WO2023089708A1

WO2023089708A1 - Position measurement device, position measurement method, and program

Info

Publication number: WO2023089708A1
Application number: PCT/JP2021/042323
Authority: WO
Inventors: 優一槙; 拓也犬童
Original assignee: 日本電信電話株式会社
Priority date: 2021-11-17
Filing date: 2021-11-17
Publication date: 2023-05-25

Abstract

A position measurement device (2) according to the present disclosure comprises: a theoretical value vector storage unit (22) that stores, for each of cells (CL), a theoretical value vector for each of combinations of three transmitters (1-k); a reference position information storage unit (23) for storing a reference position that is a cell in which a receiver (21) is positioned; a route information storage unit (24) that stores three transmitter identifiers in association with each of cells on a route; a route information reference unit (25) that extracts the reference position and extracts three transmitter identifiers stored in association with the reference position; an actual measured value vector calculation unit (26) that calculates an actual measured value vector in which a distance (D) based on the strength of radio signals received from the three extracted transmitters serves as a factor; a similarity calculation unit (27) that calculates, for each of the cells (CL), the similarity between the actual measured value vector and the theoretical value vector regarding the three extracted transmitters; and a position measurement unit (28) that measures the position of the transmitter (21) on the basis of the similarities.

Description

POSITION MEASURING DEVICE, POSITION MEASUREMENT METHOD, AND PROGRAM

The present disclosure relates to a position measuring device, a position measuring method, and a program.

　Conventionally, it is known to measure the position by a beacon using BLE (Bluetooth Low Energy). For example, Non-Patent Document 1 describes that a beacon receiver uses triangulation to measure a position based on the strength of a radio signal received from a beacon transmitter (RSSI (Received Signal Strength Indicator)). It is It is also known to use an identifier such as UUID (Universally Unique Identifier) for uniquely identifying the beacon transmitter included in the radio signal transmitted by the beacon transmitter when measuring the position. .

Furthermore, in Non-Patent Document 2, the distance is calculated for each combination of three radio wave transmitters selected from three or more radio wave transmitters installed at known positions and cells obtained by dividing the measurement target area. It describes calculating the theoretical value vectors as components and measuring the position using a spatial model consisting of the theoretical value vectors for all combinations.

Specifically, in the technique described in Non-Patent Document 2, the relationship between RSSI and distance shown in Equation (1) is calculated in advance for each radio wave transmitter. In addition, 3 radio wave transmitters that do not overlap are selected from 3 or more radio wave transmitters installed at known positions, and a three-dimensional model is obtained using the distances between each cell and the 3 radio wave transmitters as elements. A vector is created as a theoretical vector. Then, in position measurement, the radio wave receiver receives radio signals from at least three radio wave transmitters out of the three or more radio wave transmitters, and obtains the RSSI and distance shown in equation (1). A distance D is calculated using the relationship, and a measured value vector having the distance D as an element is created. Note that N in Equation (1) is the number of RSSI measurements, and p and q are constants calculated from the relationship between the RSSI measured in the preliminary experiment and the distance.

Furthermore, the radio wave receiver calculates the cosine similarity between the measured value vector and the theoretical value vector calculated in advance for each cell. At this time, the radio wave receiver calculates the similarity by weighting and adding the cosine similarity with the reciprocal of the product of the distance D. The radio wave receiver estimates that the position of the radio wave receiver is the cell with the highest degree of similarity among the degrees of similarity calculated for each cell.

On the other hand, the position may change as the radio receiver moves within the measurement target area, such as when measuring the position of a visitor visiting an exhibit in a museum. In particular, the number of exhibition halls in which one-way patrol is stipulated in recent years is increasing as a countermeasure against infectious diseases, etc., and the need to measure changing positions is increasing.

However, the technology described in Non-Patent Document 1 is not assumed to be applied to the case where the position of the radio wave receiver changes. Also, when trying to apply the technology described in Non-Patent Document 2 when the position of the radio receiver changes, the radio receiver constantly receives radio signals from the radio transmitter in order to properly measure the position. Each time, for every cell, the similarity must be calculated by comparing the measured vectors with the theoretical vectors for all three transmitter combinations. Therefore, the processing load on the radio wave receiver becomes enormous, and accordingly, the radio wave receiver must complete the above-described processing based on the radio signal from the radio wave transmitter before receiving the radio signal at the next timing. may not be possible. Therefore, the radio receiver may not be able to measure the position at the appropriate timing.

An object of the present disclosure, which has been made in view of such circumstances, is to provide a position measurement device, a position measurement method, and a program that can reduce the processing load of position measurement.

In order to solve the above problems, the position measuring device according to the present disclosure combines three transmitters out of three or more transmitters installed at known positions for each cell obtained by dividing the measurement target area. A theoretical value vector storage unit that stores theoretical value vectors whose elements are the distances between the cell and the positions of the three transmitters, respectively; and receives wireless signals from each of the three or more transmitters. , a reference position information storage unit that stores a reference position, which is a cell in which a receiver moving on a predetermined route in the measurement target area was located, and the cell on the route in the measurement target area A route information storage unit storing three transmitter identifiers for identifying each of the three transmitters out of the three or more transmitters in association with each other; and the reference position information storage unit. a route information reference unit for extracting the reference position stored in the route information storage unit and extracting the three transmitter identifiers stored in association with the reference position in the route information storage unit; The distance from each of the three extracted transmitters to the receiver based on the strength of the radio signals received from the three extracted transmitters, each of which is the transmitter identified by the three transmitter identifiers. a measured value vector calculation unit for calculating a measured value vector having elements as elements; and a position measuring unit that measures the position of the receiver based on the similarity.

