WO2022157933A1 - 位置推定システム、位置推定方法、無線装置及び解析装置 - Google Patents
位置推定システム、位置推定方法、無線装置及び解析装置 Download PDFInfo
- Publication number
- WO2022157933A1 WO2022157933A1 PCT/JP2021/002280 JP2021002280W WO2022157933A1 WO 2022157933 A1 WO2022157933 A1 WO 2022157933A1 JP 2021002280 W JP2021002280 W JP 2021002280W WO 2022157933 A1 WO2022157933 A1 WO 2022157933A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- beacon signal
- wireless device
- wireless
- wireless devices
- beacon
- Prior art date
Links
- 238000004458 analytical method Methods 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000010586 diagram Methods 0.000 description 14
- 238000004891 communication Methods 0.000 description 8
- 235000008694 Humulus lupulus Nutrition 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
Images
Classifications
-
- 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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
-
- 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
-
- 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
- G01S5/0284—Relative positioning
- G01S5/0289—Relative positioning of multiple transceivers, e.g. in ad hoc networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Definitions
- the present disclosure relates to technology for estimating the positions of multiple wireless devices.
- FIG. 1 is a diagram illustrating a technique for estimating the positions of multiple wireless devices 11 using fixed beacons 10 (see, for example, Non-Patent Document 1).
- a fixed beacon By using a fixed beacon, it is possible to estimate the position of the wireless device even in a place where radio waves such as GPS cannot reach.
- the present invention provides a position estimation system, a position estimation method, and a wireless device capable of grasping the position information of a plurality of wireless devices without using a fixed beacon or an external device such as a GPS. and an analysis device.
- the position estimation system transfers beacon signals between a plurality of wireless devices, and estimates the topology of the wireless devices from the transfer paths of the respective beacon signals.
- the position estimation system is a position estimation system comprising a plurality of wireless devices and analysis devices, each said wireless device comprising: transmitting a beacon signal; transferring the beacon signal between the wireless devices within reach of the beacon signal; Updating the flag indicating the transfer history of the beacon signal at the time of transfer, and discarding the beacon signal when receiving the beacon signal transmitted by itself; and any one of the wireless devices collecting the beacon signal;
- the analyzing device analyzes the flags of the beacon signals collected by the wireless devices and estimates the positions of the plurality of wireless devices.
- a position estimation method is a position estimation method for estimating positions of a plurality of wireless devices, emitting a beacon signal from each of said wireless devices; transferring the beacon signal between the wireless devices within reach of the beacon signal; Updating a flag indicating the transfer history of the beacon signal at the time of transfer; When receiving the beacon signal transmitted by itself, discarding the beacon signal; collecting the beacon signals at one of the wireless devices; and analyzing the flag of each of the collected beacon signals to estimate the location of the wireless device.
- a wireless device is a plurality of wireless devices whose respective positions are estimated by an analysis device, each said wireless device comprising: transmitting a beacon signal; transferring the beacon signal between the wireless devices within reach of the beacon signal; At the time of transfer, update the flag indicating the transfer history of the beacon signal, and when receiving the beacon signal transmitted by itself, discard the beacon signal; and Any one of the wireless devices is characterized by collecting the beacon signal and notifying the analysis device of the information of the beacon signal.
- an analysis device is an analysis device for estimating the positions of a plurality of wireless devices, each said wireless device comprising: transmitting a beacon signal; transferring the beacon signal between the wireless devices within reach of the beacon signal; Updating the flag indicating the transfer history of the beacon signal at the time of transfer, and discarding the beacon signal when receiving the beacon signal transmitted by itself; is doing any one of the wireless devices collecting the beacon signal; It is characterized by analyzing the flag of each of the beacon signals collected by the wireless device and estimating the positions of the plurality of wireless devices.
- the wireless device itself transmits a beacon signal
- the analyzing device analyzes the positional relationship (topology and , the distance relationship based on the radio field strength). Therefore, the present invention can provide a position estimation system, a position estimation method, a radio device, and an analysis device that can grasp the position information of a plurality of radio devices without using external devices such as fixed beacons and GPS. can.
- the analysis device treats the wireless device that transmitted the beacon signal as a “parent”, and the beacon received by the wireless device When the flag of the signal has a history of transfer, the wireless device that is two or more and the smallest in the order of transfer is set as the "parent".
- beacon transmission has steps (stages), and the beacon signal includes information (flag, etc.) indicating the steps to be executed in order.
- the analyzer determines the source of the beacon signal seen by the wireless device that received the beacon signal in the first step as the "root parent.”
- the analysis device traces back to the source of the beacon signal with the minimum number of steps in steps 2 and above, and regards it as the "parent" of the wireless device.
- the analysis device of the position estimation system receives position information of at least one wireless device whose location is definite, and corrects the positions of the plurality of wireless devices estimated based on the position information. . If the location of at least one of the wireless devices is known, that information can be used to improve the accuracy of the topology estimate.
- the present invention can provide a location estimation system, a location estimation method, a wireless device, and an analysis device that can grasp the location information of a plurality of wireless devices without using external devices such as fixed beacons and GPS.
- FIG. 2 illustrates a related position estimation system; It is a figure explaining the position estimation system which concerns on this invention. It is a figure explaining the position estimation method based on this invention.
- 1 is a diagram for explaining a wireless device according to the present invention;
- FIG. 1 is a diagram for explaining a wireless device according to the present invention;
- FIG. It is a figure explaining the analysis apparatus which concerns on this invention.
- It is a figure explaining the position estimation system which concerns on this invention.
- FIG. 2 is a diagram for explaining the outline of the position estimation system of this embodiment.
