WO2022158070A1 - 測位方法、プログラム及び測位システム - Google Patents

測位方法、プログラム及び測位システム Download PDF

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Publication number
WO2022158070A1
WO2022158070A1 PCT/JP2021/039522 JP2021039522W WO2022158070A1 WO 2022158070 A1 WO2022158070 A1 WO 2022158070A1 JP 2021039522 W JP2021039522 W JP 2021039522W WO 2022158070 A1 WO2022158070 A1 WO 2022158070A1
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Prior art keywords
scanners
beacon
scanner
slave
received signal
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English (en)
French (fr)
Japanese (ja)
Inventor
燕峰 王
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Panasonic Intellectual Property Management Co Ltd
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Panasonic Intellectual Property Management Co Ltd
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Priority to JP2022576983A priority Critical patent/JP7627898B2/ja
Publication of WO2022158070A1 publication Critical patent/WO2022158070A1/ja
Anticipated expiration legal-status Critical
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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

Definitions

  • the present disclosure relates generally to positioning methods, programs and positioning systems, and more particularly to positioning methods, programs and positioning systems for determining the position of a beacon terminal.
  • a position detection system (positioning system) described in Patent Document 1 includes a plurality of fixed communication devices, a mobile communication device, a pattern selection section, a device selection section, a correction section, and a position calculation section.
  • the pattern selector selects a reference pattern.
  • the device selection unit selects three or more fixed communication devices based on the partial area corresponding to the selected reference pattern.
  • the correcting unit corrects the index value of the radio wave intensity wirelessly communicated between the selected three or more fixed communication devices and the mobile communication device using a predetermined exponential function to calculate a corrected radio wave intensity value. .
  • the position calculator calculates the position of the mobile communication device based on the corrected radio wave intensity value.
  • An object of the present disclosure is to provide a positioning method, a program, and a positioning system that can improve the calculation accuracy of the position of a beacon terminal.
  • a positioning method is a positioning method for determining the position of a beacon terminal.
  • the positioning method includes main scanner selection processing and correction processing.
  • the main scanner selection process among a plurality of scanners that receive the first beacon signal transmitted from the beacon terminal, the received signal strength of the first beacon signal satisfies a predetermined condition, and a second beacon signal is transmitted. Select the scanner that has the capability to do so as the primary scanner.
  • the correction process the position of the beacon terminal obtained based on the received signal strength of the first beacon signal in the plurality of scanners is corrected in each of the plurality of slave scanners, which are a part of the plurality of scanners. Correction is performed based on the received signal strength of the second beacon signal and the distance between the master scanner and each of the plurality of slave scanners.
  • a program according to one aspect of the present disclosure is a program for causing one or more processors to execute the positioning method.
  • a positioning system is a positioning system for determining the position of a beacon terminal.
  • the positioning system includes a main scanner selector and a correction processor.
  • the main scanner selection unit transmits a second beacon signal from a plurality of scanners that receive the first beacon signal transmitted from the beacon terminal if the received signal strength of the first beacon signal satisfies a predetermined condition. Select the scanner that has the capability to do so as the primary scanner.
  • the correction processing unit adjusts the position of the beacon terminal obtained based on the received signal strength of the first beacon signal in the plurality of scanners to each of a plurality of slave scanners which are a part of the plurality of scanners. and the distance between the primary scanner and each of the plurality of secondary scanners.
  • FIG. 1 is a block diagram of a positioning system according to one embodiment.
  • FIG. 2 is a plan view schematically showing a usage example of the positioning system;
  • FIG. 3 is a sequence diagram illustrating a usage example of the positioning system;
  • FIG. 4 is a plan view schematically showing a usage example of the positioning system;
  • the positioning system 1 of this embodiment is used as a positioning system (LPS: Local Positioning System) for measuring the position of a beacon terminal 5 in a facility.
  • the beacon terminal 5 is carried by the user.
  • a plurality of users using the facility each carry a beacon terminal 5 .
  • Identification information is assigned to each beacon terminal 5, and the positioning system 1 distinguishes between the plurality of beacon terminals 5 based on the identification information.
