermined distance from the approximate position to send a communication request signal (second communication request signal) to the mobile terminal 300 in the direction of 360 degrees from the approximate position of the mobile terminal 300. It is transmitted in a predetermined order.
  • the predetermined distance is, for example, 10 m, 20 m, 40 m, 70 m, 100 m, or the like from the approximate position, and the search device 100a transmits a weak radio wave that reaches each distance. Further, the predetermined order is provided in advance so that the area where the radio waves reach gradually expands, for example, the distance of the radio waves arriving from the approximate position is 10 m ⁇ 20 m ⁇ 40 m ⁇ 70 m ⁇ 100 m.
  • the search device 100a If the response signal (second response signal) from the mobile terminal 300 is not received after a certain period of time has elapsed from the transmission of the communication request signal by the weak radio wave, the search device 100a arrives from the approximate position in a predetermined order. Increase the distance of the radio wave to be transmitted and transmit the communication request signal again.
  • FIG. 5 is a diagram showing the operation of the search device 100a when a response signal is received from the mobile terminal 300.
  • the figure shows the operation when there is no response when a communication request signal reaching a distance of 10 m from the approximate position is transmitted, and then as a result of expanding the reach of the radio wave to 20 m from the approximate position. ing.
  • the calculation unit 170 When the search device 100a receives the response signal from the mobile terminal 300, the calculation unit 170 further calculates the more detailed position of the mobile terminal 300 based on the information included in the response signal, and specifies the position of the mobile terminal 300. do. Specifically, the search device 100a receives a response signal including AoD of the communication request signal transmitted from the approximate position to the mobile terminal 300 from the mobile terminal 300 terminal. The calculation unit 170 further calculates the position of the mobile terminal 300 based on this AoD. Further, the calculation unit 170 specifies the position of the mobile terminal 300 not only when the response signal is received but also including the reachable distance of the radio wave of the communication request signal when the response signal is not received. In the example of FIG. 5, the calculation unit 170 responded to the communication request signal reaching a distance of 20 m from the approximate position and did not respond to the communication request signal reaching a distance of 10 m from the approximate position. The position of the mobile terminal 300 is calculated by using the above.
  • the calculation unit 170 receives these information and further calculates the position of the mobile terminal 300 based on the AoD obtained from the response signal.
  • the AoD obtained from the response signal is provided with an error range such as ⁇ 10 degrees in advance.
  • the calculation unit 170 calculates the position of the mobile terminal 300 in consideration of this error.
  • the area shown by shading is the calculated position of the mobile terminal 300.
  • the position of the mobile terminal 300 can be specified by excluding the area.
  • the search device 100a transmits the position of the mobile terminal 300 specified by the calculation unit 170 to the searcher terminal 400.
  • the search device 100a moves to the approximate position of the mobile terminal 300 whose position has not been specified, and performs the same processing as described above.
  • the search device 100a repeats the above process until the position identification of all the mobile terminals 300 is completed. This phase ends when the identification of the positions of all the mobile terminals 300 is completed.
  • the shape and area of the search area, the movement route of the search device 100a, and the like are not limited to the above. These may be appropriately changed depending on the situation of the disaster area, the number of search devices 100, and the like.
  • the search device 100 includes a mobile device 110, an antenna 120, a mobile control unit 130, a request control unit 140, a base station unit 160, a storage unit 180, a communication unit 190, a time synchronization unit 150, and a calculation unit 170.
  • the search devices 100a and 100b have the same configuration as the search device 100.
  • the moving device 110 has a flight function for the search device 100 to move accurately and quickly.
  • the mobile device 110 is an unmanned aerial vehicle such as a multicopter.
  • the mobile device 110 can perform autonomous flight by a command from the movement control unit 130.
  • the search device 100 is realized by mounting the mobile device 110 on a small computer including each functional unit, a simple base station (base station unit 160), and a GPS antenna (antenna 120).
  • the search device 100 is a flying object such as a drone. It is assumed that the search device 100 has a movable time of about 30 minutes and a total movable distance of about 10 km.
  • the moving device 110 can move to the point as requested by the moving control unit 130 by using the gyro sensor, the magnetic direction sensor, the current position information from the antenna 120, and the like.