- This position estimation system is a position estimation system comprising a plurality of wireless devices 11 and analysis devices 12, Each wireless device 11 transmitting a beacon signal; transferring the beacon signal between wireless devices 11 within reach of the beacon signal; At the time of transfer, update the flag indicating the transfer history of the beacon signal, and when receiving the beacon signal transmitted by itself, discard the beacon signal; and Any one of the wireless devices 11 (eg, wireless device 11-0 that is an access point) collects the beacon signal,
- the analyzing device 12 is characterized by analyzing the flags of the beacon signals collected by the wireless device 11-0 and estimating the positions of the plurality of wireless devices 11.
- Each wireless device 11 transmits a beacon signal.
- the wireless device 11-0 which is an access point, may also transmit a beacon signal.
- the wireless device 11-0 is, for example, an access point, and the wireless devices 11-1, 11-2, . . . are IoT (Internet of Things) terminals.
- the notation of the beacon signal is assumed to be "beacon signal (hi)".
- "h” represents the number of the wireless device 11
- i represents the number of steps (hops).
- the wireless device 11-1 transmits a beacon signal 1-1, and the wireless devices 11-0 and 11-2 receive the beacon signal 1-1.
- the wireless device 11-2 updates the flag indicating the transfer history (for example, beacon information, radio wave intensity, hop count, transfer route, and other information), and transmits the beacon signal.
- Transfer as 2-2.
- This beacon signal 2-2 is received by the wireless device 11-0, the wireless device 11-1, and other wireless devices 11 in the vicinity.
- the wireless device 11-0 does not need to update the flag indicating the transfer history before transferring.
- the wireless device 11-1 recognizes from the flag that it is the beacon signal transmitted by itself, and discards the beacon signal 2-2.
- the wireless device 11-2 transmits a beacon signal 2-1, and the wireless devices 11-0 and 11-1 receive the beacon signal 2-1.
- the wireless device 11-1 receives the beacon signal 2-1, it updates the flag indicating the transfer history and transfers it as the beacon signal 1-2.
- This beacon signal 1-2 is received by the wireless devices 11-0, 11-2, and other wireless devices 11 in the vicinity.
- the wireless device 11-0 does not need to update the flag indicating the transfer history before transferring.
- the wireless device 11-2 recognizes from the flag that it is the beacon signal transmitted by itself, and discards the beacon signal 1-2.
- Such update and transfer of the flag information of the beacon signal can be exchanged using, for example, an extended area of the low layer communication protocol. It should be noted that the fact that the wireless device 11-0 does not transfer the received beacon signal and that the wireless device 11 that received the beacon signal transmitted by itself discards it is that the beacon signal is a broadcast stream. It is effective in not increasing the amount of information like
- the wireless device 11-0 notifies the analysis device 12 of the flag information from the received beacon signal.
- Analysis device 12 estimates the topology between wireless devices 11 based on the collected flag information.
- the analysis device 12 can correct the positions of the plurality of wireless devices 11 estimated from the position information.
- the following examples are examples of location information whose whereabouts are clear. (Example 1)
- the location information of the wireless device 11-0, which is an access point, is registered in the database 34 of the wireless device 11-0. 12.
- Example 2 An arbitrary mobile radio terminal reports location information (such as which room it is) near a certain wireless device 11, and the wireless device 11 attaches the location information to a beacon signal and transmits or transfers ( If it is the wireless device 11-0, the analysis device 12 is notified). (Example 3) If there is a fixed beacon in the vicinity whose position is confirmed to be correct, that beacon signal is used.
- FIG. 3 is a diagram for explaining this position estimation method.
- This position estimation method is a position estimation method for estimating the positions of a plurality of wireless devices 11, transmitting a beacon signal from each wireless device 11 (steps S11, S21); transferring the beacon signal between wireless devices 11 within reach of the beacon signal; Updating the flag indicating the transfer history of the beacon signal at the time of transfer (steps S12, S22); When receiving the beacon signal transmitted by itself, discarding the beacon signal (steps S14, S24); collecting the beacon signals by one of the wireless devices 11 (for example, the wireless device 11-0 that is an access point) (steps S15, S25); and analyzing the flag of each of the collected beacon signals. , to estimate the position of the wireless device 11 (step S31).
- the wireless device 11-1 transmits a beacon signal 1-1.
- This beacon signal 1-1 is received by the surrounding wireless devices 11-2 and 11-0. Note that there are wireless devices that cannot receive the beacon signal 1-1 because it does not reach them, but such a case will be described later.
- step S12 the information of the beacon signal 1-1 received by the wireless device 11-2 is processed and prepared as the beacon signal 2-2.
- the wireless device 11-2 updates the flag indicating the transfer history of the beacon signal 1-1 (for example, counts up the number of hops) to generate a beacon signal 2-2.
- step S13 the wireless device 11-2 transmits a beacon signal 2-2.
- This beacon signal 2-2 is received by the surrounding wireless devices 11-1 and 11-0.
- FIG. 4 is a block diagram illustrating wireless devices (11-1, 11-2, . . . ).
- the wireless devices (11-1, 11-2, . . . ) have a wireless transmitter 41, a wireless receiver 42, and a processor 43.
- the wireless transmitter 41 transmits a beacon signal.
- a radio receiver 42 receives a beacon signal.
- the processing unit 43 processes the information of the received beacon signal and prepares the beacon signal to be transmitted.
- step S14 the beacon signal 2-2 received by the wireless device 11-1 is confirmed.
- the wireless device 11-1 recognizes that the beacon signal 1-1 emitted by itself is the one returned from the adjacent terminal, the wireless device 11-1 discards the beacon 2-2 signal. This is to prevent a beacon signal transferred like a broadcast stream from looping.