Further, in order to solve the above problems, the position measuring device according to the present disclosure includes three transmitters among three or more transmitters installed at known positions for each cell obtained by dividing the measurement target area. A theoretical value vector storage unit that stores theoretical value vectors whose elements are the distances between the cell and the positions of the three transmitters for each of the combinations, and a radio signal from each of the three or more transmitters. a reference position information storage unit for storing a reference position that is a cell in which a receiver moving on a predetermined route within the measurement target area was located; and a route information reference unit for extracting the reference position, and a measured value vector whose elements are the distances from each of the transmitters to the receiver, based on the strength of the radio signals received from the three or more transmitters. an actual measurement vector calculation unit to be calculated; a similarity calculation cell including the cell at the reference position; a similarity calculation unit for calculating the similarity between the theoretical value vectors for the three or more transmitters and the actually measured value vectors for each degree calculation cell; and measuring the position of the receiver based on the similarity. and a position measuring unit.

Further, in order to solve the above problems, the position measurement method according to the present disclosure includes three transmitters among three or more transmitters installed at known positions for each cell obtained by dividing the measurement target area. A theoretical value vector storage unit that stores theoretical value vectors whose elements are the distances between the cell and the positions of the three transmitters for each of the combinations, and a radio signal from each of the three or more transmitters. a reference position information storage unit that stores a reference position that is a cell in which a receiver moving on a predetermined route in the measurement target area was located; a route information storage unit storing three transmitter identifiers for identifying each of the three transmitters out of the three or more transmitters in association with each of the cells. A position measuring method executed by a device, wherein the reference positions stored in the reference position information storage unit are extracted, and the three routes stored in the route information storage unit are associated with the reference positions. based on the strength of said radio signals received from three extracted transmitters, said transmitters respectively identified by said extracted three transmitter identifiers. , a step of calculating an actual value vector whose elements are the distances from each of the extracted transmitters to the receiver; calculating a similarity measure with a value vector; and measuring the position of the receiver based on the similarity measure.

Further, in order to solve the above problems, the position measurement method according to the present disclosure includes three transmitters among three or more transmitters installed at known positions for each cell obtained by dividing the measurement target area. A theoretical value vector storage unit that stores theoretical value vectors whose elements are the distances between the cell and the positions of the three transmitters for each of the combinations, and a radio signal from each of the three or more transmitters. a reference position information storage unit that stores a reference position that is a cell in which a receiver moving on a predetermined route within the measurement target area was located; and extracting the reference positions stored in the reference position information storage unit, based on the strength of the radio signals received from the transmitters for each of the three transmitter combinations. , a step of calculating a measured value vector whose elements are the distances from each of the transmitters to the receiver; a step of extracting a similarity calculation cell including a cell in which the and determining the position of the receiver based on the similarity.

Also, in order to solve the above problems, a program according to the present disclosure causes a computer to function as the position measuring device described above.

According to the position measurement device, the position measurement method, and the program according to the present disclosure, the processing load of position measurement can be suppressed.

1 is a schematic diagram of a position measurement system according to an embodiment; FIG. FIG. 2 is a schematic diagram for explaining a measurement area in which the position measurement system shown in FIG. 1 is used; 2 is a diagram showing an example of reference position information stored in a reference position information storage unit shown in FIG. 1; FIG. 2 is a diagram showing an example of route information stored in a route information storage unit shown in FIG. 1; FIG. 2 is a flow chart showing an example of the operation of the position measuring device shown in FIG. 1; 3 is a hardware block diagram of the position measuring device; FIG.

The overall configuration of this embodiment will be described with reference to FIG.

As shown in FIG. 1, the area detection system 100 according to this embodiment includes three or more transmitters 1-k (k=1 to m (m≧3)) and a position measuring device 2. The area detection system 100 is used, for example, in facilities such as museums and art galleries where tour courses are set, and in commercial exhibitions where patrol routes are set as measures against recent infectious diseases. Note that the area detection system 100 may include four or more transmitters 1 -k and the position measuring device 2 . That is, m≧4 may be satisfied.

<Transmitter configuration>
The transmitter 1-k shown in FIG. 1 includes a transmitter 1-k1. Transmitters 1-k may be beacon transmitters. The transmitter 1-k1 transmits a radio signal propagated by a short-range wireless communication network such as BLE. A radio signal transmitted by the transmitter 1-k1 includes a transmitter identifier such as UUID for uniquely identifying the transmitter 1-k.

