Position measurement device, position measurement method, and computer-readable recording medium

Abstract

A position measuring device (100) has a provisional position calculating section (120), a two-dimensional position calculating section (140), a three-dimensional position calculating section (150), and a position integrating section (160), and performs three-dimensional position measurement of a terminal using a relative angle between each base station and the terminal. The provisional position calculating section (120) calculates a provisional position of the terminal based on observation data. The two-dimensional position calculating section (140) calculates a two-dimensional position of the terminal based on the observation data and the provisional position. The three-dimensional position calculating section (150) calculates a three-dimensional position of the terminal based on the observation data and the provisional position. The position integrating section (160) integrates the two-dimensional position and the three-dimensional position to obtain the position of the terminal.

Description

Technical Field

[0001] This invention relates to a positioning device, a positioning method, and a computer-readable recording medium. Background Technology

[0002] The following technology exists: based on the relative angles formed by multiple base stations and the terminal, three-dimensional positioning of a terminal existing in a space with multiple base stations and performing wireless communication with each of the multiple base stations is achieved.

[0003] Existing technical documents

[0004] Non-patent literature

[0005] Non-patent literature 1: Futa Watanabe, "Wireless Sensor Network Localization UsingAoA Measurements with Two-Step Error Variance-Weighted Least Squares," IEEEACCESS, DOI: 10.1109 / ACCESS.2021.3050309 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] Non-Patent Document 1 discloses a technique for measuring the position of a terminal based on information about the relative angles between the terminal and each base station. According to the technique disclosed in Non-Patent Document 1, the following problem exists: the error increases when the area containing the terminal is not a complete cube.

[0008] The purpose of this invention is to reduce errors in three-dimensional positioning of terminals using the relative angles formed by each base station and the terminal, especially when the shape of the area containing the terminal is not a complete cube.

[0009] Methods for solving problems

[0010] The positioning device of the present invention has:

[0011] The temporary location calculation unit uses multiple two-dimensional direction vectors and multiple three-dimensional direction vectors to determine the temporary location of the terminal. The multiple two-dimensional direction vectors are vectors calculated using each of multiple observation angles, and are vectors based on the angles of the multiple observation angles in the two-dimensional direction. The multiple observation angles are observed as the angles between the respective positions of multiple base stations and the terminal communicating with the multiple base stations in three-dimensional space. The multiple three-dimensional direction vectors are vectors calculated using each of the multiple observation angles, and are vectors based on the angles of the multiple observation angles in the three-dimensional direction.

[0012] The two-dimensional location calculation unit uses the two-dimensional components of the locations of the plurality of base stations, the plurality of two-dimensional direction vectors, and the plurality of two-dimensional weights to calculate the two-dimensional location of the terminal. The plurality of two-dimensional weights are weights corresponding to the two-dimensional components of the locations of the plurality of base stations, and are weights determined based on the two-dimensional components of the locations of the plurality of base stations and the two-dimensional components of the temporary location.

[0013] A three-dimensional location calculation unit calculates the three-dimensional position of the terminal using the three-dimensional components of the positions of the plurality of base stations, the plurality of three-dimensional direction vectors, and the plurality of three-dimensional weights. The plurality of three-dimensional weights are weights corresponding to the three-dimensional components of the positions of the plurality of base stations, and are weights determined based on the three-dimensional components of the positions of the plurality of base stations and the three-dimensional components of the temporary position.

[0014] The location integration unit calculates a weighted average of the two-dimensional components of the two-dimensional position and the three-dimensional position as the two-dimensional component of the terminal's position, and uses the third-dimensional component of the three-dimensional position as the third-dimensional component of the terminal's position.

[0015] Invention Effects

[0016] According to the present invention, the position obtained by combining the two-dimensional position and the three-dimensional position of the terminal is used as the terminal position. Therefore, the influence of errors contained in the three-dimensional position of the terminal is reduced. Thus, according to the present invention, in the three-dimensional positioning of the terminal using the relative angles between each base station and the terminal, errors can be reduced even when the shape of the area containing the terminal is not a complete cube. Attached Figure Description

[0017] Figure 1 This is a diagram showing a structural example of the positioning device 100 according to Embodiment 1.