- step S15 the beacon signal 1-1 and the beacon signal 2-2 received by the wireless device 11-0 are confirmed.
- the wireless device 11-0 compares the information of the beacon signal 1-1 and the information of the beacon signal 2-2, and the same signal (beacon signal 2-2) as the beacon signal 1-1 is transmitted to the wireless device 11-2. It grasps that it arrived at the 2nd hop via.
- step S16 the wireless device 11-0 notifies the analysis device 12 of the information of each beacon signal (for example, beacon information, radio wave intensity, number of hops, and routed nodes).
- the analysis device 12 records this as information (1).
- FIG. 5 is a block diagram illustrating the wireless device 11-0.
- the wireless device 11 - 0 has a wireless transmission section 51 , a wireless reception section 52 , a processing section 53 , a database 54 and a management communication section 55 .
- the wireless transmitter 51 transmits a beacon signal.
- a radio receiver 52 receives a beacon signal from each radio device (11-1, 11-2, . . . ).
- the processing unit 53 compares the received beacon signals and grasps the information of each beacon signal.
- the management communication unit 55 notifies the analysis device 12 of the information of each beacon signal. Database 54 will be described later.
- steps S21 to S26 the same operations as in steps S11 to S16 are performed for the beacon signal 2-1 transmitted by the wireless device 11-2.
- step S31 the analysis device 12 analyzes the notified information (1) and (2) of each beacon signal, and estimates the relative positional relationship of the wireless device 11.
- FIG. 6 is a block diagram illustrating the analysis device 12. As shown in FIG. The analysis device 12 has a processing section 63 and a management communication section 65 .
- the management communication unit 65 receives information of each beacon signal from the wireless device 11-0.
- the processing unit 63 analyzes the information of each beacon signal and estimates the relative positional relationship of the wireless devices 11 .
- each device operates in cooperation as shown in FIG. Can be estimated without installation.
- FIGS. 8 to 12 Detailed operations of the position estimation system of this embodiment will be described with reference to FIGS. 8 to 12 .
- This example describes a case where the wireless device 11-0, which is the access point, transmits the beacon signal 0-1 in the first step (assuming that the wireless device 11-0 is the “parent” that is the transmission source of the beacon signal). .).
- the wireless device 11-0 transmits a beacon signal 0-1.
- the beacon signal 0-1 includes a flag indicating that it is the first step (for example, the hop count is 0). It is assumed that the beacon signal 0-1 reaches the wireless devices 11-1 and 11-2.
- the wireless devices 11-1 and 11-2 that have received the beacon signal 0-1 transmit response signals 1-0 and 2-0 to the wireless device 11-0, respectively. good.
- the wireless device 11-0 notifies the analysis device 12 that these response signals have been returned.
- the analysis device 12 recognizes that the wireless devices 11-1 and 11-2 are present in the vicinity of the wireless device 11-0 (within the reach of the beacon signal).
- information on the radio wave intensity of the beacon signal is also included in the response signal, the distance from the wireless device 11-0 to the wireless device 11-1 and the distance from the wireless device 11-0 to the wireless device 11-2 can also be recognized. .
- radio equipment 11-1 and radio equipment 11-2 that have received beacon signal 0-1 transmit beacon signal 1-2 and beacon signal 2-2.
- the beacon signal 1-2 and the beacon signal 2-2 include a flag (for example, hop number 1) indicating the second step.
- the beacon signal 1-2 and the beacon signal 2-2 may contain information on the wireless device that is the source.
- the beacon signal 1-2 is received by the wireless devices 11-0 and 11-2.
- the beacon signal 2-2 is received by the wireless devices 11-0 and 11-1. By receiving the beacon signals 1-2 and 2-2, the wireless device 11-0 recognizes the presence of the wireless devices 11-1 and 11-2 in the vicinity.
- the wireless device 11-0 determines the distance between the wireless device 11-0 and the wireless device 11-1 and the distance between the wireless device 11-0 and the wireless device 11-0 from the information on the signal strength of the beacon signal 1-2 and the beacon signal 2-2. You can perceive the distance to 11-2.
- the wireless device 11-0 notifies the analysis device 12 of these pieces of information.
- the radio device 11-1 receives the beacon signal 2-2 from the radio device 11-2, and the radio device 11-2 receives the beacon signal 1-2 from the radio device 11-1.
- FIG. 11 is a diagram for explaining the operation of each wireless device that has received a beacon signal in the second step.
- the wireless device 11-0 transmits a response signal 0-02 when receiving the beacon signal 2-2 , and transmits a response signal 0-01 when receiving the beacon signal 1-2.
- the wireless device 11-1 transmits a response signal 1-02 upon receiving the beacon signal 2-2 .
- the wireless device 11-2 transmits a response signal 2-01 upon receiving the beacon signal 1-2 . From these response signals, the wireless device 11-1 recognizes the presence of the wireless devices 11-0 and 11-2 in the vicinity, and the wireless device 11-2 recognizes the presence of the wireless devices 11-0 and 11-2 in the vicinity. Recognize that -1 exists.
- the wireless device 11-0 recognizes that the wireless devices 11-1 and 11-2 exist in the vicinity, the wireless device 11-0 receives the response signal 0-0. 1 and response signal 1-02 may be omitted.
- FIG. 12 is a diagram explaining the operation of each wireless device that has received a response signal to the second step beacon signal.
- the wireless device 11-1 transmits to the wireless device 11-0 a notification signal 1-a notifying that the wireless devices 11-0 and 11-2 are present in the vicinity.
- the wireless device 11-2 transmits to the wireless device 11-0 a notification signal 2-a notifying that the wireless devices 11-0 and 11-1 exist in the vicinity.