  • the mobile device 110 is not limited to a drone, and may be, for example, a helicopter or an automobile. Further, the performance of the moving device 110 is not limited to the above-mentioned movable time and total movable distance.
  • the antenna 120 is, for example, a GPS antenna capable of receiving a plurality of satellite radio wave information and performing cm-class positioning. As a result, the search device 100 can acquire the point and time at which the response signal is received from the mobile terminal 300 with high accuracy. The antenna 120 transmits the received radio wave information to the movement control unit 130.
  • the movement control unit 130 identifies the current position from the radio wave information of the satellite received from the antenna 120, and transmits the position information and the movement request to the mobile device 110.
  • the movement control unit 130 controls the movement device 110 according to the current position, and moves the search device 100 to the target position. After the movement to the target position is completed, the movement control unit 130 notifies the request control unit 140 of the current position information.
  • the movement control unit 130 receives the positioning result of the mobile terminal 300 obtained from the calculation unit 170, and similarly transmits a movement request to the target position to the movement device 110. After the movement to the target position is completed, the movement control unit 130 notifies the request control unit 140 of the current position information. After receiving the notification from the request control unit 140 that the processing of storing the response information and the like is completed, the movement control unit 130 controls the movement device 110 and moves the search device 100 to the next destination position. The movement control unit 130 determines the end of the search area search phase. When the processing in the search area in the search area search phase is completed, the movement control unit 130 determines that this phase has ended.
  • the movement control unit 130 determines that the present phase is completed when the search device 100a repeatedly sends and receives signals to and from the mobile terminal 300 and completes the movement of two sides of the search area.
  • the movement control unit 130 moves the search device 100 to the approximate position of the terminal according to the movement request of the request control unit 140.
  • the request control unit 140 receives the notification of the current position information from the movement control unit 130, and transmits a communication request to the base station unit 160.
  • the request control unit 140 associates the held current position information with the radio wave reception information on the mobile terminal 300 side and transmits the response information to the storage unit 180.
  • the request control unit 140 associates the information with the current position and transmits the information to the storage unit 180. After completing the transmission of all the information to the storage unit 180, the request control unit 140 transmits a processing completion notification to the movement control unit 130.
  • the request control unit 140 receives from the calculation unit 170 a list of approximate positions of the mobile terminal 300 existing in the search area.
  • the request control unit 140 specifies the latitude and longitude of the approximate position, and transmits a movement request to the movement control unit 130.
  • the request control unit 140 transmits the positioning result received from the calculation unit 170 to the storage unit 180.
  • the request control unit 140 determines the end of the terminal position specifying phase.
  • the request control unit 140 determines whether or not the position identification of all the mobile terminals 300 in the search area is completed, and if the position specification of all the mobile terminals 300 is completed, it is determined that this phase is terminated. do.
  • the base station unit 160 is an example of the transmission unit 11 and the reception unit 12 described in the first embodiment.
  • the base station unit 160 includes a transmission unit 161 and a reception unit 162.
  • the transmitting unit 161 and the receiving unit 162 correspond to the transmitting unit 11 and the receiving unit 12 described in the first embodiment, respectively.
  • the transmission unit 161 transmits a first communication request signal to the mobile terminal 300 at a plurality of points so as to sufficiently cover the search area length.
  • the receiving unit 162 receives the first response signal to the first communication request signal from the mobile terminal 300. Further, the receiving unit 162 receives the first response signal including the reception time of the first communication request signal in the mobile terminal 300. Further, the receiving unit 162 receives the first response signal including the AoD of the first communication request signal from the point used for the OTDOA from the mobile terminal 300. Further, the receiving unit 162 receives the terminal ID that identifies the mobile terminal 300 together with the information by the first response signal.
  • the terminal ID is, for example, identification information unique to each mobile terminal 300 stored in the non-volatile memory of the mobile terminal 300 or the like.
  • the transmission unit 161 After calculating the approximate position, when the search device 100a moves to the approximate position, the transmission unit 161 further transmits a second communication request signal to the mobile terminal 300 using radio waves that reach a specific distance from the approximate position.
  • the receiving unit 162 further receives a second response signal including AoD of the second communication request signal from the approximate position from the mobile terminal 300.