[0018] Figure 2 This is a diagram showing a structural example of the positioning system 90 according to Embodiment 1.

[0019] Figure 3This is a diagram showing a structural example of the positioning system 90 according to Embodiment 1.

[0020] Figure 4 This is a diagram showing a structural example of the positioning system 90 according to Embodiment 1.

[0021] Figure 5 This is a diagram showing a structural example of the positioning system 90 according to Embodiment 1.

[0022] Figure 6 This is a diagram showing a structural example of the positioning system 90 according to Embodiment 1.

[0023] Figure 7 This is a diagram showing an example of the hardware structure of the positioning device 100 according to Embodiment 1.

[0024] Figure 8 This is a flowchart illustrating the operation of the positioning device 100 according to Embodiment 1.

[0025] Figure 9 This is a diagram illustrating a specific example of the locational relationship between a terminal and a base station.

[0026] Figure 10 This is a diagram showing a specific example of a lookup table.

[0027] Figure 11 This is a diagram showing a specific example of an area where terminals are configured.

[0028] Figure 12 This is a diagram illustrating a specific example of the locational relationship between a terminal and a base station.

[0029] Figure 13 This is a diagram showing an example of the hardware structure of the positioning device 100, a variation of Embodiment 1.

[0030] Figure 14 This is a diagram showing a structural example of the positioning device 100 according to Embodiment 2.

[0031] Figure 15 This is a flowchart illustrating the operation of the positioning device 100 in Embodiment 2.

[0032] Figure 16 This is a diagram showing a structural example of the positioning device 100 according to Embodiment 3.

[0033] Figure 17 This is a flowchart illustrating the operation of the positioning device 100 in Embodiment 3. Detailed Implementation

[0034] In the description and drawings of the embodiments, the same reference numerals are used to label the same elements and corresponding elements. The descriptions of elements labeled with the same reference numerals are omitted or simplified as appropriate. The arrows in the figures mainly indicate data flow or processing flow. In addition, "part" may be appropriately replaced with "circuit", "process", "process", "processing" or "line".

[0035] Implementation method 1.

[0036] Hereinafter, this embodiment will be described in detail with reference to the accompanying drawings.

[0037] ***Structure Description***

[0038] Figure 1 This figure shows a structural example of the positioning device 100 according to this embodiment. As shown in this figure, the positioning device 100 includes a relative angle acquisition unit 110, a temporary position calculation unit 120, a base station information acquisition unit 130, a two-dimensional position calculation unit 140, a three-dimensional position calculation unit 150, a position integration unit 160, and a parameter change unit 170. In addition, in this specification, three-dimensional positioning is sometimes simply referred to as positioning.

[0039] Furthermore, the positioning device 100 is a device that estimates the three-dimensional position of the terminal after observing the relative angles formed by the terminal and each of the multiple base stations. Here, it is assumed that the multiple base stations are fixed in space, and the three-dimensional positions of each of the multiple base stations are known. In addition, wireless communication is performed between the terminal and each of the multiple base stations, and the relative angles formed by the terminal and each of the multiple base stations are observed based on the wireless communication. As a specific example, the wireless communication is communication according to the Bluetooth (registered trademark) standard. There may also be multiple terminals; in the case of multiple terminals, the positioning device 100 estimates the position of each terminal. In addition, in the following description, a three-dimensional space and a LOS (Line of Sight) environment are assumed.

[0040] The relative angle acquisition unit 110 acquires information representing the relative angle between the terminal and each base station.

[0041] The temporary location calculation unit 120 calculates the temporary location of the terminal based on information obtained by the relative angle acquisition unit 110 and information obtained by the base station information acquisition unit 130. Specifically, the temporary location calculation unit 120 uses multiple two-dimensional direction vectors and multiple three-dimensional direction vectors to determine the temporary location of the terminal. The multiple two-dimensional direction vectors are vectors calculated using each of multiple observation angles, and are vectors based on the angles of these multiple observation angles in the two-dimensional direction. These multiple observation angles are observed as the angles formed by the positions of multiple base stations and the terminal communicating with each of the multiple base stations in three-dimensional space. The multiple three-dimensional direction vectors are vectors calculated using each of the multiple observation angles, and are vectors based on the angles of these multiple observation angles in the three-dimensional direction. The two-dimensional component is the component of the vector corresponding to the two-dimensional space. The three-dimensional component is the component of the vector corresponding to the three-dimensional space.