  • “Facilities” referred to in this disclosure are, for example, office buildings, factories, commercial complexes, libraries, museums, museums, amusement facilities, theme parks, parks, airports, railway stations, ballparks, hotels, hospitals and residences.
  • the "facility” may be, for example, a mobile object such as a ship or a railway vehicle.
  • a “beacon terminal” as used in the present disclosure is, for example, a mobile terminal carried by a user who uses a facility, such as a communication terminal such as a smartphone.
  • the “beacon terminal” referred to in the present disclosure is not limited to a smartphone, and may be a tablet-type mobile terminal, or a terminal dedicated to the positioning system 1 such as a tag.
  • the "beacon terminal” may be owned by the user or may be borrowed.
  • a plurality of scanners 4 are installed in the facility.
  • a plurality of scanners 4 are installed, for example, on the ceiling of a building within the facility.
  • the multiple scanners 4 receive the first beacon signal Sig1 from the beacon terminal 5 and measure the received signal strength indication (RSSI) of the first beacon signal Sig1.
  • the positioning system 1 obtains the distance between each of the plurality of scanners 4 and the beacon terminal 5 based on the received signal strength of the first beacon signal Sig1 in each of the plurality of scanners 4 . Then, the positioning system 1 obtains the position of the beacon terminal 5 based on the distance.
  • RSSI received signal strength indication
  • the received signal strength of the first beacon signal Sig1 may change depending on the radio wave environment at the location where the multiple scanners 4 are installed. For example, in facilities, the received signal strength of the first beacon signal Sig1 may change due to interference with radio waves other than the first beacon signal Sig1, reflection of the first beacon signal Sig1, and the like. If no measures are taken against this, the position of the beacon terminal 5 cannot be obtained with high accuracy.
  • the present disclosure is made in view of such problems, and corrects the position of the beacon terminal 5 obtained based on the received signal strength of the first beacon signal Sig1, thereby obtaining the position of the beacon terminal 5 with high accuracy. aim.
  • the positioning system 1 of this embodiment is a positioning system 1 that obtains the position of the beacon terminal 5 .
  • the positioning system 1 includes a main scanner selector 21 and a correction processor 23 .
  • the main scanner selection unit 21 selects the second beacon signal from among the plurality of scanners 4 that receive the first beacon signal Sig1 transmitted from the beacon terminal 5 if the received signal strength of the first beacon signal Sig1 satisfies a predetermined condition.
  • a scanner 4 having the function of transmitting Sig2 is selected as the main scanner 4M.
  • the correction processing unit 23 adjusts the position of the beacon terminal 5 obtained based on the received signal strength of the first beacon signal Sig1 in the plurality of scanners 4 to the position of the plurality of slave scanners 4S which are a part of the plurality of scanners 4. Correction is made based on the received signal strength of the second beacon signal Sig2 in each and the distance between the main scanner 4M and each of the plurality of slave scanners 4S.
  • the position calculation accuracy of the beacon terminal 5 can be improved by correcting the position of the beacon terminal 5 that is obtained based on the received signal strength of the first beacon signal Sig1.
  • Each of the positioning system 1, the scanner 4 and the beacon terminal 5 includes a computer system having one or more processors and memories. At least some functions of each of the positioning system 1, the scanner 4, and the beacon terminal 5 are realized by the processor of the computer system executing the program recorded in the memory of the computer system.
  • the program may be recorded in a memory, may be provided through an electric communication line such as the Internet, or may be recorded in a non-temporary recording medium such as a memory card and provided.
  • the positioning system 1 includes a processing unit 2, a first communication unit 31, and a storage unit 32.
  • the scanner 4 has a first communication section 41 , a second communication section 42 , a storage section 43 and a processing section 44 .
  • the beacon terminal 5 has a first communication section 51 , a second communication section 52 and a storage section 53 .
  • the positioning system 1 , the scanner 4 and the beacon terminal 5 can communicate with each other via the first communication units 31 , 41 and 51 . That is, the "first communication unit” referred to in the present disclosure can communicate with other "first communication units".