  • the transmission unit 161 increases the distance of the radio wave arriving from the approximate position and transmits the second communication request signal again.
  • the transmission unit 161 transmits the first and second communication request signals based on the communication request from the request control unit 140.
  • the transmission unit 161 complements the first and second response signals received by the reception unit 162 with the transmission time and AoA of the communication request signal corresponding to each response signal, and positions these information in the request control unit 140. Send as a response.
  • the storage unit 180 receives the response information from the mobile terminal 300 in the search area search phase from the request control unit 140, associates it with the terminal ID, and stores it. Further, the storage unit 180 receives the positioning result from the request control unit 140 in the terminal identification phase, and stores the positioning result in association with the terminal ID. Then, in the terminal specifying phase, the storage unit 180 transmits the positioning result to the searcher terminal 400 via the communication unit 190.
  • the storage unit 180 transmits the stored information to the server via the communication unit 190.
  • the communication unit 190 transmits the positioning result stored in the storage unit 180 to the searcher terminal 400. Further, when performing a search using a plurality of search devices 100, the communication unit 190 transmits the data stored in the storage unit 180 to the server after the end of the terminal specifying phase.
  • the time synchronization unit 150 synchronizes the time between the search devices 100 when searching for a disaster area by utilizing the plurality of search devices 100. This makes it possible to prevent the occurrence of an error when calculating the OTDOA.
  • time synchronization with another search device 100 is unnecessary.
  • the calculation unit 170 is an example of the calculation unit 13 described in the first embodiment.
  • the calculation unit 170 calculates the approximate position of the mobile terminal 300. Further, the calculation unit 170 calculates the time difference obtained from the transmission time of the first communication request signal and the reception time of the first communication request signal in the mobile terminal 300.
  • the calculation unit 170 calculates the approximate position of the mobile terminal 300 by using the OTDOA obtained based on the time difference at at least two of the plurality of points.
  • the search device 100a continues to transmit communication requests from two sides so as to cover the search area in the search area search phase. Therefore, the mobile terminal 300 receives the communication request transmitted from at least two points and transmits a response signal to the communication request. Therefore, the calculation unit 170 can obtain a curve (tA-tB) by OTDOA as described with reference to FIG. 6 from the response information at the two points.
  • the calculation unit 170 calculates the approximate position of the mobile terminal 300 by further using the AoA of the first response signal at the point used for the OTDOA. Specifically, as shown in FIG. 9, a fan shape is formed by the curve (tA-tB) obtained by OTDOA and the straight lines A10 and B10 obtained by AoA. The calculation unit 170 calculates the center point of the formed fan shape as the approximate position of the mobile terminal 300.
  • the calculation unit 170 further uses AoD to calculate the approximate position of the mobile terminal 300. Specifically, in the above calculation method, the calculation unit 170 calculates the approximate position by using the AoD of the first communication request signal included in the first response signal instead of the AoA of the first response signal. You may. In this case, the calculation unit 170 positions the center point of the fan shape formed by the curve (tA-tB) obtained by OTDOA and the straight lines A20 and B20 (see FIG. 8) obtained by AoD at the approximate position of the mobile terminal 300. Calculated as.
  • the calculation unit 170 calculates the first approximate position using the OTDOA and AoA of the first response signal at the point used for the OTDOA, and calculates the second approximate position using the OTDOA and AoD.
  • the third approximate position may be calculated using the first and second approximate positions. Specifically, the calculation unit 170 holds the approximate position by OTDOA and AoA calculated above as the first approximate position and the approximate position by OTDOA and AoD as the second approximate position.
  • the calculation unit 170 calculates the center point of the straight line connecting the first and second approximate positions as the third approximate position of the mobile terminal 300. This makes it possible to calculate the approximate position of the mobile terminal 300 with higher accuracy.
  • the calculation of the approximate position performed by the calculation unit 170 is not limited to the above method, and the above method may be combined with another positioning method.
  • the calculation unit 170 transmits the calculated approximate position to the request control unit 140.