[0042] The base station information acquisition unit 130 acquires base station information corresponding to each base station. The base station information includes information indicating the location of each base station and information indicating the base station ID (Identifier).

[0043] The two-dimensional position calculation unit 140 calculates the two-dimensional position of the terminal based on the temporary position calculated by the temporary position calculation unit 120. The two-dimensional position is a position represented in two-dimensional form. The two-dimensional position calculation unit 140 uses the two-dimensional components of the positions of multiple base stations, multiple two-dimensional direction vectors, and multiple two-dimensional weights to calculate the two-dimensional position of the terminal. The multiple two-dimensional weights are weights corresponding to the two-dimensional components of the positions of the multiple base stations, and are determined based on the two-dimensional components of the positions of the multiple base stations and the two-dimensional components of the temporary position. The multiple two-dimensional weights can also be values ​​corresponding to the reciprocals of the distances between the two-dimensional components of the positions of the multiple base stations and the two-dimensional components of the temporary position.

[0044] The three-dimensional position calculation unit 150 calculates the terminal's three-dimensional position based on the temporary position calculated by the temporary position calculation unit 120. The three-dimensional position is a position represented in three-dimensional form. The three-dimensional position calculation unit 150 uses the three-dimensional components of the positions of multiple base stations, multiple three-dimensional direction vectors, and multiple three-dimensional weights to determine the terminal's three-dimensional position. The multiple three-dimensional weights are weights corresponding to the three-dimensional components of the positions of the multiple base stations, and are determined based on the three-dimensional components of the positions of the multiple base stations and the three-dimensional components of the temporary position. The multiple three-dimensional weights can also be values ​​corresponding to the reciprocals of the distances between the three-dimensional components of the positions of the multiple base stations and the three-dimensional components of the temporary position.

[0045] The position integration unit 160 calculates the position of the terminal by integrating the two-dimensional position calculated by the two-dimensional position calculation unit 140 and the three-dimensional position calculated by the three-dimensional position calculation unit 150.

[0046] The parameter changing unit 170 appropriately changes the values ​​of the parameters used by the position integration unit 160. Specifically, the parameter changing unit 170 changes the value of the parameter used in the weighted average calculation, i.e., the weighted average parameter, to a value corresponding to the shape of the target area. The target area is the area where terminals are located, and is determined based on temporary positions. The parameter changing unit 170 can also change the value of the weighted average parameter based on the ratio of the length of the shorter side of the target area to the length of the longer side, and the ratio of the length of the diagonal direction of the target area in two dimensions to the height of the target area. The parameter changing unit 170 can also change the value of the weighted average parameter by referring to a lookup table that represents the value of the weighted average parameter according to each condition.

[0047] Various types of positioning systems 90 with positioning devices 100 are envisioned as structural examples. Hereinafter, representative structural examples of the positioning system 90 will be described with reference to the accompanying drawings. Furthermore, the positioning devices 100 are appropriately distributed among any structural element or at least any one of the structural elements shown in each example.

[0048] Figure 2 A specific example of a positioning system 90 is shown. The positioning system 90 has N (N is an integer greater than 2) base stations and terminals.

[0049] In this example, firstly, the terminal sends information representing its terminal ID to each base station. Next, each base station receives the terminal ID information from the terminal, performs AOA (Angle-Of-Arrival) calculation based on the received information and its own observation data, and sends the AOA calculation result and each base station ID back to the terminal. Then, the terminal performs a positional measurement based on the information received from each base station. Here, the positional measurement refers to the calculation of the terminal's three-dimensional position.

[0050] Figure 3 A specific example of the positioning system 90 is shown. Regarding... Figure 3 The positioning system 90 mainly describes and Figure 2 The difference is shown in the positioning system 90. The positioning system 90 also has a locator that performs part of the positioning calculation. The locator is a dedicated device for performing the positioning calculation.