The transmitter 1-k is installed at a known position that allows the radio signal to reach the route of the measurement target area MR as shown in FIG. In FIG. 2, routes are indicated by thick arrows. In the example shown in FIG. 2, the measurement target region MR is a two-dimensional region, and is divided into 9 cells in the x-axis direction and 4 cells in the y-axis direction orthogonal to the x-axis direction. It is configured. In FIG. 2, the cell indicated by the coordinates (8, 0) is labeled "CL", and the other cells are omitted. In addition, the route is composed of cells CL through which the user having the position measuring device 2 moves in the measurement target region MR.

<Configuration of position measuring device>
The position measuring device 2 is carried by a user whose position is to be measured in facilities, commercial exhibitions, and the like. As shown in FIG. 1, the position measuring device 2 includes a receiving unit (receiver) 21, a theoretical value vector storage unit 22, a reference position information storage unit 23, a route information storage unit 24, and a route information reference unit 25. , an actual value vector calculation unit 26 , a similarity calculation unit 27 , a position measurement unit 28 , and a reference position update unit 29 . The receiving unit 21 is configured by a communication interface. The communication interface may be an interface that receives wireless signals propagated by a short-range wireless communication network such as BLE. The theoretical value vector storage unit 22, the reference position information storage unit 23, and the route information storage unit 24 are configured by memories. The memory may be composed of HDD (Hard Disk Drive), SSD (Solid State Drive), EEPROM (Electrically Erasable Programmable Read-Only Memory), ROM (Read-Only Memory), RAM (Random Access Memory), and the like. The route information reference unit 25, the measured value vector calculation unit 26, the similarity calculation unit 27, the position measurement unit 28, and the reference position update unit 29 are configured by a controller. The controller may be composed of dedicated hardware such as ASIC (Application Specific Integrated Circuit) or FPGA (Field-Programmable Gate Array), may be composed of a processor, or may be composed of both. good.

The receiving unit 21 receives radio signals from each of three or more transmitters 1-k installed at known positions. Further, as described above, the position measuring device 2 including the receiving section 21 is carried by the user, and the user moves on a predetermined route within the measurement target region MR. That is, the receiver 21 moves on a predetermined route within the measurement target region MR.

The receiving unit 21 receives the radio signal transmitted by the transmitting unit 1-k1 included in the transmitter 1-k. As mentioned above, the radio signal includes an originator identifier (UDDI if the radio signal is a BLE beacon) so that the radio signal's RSSI, which is described in detail below, can be performed. In each process, it is identified which transmitter 1-k the process is related to.

The theoretical value vector storage unit 22 stores combinations of three transmitters 1-k out of three or more transmitters 1-k installed at known positions for each cell CL obtained by dividing the measurement target region MR. For each of them, a theoretical value vector, which is a three-dimensional vector whose element is the distance D between the cell CL and each of the positions of the three transmitters 1-k, is stored. Therefore, the theoretical value vector storage unit 22 stores _m C ₃ theoretical value vectors for each cell CL. Therefore, in a configuration in which the measurement target region MR is divided into Nc cells CL, the theoretical value vector storage unit 22 stores Nc× _mC ₃ theoretical value vectors.

As shown in FIG. 2, when the measurement target region MR is composed of 36 cells CL and eight transmitters 1-1 to 1-8 are installed, the theoretical value vector storage unit 22 stores 36× ₈ C ₃ =2016 three-dimensional theoretical value vectors are stored. For example, for cell CL indicated by coordinates (0, 0) in FIG. 2, three transmitters 1-1, 1-2, and 1 Suppose the distances D from -3 were 2.0 meters, 2.7 meters, and 3.1 meters, respectively. In this case, the theoretical value vector whose element is the distance D between the cell CL indicated by coordinates (0, 0) and the three transmitters 1-1, 1-2, and 1-3 is (2.0, 2.7, 3.1), and the theoretical value vector storage unit 22 stores the theoretical value vector. Similarly, the theoretical value vector storage unit 22 stores theoretical value vectors for all combinations of the cell CL indicated by the coordinates (0, 0) and the three transmitters 1-k. Further, the theoretical value vector storage unit 22 stores theoretical value vectors for all combinations of all other cells CL and three transmitters 1-k.

The reference position information storage unit 23 stores the reference position of the receiving unit 21. The reference position is the cell CL in which the receiving unit 21, which receives radio signals from each of three or more transmitters 1-k and moves on a predetermined route within the measurement target region MR, was located. The initial value of the reference position is the starting position of the route. In the example shown in FIG. 2, the initial value of the reference position is the position of cell CL indicated by coordinates (1, 2). Also, the reference position stored in the reference position information storage unit 23 is updated by the reference position updating unit 29 . A specific method for updating the reference position by the reference position updating unit 29 will be described later in detail. In the example shown in FIG. 3, the reference position information storage unit 23 stores the position of the cell CL indicated by coordinates (1, 2) as the reference position.

As shown in FIG. 4, the route information storage unit 24 stores three transmitters 1-k out of three or more transmitters 1-k in association with each of the cells CL on the route in the measurement target region MR. It stores three transmitter identifiers for identifying each k. For example, the route information storage unit 24 stores, in each cell CL on the route, three transmitters 1-k installed at the first to third smallest distances D from the cell CL. A transmitter identifier may be stored. In the example shown in FIG. 4, the route information storage unit 24 stores, for example, transmitter identifiers "1", "3", and "4" in association with the cell CL indicated by coordinates (3, 0). are doing. In the route information storage unit 24, the transmitter identifier of the transmitter 1-k whose distance D from the cell CL to the transmitter 1-k identified by the transmitter identifier stored in association with the cell CL is small. The more stored, the more accurately the position is measured. In addition, the transmitter identifiers "1", "2", ... "k", ..., "m" in this embodiment correspond to the transmitters 1-1, 1-2, ..., 1- This is an identifier for identifying k, . . . , 1-m.