  • the calculation unit 170 calculates the approximate position for each terminal ID that identifies the mobile terminal 300. Then, the calculation unit 170 responds to the request control unit 140 with the approximate positions of all the mobile terminals 300. Further, the calculation unit 170 further calculates the position of the mobile terminal 300 based on the AoD of the second communication request signal in the terminal position specifying phase. As a result, the calculation unit 170 can specify a more detailed position of the mobile terminal 300.
  • the aggregation device 200 is a device that aggregates the response information acquired by each search device 100 and calculates the approximate position of the mobile terminal 300 when a plurality of search devices 100 are used in the search area search phase.
  • the search device 100a does not independently perform communication at the points A and B, but the search device 100a at the point A and the search device 100b at the point B communicate with the mobile terminal 300, respectively.
  • the same effect as described above can be obtained.
  • the aggregation device 200 includes a communication unit 290, a storage unit 280, and a calculation unit 270.
  • the communication unit 290 receives the transmission time of the first communication request signal and the reception time of the first communication request signal in the mobile terminal 300 from the plurality of search devices 100.
  • each of the search devices 100 transmits a first communication request signal to the mobile terminal 300 at a plurality of points, and receives a first response signal to the first communication request signal from the mobile terminal 300.
  • the communication unit 290 further receives AoA of the first response signal at the point used for OTDOA.
  • the communication unit 290 transmits the response information stored in the storage unit 280 to the server.
  • the storage unit 280 receives the response information from the mobile terminal 300 in the search area search phase from each search device 100 via the communication unit 290, associates it with the terminal ID, and stores it.
  • the storage unit 280 transmits the stored response information to the server via the communication unit 290 at a predetermined timing.
  • the calculation unit 270 calculates the time difference obtained from the transmission time of the first communication request signal and the reception time of the first communication request signal in the mobile terminal 300. Further, the calculation unit 270 calculates the approximate position of the mobile terminal 300 using the OTDOA obtained based on the time difference at at least two of the plurality of points. Further, the calculation unit 270 calculates the approximate position of the mobile terminal 300 by further using the AoA of the first response signal at the point used for the OTDOA.
  • FIG. 11 is a sequence diagram showing the processing flow of the search system 1000 in the search area search phase
  • FIG. 12 is a sequence diagram showing the processing flow of 1000 in the terminal position specifying phase.
  • the antenna 120 transmits satellite signal information to the movement control unit 130 (S101).
  • the movement control unit 130 calculates the current position (S102) and calculates the target movement position (S103).
  • the movement control unit 130 transmits a movement request to the target movement position to the movement device 110 (S104).
  • the moving device 110 moves toward the target moving position (S105).
  • the moving device 110 Upon arriving at the target position, the moving device 110 transmits to that effect to the moving control unit 130 (S106).
  • the movement control unit 130 requests satellite signal information from the antenna 120 (S107).
  • the antenna 120 transmits satellite signal information to the movement control unit 130 (S108).
  • the movement control unit 130 calculates the current position (S109) and notifies the request control unit 140 of the current position (S110).
  • the request control unit 140 transmits a communication request to the base station unit 160 (S111).
  • the base station unit 160 transmits a communication request to the mobile terminal 300 (S112).
  • the mobile terminal 300 transmits a response signal including the terminal ID, the reception time, and AoD to the base station unit 160 (S113).
  • the base station unit 160 transmits a response signal including such information to the request control unit 140 (S114).
  • the request control unit 140 transmits the response terminal information and the current position to the storage unit 180 (S115).
  • the storage unit 180 stores this information and notifies the request control unit 140 of the completion of storage (S116).
  • the request control unit 140 notifies the movement control unit 130 that the processing is completed (S117).
  • the movement control unit 130 determines the end of the search area search phase (S118). When it is determined that the search area search phase has not been completed, the movement control unit 130 requests satellite signal information from the antenna 120 (S119).
  • the search system 1000 repeats the processes of S101 to S119 until the end of the search area search phase. When it is determined that the search area search phase has ended, the movement control unit 130 shifts to the processing of the terminal position specifying phase.
  • the movement control unit 130 transmits a completion notification to the request control unit 140 (S201).
  • the request control unit 140 transmits a positioning request to the calculation unit 170 (S202).
  • the calculation unit 170 transmits a storage request for acquisition of response information to the storage unit 180 (S203).