  • “Communicable” as used in the present disclosure means that signals can be sent and received directly or indirectly via a network, a repeater, or the like, by an appropriate communication method such as wired communication or wireless communication.
  • the communication method of the "first communication unit” is, for example, a communication method conforming to the Ethernet (registered trademark) standard, or WiFi (registered trademark).
  • the second communication unit 42 of the scanner 4 and the second communication unit 52 of the beacon terminal 5 are used to measure the position of the beacon terminal 5 .
  • the second communication units 42 and 52 have communication functions for wireless communication using radio waves.
  • the communication method of the second communication units 42 and 52 is, for example, Bluetooth (registered trademark) Low Energy, or WiFi (registered trademark).
  • the second communication unit 52 of the beacon terminal 5 transmits the first beacon signal Sig1, which is a radio signal.
  • the first beacon signal Sig1 is a radio signal called, for example, an advertisement packet.
  • the second communication unit 52 wirelessly transmits the first beacon signal Sig1 at predetermined time intervals and with predetermined transmission power.
  • the second communication section 42 of the scanner 4 receives the first beacon signal Sig1 transmitted from the second communication section 52 .
  • the identification information of the beacon terminal 5 is included in the first beacon signal Sig1.
  • the identification information is, for example, Bluetooth (registered trademark) Device Address.
  • the second communication unit 42 of the scanner 4 transmits the second beacon signal Sig2, which is a wireless signal.
  • the second beacon signal Sig2 is a radio signal called, for example, an advertisement packet.
  • the second communication unit 42 wirelessly transmits the second beacon signal Sig2 at predetermined time intervals and with predetermined transmission power.
  • the second communication section 42 of the scanner 4 receives the second beacon signal Sig2 transmitted from the second communication section 42 of another scanner 4 .
  • the second beacon signal Sig2 contains the identification information of the scanner 4 that is the transmission source.
  • the identification information is, for example, Bluetooth (registered trademark) Device Address.
  • each of the multiple scanners 4 receives the first beacon signal Sig1 transmitted from the beacon terminal 5 at the second communication unit 42 . Also, each of the plurality of scanners 4 has a function of transmitting a second beacon signal Sig2. Furthermore, each of the multiple scanners 4 has the function of receiving the second beacon signal Sig2.
  • the main scanner 4M has the function of transmitting the second beacon signal Sig2 enabled, and the other scanners 4 (including the slave scanner 4S) have the function of transmitting the second beacon signal Sig2. is disabled.
  • the storage unit 53 of the beacon terminal 5 stores information about the beacon terminal 5 .
  • the storage unit 53 stores identification information of the beacon terminals 5 .
  • Scanner A plurality of scanners 4 are arranged in a matrix (see FIG. 2).
  • the multiple scanners 4 are arranged at regular intervals.
  • the storage unit 43 of the scanner 4 stores information about the scanner 4.
  • the storage unit 43 stores identification information of the scanner 4 .
  • the processing unit 44 of the scanner 4 obtains the received signal strength of the first beacon signal Sig1 received by the second communication unit 42 of the scanner 4. Also, the processing unit 44 obtains the received signal strength of the second beacon signal Sig2 received by the second communication unit 42 .
  • the positioning system 1 is, for example, a server computer.
  • the positioning system 1 may be installed inside a facility where a plurality of scanners 4 are installed, or may be installed outside the facility.
  • the storage unit 32 of the positioning system 1 stores position information and identification information of multiple scanners 4 .
  • the position information and identification information of the plurality of scanners 4 are registered in the positioning system 1 by, for example, an administrator of the facility when the plurality of scanners 4 are installed in the facility.
  • the position information and identification information of the plurality of scanners 4 are transmitted from the plurality of scanners 4 to the positioning system 1, for example.
  • the position information of the plurality of scanners 4 includes information on the coordinates of each of the plurality of scanners 4 and information on the distances between the plurality of scanners 4 . Note that the distance between the multiple scanners 4 may be obtained from the coordinates of each of the multiple scanners 4 .