The route information reference unit 25 extracts the reference positions stored in the reference position information storage unit 23, and associates the three transmitter identifiers stored in the route information storage unit 24 with the reference positions. Extract. For example, when the coordinates of the cell CL indicating the reference position are (1, 2) as shown in FIG. The coordinates (1, 2) where the caller is located are extracted, and the caller identifiers "1", "2", and "3" stored in association with the coordinates (1, 2) are extracted.

The actual value vector calculation unit 26 calculates the radio signals received from the three extracted transmitters, which are the transmitters 1-k respectively identified by the three transmitter identifiers extracted by the route information reference unit 25. Based on the RSSI, an actually measured value vector whose element is the distance D from each of the extracted transmitters to the receiving unit 21 is calculated.

Specifically, the measured value vector calculator 26 calculates the distance D between each of the three extracted transmitters and the receiver 21 based on the RSSI of the radio signals received from the three extracted transmitters. calculate. At this time, the measured value vector calculator 26 may identify which radio signal was received from which extracted transmitter by using a transmitter identifier such as a UUID included in each radio signal. Further, the measured value vector calculator 26 may calculate the distance D using a predetermined relationship between the RSSI and the distance D. FIG. A predetermined relationship is defined in equation (1), where p and q in equation (1) are the previously measured RSSI and the distance D between the location where the RSSI was measured and transmitter 1-k. is calculated in advance by substituting into equation (1). Then, the measured value vector calculation unit 26 calculates a three-dimensional vector whose elements are the distances D between each of the three extracted transmitters and the receiving unit 21 for the combination of the three extracted transmitters. Calculate as Thus, the measured value vector calculation unit 26 calculates one measured value vector.

The similarity calculation unit 27 calculates the similarity between the theoretical value vector and the actually measured value vector for the three extracted transmitters for each cell CL. Specifically, the similarity calculator 27 may calculate the cosine similarity between the measured value vector and the theoretical value vector calculated in advance for each cell. Then, the similarity calculator 27 may calculate the similarity by weighting and adding the cosine similarity with the reciprocal of the product of the distance D for each combination of the transmitters 1-k.

Here, the similarity calculation unit 27 calculates the similarity including the cell CL at the reference position and a predetermined number of cells CL arranged before and after the traveling direction on a predetermined route in the cell CL. A calculation cell SCL may be extracted. In the example shown in FIG. 3, the predetermined number is 2, and the reference position is the cell CL indicated by coordinates (1, 2). In this case, the similarity calculation cells SCL are five cells CL indicated by coordinates (1,0), (1,1), (1,2), (2,2) and (2,3). Although the predetermined number is two in the example shown in FIG. 3, the predetermined number is not limited to this.

In the configuration in which the similarity calculation unit 27 extracts the similarity calculation cell SCL, the similarity calculation unit 27 calculates the actual value of the theoretical value vector for the combination of the three extracted transmitters for each similarity calculation cell SCL. A similarity with a vector may be calculated.

For example, as described above, when the reference position is the cell CL indicated by the coordinates (1, 2), the route information reference unit 25 uses the transmitter identifiers "1", "2", and "3" is extracted. Also, as shown in FIG. 2, the similarity calculation cells SCL are represented by (1,0), (1,1), (1,2), (2,2), and (2,3). There are two cells CL. In this case, the similarity calculation unit 27 calculates the radio signals received from the transmitters 1-1, 1-2, and 1-3 identified by the transmitter identifiers "1", "2", and "3", respectively. Calculate the degree of similarity between the actually measured value vector calculated based on the RSSI and the theoretical value vector for the five similarity calculation cells SCL. As a result, the similarity calculator 27 calculates five similarities for each of the five similarity calculation cells SCL.

The position measuring unit 28 measures the position of the receiving unit 21 based on the degree of similarity. Specifically, the position of the similarity calculation cell SCL corresponding to the highest similarity among the similarities calculated by the similarity calculator 27 is determined as the position of the receiver 21 . In determining the theoretical value vector with the highest similarity calculated, the position measurement unit 28 sets the similarity of the cell CL for which the similarity is not calculated by the similarity calculation unit 27 to "0". to run.

The reference position update unit 29 stores the position measured by the position measurement unit 28 in the reference position information storage unit 23 as a reference position. For example, the reference position updating unit 29 may cause the reference position information storage unit 23 to store the coordinates indicating the cell CL corresponding to the position measured by the position measuring unit 28 as the reference position.

<Operation of position measuring device>
Here, the operation of the position measuring device 2 according to this embodiment will be described with reference to FIG. FIG. 5 is a flow chart showing an example of the operation of the position measuring device 2 according to this embodiment. The operation of the position measuring device 2 described with reference to FIG. 5 corresponds to an example of the position measuring method of the position measuring device 2 according to this embodiment. After receiving the command to start operation, the position measuring device 2 starts processing when radio waves from the transmitter 1-k arrive.