[0051] In this example, the terminal sends information received from each base station to the locator to transfer a portion of the position measurement calculation to the locator. The locator performs a portion of the position measurement calculation based on the information received from the terminal and sends the result of that calculation to the terminal. Then, the terminal performs the portion of the position measurement calculation that was not transferred to the locator, based on the information received from each base station and the information received from the locator.

[0052] Figure 4 A specific example of the positioning system 90 is shown. Regarding... Figure 4 The positioning system 90 mainly describes and Figure 3 The difference in the positioning system 90 shown is as follows: The locator receives information from each base station representing the terminal ID, the result of the AOA calculation, and the ID of each base station. Based on the received information, it performs positioning calculations and sends the results to the terminal. Alternatively, the terminal does not perform positioning calculations.

[0053] Figure 5 A specific example of a positioning system 90 is shown. The positioning system 90 has N base stations and terminals.

[0054] In this example, firstly, each base station performs an AOD (Angle-Of-Departure) calculation and sends the terminal information representing the AOD calculation result and the base station ID. Next, the terminal performs a position calculation based on the information received from each base station.

[0055] Figure 6 A specific example of the positioning system 90 is shown. Regarding... Figure 6 The positioning system 90 mainly describes and Figure 5 The difference in the positioning system 90 shown. The positioning system 90 also has a locator.

[0056] In this example, the actions of the positioning system 90 are appropriately combined. Figure 3 The operation of the positioning system 90 shown Figure 5 The action is obtained by the operation of the positioning system 90 shown.

[0057] Figure 7 An example of the hardware structure of the positioning device 100 according to this embodiment is shown. The positioning device 100 is configured as a computer. The positioning device 100 may also be configured as multiple computers.

[0058] As shown in this figure, the positioning device 100 is a computer with hardware such as a processor 11, a memory 12, an auxiliary storage device 13, an input / output interface 14, and a communication device 15. This hardware is appropriately connected via signal lines 19.

[0059] Processor 11 is an IC (Integrated Circuit) that performs computational processing and controls the hardware of the computer. As a specific example, processor 11 is a CPU (Central Processing Unit), DSP (Digital Signal Processor), or GPU (Graphics Processing Unit).

[0060] The positioning device 100 may also have multiple processors instead of processor 11. The multiple processors share the functions of processor 11.

[0061] Memory 12 is typically a volatile storage device. Memory 12 is also referred to as main storage or main memory. As a specific example, memory 12 is RAM (Random Access Memory). Data stored in memory 12 is stored in auxiliary storage device 13 as needed.

[0062] The auxiliary storage device 13 is typically a non-volatile storage device. As a specific example, the auxiliary storage device 13 is ROM (Read Only Memory), HDD (Hard Disk Drive), or flash memory. Data stored in the auxiliary storage device 13 is loaded into the memory 12 as needed.

[0063] The memory 12 and the auxiliary storage device 13 can also be configured as a single unit.

[0064] Input / output IF14 is a port for connecting input and output devices. For example, input / output IF14 is a USB (Universal Serial Bus) terminal. For example, input devices include a keyboard and mouse. For example, output devices include a monitor.

[0065] Communication device 15 is a receiver and a transmitter. As a specific example, communication device 15 is a communication chip or NIC (Network Interface Card).

[0066] Each part of the positioning device 100 may also appropriately use the input / output IF14 and the communication device 15 when communicating with other devices.

[0067] Auxiliary storage device 13 stores a positioning program. The positioning program is a program that enables the computer to implement the functions of each component of the positioning device 100. The positioning program is loaded into memory 12 and executed by processor 11. The functions of each component of the positioning device 100 are implemented through software.

[0068] The data used during the execution of the positioning program and the data obtained by executing the positioning program are appropriately stored in a storage device. Each part of the positioning device 100 appropriately utilizes a storage device. As a specific example, the storage device consists of at least one of a memory 12, an auxiliary storage device 13, a register in the processor 11, and flash memory in the processor 11. Furthermore, data and information sometimes have the same meaning. The storage device may also be independent of the computer.