  • the processing unit 2 of the positioning system 1 has a main scanner selection unit 21, a slave scanner selection unit 22, and a correction processing unit 23.
  • the main scanner selection unit 21, the slave scanner selection unit 22, and the correction processing unit 23 only represent functions realized by the positioning system 1, and do not necessarily represent actual configurations.
  • the main scanner selection unit 21 selects the main scanner 4M from among the plurality of scanners 4.
  • the function of transmitting the second beacon signal Sig2 is disabled by default.
  • the main scanner selection unit 21 transmits a transmission instruction signal instructing transmission of the second beacon signal Sig2 to the scanner 4 selected as the main scanner 4M. This enables the function of transmitting the second beacon signal Sig2 in the main scanner 4M.
  • the main scanner selection unit 21 selects the scanner 4 whose received signal strength of the first beacon signal Sig1 satisfies a predetermined condition as the main scanner 4M.
  • the scanner 4 that satisfies the predetermined condition is the scanner 4 with the highest received signal strength of the first beacon signal Sig1 among the plurality of scanners 4 .
  • the scanner 4 closest to the beacon terminal 5 has the highest received signal strength, and this scanner 4 is selected as the main scanner 4M. be.
  • the main scanner selection unit 21 requires that the main scanner 4M have a function of transmitting the second beacon signal Sig2 as an essential requirement for the main scanner 4M. In this embodiment, all scanners 4 have the function of transmitting the second beacon signal Sig2.
  • the slave scanner selection unit 22 selects a plurality of slave scanners 4S from among a plurality of scanners 4.
  • the correction processing unit 23 obtains the position of the beacon terminal 5 using information acquired from the main scanner 4M and the plurality of slave scanners 4S among the plurality of scanners 4 .
  • the slave scanner selection unit 22 executes slave scanner selection processing.
  • the slave scanner selection process is a process of selecting scanners 4 located around the main scanner 4M among the plurality of scanners 4 as the plurality of slave scanners 4S. For example, in FIG. 2, multiple scanners 4 are arranged in a matrix. At this time, the slave scanner selectors 22 are arranged in the same row as or adjacent rows to the main scanner 4M and in the same or adjacent columns as the main scanner 4M (eight in FIG. 2). ) is selected as the slave scanner 4S.
  • the beacon terminal 5 transmits the first beacon signal Sig1 at predetermined time intervals (step ST1).
  • the identification information of the beacon terminal 5 is included in the first beacon signal Sig1.
  • a plurality of scanners 4 receive the first beacon signal Sig1 and measure the received signal strength indicator (RSSI).
  • the multiple scanners 4 transmit a first notification signal including information on the received signal strength of the first beacon signal Sig1 to the positioning system 1 (step ST2).
  • the first notification signal includes identification information of the beacon terminal 5 and identification information of the scanner 4 that is the transmission source of the first notification signal.
  • the correction processing unit 23 of the positioning system 1 reads the first notification signals received from the multiple scanners 4 and acquires the received signal strength value of the first beacon signal Sig1 in each of the multiple scanners 4 .
  • the main scanner selection unit 21 of the positioning system 1 selects the scanner 4 with the highest received signal strength of the first beacon signal Sig1 from among the plurality of scanners 4 as the main scanner 4M (step ST3). Further, the slave scanner selection unit 22 selects the scanners 4 positioned around the main scanner 4M as the plurality of slave scanners 4S (step ST4).
  • the positioning system 1 transmits a transmission instruction signal instructing transmission of the second beacon signal Sig2 to the main scanner 4M (step ST5).
  • the main scanner 4M starts transmitting the second beacon signal Sig2 (step ST6).
  • the second beacon signal Sig2 contains the identification information of the main scanner 4M.
  • a plurality of slave scanners 4S receive the second beacon signal Sig2 and measure the received signal strength.
  • a plurality of slave scanners 4S transmit a second notification signal including information on the received signal strength of the second beacon signal Sig2 to the positioning system 1 (step ST7).
  • the second notification signal includes the identification information of the secondary scanner 4S that is the transmission source of the second notification signal.