In step S11, the receiving unit 21 receives radio signals from each of three or more transmitters 1-k installed at known positions.

In step S12, the route information reference unit 25 extracts the reference positions stored in the reference position information storage unit 23, and the three transmissions stored in the route information storage unit 24 in association with the reference positions. Extract the machine identifier.

In step S13, the measured value vector calculation unit 26 receives data from three extracted transmitters, which are transmitters 1-k respectively identified by the three transmitter identifiers extracted by the route information reference unit 25. Based on the RSSI of the radio signal obtained, a measured value vector whose element is the distance D from each transmitter to be extracted to the receiving unit 21 is calculated.

In step S14, the similarity calculation unit 27 extracts the similarity calculation cell SCL, which is the cell CL having a predetermined positional relationship with the reference position.

In step S15, the similarity calculation unit 27 calculates the similarity between the theoretical value vector and the actually measured value vector for the combination of the three extracted transmitters for each similarity calculation cell SCL.

In step S16, the position measuring unit 28 measures the position of the receiving unit 21 based on the degree of similarity.

In step S17, the reference position update unit 29 causes the reference position information storage unit 23 to store the position measured in step S13 as a reference position.

After that, the position measuring device 2 repeats the process each time a radio wave arrives from the transmitter 1-k. The position measuring device 2 ends the operation when receiving the command to end the operation.

As described above, according to the present embodiment, the position measuring device 2 selects three transmitters 1-k out of three or more transmitters 1-k for each cell CL obtained by dividing the measurement target region MR. A theoretical value vector storage unit 22 for storing a theoretical value vector whose elements are the distances D between the cell CL and each of the positions of the three transmitters 1-k for each of the combinations of A reference for storing a reference position, which is the cell CL in which the receiving unit 21 moving on a predetermined route in the measurement target region MR, which receives radio signals from each of the three or more transmitters 1-k, was located a location information storage unit 23 for identifying each of three transmitters 1-k out of three or more transmitters 1-k in association with each of the cells CL on the route in the measurement target region MR; A route information storage unit 24 storing three transmitter identifiers and a reference position stored in a reference position information storage unit 23 are extracted and stored in the route information storage unit 24 in association with the reference position. route information reference unit 25 for extracting the three transmitter identifiers, and the three extracted transmitters, which are the transmitters 1-k identified by the extracted three transmitter identifiers, respectively. A measured value vector calculation unit 26 for calculating a measured value vector whose element is the distance D from each of the transmitters to be extracted to the receiving unit 21 based on the RSSI of the received radio signal; A similarity calculator 27 for calculating the similarity between the theoretical value vector of the extracted transmitter and the measured value vector, and a position measuring unit 28 for measuring the position of the receiver 21 based on the similarity. . As a result, the position measurement device 2 compares a limited number of theoretical value vectors with actual measurement value vectors instead of the theoretical value vectors for all combinations of the transmitters 1-k. can be reduced and, accordingly, the position can be measured at the appropriate timing.

In addition, according to the present embodiment, the position measuring device 2 selects three of the three or more transmitters 1-k installed at known positions for each cell CL obtained by dividing the measurement target region MR. a theoretical value vector storage unit 22 for storing, for each combination of the transmitters 1-k, theoretical value vectors whose elements are the distances D between the cell CL and the positions of the three transmitters 1-k; Reference position information storage for storing the reference position, which is the cell CL in which the receiving unit 21 moving on a predetermined route in the measurement target region MR, which receives radio signals from each of the transmitters 1-k of 23, a route information reference unit 25 for extracting the reference positions stored in the reference position information storage unit 23, and three or more transmitters 1-k based on the RSSI of the radio signals received from the transmitters 1-k. 1-k to the receiving unit 21, a measured value vector calculating unit 26 for calculating a measured value vector whose element is the distance D, the cell CL at the reference position, and the cell CL before and after the cell CL in the traveling direction on the route. A similarity calculation cell SCL containing cells CL arranged by a predetermined number is extracted, and theoretical value vectors for three or more transmitters 1-k are compared with actually measured value vectors for each similarity calculation cell SCL. It comprises a similarity calculator 27 that calculates the similarity and a position measuring unit 28 that measures the position of the receiver based on the similarity. As a result, the position measurement device 2 calculates the degree of similarity for each similarity calculation cell SCL among all the cells CL, not for all the cells CL. can be further reduced, and along with this, the position can be measured at more appropriate timing.

Further, in the present embodiment, the cells CL having a predetermined positional relationship may include the cell CL at the reference position and the cells CL arranged in a predetermined number before and after the cell CL in the traveling direction on the route. good. It is highly likely that the receiver 21 carried by the user moving within the measurement target region MR is located near the cell CL in which the receiver 21 was located in the previous measurement. Therefore, by using the cells CL arranged before and after the cell CL at the reference position corresponding to the position of the cell CL in the previous measurement as the similarity calculation cells SCL, the position measuring device 2 can determine the position with high accuracy. can be measured.