- the wireless device 11-0 recognizes that the wireless devices 11-1 and 11-2 exist nearby, so the notification signal indicates that the wireless device 11-0 exists. It does not have to include doing
- the wireless device 11-0 By receiving the notification signal 1-a, the wireless device 11-0 recognizes that the wireless device 11-2 exists in the vicinity of the wireless device 11-1 (within the reach of the beacon signal). to that effect. Further, by receiving the notification signal 2-a, the wireless device 11-0 recognizes that the wireless device 11-1 exists in the vicinity of the wireless device 11-2 (within the reach of the beacon signal), and analyzes the presence of the wireless device 11-1. The device 12 is notified to that effect.
- information on the radio wave intensity of the beacon signal 1-2 and the beacon signal 2-2 is included in each notification signal, the distance from the wireless device 11-1 to the wireless device 11-2 can also be recognized.
- Analysis device 12 analyzes radio device 11-0, radio device 11-1 and radio device 11 based on the notification from radio device 11-0 (radio devices existing near each radio device and the distance between radio devices). Estimate the positional relationship of -2.
- FIG. 13 explains the operation after radio devices 11-1 and 11-2 transmit response signals 1-0 and 2-0, respectively, and radio device 11-0 receives them as shown in FIG. there is
- the radio equipment 11-1 and the radio equipment 11-2 transmit the second step beacon signals 1-2 and 2-2, respectively, as described with reference to FIG. It is assumed that the beacon signal 1-2 reaches wireless devices 11-0, 11-2, 11-3 and 11-4. It is assumed that the beacon signal 2-2 reaches wireless devices 11-0, 11-1, 11-4 and 11-5.
- the method by which the analysis device 12 estimates the positional relationship between the wireless devices 11-0, 11-1, and 11-2 is as described in the first embodiment.
- the wireless devices 11-3, 11-4, and 11-5 receive the second step beacon signal without receiving the first step beacon signal. Therefore, the wireless devices 11-3, 11-4, and 11-5 recognize the source of the second step beacon signal (that is, the wireless devices 11-1 and 11-2) as the "parent". Therefore, the wireless devices 11-3, 11-4, and 11-5 operate as described in the first embodiment using the received beacon signals 1-2 and 2-2 as the first step beacon signals. That is, the wireless devices 11-3, 11-4, and 11-5 recognize nearby wireless devices by exchanging beacon signals and response signals.
- the wireless device 11-3 recognizes that the wireless devices 11-1 and 11-4 exist in the vicinity, and the wireless device 11-4 recognizes that the wireless devices 11-1, 11-2, and 11- 3, and 11-5 exist, and the wireless device 11-5 recognizes that the wireless devices 11-2 and 11-4 exist nearby.
- FIG. 14 is a diagram for explaining the operation of the wireless devices 11-3, 11-4, and 11-5 notifying the parent wireless devices of information on nearby wireless devices.
- FIG. 15 is a diagram for explaining the operation after the wireless devices 11-1 and 11-2 receive notification signals from the wireless devices 11-3, 11-4, and 11-5.
- the wireless device 11-1 recognizes that the wireless devices 11-0, 11-2, 11-3, and 11-4 exist in the neighborhood, and notifies the wireless device 11 by the notification signal 1-b. -0.
- the notification signal causes the wireless device 11-2 to recognize the existence of the wireless devices 11-0, 11-1, 11-4, and 11-5 in the vicinity, and to that effect via the notification signal 2-b.
- the wireless device 11-0 recognizes that the wireless devices 11-1 and 11-2 exist nearby, so the notification signal indicates that the wireless device 11-0 exists. It does not have to include doing
- the analysis device 12 estimates the positional relationship of the radio devices 11-0 to 11-5 based on the notification from the radio device 11-0 (radio devices existing in the vicinity of each radio device and the distance between the radio devices). .
- FIG. 16 is a diagram illustrating the position estimation system of this embodiment.
- This position estimation system receives position information of at least one wireless device whose location is definite, and corrects the positions of a plurality of wireless devices estimated based on the position information.
- the relative position of the wireless device can be estimated using the techniques described in the first to third embodiments. However, it is not possible to estimate the absolute position of the wireless device. Therefore, in the position estimation system of this embodiment, position information of at least one wireless device is provided.
- the analysis device 12 is provided with the location information of any wireless device.
- Location information is given to the wireless device 11-0 whose location is fixed, such as an access point, and is notified to the analysis device 12 when estimating the location.
- location information can be stored in the database 54 of FIG. (Example 3)
- the location information of the wireless device is input from the terminal 13 approaching the wireless device 11, and the location information is included in the notification signal to the “parent”, thereby notifying the analysis device 12 of the location information.
- the analysis device 12 translates the estimated positional relationship of the wireless devices based on the given positional information to improve the accuracy of the position of the wireless devices.
- FIG. 17 and 18 are diagrams for explaining the position estimation system of this embodiment.
- the location estimation system utilizes mobile wireless devices to improve the accuracy of estimating the location of wireless devices.
- the reach of the beacon signal is limited. Therefore, as shown in FIG. 17, when the arrangement of the wireless devices 11 is sparse and there are few or no other wireless devices 11 within the reach of the beacon signal, the estimation accuracy of the wireless device position estimated by the analysis device 12 is decreases. Therefore, in this embodiment, as shown in FIG. 18, the wireless devices 11-m possessed by robots and workers that patrol within the range of the position estimation system are used to complement the wireless devices 11. FIG. By moving the wireless device 11-m into the range of the position estimation system, the arrangement of the wireless devices 11 becomes denser and the beacon signal becomes easier to reach. Therefore, the estimation accuracy of the wireless device position estimated by the analysis device 12 is improved.