  • the correction processing unit 23 of the positioning system 1 reads the second notification signals received from the plurality of slave scanners 4S, and acquires the value of the received signal strength f' of the second beacon signal Sig2 in each of the plurality of slave scanners 4S. do.
  • the correction processing unit 23 calculates f based on d by [Formula 1].
  • d is the distance between the main scanner 4M and the slave scanner 4S.
  • d is pre-stored in the storage unit 32 as position information of the plurality of scanners 4 .
  • f is defined as follows.
  • the secondary scanner 4S receives the second beacon signal Sig2 transmitted from the main scanner 4M.
  • the signal strength is f. That is, f is the theoretical value of received signal strength corresponding to distance d.
  • T is the received signal strength measured at a location 1 m away from the main scanner 4M. T is pre-stored in the storage unit 32 .
  • d' and f' are defined as follows.
  • the second beacon signal Sig2 transmitted from the main scanner 4M is detected at the slave scanner 4S.
  • the received signal strength is f'. That is, f' is the theoretical value of the received signal strength corresponding to the distance d'.
  • the correction processing unit 23 calculates d' by [Equation 3].
  • the received signal strength f' (measured value) of the second beacon signal Sig2 in each of the plurality of slave scanners 4S is substituted for f'.
  • the correction processing unit 23 uses 20log(d'/d) as a correction value for the received signal strength of the first beacon signal Sig1 transmitted from the beacon terminal 5. That is, from the above, the correction processing unit 23 can obtain the correction value of the received signal strength of the first beacon signal Sig1. The correction processing unit 23 corrects the received signal strength F' (measured value) of the first beacon signal Sig1 using 20 log (d'/d), which is the correction value of the received signal strength of the first beacon signal Sig1. Then, the position of the beacon terminal 5 is obtained based on the received signal strength F after correction.
  • the received signal strength F (received signal strength after correction) of the first beacon signal Sig1 when there is no influence of the radio wave environment is the measured value of the received signal strength of the first beacon signal Sig1 F′ and the correction can be approximated by [Formula 4] using
  • Equation 4 is based on the following idea. Since the main scanner 4M is located relatively close to the beacon terminal 5 among the plurality of scanners 4, the radio wave environment in which the main scanner 4M is placed is substantially the same as the radio wave environment in which the beacon terminal 5 is placed. can be regarded as Therefore, 20log(d'/d), which is a correction value for calibrating the influence of the radio wave environment on the main scanner 4M, can be used as a correction value for calibrating the influence of the radio wave environment on the beacon terminal 5.
  • the corrected value F of the received signal strength F' of the first beacon signal Sig1 can be obtained.
  • the correction processing unit 23 obtains the corrected value F of the reception signal strength F' of the first beacon signal Sig1 for each of the plurality of slave scanners 4S.
  • the correction processing unit 23 obtains the position of the beacon terminal 5 based on the distance D. Description will be made below with reference to FIG. In FIG. 4, the number of slave scanners 4S is two.
  • a plurality of reference points p are set in the space where a plurality of scanners 4 are installed.
  • the coordinates of each reference point p are stored in the storage unit 32 of the positioning system 1.
  • FIG. Each reference point p is a virtual point set to use the information of the coordinates in the processing of the correction processing unit 23, and the coordinates of each reference point p are not provided with a specific configuration. .
  • the multiple reference points p are called p 1 , p 2 , p 3 , .
  • a specific one reference point p among the plurality of reference points p is called pi .
  • the distance between each of the plurality of reference points p and each of the plurality of scanners 4 is pre-stored in the storage unit 32 .
  • the distances between the reference point p i and the three scanners 4 are r i1 , r i2 , r i3 respectively.
  • the distance D between each of the plurality of slave scanners 4S and the beacon terminal 5 is obtained from [Equation 5].
  • the distance D between the main scanner 4M and the beacon terminal 5 is obtained by [Formula 6] using the received signal strength F' (measured value) of the first beacon signal Sig1 in the main scanner 4M.
  • the distance D between the main scanner 4M and the beacon terminal 5 does not require correction because it is a reference distance for correction.