[0069] The functions of memory 12 and auxiliary storage device 13 can also be implemented by other storage devices.

[0070] Positioning programs can also be recorded on non-volatile recording media that can be read by a computer. Specific examples of non-volatile recording media include optical discs or flash memory. Positioning programs can also be provided as program products.

[0071] ***Instructions for Action***

[0072] The operation process of the positioning device 100 is equivalent to the positioning method. Furthermore, the program that implements the operation of the positioning device 100 is equivalent to the positioning program.

[0073] Figure 8 This is a flowchart illustrating an example of the operation of the positioning device 100. The operation of the positioning device 100 will be explained with reference to this figure.

[0074] (Step S11)

[0075] The relative angle acquisition unit 110 acquires information representing the relative angle between the terminal and each base station.

[0076] (Step S12)

[0077] The base station information acquisition unit 130 acquires the base station information corresponding to each base station.

[0078] (Step S13)

[0079] The temporary location calculation unit 120 calculates the temporary location of the terminal based on the relative angle information obtained by the relative angle acquisition unit 110 and the base station information obtained by the base station information acquisition unit 130.

[0080] Here, an example of calculating the temporary location is explained. [Equation 1] represents the location of each base station, and [Equation 2] represents the actual location of the terminal. Furthermore, [Equation 3] represents the true value of AOA. Here, φ i o ψ represents the true azimuth angle. i o This indicates the actual angle of elevation. Figure 9 Using these labels, we can illustrate specific examples of the positional relationship between the terminal and the base station corresponding to the subscript i.

[0081] [Formula 1]

[0082]

[0083] [Equation 2]

[0084]

[0085] [Formula 3]

[0086]

[0087]

[0088] At this time, the temporary position calculation unit 120 calculates the temporary position as shown in [Equation 4]. Here, the labels in [Equation 4] are as shown in [Equation 5]. 1i Equivalent to a two-dimensional direction vector. 2i Equivalent to a three-dimensional direction vector. φ i Equivalent to an angle in a two-dimensional direction. φ i and ψ i Equivalent to an angle in three dimensions.

[0089] [Formula 4]

[0090]

[0091] [Formula 5]

[0092]

[0093]

[0094]

[0095] (Step S14)

[0096] The two-dimensional position calculation unit 140 calculates the two-dimensional position of the terminal based on the temporary position calculated by the temporary position calculation unit 120.

[0097] Here, an example of calculating the two-dimensional position of the terminal is described. The two-dimensional position calculation unit 140 calculates the two-dimensional position of the terminal as shown in [Equation 6]. Here, the reference numerals in [Equation 6] are as shown in [Equation 7]. Additionally, c 1i c 2i c~ 1i As long as the vectors are orthogonal, the labels of these terms can be reversed. Additionally, for clarity regarding the characters that can be used, the labels in mathematical expressions are sometimes appropriately modified within the text. 1i Equivalent to two-dimensional weights. i (1:2) represents the two-dimensional components representing the location of each base station. c~ 1i It is equivalent to a two-dimensional direction vector.

[0098] [Formula 6]

[0099]

[0100] [Formula 7]

[0101]

[0102]

[0103]

[0104]

[0105] (Step S15)

[0106] The three-dimensional position calculation unit 150 calculates the three-dimensional position of the terminal based on the temporary position calculated by the temporary position calculation unit 120.

[0107] Here, an example of calculating the three-dimensional position of the terminal is described. The three-dimensional position calculation unit 150 calculates the three-dimensional position of the terminal as shown in [Equation 8]. Here, the reference numerals in [Equation 8] are as shown in [Equation 9]. 2i Equivalent to three-dimensional weights. i The three-dimensional components representing the location of each base station.