(First modification)
Although the position measuring device 2 includes the receiving section 21 for receiving the radio signal from the transmitter 1-k in the above-described embodiment, the present invention is not limited to this. An external receiver may receive radio signals from the transmitters 1-k, and the positioning device 2 may receive information indicative of the RSSI of the radio signals. In such a configuration, the position measuring device 2 does not execute step S11 in the position measuring method described above, but instead receives information indicating the RSSI of the radio signal from an external receiver.

(Second modification)
Further, in the above-described embodiment, the similarity calculation unit 27 does not have to extract the similarity calculation cell SCL. In such a configuration, the similarity calculation unit 27 calculates the similarity between the theoretical value vectors of the three extracted transmitters and the actually measured value vectors for each cell CL. Further, in the position measuring method described with reference to FIG. 5 executed by such a position measuring device 2, the similarity calculation unit 27 does not need to execute step S14. In this case, in step S15, the similarity calculation unit 27 calculates the similarity between the theoretical value vectors of the three extracted transmitters and the actually measured value vectors for each cell CL.

(Third modification)
Also, in the above-described embodiment, the position measuring device 2 does not have to include the route information storage section 24 . In such a configuration, the route information reference unit 25 does not execute the process of extracting the transmitter identifier. Then, the measured value vector calculation unit 26 calculates actual measured values based on the RSSI of the radio signals received from the m transmitters 1-k, with the distance D from each of the transmitters 1-k to the receiving unit 21 as an element. Compute a vector. Then, the similarity calculation unit 27 extracts a similarity calculation cell SCL including the cell CL at the reference position and a predetermined number of cells CL arranged before and after the cell CL in the traveling direction on the route, For each similarity calculation cell SCL, the similarity between the theoretical value vector for the m transmitters 1-k and the actually measured value vector is calculated. Moreover, in the position measuring method described with reference to FIG. In such a configuration, in step S13, based on the RSSI of the radio signals received from the m transmitters 1-k, the distance D from each of the transmitters 1-k to the receiving unit 21 is an actual measurement value Compute a vector. Then, in step S15, the similarity calculation unit 27 calculates the similarity between the theoretical value vector for the m transmitters 1-k and the actually measured value vector for each similarity calculation cell SCL.

<Program>
The position measuring device 2 described above can be realized by the computer 101 . Also, a program for functioning as the position measuring device 2 may be provided. Also, the program may be stored in a storage medium or provided through a network. FIG. 6 is a block diagram showing a schematic configuration of the computer 101 functioning as the position measuring device 2. As shown in FIG. Here, the computer 101 may be a general-purpose computer, a dedicated computer, a workstation, a PC (Personal Computer), an electronic notepad, or the like. Program instructions may be program code, code segments, etc. for performing the required tasks.

As shown in FIG. 6, the computer 101 includes a processor 110, a ROM (Read Only Memory) 120, a RAM (Random Access Memory) 130, a storage 140, an input unit 150, an output unit 160, and a communication interface ( I/F) 170. Each component is communicatively connected to each other via a bus 180 . The processor 110 is specifically a CPU (Central Processing Unit), MPU (Micro Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), SoC (System on a Chip), etc. may be configured by a plurality of processors of

The processor 110 controls each component and executes various arithmetic processes. That is, processor 110 reads a program from ROM 120 or storage 140 and executes the program using RAM 130 as a work area. The processor 110 performs control of each configuration and various arithmetic processing according to programs stored in the ROM 120 or the storage 140 . In the above-described embodiment, the ROM 120 or storage 140 stores the program according to the present disclosure.

The program may be stored in a storage medium readable by the computer 101. By using such a storage medium, it is possible to install the program in the computer 101 . Here, the storage medium storing the program may be a non-transitory storage medium. The non-temporary storage medium is not particularly limited, but may be, for example, a CD-ROM, a DVD-ROM, a USB (Universal Serial Bus) memory, or the like. Also, this program may be downloaded from an external device via a network.

The ROM 120 stores various programs and various data. RAM 130 temporarily stores programs or data as a work area. The storage 140 is configured by a HDD (Hard Disk Drive) or SSD (Solid State Drive) and stores various programs including an operating system and various data.

The input unit 150 includes one or more input interfaces that receive user's input operations and acquire information based on the user's operations. For example, the input unit 150 is a pointing device, keyboard, mouse, etc., but is not limited to these.

The output unit 160 includes one or more output interfaces that output information. For example, the output unit 160 is a display that outputs information as video or a speaker that outputs information as audio, but is not limited to these. Note that the output unit 160 also functions as the input unit 150 in the case of a touch panel type display.

A communication interface (I/F) 170 is an interface for communicating with an external device.

Regarding the above embodiments, the following additional remarks are disclosed.