- FIG. 19 is a flowchart for explaining the operation of the analysis device 12.
- the analysis device 12 performs an information collection step S51 and an estimation processing step S52.
- the information gathering step S51 as described in the first to fifth embodiments, from the wireless device 11-0, wireless devices (unique numbers, etc.) existing in the vicinity of each wireless device 11 and strength of beacon signals transmitted and received between the wireless devices are collected. Get information about In estimation processing step S52, the position of the wireless device is estimated.
- estimation methods there are the following methods. Since the reach of the beacon signal is limited (for example, within a radius of 20 m), it can be said that the wireless device that received the response signal is within the range from itself. By obtaining information on wireless devices within the range from a plurality of wireless devices, it is possible to estimate the location of the wireless device to some extent. Furthermore, the estimated position of each wireless device can be corrected by using the location of the wireless device whose position is known in advance.
- the analysis device 12 described in the above embodiment can also be realized by a computer and a program, and the program can be recorded on a recording medium or provided through a network.
- a root wireless device transmits a first beacon signal and receives a response signal to the first beacon signal to grasp the existence of neighboring wireless devices; Where n is a natural number and m is a natural number less than n, a wireless device that has received an n-th beacon signal and has not received an m-th beacon signal returns a response signal to the n-th beacon signal, By transmitting an (n+1)th beacon signal and receiving a response signal to the (n+1)th beacon signal, the presence of a neighboring wireless device is grasped, and the information of the neighboring wireless device and the notification from the neighboring wireless device are obtained.
- the root wireless device notifies the analysis device of the information of the neighboring wireless device and the information notified from the neighboring wireless device, and the analysis device based on the information notified from the root wireless device to estimate the positional relationship between each wireless device.
- the beacon signal contains information/flags such as number of hops/number of steps/parent-child.
- Unit 51 Wireless transmission unit 52: Wireless reception unit 53: Processing unit 54: Database 55: Management communication unit 63: Processing unit 65: Management communication unit
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
それぞれの前記無線装置は、
ビーコン信号を発信すること、
前記ビーコン信号が届く範囲の前記無線装置間で前記ビーコン信号を転送し合うこと、
転送時に、前記ビーコン信号が持つ転送経歴を示すフラグを更新すること、及び
自身が発信した前記ビーコン信号を受信した場合、当該ビーコン信号を廃棄すること、
を行い、
前記無線装置のうちの任意の1つは、前記ビーコン信号を収集することを行い、
前記解析装置は、前記無線装置が収集したそれぞれの前記ビーコン信号の前記フラグを解析し、複数の前記無線装置の位置を推定することを行う
ことを特徴とする。
それぞれの前記無線装置からビーコン信号を発信すること、
前記ビーコン信号が届く範囲の前記無線装置間で前記ビーコン信号を転送し合うこと、
転送時に、前記ビーコン信号が持つ転送経歴を示すフラグを更新すること、
自身が発信した前記ビーコン信号を受信した場合、当該ビーコン信号を廃棄すること、
前記無線装置のうちの一つで前記ビーコン信号を収集すること、及び
収集したそれぞれの前記ビーコン信号の前記フラグを解析し、前記無線装置の位置を推定することを特徴とする。
それぞれの前記無線装置は、
ビーコン信号を発信すること、
前記ビーコン信号が届く範囲の前記無線装置間で前記ビーコン信号を転送し合うこと、
転送時に、前記ビーコン信号が持つ転送経歴を示すフラグを更新すること、及び
自身が発信した前記ビーコン信号を受信した場合、当該ビーコン信号を廃棄すること、
を行い、
前記無線装置のうちの任意の1つは、前記ビーコン信号を収集し、前記ビーコン信号の情報を前記解析装置へ通知することを行うことを特徴とする。
それぞれの前記無線装置は、
ビーコン信号を発信すること、