[0108] [Formula 8]

[0109]

[0110] [Formula 9]

[0111]

[0112]

[0113] (Step S16)

[0114] The parameter changing unit 170 changes the value of the parameter used by the position integration unit 160. As a specific example, the parameter changing unit 170 changes the value of parameter μ shown in [Equation 10]. Parameter μ is equivalent to a weighted average parameter. As a specific example, based on a previously performed simulation, etc., preparations are made in advance... Figure 10 The parameter changing unit 170 changes the value of parameter μ according to the prepared lookup table. Here, Figure 10 The labels shown indicate the lengths of each side of the area where the terminal is located. Furthermore, this area is defined as a cuboid-shaped region containing the temporary location of the terminal; it may not include all base stations, and its shape may differ from the space where the terminal is located. Additionally, the parameter changing unit 170 can calculate values ​​according to the operations shown on the vertical and horizontal axes of this figure, respectively, and then round the calculated values. Furthermore, sqrt(L1^2 + L2^2) corresponds to the length of the diagonal direction in the two-dimensional representation of the target area.

[0115] Figure 11A specific example of this region is shown. L1 represents the length of the region along its long side, L2 represents the length of the region along its short side, and L3 represents the height of the region. The height may not be the vertical length of the region. As a specific example, the parameter changing unit 170 calculates L1, L2, and L3 based on the temporary position calculated by the temporary position calculation unit 120 and the positions of each base station.

[0116] (Step S17)

[0117] The position integration unit 160 calculates the terminal's position by integrating two-dimensional and three-dimensional positions. Furthermore, in cases where the number of available AOAs or AODs is limited, the calculations of at least one of the temporary position calculation unit 120, the two-dimensional position calculation unit 140, and the three-dimensional position calculation unit 150 may fail. In the event of a failure of at least one of these calculations, the positioning device 1000 outputs a value indicating the positioning calculation failure as the result of the positioning calculation. Specifically, this value is Null or [-999, -999, -999].

[0118] Here, an example of how the position integration unit 160 calculates the terminal's position will be described. The position integration unit 160 calculates the terminal's position as shown in [Equation 10]. When the position integration unit 160 uses [Equation 10], it calculates a weighted average of the two-dimensional and three-dimensional components of the two-dimensional position as the two-dimensional component of the terminal's position, and uses the third-dimensional component of the three-dimensional position as the third-dimensional component of the terminal's position.

[0119] [Formula 10]

[0120]

[0121] ***Explanation of the effects of Implementation Method 1***

[0122] First, it should be noted that the accuracy of the terminal position measurement may be reduced depending on the magnitude of at least one of the values ​​of L1 / L2 and (sqrt(L1^2+L2^2)) / L3.

[0123] orthogonal vector c 1i The first component contains sin(φ) i sin(φ) i A Taylor expansion around the true value, when approximated with a first-order term, yields [Equation 11]. Here, we focus on the deviation caused by the measurement error of AOA, i.e., n. φi and cos(φ) i o ).

[0124] [Equation 11]

[0125]

[0126] First, focus on n φi n φi This refers to the measurement error itself. Therefore, the standard deviation σ of the measurement error... φi The larger the value of n, the better. φi The larger the absolute value, the greater.

[0127] Next, focus on cos(φ) i o Since the N base stations are independent, the acceptable value is |cos(φ). i o The expected value of )| can be expressed as described in [Equation 12]. Here, it is assumed that the terminal and each base station are randomly configured in space.

[0128] Furthermore, the relationship between azimuth and coordinate system is as follows: Figure 12 As shown.

[0129] [Equation 12]

[0130]

[0131]

[0132] Next, when the differential of f(u) is calculated to confirm the correlation between f(u) and u, we obtain [Equation 13].

[0133] [Equation 13]

[0134]

[0135] The denominator of [Equation 13], f2(u), always takes a positive value. Therefore, when the differential of the numerator of [Equation 13], f1(u), is obtained, [Equation 14] is obtained.

[0136] [Formula 14]

[0137]

[0138] At u>1, f1'(u) always takes a negative value. Therefore, at u>1, f1(u) is a monotonically decreasing function. Furthermore, since f1(1)=sqrt(2)-1-log(1+sqrt(2))<0, at u>1, f'(u) always takes a negative value. Therefore, at u>1, f(u) is a monotonically decreasing function. Thus, as the value of u=L2 / L1 increases, E[|cos(φ i o The value of E[|cos(φ)] decreases; in other words, when the value of 1 / u = L1 / L2 increases, the value of E[|cos(φ)] decreases. i o The value of )|] increases.