  • the distances between each of the three scanners 4 and the beacon terminal 5 are D 1 , D 2 and D 3 respectively.
  • Equation 8 An equation for obtaining the degree of approximation Wi using n scanners 4 is expressed by [Equation 8].
  • the number of main scanners 4M is 1, and the number of slave scanners 4S is n-1.
  • the correction processing unit 23 obtains degrees of approximation W1, W2 , W3, . . . for each of the plurality of reference points p1, p2, p3 , . Furthermore, the correction processing unit 23 obtains the position of the beacon terminal 5 based on the degrees of approximation W 1 , W 2 , W 3 , . For example, the correction processing unit 23 weights the coordinates of a plurality of reference points p 1 , p 2 , p 3 , . Let the sum of the coordinates be the coordinates of the beacon terminal 5 .
  • the correction processing unit 23 can obtain the coordinates (position) of the beacon terminal 5 .
  • correction processing unit 23 performs three-point positioning using the position information of the plurality of scanners 4 and the distance D between each of the plurality of scanners 4 and the beacon terminal 5, so that the position of the beacon terminal 5 You can ask for the position.
  • the correction processing unit 23 of the present embodiment does not obtain the distance D′ directly from F′, which is the measured value of the received signal strength, but obtains the distance D from F obtained by correcting F′. , the position of the beacon terminal 5 is obtained. Therefore, the position of the beacon terminal 5 obtained in this embodiment is different from the position of the beacon terminal 5 obtained based on the distance D' (measured value F' of received signal strength). That is, the correction processing unit 23 corrects the position of the beacon terminal 5 .
  • the correction processing unit 23 performs correction processing for correcting the position of the beacon terminal 5 based on the received signal strength F' of the first beacon signal Sig1 in the plurality of scanners 4.
  • the position of the beacon terminal 5 is calculated based on the received signal strength f' of the second beacon signal Sig2 in each of the plurality of slave scanners 4S and the distance d between the main scanner 4M and each of the plurality of slave scanners 4S. and correct based on
  • the correction processing includes intensity correction processing and position derivation processing.
  • the intensity correction process based on the received signal intensity f' of the second beacon signal Sig2 and the distance d between the main scanner 4M and each of the plurality of slave scanners 4S, The received signal strength F' of the first beacon signal Sig1 is corrected. As a result, the received signal strength F after correction is obtained.
  • the position derivation process the position of the beacon terminal 5 is obtained based on the received signal strength F of the first beacon signal Sig1 in each of the plurality of slave scanners 4S corrected in the strength correction process. More specifically, first, the distance D is obtained based on the received signal strength F, and the position of the beacon terminal 5 is obtained based on the distance D.
  • the received signal intensity F' of the first beacon signal Sig1 in each of the plurality of slave scanners 4S is corrected by [Formula 4]. [Equation 4] is reproduced below.
  • F is the corrected value of the received signal strength F' of the first beacon signal Sig1 in each of the plurality of slave scanners 4S.
  • F' is the measured value of the received signal strength of the first beacon signal Sig1 in each of the plurality of slave scanners 4S.
  • d' is the distance between each of the plurality of slave scanners 4S and the main scanner 4M obtained based on the received signal strength f' of the second beacon signal Sig2.
  • d is the known distance between each of the slave scanners 4S and the master scanner 4M.
  • the multiple scanners 4 do not have to be arranged at regular intervals.
  • the multiple scanners 4 do not have to be arranged in a matrix.
  • the multiple scanners 4 may be arranged in a zigzag pattern or arranged irregularly.
  • the positioning system 1 may further include a plurality of scanners 4.
  • the correction processing unit 23 does not use the distance between the main scanner 4M and the beacon terminal 5, but uses the corrected value of the distance between each of the plurality of slave scanners 4S and the beacon terminal 5. 5 may be determined.
  • n in [Formula 8] is the number of slave scanners 4S.
  • the main scanner selection unit 21 selects the scanner 4 whose received signal strength of the first beacon signal Sig1 satisfies a predetermined condition as the main scanner 4M.