前記ビーコン信号が届く範囲の前記無線装置間で前記ビーコン信号を転送し合うこと、
転送時に、前記ビーコン信号が持つ転送経歴を示すフラグを更新すること、及び
自身が発信した前記ビーコン信号を受信した場合、当該ビーコン信号を廃棄すること、
を行っており、
前記無線装置のうちの任意の1つは、前記ビーコン信号を収集することを行っており、
前記無線装置が収集したそれぞれの前記ビーコン信号の前記フラグを解析し、複数の前記無線装置の位置を推定することを行うことを特徴とする。
図2は、本実施形態の位置推定システムの概要を説明する図である。本位置推定システムは、複数の無線装置11及び解析装置12を備える位置推定システムであって、
それぞれの無線装置11は、
ビーコン信号を発信すること、
前記ビーコン信号が届く範囲の無線装置11間で前記ビーコン信号を転送し合うこと、
転送時に、前記ビーコン信号が持つ転送経歴を示すフラグを更新すること、及び
自身が発信した前記ビーコン信号を受信した場合、当該ビーコン信号を廃棄すること、
を行い、
無線装置11のうちの任意の1つ(例えば、アクセスポイントである無線装置11-0)は、前記ビーコン信号を収集することを行い、
解析装置12は、無線装置11-0が収集したそれぞれの前記ビーコン信号の前記フラグを解析し、複数の無線装置11の位置を推定することを行う
ことを特徴とする。
無線装置11-1はビーコン信号1-1を発信し、無線装置11-0と無線装置11-2がビーコン信号1-1を受信する。無線装置11-2はビーコン信号1-1を受信を受信したときに、転送履歴を示すフラグ(例えば、ビーコン情報、電波強度、ホップ数、転送経路、及びその他の情報)を更新し、ビーコン信号2-2として転送する。このビーコン信号2-2は無線装置11-0、無線装置11-1、その他周囲にある無線装置11が受信する。なお、無線装置11-0はビーコン信号1-1を受信を受信した場合、転送履歴を示すフラグを更新して転送する必要はない。また、無線装置11-1は、ビーコン信号2-2を受信した場合、そのフラグから自身が発信したビーコン信号であることを認識し、ビーコン信号2-2を廃棄する。
無線装置11-2はビーコン信号2-1を発信し、無線装置11-0と無線装置11-1がビーコン信号2-1を受信する。無線装置11-1はビーコン信号2-1を受信を受信したときに、転送履歴を示すフラグを更新し、ビーコン信号1-2として転送する。このビーコン信号1-2は無線装置11-0、無線装置11-2、その他周囲にある無線装置11が受信する。なお、無線装置11-0はビーコン信号2-1を受信を受信した場合、転送履歴を示すフラグを更新して転送する必要はない。また、無線装置11-2は、ビーコン信号1-2を受信した場合、そのフラグから自身が発信したビーコン信号であることを認識し、ビーコン信号1-2を廃棄する。
なお、無線装置11-0が受信したビーコン信号を転送しないこと、及び自身が発信したビーコン信号が他で転送されたものを受信した無線装置11がそれを廃棄することは、ビーコン信号がブロードキャストストリームのように情報量を増大させないことに効果がある。
所在が明確な位置情報とは、次のような例である。
(例1)アクセスポイントである無線装置11-0の場所情報を無線装置11-0のデータベース34に登録しておき、フラグの情報を解析装置12へ通知するときに自身の場所情報も解析装置12へ通知する。
(例2)任意の移動無線端末からある無線装置11の傍で位置情報(どこの部屋か、等)を申告し、その無線装置11がビーコン信号にその位置情報を添付して発信ないし転送(無線装置11-0であれば解析装置12へ通知)する。
(例3)近傍に位置が正しいと確証のある固定ビーコンがあれば、そのビーコン信号を利用する。
図3は、本位置推定方法を説明する図である。本位置推定方法は、複数の無線装置11の位置を推定する位置推定方法であって、
それぞれの無線装置11からビーコン信号を発信すること(ステップS11、S21)、
前記ビーコン信号が届く範囲の無線装置11間で前記ビーコン信号を転送し合うこと、
転送時に、前記ビーコン信号が持つ転送経歴を示すフラグを更新すること(ステップS12、S22)、
自身が発信した前記ビーコン信号を受信した場合、当該ビーコン信号を廃棄すること(ステップS14、S24)、
無線装置11のうちの一つ(例えば、アクセスポイントである無線装置11-0)で前記ビーコン信号を収集すること(ステップS15、S25)、及び
収集したそれぞれの前記ビーコン信号の前記フラグを解析し、無線装置11の位置を推定すること(ステップS31)を特徴とする。
そして、ステップS13で、無線装置11-2はビーコン信号2-2を発信する。このビーコン信号2-2は周囲の無線装置11-1や無線装置11-0が受信する。
ステップS16で、無線装置11-0は、各ビーコン信号の情報(例えば、ビーコン情報、電波強度、ホップ数、経由してきたノード)を解析装置12へ通知する。解析装置12は、これを情報(1)として記録する。
図8から図12を用いて、本実施形態の位置推定システムの詳細な動作を説明する。本例は、アクセスポイントである無線装置11-0がファーストステップのビーコン信号0-1を発信する場合を説明している(無線装置11-0をビーコン信号の発信源である「親」とする。)。図8のように無線装置11-0はビーコン信号0-1を発信する。ビーコン信号0-1は、ファーストステップである旨のフラグ(例えば、ホップ数0)が含まれる。ビーコン信号0-1は無線装置11-1と無線装置11-2に届くものとする。
また、無線装置11-1は無線装置11-2からのビーコン信号2-2を受信し、無線装置11-2は無線装置11-1からのビーコン信号1-2を受信する。
図13から図15を用いて、本実施形態の位置推定システムの詳細な動作を説明する。本例の場合、無線装置は5台である。本例も、図8のようにアクセスポイントである無線装置11-0がファーストステップのビーコン信号0-1を発信する場合を説明している。しかし、本例の場合、ビーコン信号0-1が無線装置11-3、11-4、及び11-5には届かないものとする。
図16は、本実施形態の位置推定システムを説明する図である。本位置推定システムは、所在が明確な少なくとも1つの無線装置の位置情報が入力され、前記位置情報により推定した複数の無線装置の位置を補正する。
(例1)解析装置12にいずれかの無線装置の位置情報を与える。
(例2)アクセスポイントのように位置が固定される無線装置11-0に位置情報を与えておき、位置推定時に解析装置12へ通知する。例えば、図5のデータベース54に位置情報を記憶させておくことができる。
(例3)無線装置11に近づいた端末13から当該無線装置の位置情報を入力し、「親」への通知信号に当該位置情報を含めることで解析装置12へ通知する。
図17及び図18は、本実施形態の位置推定システムを説明する図である。本位置推定システムは、移動可能な無線装置を利用して無線装置の位置を推定する精度を向上させる。
図19は、解析装置12の動作を説明するフローチャートである。解析装置12は、情報収集ステップS51と推定処理ステップS52を行う。
情報収集ステップS51では、実施形態1から5で説明したように、無線装置11-0から各無線装置11の近隣に存在する無線装置(固有番号等)や無線装置間で送受したビーコン信号の強度の情報を取得する。
推定処理ステップS52では、無線装置の位置を推定する。推定手法としては次のような手法がある。ビーコン信号が届く範囲は限定的(例えば、半径20m以内)であるから、応答信号があった無線装置は自身から当該範囲内にあるといえる。複数の無線装置から当該範囲内にある無線装置の情報を得ることで、ある程度の無線装置位置を推定することができる。さらに、予め位置が明確である無線装置の位置を利用すれば、各無線装置の推定位置を補正することもできる。
上記実施形態で説明した解析装置12はコンピュータとプログラムによっても実現でき、プログラムを記録媒体に記録することも、ネットワークを通して提供することも可能である。