[0139] Based on the above results, it can be said that in σ φi When the value of sin(φ) is large or the value of L1 / L2 is large, i The value of ) may deviate significantly from the true value. Therefore, by combining c 1i and c 2i sin(φ) i The impact of the measurement is relatively reduced, therefore, the accuracy of the terminal position measurement can be considered to be improved.

[0140] The orthogonal vector c used in TELS (Two-step Error Variance-weighted Least Squares) disclosed in Non-Patent Document 1 2i The first and second components contain cos(ψ) i ). (cos(ψ) i A Taylor expansion around the true value, when approximated with a first-order term, yields [Equation 15]. Here, we focus on the deviation caused by the measurement error of AOA, i.e., n. ψi and sin(ψ) i o ).

[0141] [Formula 15]

[0142]

[0143] First, focus on n ψi n ψi This refers to the measurement error itself. Therefore, the standard deviation σ of the measurement error... ψi The larger the value of n, the better. ψi The larger the absolute value, the greater.

[0144] Next, focus on sin(ψ) i o Since the N base stations are independent, the acceptable value is |sin(ψ) i o The expected value of | can be expressed as described in [Equation 16]. Here, it is assumed that the terminal and each base station are randomly configured in space. Furthermore, the relationship between the elevation angle and the coordinate system is as follows: Figure 12 As shown.

[0145] [Formula 16]

[0146]

[0147]

[0148] Based on the above results, similarly to the above, in σ ψiWhen the value of ψ is large or the value of 1 / v = (sqrt(L1^2 + L2^2)) / L3 is large, cos(ψ) i It is possible that the value deviates significantly from the true value. Therefore, it can be considered that it is compatible with c. 1i and c 2i In comparison, using only c 1i The positioning accuracy has been improved.

[0149] Furthermore, when the values ​​of L1 / L2 and (sqrt(L1^2+L2^2)) / L3 are both large, it can be said that by combining c... 1i and c 2i The positioning accuracy is improved. This is because when only c is used... 1i In this case, the amount of information used for positioning is halved from 2N to N, c 1i The biases contained within the data have a greater impact on the estimated location of the terminal.

[0150] Therefore, according to this embodiment, by appropriately combining c 1i and c 2i Performing 3D positioning on the terminal can reduce errors associated with the 3D positioning. Furthermore, by flexibly changing the parameter values ​​according to the shape of the 3D space being measured, 3D positioning of the terminal can be performed with high accuracy in any 3D space.

[0151] ***Other Structures***

[0152] <Variation Example 1>

[0153] The positioning device 100 may also omit the parameter changing unit 170. In this modified example, the position integration unit 160 uses given parameter values, and the positioning device 100 skips step S16. The parameter values ​​used by the position integration unit 160 may also be values ​​appropriately determined based on the shape of the area where the terminal is located and prior simulation results.

[0154] <Variation Example 2>

[0155] Figure 13 This section illustrates a hardware structure example of the positioning device 100 in this modified example.

[0156] The positioning device 100 has a processing circuit 18 to replace the processor 11, the processor 11 and memory 12, the processor 11 and auxiliary storage device 13, or the processor 11, memory 12 and auxiliary storage device 13.

[0157] The processing circuit 18 is hardware that implements at least a portion of the components of the positioning device 100.

[0158] The processing circuit 18 can be dedicated hardware, or it can be a processor that executes the program stored in the memory 12.

[0159] In the case where the processing circuit 18 is dedicated hardware, as a specific example, the processing circuit 18 is a single circuit, a composite circuit, a programmable processor, a parallel programmable processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof.

[0160] The positioning device 100 may also have multiple processing circuits that replace the processing circuit 18. The multiple processing circuits share the functions of the processing circuit 18.

[0161] In the positioning device 100, some functions may be implemented through dedicated hardware, while the remaining functions may be implemented through software or firmware.

[0162] As a specific example, the processing circuit 18 is implemented by hardware, software, firmware, or a combination thereof.

[0163] The processor 11, memory 12, auxiliary storage device 13, and processing circuit 18 are collectively referred to as the "processing circuit". That is, the functions of each functional structural element of the positioning device 100 are realized through the processing circuit.