  • the scanner 4 that satisfies the predetermined condition is the scanner 4 with the highest received signal strength of the first beacon signal Sig1 among the plurality of scanners 4 .
  • the scanner 4 that satisfies the predetermined condition may be the scanner 4 having the received signal strength of the first beacon signal Sig1 larger than the threshold among the plurality of scanners 4 .
  • the scanner 4 that satisfies the predetermined condition is the scanner 4 within the N-th order (N is a predetermined natural number equal to or greater than 2) in descending order of received signal strength of the first beacon signal Sig1 among the plurality of scanners 4 . It may be a certain scanner 4 . If there are a plurality of scanners 4 that satisfy a predetermined condition, any of them may be used as the main scanner 4M.
  • the plurality of scanners 4 may include a scanner 4 that has the function of receiving the first beacon signal Sig1 but does not have the function of transmitting the second beacon signal Sig2. Such scanners 4 may be selected as slave scanners 4S, but not as master scanners 4M.
  • a function similar to that of the positioning system 1 may be embodied by a positioning method, a (computer) program, or a non-temporary recording medium recording the program.
  • a positioning method is a positioning method for determining the position of the beacon terminal 5 .
  • the positioning method has main scanner selection processing and correction processing.
  • the main scanner selection process among the plurality of scanners 4 that receive the first beacon signal Sig1 transmitted from the beacon terminal 5, the received signal strength of the first beacon signal Sig1 satisfies a predetermined condition, and the second beacon signal Sig2 is selected as the main scanner 4M.
  • the correction process the position of the beacon terminal 5 obtained based on the received signal strength of the first beacon signal Sig1 in the plurality of scanners 4 is shifted to each of the plurality of slave scanners 4S, which are a part of the plurality of scanners 4. Correction is performed based on the received signal strength of the second beacon signal Sig2 and the distance between the main scanner 4M and each of the plurality of slave scanners 4S.
  • a program according to one aspect is a program for causing one or more processors to execute the above positioning method.
  • the program may be recorded on a computer-readable non-transitory recording medium.
  • the positioning system 1 in the present disclosure includes a computer system.
  • a computer system is mainly composed of a processor and a memory as hardware. At least part of the function of the positioning system 1 in the present disclosure is realized by the processor executing a program recorded in the memory of the computer system.
  • the program may be recorded in advance in the memory of the computer system, may be provided through an electric communication line, or may be recorded in a non-temporary recording medium such as a computer system-readable memory card, optical disk, or hard disk drive. may be provided.
  • a processor in a computer system consists of one or more electronic circuits, including semiconductor integrated circuits (ICs) or large scale integrated circuits (LSIs).
  • Integrated circuits such as ICs or LSIs are called differently depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration).
  • FPGAs Field-Programmable Gate Arrays
  • a plurality of electronic circuits may be integrated into one chip, or may be distributed over a plurality of chips.
  • a plurality of chips may be integrated in one device, or may be distributed in a plurality of devices.
  • a computer system includes a microcontroller having one or more processors and one or more memories. Accordingly, the microcontroller also consists of one or more electronic circuits including semiconductor integrated circuits or large scale integrated circuits.
  • the positioning system 1 it is not an essential configuration of the positioning system 1 that a plurality of functions in the positioning system 1 are integrated into one device, and the components of the positioning system 1 are provided dispersedly in a plurality of devices. good too. Furthermore, at least part of the functions of the positioning system 1, for example, part of the functions of the processing unit 2, may be realized by the cloud (cloud computing) or the like.
  • the positioning method is a positioning method for determining the position of the beacon terminal (5).
  • the positioning method has main scanner selection processing and correction processing.
  • the main scanner selection process among the plurality of scanners (4) that receive the first beacon signal (Sig1) transmitted from the beacon terminal (5), the received signal strength of the first beacon signal (Sig1) satisfies a predetermined condition. and having the ability to transmit a second beacon signal (Sig2) is selected as the primary scanner (4M).
  • the position of the beacon terminal (5) determined based on the received signal strength of the first beacon signal (Sig1) in the plurality of scanners (4) is a part of the plurality of scanners (4). Correction based on the received signal strength of the second beacon signal (Sig2) at each of the plurality of slave scanners (4S) and the distance between the master scanner (4M) and each of the plurality of slave scanners (4S) do.