  • the storage unit 180 transmits the stored response information to the calculation unit 170 (S204).
  • the calculation unit 170 performs positioning calculation and calculates the approximate position of the mobile terminal 300 (S205).
  • the calculation unit 170 transmits a list of calculated approximate positions of the mobile terminal 300 to the request control unit 140 (S206).
  • the request control unit 140 transmits a movement request to the movement control unit 130 (S210).
  • the movement control unit 130 transmits a movement request to the movement device 110 (S211).
  • the mobile device 110 moves toward the approximate position of the mobile terminal 300, which is the target position (S212).
  • the moving device 110 transmits to the movement control unit 130 that the target position has been reached (S213).
  • the movement control unit 130 transmits satellite signal information to the antenna 120 (S214).
  • the antenna 120 transmits satellite signal information to the movement control unit 130 (S215).
  • the movement control unit 130 calculates the current position (S216) and notifies the request control unit 140 of the current position (S217).
  • the request control unit 140 transmits a communication request to the base station unit 160 (S218).
  • the base station unit 160 transmits a communication request to the mobile terminal 300 (S219).
  • the mobile terminal 300 transmits a response signal including the terminal ID, the reception time, and AoD to the base station unit 160 (S220).
  • the base station unit 160 transmits a response signal including such information to the request control unit 140 (S221).
  • the request control unit 140 and the base station unit 160 widen the range of radio waves and transmit the communication request again (S218 to S221).
  • the request control unit 140 transmits a positioning request to the calculation unit 170 (S222).
  • the calculation unit 170 performs positioning calculation, calculates the detailed position of the mobile terminal 300, and specifies the position of the mobile terminal 300 (S223).
  • the calculation unit 170 transmits the positioning result to the request control unit 140 (S224).
  • the request control unit 140 transmits the specified terminal position to the storage unit 180 (S225).
  • the storage unit 180 transmits the specified terminal position to the communication unit 190 (S226).
  • the communication unit 190 notifies the searcher terminal 400 of the specified terminal position (S227).
  • the communication unit 190 notifies the storage unit 180 that the notification to the searcher terminal 400 has been completed (S228).
  • the storage unit 180 transmits the above notification to the request control unit 140 (S229).
  • the request control unit 140 determines the end of the terminal position specifying phase (S230). When it is determined that the terminal position specifying phase has not ended, the request control unit 140 transmits a movement request to the movement control unit 130 (S231).
  • the search system 1000 repeats the processes from S210 to S231 until the end of the terminal position specifying phase. When it is determined in S230 that the terminal position specifying phase has ended, the search system 1000 ends the process.
  • the search device 100 moves while transmitting communication request signals to the mobile terminal 300 at a plurality of points, and the mobile terminal in the search area. Search for 300. Further, in the terminal position specifying phase, the search device 100 calculates the approximate position of the mobile terminal 300 using the response information from the mobile terminal 300. Further, the search device 100 calculates the position of the mobile terminal 300 in more detail from the calculated approximate position by using the radio wave that reaches a specific distance. As a result, the search system 1000 can search the mobile terminal 300 with high accuracy.
  • the above explanation was given assuming application to the rescue / emergency field in the event of a large-scale disaster.
  • This disclosure provides promptly when the ground infrastructure or GPS cannot be used in a disaster where the building may collapse or the ground infrastructure (carrier mobile base station) may be destroyed in the entire specific area due to, for example, an earthquake or tsunami. It can be used in situations where it is necessary to identify the location of the victim.
  • the battery of a mobile terminal for performing positioning is extremely exhausted.
  • the battery of the terminal is not always fully charged when the victim is affected by the disaster.
  • the average flight time of a general drone currently used is said to be about 30 minutes. It is necessary to reduce the power consumption associated with the movement of the mobile base station while maintaining the positioning accuracy within the range that can be searched manually (approximately an error of about 15 m). It suffices if many mobile base stations can be operated at one time, but if the damage in the disaster area spreads over a wide area, it may be necessary to search by one or a very small number of mobile base stations. To. In the present disclosure, as described above, positioning can be performed with only one search device 100, so that search can be performed efficiently even when the number of mobile base stations is limited.
  • the positioning accuracy is improved by a method of confirming the response from the mobile terminal many times while gradually moving the mobile base station.