(Appendix 1)
memory;
at least one controller connected to the memory;
The memory is
For each cell obtained by dividing the measurement target area, for each combination of three transmitters out of three or more transmitters installed at known positions, the positions of the cell and the three transmitters store a theoretical value vector whose elements are the distances from
Storing a reference position, which is a cell in which a receiver moving on a predetermined route in the measurement target area, which receives radio signals from each of the three or more transmitters, was located;
storing three transmitter identifiers for identifying each of the three or more transmitters in association with each of the cells on the route in the measurement target area;
The controller is
extracting the reference position stored in the memory, extracting the three transmitter identifiers stored in association with the reference position in the memory;
the reception from each of the three extracted transmitters based on the strength of the radio signal received from each of the three extracted transmitters, each of which is the transmitter identified by the three extracted transmitter identifiers; Calculate the measured value vector with the distance to the aircraft as an element,
calculating the degree of similarity between the theoretical value vector and the measured value vector for the three extracted transmitters for each cell;
A position measuring device that measures the position of the receiver based on the similarity.
(Appendix 2)
The controller extracts a similarity calculation cell including a cell at the reference position and a predetermined number of cells arranged before and after the cell in the traveling direction on the route, and extracts a similarity calculation cell for each similarity calculation cell , The position measuring device according to claim 1, wherein the similarity between the theoretical value vector and the actually measured value vector for the extracted transmitter is calculated.
(Appendix 3)
memory;
at least one controller connected to the memory;
The memory is
For each cell obtained by dividing the measurement target area, for each combination of three transmitters out of three or more transmitters installed at known positions, the positions of the cell and the three transmitters store a theoretical value vector whose elements are the distances from
Storing a reference position, which is a cell in which a receiver moving on a predetermined route in the measurement target area, which receives radio signals from each of the three or more transmitters, was located;
The controller is
extracting the reference location stored in the memory;
calculating a measured value vector whose elements are the distances from each of the transmitters to the receiver, based on the strength of the radio signals received from the three or more transmitters;
extracting a similarity calculation cell including the cell at the reference position and a predetermined number of cells arranged before and after the cell in the traveling direction on the route; Calculate the similarity of the theoretical value vector for the above transmitter with the actual value vector,
determining the location of the receiver based on the similarity;
Position measuring device.
(Appendix 4)
the initial value of the reference position is the start position of the route;
4. The position measuring device according to any one of additional items 1 to 3, wherein the controller causes the memory to store the measured position as a reference position.
(Appendix 5)
5. A position measuring device according to any one of clauses 1 to 4, further comprising the receiver.
(Appendix 6)
memory;
at least one controller connected to the memory;
The memory is
For each cell obtained by dividing the measurement target area, for each combination of three transmitters out of three or more transmitters installed at known positions, the positions of the cell and the three transmitters store a theoretical value vector whose elements are the distances from
Storing a reference position, which is a cell in which a receiver moving on a predetermined route in the measurement target area, which receives radio signals from each of the three or more transmitters, was located;
3 transmitter identifiers are stored for identifying each of the 3 transmitters out of the 3 or more transmitters in association with each of the cells on the route in the measurement target area. A position measurement method performed by a position measurement device, comprising:
extracting the reference position stored in the memory and extracting the three transmitter identifiers stored in the memory in association with the reference position;
the reception from each of the three extracted transmitters based on the strength of the radio signal received from each of the three extracted transmitters, each of which is the transmitter identified by the three extracted transmitter identifiers; calculating a measured value vector whose elements are distances to the aircraft;
calculating the degree of similarity between the theoretical value vector and the measured value vector for the three extracted transmitters for each of the cells;
determining the position of the receiver based on the similarity;
Position measurement method including.
(Appendix 7)
memory;
at least one controller connected to the memory;
The memory is
For each cell obtained by dividing the measurement target area, for each combination of three transmitters out of three or more transmitters installed at known positions, the positions of the cell and the three transmitters store a theoretical value vector whose elements are the distances from
performed by a position measuring device that stores a reference position, which is a cell in which a receiver moving on a predetermined route within the measurement target area, which receives radio signals from each of the three or more transmitters A position measurement method for
extracting the reference location stored in the memory;
calculating, for each combination of the three transmitters, a measured value vector whose elements are distances from each of the transmitters to the receiver, based on the strength of the radio signal received from the transmitter;
extracting a similarity calculation cell including the cell at the reference position and a predetermined number of cells arranged before and after the cell in the traveling direction on the route; a step of calculating the degree of similarity between the theoretical value vector for the above transmitter and the measured value vector;
determining the position of the receiver based on the similarity;
Position measurement method including.
(Appendix 8)
A non-temporary storage medium storing a computer-executable program, the non-temporary storage medium storing a program that causes the computer to function as the position measuring device according to any one of additional items 1 to 5.

All publications, patent applications and technical standards mentioned herein are expressly incorporated herein by reference to the same extent as if each individual publication, patent application and technical standard were specifically and individually indicated to be incorporated by reference. incorporated herein by reference.

Although the above-described embodiments have been described as representative examples, it will be apparent to those skilled in the art that many modifications and substitutions can be made within the spirit and scope of the present disclosure. Therefore, the present invention should not be construed as limited by the embodiments described above, and various modifications and changes are possible without departing from the scope of the claims. For example, it is possible to combine a plurality of configuration blocks described in the configuration diagrams of the embodiments into one, or divide one configuration block.