以下は、本実施形態の位置推定システムを説明したものである。
(目的)
各無線装置の位置を把握するシステムであって、
(1)固定ビーコンの設置、GPSの利用、及びそれらの管理を不要とすること、
(2)ブロードキャストストーム的なデータ流通量爆発を防ぐこと、及び
(3)IoT端末にデータがなるべく蓄積されないようにすること
を実現できるシステムを提供することを目的とする。
(目的を達成する手段)
本システムは、上記(1)と(3)の目的を達成するために、次の機能を持つ。
ルート(根)となる無線装置が、第1のビーコン信号を送信し、該第1のビーコン信号に対する応答信号を受信することで近隣の無線装置の存在を把握すること、
nを自然数、mをn未満の自然数として、第nのビーコン信号を受信し、かつ第mのビーコン信号を受信しなかった無線装置が、該第nのビーコン信号に対する応答信号を返信するとともに、第n+1のビーコン信号を送信し、該第n+1のビーコン信号に対する応答信号を受信することで近隣の無線装置の存在を把握し、該近隣の無線装置の情報と該近隣の無線装置から通知された情報とを第nのビーコン信号を送信した無線装置に通知すること、
ルートとなる無線装置が、近隣の無線装置の情報と該近隣の無線装置から通知された情報とを解析装置に通知すること、及び
解析装置が、ルートとなる無線装置から通知された情報に基づいて、各無線装置間の位置関係を推定すること。
ビーコン信号がホップ数/ステップ数/親-子等の情報/フラグを含むこと。
11-m:移動可能な無線装置
12:解析装置
13:端末
41:無線送信部
42:無線受信部
43:処理部
51:無線送信部
52:無線受信部
53:処理部
54:データベース
55:管理通信部
63:処理部
65:管理通信部
Claims (6)
- 複数の無線装置及び解析装置を備える位置推定システムであって、
それぞれの前記無線装置は、
ビーコン信号を発信すること、
前記ビーコン信号が届く範囲の前記無線装置間で前記ビーコン信号を転送し合うこと、
転送時に、前記ビーコン信号が持つ転送経歴を示すフラグを更新すること、及び
自身が発信した前記ビーコン信号を受信した場合、当該ビーコン信号を廃棄すること、
を行い、
前記無線装置のうちの任意の1つは、前記ビーコン信号を収集することを行い、
前記解析装置は、前記無線装置が収集したそれぞれの前記ビーコン信号の前記フラグを解析し、複数の前記無線装置の位置を推定することを行う
ことを特徴とする位置推定システム。 - 前記解析装置は、
前記無線装置で受信した前記ビーコン信号の前記フラグに転送経歴が無い場合、当該ビーコン信号を発信した前記無線装置を「親」とし、
前記無線装置で受信した前記ビーコン信号の前記フラグに転送経歴が有る場合、転送された順において2以上で最小番目の前記無線装置を「親」とする
ことを特徴とする請求項1に記載の位置推定システム。 - 前記解析装置は、
所在が明確な少なくとも1つの前記無線装置の位置情報が入力され、前記位置情報により推定した前記複数の前記無線装置の位置を補正することを特徴とする請求項1又は2に記載の位置推定システム。 - 複数の無線装置の位置を推定する位置推定方法であって、
それぞれの前記無線装置からビーコン信号を発信すること、
前記ビーコン信号が届く範囲の前記無線装置間で前記ビーコン信号を転送し合うこと、
転送時に、前記ビーコン信号が持つ転送経歴を示すフラグを更新すること、
自身が発信した前記ビーコン信号を受信した場合、当該ビーコン信号を廃棄すること、
前記無線装置のうちの一つで前記ビーコン信号を収集すること、及び
収集したそれぞれの前記ビーコン信号の前記フラグを解析し、前記無線装置の位置を推定すること
を特徴とする位置推定方法。 - 解析装置によってそれぞれの位置が推定される複数の無線装置であって、
それぞれの前記無線装置は、
ビーコン信号を発信すること、
前記ビーコン信号が届く範囲の前記無線装置間で前記ビーコン信号を転送し合うこと、
転送時に、前記ビーコン信号が持つ転送経歴を示すフラグを更新すること、及び
自身が発信した前記ビーコン信号を受信した場合、当該ビーコン信号を廃棄すること、
を行い、
前記無線装置のうちの任意の1つは、前記ビーコン信号を収集し、前記ビーコン信号の情報を前記解析装置へ通知することを行う
ことを特徴とする無線装置。 - 複数の無線装置の位置を推定する解析装置であって、
それぞれの前記無線装置は、
ビーコン信号を発信すること、
前記ビーコン信号が届く範囲の前記無線装置間で前記ビーコン信号を転送し合うこと、
転送時に、前記ビーコン信号が持つ転送経歴を示すフラグを更新すること、及び
自身が発信した前記ビーコン信号を受信した場合、当該ビーコン信号を廃棄すること、
を行っており、
前記無線装置のうちの任意の1つは、前記ビーコン信号を収集することを行っており、
前記無線装置が収集したそれぞれの前記ビーコン信号の前記フラグを解析し、複数の前記無線装置の位置を推定することを行うことを特徴とする解析装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US18/271,520 US20240053430A1 (en) | 2021-01-22 | 2021-01-22 | Position estimation system, position estimation method, wireless device and analysis device |
JP2022576906A JP7435833B2 (ja) | 2021-01-22 | 2021-01-22 | 位置推定システム、位置推定方法、無線装置及び解析装置 |
PCT/JP2021/002280 WO2022157933A1 (ja) | 2021-01-22 | 2021-01-22 | 位置推定システム、位置推定方法、無線装置及び解析装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2021/002280 WO2022157933A1 (ja) | 2021-01-22 | 2021-01-22 | 位置推定システム、位置推定方法、無線装置及び解析装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022157933A1 true WO2022157933A1 (ja) | 2022-07-28 |
Family
ID=82549619
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2021/002280 WO2022157933A1 (ja) | 2021-01-22 | 2021-01-22 | 位置推定システム、位置推定方法、無線装置及び解析装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20240053430A1 (ja) |
JP (1) | JP7435833B2 (ja) |
WO (1) | WO2022157933A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007272676A (ja) * | 2006-03-31 | 2007-10-18 | Mitsubishi Electric Corp | 駐車場位置管理システムおよび駐車場位置管理方法 |
US20100246405A1 (en) * | 2009-03-31 | 2010-09-30 | Miodrag Potkonjak | Efficient location discovery |
JP2018054308A (ja) * | 2016-09-26 | 2018-04-05 | 株式会社Where | 位置算出方法、距離算出方法、及び、ビーコン |
JP2018189639A (ja) * | 2017-05-03 | 2018-11-29 | 富士ゼロックス株式会社 | 複数のビーコンの位置を決定するための方法、プログラム及びコンピュータシステム |