  • a mobile base station that issues a response request signal searches within the area, and if there is a response, it once moves out of the radio wave range emitted by itself. After that, the mobile terminal is specified by confirming the response to the response request signal while gradually returning to the original radio wave range.
  • this method it takes time to identify one mobile terminal.
  • the approximate position of the mobile terminal is calculated with a small number of searches by using the radio wave information (whether or not there is a response, the radio wave reception time, AoD) received at a plurality of locations in the search area, and the approximate position is weak.
  • the position of the mobile terminal can be specified by using radio waves. Therefore, the moving distance of the mobile base station can be suppressed as compared with the related technique such as Patent Document 2. According to the present disclosure, it is possible to rescue the victims more efficiently by shortening the search time and reducing the influence on the battery consumption.
  • Each functional component of the search device 100 and the aggregate device 200 may be realized by hardware (eg, a hard-wired electronic circuit or the like) that realizes each functional component, or may be realized by hardware and software. It may be realized by a combination (eg, a combination of an electronic circuit and a program that controls it).
  • hardware e.g, a hard-wired electronic circuit or the like
  • hardware and software e.g., a combination of an electronic circuit and a program that controls it.
  • FIG. 13 is a block diagram illustrating a hardware configuration of a computer 500 that realizes a search device 100 and the like.
  • the computer 500 may be a portable computer such as a smartphone or a tablet terminal.
  • the computer 500 may be a dedicated computer designed to realize the search device 100 or the like, or may be a general-purpose computer.
  • each function of the search device 100 and the like is realized on the computer 500.
  • the above application is composed of a program for realizing a functional component such as a search device 100.
  • the computer 500 has a bus 502, a processor 504, a memory 506, a storage device 508, an input / output interface 510, and a network interface 512.
  • the bus 502 is a data transmission path for the processor 504, the memory 506, the storage device 508, the input / output interface 510, and the network interface 512 to transmit and receive data to and from each other.
  • the method of connecting the processors 504 and the like to each other is not limited to the bus connection.
  • the processor 504 is various processors such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or an FPGA (Field-Programmable Gate Array).
  • the memory 506 is a main storage device realized by using RAM (RandomAccessMemory) or the like.
  • the storage device 508 is an auxiliary storage device realized by using a hard disk, SSD (Solid State Drive), memory card, ROM (Read Only Memory), or the like.
  • the input / output interface 510 is an interface for connecting the computer 500 and the input / output device.
  • an input device such as a keyboard and an output device such as a display device are connected to the input / output interface 510.
  • the network interface 512 is an interface for connecting the computer 500 to the network.
  • This network may be a LAN (Local Area Network) or a WAN (Wide Area Network).
  • the storage device 508 stores a program (a program that realizes the above-mentioned application) that realizes each functional component such as the search device 100.
  • the processor 504 reads this program into the memory 506 and executes it to realize each functional component such as the search device 100.
  • Each processor executes one or more programs containing instructions for causing the computer to perform the algorithm.
  • the program includes instructions (or software code) for causing the computer to perform one or more of the functions described in the embodiments when loaded into the computer.
  • the program may be stored on various types of non-transitory computer readable medium or tangible storage medium.
  • computer-readable or tangible storage media are random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CDs.
  • the program may be transmitted on various types of transient computer readable medium or communication media.
  • temporary computer-readable or communication media include electrical, optical, acoustic, or other forms of propagating signals.
  • the present disclosure is not limited to the above embodiment, and can be appropriately modified without departing from the spirit.
  • a drone is assumed as the search device 100 which is a mobile base station, but the present invention is not limited to this.
  • the search device 100 may be, for example, a vehicle. In that case, although the movable range is limited in the search, the influence of the remaining battery level can be ignored, so that the search can be performed over a longer period of time.
  • this disclosure can be applied to fields other than rescue of victims in the event of a large-scale disaster.
  • the present disclosure can be applied to the identification of a victim in a mountainous area. Mountaineering areas are easily affected by GPS multipath and are considered to be one of the areas where GPS accuracy is poor.
  • the installation of ground infrastructure is often insufficient for positioning. Therefore, by applying the method for identifying mobile base stations and terminals as in the present disclosure, it is possible to provide immediate rescue even in mountainous areas.