1-k Transmitter 1-k1 Transmitting unit 2 Position measuring device 21 Receiving unit (receiver)
22 theoretical value vector storage unit 23 reference position information storage unit 24 route information storage unit 25 route information reference unit 26 actual value vector calculation unit 27 similarity calculation unit 28 position measurement unit 29 reference position update unit 100 position measurement system 101 computer 110 processor 120 ROMs
130 RAM
140 storage 150 input unit 160 output unit 170 communication interface 180 bus

Claims

For each cell obtained by dividing the measurement target area, for each combination of three transmitters out of three or more transmitters installed at known positions, the positions of the cell and the three transmitters A theoretical value vector storage unit that stores a theoretical value vector whose elements are distances from
A reference position information storage unit that stores a reference position, which is a cell in which a receiver moving on a predetermined route within the measurement target area, which receives radio signals from each of the three or more transmitters, was located. and,
3 transmitter identifiers are stored for identifying each of the 3 transmitters out of the 3 or more transmitters in association with each of the cells on the route in the measurement target area. a route information storage unit;
A route information reference unit for extracting the reference position stored in the reference position information storage unit, and extracting the three transmitter identifiers stored in association with the reference position in the route information storage unit. and,
the reception from each of the three extracted transmitters based on the strength of the radio signal received from each of the three extracted transmitters, each of which is the transmitter identified by the three extracted transmitter identifiers; a measured value vector calculation unit that calculates a measured value vector having a distance to the aircraft as an element;
a similarity calculating unit for calculating, for each cell, the similarity between the theoretical value vector and the measured value vector for the three extracted transmitters;
a position measuring unit that measures the position of the receiver based on the similarity;
A position measuring device comprising:
The similarity calculation unit extracts a similarity calculation cell including a cell at the reference position and a predetermined number of cells arranged before and after the cell in the traveling direction on the route, and calculates the similarity. 2. The position measuring device according to claim 1, wherein a degree of similarity between a theoretical value vector and an actual value vector for said extracted transmitter is calculated for each cell.
For each cell obtained by dividing the measurement target area, for each combination of three transmitters out of three or more transmitters installed at known positions, the positions of the cell and the three transmitters A theoretical value vector storage unit that stores a theoretical value vector whose elements are distances from
A reference position information storage unit that stores a reference position, which is a cell in which a receiver moving on a predetermined route within the measurement target area, which receives radio signals from each of the three or more transmitters, was located. and,
a route information reference unit for extracting the reference position stored in the reference position information storage unit;
a measured value vector calculation unit that calculates measured value vectors based on the strength of radio signals received from the three or more transmitters and having distances from each of the transmitters to the receiver as elements;
extracting a similarity calculation cell including the cell at the reference position and a predetermined number of cells arranged before and after the cell in the traveling direction on the route; A similarity calculation unit that calculates the similarity between the theoretical value vector of the above transmitter and the actual value vector,
a position measuring unit that measures the position of the receiver based on the similarity;
A position measuring device comprising:
the initial value of the reference position is the start position of the route;
4. The position measuring device according to any one of claims 1 to 3, further comprising a reference position updating unit that stores the position measured by the position measuring unit as a reference position in the reference position information storage unit.
The position measuring device according to any one of claims 1 to 4, further comprising the receiver.
For each cell obtained by dividing the measurement target area, for each combination of three transmitters out of three or more transmitters installed at known positions, the positions of the cell and the three transmitters A theoretical value vector storage unit that stores a theoretical value vector whose elements are distances from
A reference position information storage unit that stores a reference position, which is a cell in which a receiver moving on a predetermined route within the measurement target area, which receives radio signals from each of the three or more transmitters, was located. and,
3 transmitter identifiers are stored for identifying each of the 3 transmitters out of the 3 or more transmitters in association with each of the cells on the route in the measurement target area. A position measurement method executed by a position measurement device comprising a route information storage unit,
extracting the reference position stored in the reference position information storage unit, and extracting the three transmitter identifiers stored in the route information storage unit in association with the reference position;
the reception from each of the three extracted transmitters based on the strength of the radio signal received from each of the three extracted transmitters, each of which is the transmitter identified by the three extracted transmitter identifiers; calculating a measured value vector whose elements are distances to the aircraft;
calculating the degree of similarity between the theoretical value vector and the measured value vector for the three extracted transmitters for each of the cells;
determining the position of the receiver based on the similarity;
Position measurement method including.
For each cell obtained by dividing the measurement target area, for each combination of three transmitters out of three or more transmitters installed at known positions, the positions of the cell and the three transmitters A theoretical value vector storage unit that stores a theoretical value vector whose elements are distances from
A reference position information storage unit that stores a reference position, which is a cell in which a receiver moving on a predetermined route within the measurement target area, which receives radio signals from each of the three or more transmitters, was located. and a position measurement method performed by a position measurement device comprising:
a step of extracting the reference position stored in the reference position information storage unit;
calculating, for each combination of the three transmitters, a measured value vector whose elements are distances from each of the transmitters to the receiver, based on the strength of the radio signal received from the transmitter;
extracting a similarity calculation cell including the cell at the reference position and a predetermined number of cells arranged before and after the cell in the traveling direction on the route; a step of calculating the degree of similarity between the theoretical value vector for the above transmitter and the measured value vector;
determining the position of the receiver based on the similarity;
Position measurement method including.
A program for causing a computer to function as the position measuring device according to any one of claims 1 to 5.