JP2020096288A (ja) * | 2018-12-13 | 2020-06-18 | 株式会社Where | ビーコンシステムの設定方法 |
-
2021
- 2021-01-22 JP JP2022576906A patent/JP7435833B2/ja active Active
- 2021-01-22 US US18/271,520 patent/US20240053430A1/en active Pending
- 2021-01-22 WO PCT/JP2021/002280 patent/WO2022157933A1/ja active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007272676A (ja) * | 2006-03-31 | 2007-10-18 | Mitsubishi Electric Corp | 駐車場位置管理システムおよび駐車場位置管理方法 |
US20100246405A1 (en) * | 2009-03-31 | 2010-09-30 | Miodrag Potkonjak | Efficient location discovery |
JP2018054308A (ja) * | 2016-09-26 | 2018-04-05 | 株式会社Where | 位置算出方法、距離算出方法、及び、ビーコン |
JP2018189639A (ja) * | 2017-05-03 | 2018-11-29 | 富士ゼロックス株式会社 | 複数のビーコンの位置を決定するための方法、プログラム及びコンピュータシステム |
JP2020096288A (ja) * | 2018-12-13 | 2020-06-18 | 株式会社Where | ビーコンシステムの設定方法 |
Also Published As
Publication number | Publication date |
---|---|
JP7435833B2 (ja) | 2024-02-21 |
US20240053430A1 (en) | 2024-02-15 |
JPWO2022157933A1 (ja) | 2022-07-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US6115580A (en) | Communications network having adaptive network link optimization using wireless terrain awareness and method for use therein | |
JP3908977B2 (ja) | メッセージの経路指定システムおよび方法 | |
US8619672B2 (en) | Apparatus and method for multi-sector velocity mobile velocity and doppler estimate for synchronous communication systems | |
US20060062175A1 (en) | Proactive location based routing in a wireless ad-hoc network | |
CN103004266B (zh) | 用于无线电发射机的开/闭环同步 | |
AU2014366804A1 (en) | Method and system for estimating a topology of a network and its use in a mobile ad hoc radio network | |
US11956185B2 (en) | Time-division duplexing (TDD) detection in wireless distributed communications systems (DCS) to synchronize TDD downlink and uplink communications, and related methods | |
US20030072306A1 (en) | Network routing using position location and short-range wireless connections | |
Sun et al. | Quantized kalman filtering | |
JP2009182401A (ja) | 無線通信システム、運用管理サーバ装置および無線基地局制御方法 | |
Hang et al. | A user association policy for UAV-aided time-varying vehicular networks with MEC | |
US20150043364A1 (en) | Dynamic routing method in ad-hoc network and network device therefor | |
WO2022157933A1 (ja) | 位置推定システム、位置推定方法、無線装置及び解析装置 | |
JP2001128231A (ja) | 可変エリアアドホックネットワーク | |
US10805829B2 (en) | BLE-based location services in high density deployments | |
US20230266426A1 (en) | Los training dataset imbalance detection | |
KR101747239B1 (ko) | 인지 무선 네트워크에서 협업 과정을 통한 모바일 애드 혹 라우팅 프로토콜 | |
Satria et al. | Emergency prenatal telemonitoring system in wireless mesh network | |
CN110784244B (zh) | 一种数据传输方法及全双工Ad Hoc网络系统 | |
Fuger et al. | On the feasibility of position-flooding in urban uav networks | |
CN113055820B (zh) | 数据存储方法、装置、系统和存储介质 | |
Jiang et al. | New LQR protocols with intrusion detection schemes for IOT security | |
Mensing et al. | Performance assessment of cooperative positioning techniques | |
Latiff et al. | Scalability Performance for Low Power Wide Area Network Technology using Multiple Gateways | |
US20230266462A1 (en) | Method and system for estimating an occupancy level of a geographic area |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21921042 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2022576906 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 18271520 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 21921042 Country of ref document: EP Kind code of ref document: A1 |