  • (Appendix 1) A transmitter that transmits the first communication request signal to the terminal at multiple points, A receiving unit that receives a first response signal to the first communication request signal from the terminal, and a receiving unit.
  • a calculation unit that calculates the approximate position of the terminal, and Equipped with The receiving unit receives the first response signal including the reception time of the first communication request signal at the terminal.
  • the calculation unit calculates a time difference obtained from the transmission time and the reception time of the first communication request signal, and OTDOA (Observed Time) obtained based on the time difference at at least two of the plurality of points.
  • a search device that calculates the approximate position of the terminal using Difference Of Arrival).
  • (Appendix 2) The search device according to Appendix 1, wherein the calculation unit further uses AoA (Angle of Arrival) of the first response signal at a point used for the OTDOA to calculate the approximate position.
  • the receiving unit receives the first response signal including the AoD (Angle of Departure) of the first communication request signal from the point used for the OTDOA.
  • the search device according to Appendix 1 or 2, wherein the calculation unit further uses the AoD to calculate the approximate position.
  • the receiving unit receives the first response signal including the AoD of the first communication request signal from the point used for the OTDOA.
  • the calculation unit The first approximate position was calculated using the OTDOA and the AoA of the first response signal at the point used for the OTDOA. Using the OTDOA and the AoD, the second approximate position is calculated.
  • the search device according to Appendix 1, which calculates a third approximate position using the first and second approximate positions. (Appendix 5)
  • the transmitting unit further transmits a second communication request signal to the terminal using radio waves that reach a specific distance from the approximate position.
  • the receiving unit further receives a second response signal including AoD of the second communication request signal from the approximate position from the terminal.
  • the search device according to any one of Supplementary note 1 to 4, wherein the calculation unit further calculates the position of the terminal based on the AoD of the second communication request signal.
  • the communication unit further receives the AoA of the first response signal at the point used for the OTDOA, and further receives the AoA.
  • the aggregation device according to Appendix 7, wherein the calculation unit further uses the AoA to calculate the approximate position.
  • Appendix 9 A terminal that transmits a first response signal in response to a first communication request signal, A transmission unit that transmits a first communication request signal to the terminal at a plurality of points, and a reception unit that receives the first response signal including the reception time of the first communication request signal at the terminal from the terminal.
  • the time difference obtained from the communication unit that receives the transmission time and the reception time of the first communication request signal from the plurality of search devices and the transmission time and the reception time is calculated, and among the plurality of points.
  • An aggregation device having a calculation unit for calculating the approximate position of the terminal using OTDOA obtained based on the time difference at at least two points.
  • a search system equipped with. (Appendix 10) The communication unit further receives the AoA of the first response signal at the point used for the OTDOA, and further receives the AoA.
  • the computer The step of transmitting the first communication request signal to the terminal at multiple points, A step of receiving a first response signal to the first communication request signal from the terminal, The step of calculating the approximate position of the terminal and Equipped with In the receiving step, the first response signal including the reception time of the first communication request signal at the terminal is received. In the calculation step, a time difference obtained from the transmission time and the reception time of the first communication request signal is calculated, and OTDOA obtained based on the time difference at at least two of the plurality of points is used. A search method for calculating the approximate position of the terminal.
  • Search device 11 Transmission unit 12 Reception unit 13 Calculation unit 100, 100a, 100b Search device 110 Mobile device 120 Antenna 130 Mobile control unit 140 Request control unit 150 Time synchronization unit 160 Base station unit 161 Transmission unit 162 Reception unit 170 Calculation unit 180 Storage unit Unit 190 Communication unit 200 Aggregator 270 Calculation unit 280 Storage unit 290 Communication unit 300 Mobile terminal 400 Searcher terminal 500 Computer 502 Bus 504 Processor 506 Memory 508 Storage device 510 Input / output interface 512 Network interface 900a to 900c Base station 1000 Search system

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PCT/JP2021/045329 2020-12-11 2021-12-09 探索装置、集約装置、探索システム、探索方法及び非一時的なコンピュータ可読媒体 Ceased WO2022124368A1 (ja)

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