  • the calculation accuracy of the position of the beacon terminal (5) is increased. can be done.
  • the scanner (4) that satisfies the predetermined condition is the received signal of the first beacon signal (Sig1) among the plurality of scanners (4). It is the scanner (4) with the highest intensity.
  • the radio wave interference received by the main scanner (4M) is closer to the radio wave interference received by the beacon terminal (5) than when the other scanner (4) is used as the main scanner (4M). is considered to be Therefore, the received signal strength of the second beacon signal (Sig2) transmitted from the master scanner (4M) to the slave scanner (4S) and the first beacon transmitted from the beacon terminal (5) to the slave scanner (4S) It is considered that the difference between the received signal strength of the signal (Sig1) and the received signal strength becomes smaller. Therefore, it is possible to improve the accuracy of correction when performing the correction process using the received signal strength of the second beacon signal (Sig2) transmitted from the main scanner (4M).
  • the positioning method according to the third aspect further includes slave scanner selection processing in the first or second aspect.
  • slave scanner selection process scanners (4) located around the main scanner (4M) among the plurality of scanners (4) are selected as the plurality of slave scanners (4S).
  • the degree of radio wave interference received by the first beacon signal (Sig1) and the second beacon signal (Sig2) is greater than when the other scanner (4) is used as the slave scanner (4S). can be reduced.
  • the correction processing includes intensity correction processing and position derivation processing.
  • intensity correction process a plurality of slave scanners ( 4S) to correct the received signal strength of the first beacon signal (Sig1) in each.
  • position derivation process the position of the beacon terminal (5) is determined based on the received signal strength of the first beacon signal (Sig1) in each of the plurality of slave scanners (4S) corrected in the strength correction process.
  • the received signal strength of the first beacon signal (Sig1) in each of the plurality of slave scanners (4S) is calculated by the following formula [ U1].
  • F 20 log (d'/d) + F' ... [U1]
  • F is the corrected value of the received signal strength of the first beacon signal (Sig1) in each of the plurality of slave scanners (4S);
  • F' is a measurement of the received signal strength of the first beacon signal (Sig1) at each of the plurality of slave scanners (4S);
  • d' is the distance between each of the plurality of slave scanners (4S) and the main scanner (4M) determined based on the received signal strength of the second beacon signal (Sig2);
  • d is the known distance between each of the slave scanners (4S) and the master scanner (4M).
  • Configurations other than the first aspect are not essential configurations for the positioning method, and can be omitted as appropriate.
  • a program according to a sixth aspect is a program for causing one or more processors to execute the positioning method according to any one of the first to fifth aspects.
  • the calculation accuracy of the position of the beacon terminal (5) is increased. can be done.
  • the positioning system (1) is a positioning system (1) for determining the position of the beacon terminal (5).
  • a positioning system (1) comprises a main scanner selector (21) and a correction processor (23).
  • a main scanner selection unit (21) determines whether the received signal strength of the first beacon signal (Sig1) among the plurality of scanners (4) that receive the first beacon signal (Sig1) transmitted from the beacon terminal (5) is A scanner (4) that satisfies a predetermined condition and has the ability to transmit a second beacon signal (Sig2) is selected as the main scanner (4M).
  • a correction processing unit (23) corrects the position of the beacon terminal (5) obtained based on the received signal strength of the first beacon signal (Sig1) in the plurality of scanners (4) among the plurality of scanners (4). the received signal strength of the second beacon signal (Sig2) at each of the plurality of slave scanners (4S) of which it is a part, the distance between the master scanner (4M) and each of the plurality of slave scanners (4S); corrected based on
  • the calculation accuracy of the position of the beacon terminal (5) is increased. can be done.
  • the positioning system (1) according to the eighth aspect is the positioning system (1) according to the seventh aspect, further comprising a plurality of scanners (4).
  • the calculation accuracy of the position of the beacon terminal (5) is increased. can be done.

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