[0164] The positioning device 100 in other embodiments may also have the same structure as this modified example.

[0165] Implementation method 2.

[0166] Hereinafter, with reference to the accompanying drawings, we will mainly describe the aspects that differ from the embodiments described above.

[0167] ***Structure Description***

[0168] Figure 14 The structure of the positioning device 100 of this embodiment is shown as an example. The difference between the positioning device 100 of this embodiment and the positioning device 100 of Embodiment 1 is that it has a region information input unit 180.

[0169] The area information input unit 180 receives information about an area where terminals and multiple base stations are installed. As a specific example, the area information input unit 180 receives information representing the length of each side, where each side represents the length of the long side, the length of the short side, and the height of the target area.

[0170] The parameter change unit 170 uses the information received by the area information input unit 180 to set parameter values.

[0171] ***Instructions for Action***

[0172] Figure 15 This is a flowchart illustrating an example of the operation of the positioning device 100. The differences in operation between the positioning device 100 and that of Embodiment 1 will be explained primarily with reference to this diagram.

[0173] (Step S21)

[0174] Regional Information Input Department 180 Acceptance Statement Figure 11 The information on the lengths of each side shown is sent to the parameter change unit 170.

[0175] (Step S16)

[0176] This step is basically the same as step S16 in Embodiment 1. However, the parameter change unit 170 uses the information received from the area information input unit 180.

[0177] ***Explanation of the effects of Implementation Method 2***

[0178] As described above, according to this embodiment, information about the area where terminals and multiple base stations are configured can be appropriately set.

[0179] Implementation method 3.

[0180] Hereinafter, with reference to the accompanying drawings, we will mainly describe the aspects that differ from the embodiments described above.

[0181] ***Structure Description***

[0182] Figure 16 The structure of the positioning device 100 of this embodiment is shown as an example. The difference between the positioning device 100 of this embodiment and the positioning device 100 of Embodiment 1 is that it has an electromagnetic wave intensity acquisition unit 190.

[0183] The radio wave strength acquisition unit 190 acquires information representing the radio wave strength corresponding to each base station and sends the acquired information to the parameter change unit 170.

[0184] The parameter change unit 170 uses the information obtained by the radio wave intensity acquisition unit 190 to set parameter values.

[0185] ***Instructions for Action***

[0186] Figure 17 This is a flowchart illustrating an example of the operation of the positioning device 100. The differences in operation between the positioning device 100 and that of Embodiment 1 will be explained primarily with reference to this diagram.

[0187] (Step S31)

[0188] The radio wave strength acquisition unit 190 acquires information representing the radio wave strength corresponding to each base station and sends the acquired information to the parameter change unit 170.

[0189] (Step S16)

[0190] The parameter modification unit 170 defines a region including the temporary location of the terminal and a base station corresponding to a radio wave intensity above the strength reference value, and modifies the values ​​of parameters according to the lengths of each side of the defined region. In this embodiment, the target region is the space including the terminal and a base station among multiple base stations whose radio wave intensity for the terminal is above the strength reference value. The strength reference value can be arbitrarily determined.

[0191] ***Explanation of the effects of Implementation Method 3***

[0192] As described above, according to this embodiment, an appropriate area can be set according to the radio wave intensity corresponding to each base station.

[0193] ***Other Implementation Methods***

[0194] It can realize the free combination of the above-described embodiments, or the modification of any structural elements of each embodiment, or the omission of any structural elements in each embodiment.

[0195] Furthermore, the implementation methods are not limited to those shown in Implementation Methods 1 to 3, and various modifications can be made as needed. The processes described using flowcharts and other similar methods can also be appropriately modified.

[0196] Label Explanation

[0197] 11: Processor; 12: Memory; 13: Auxiliary storage device; 14: Input / output (IF); 15: Communication device; 18: Processing circuit; 19: Signal line; 90: Positioning system; 100: Positioning device; 110: Relative angle acquisition unit; 120: Temporary position calculation unit; 130: Base station information acquisition unit; 140: Two-dimensional position calculation unit; 150: Three-dimensional position calculation unit; 160: Position integration unit; 170: Parameter change unit; 180: Area information input unit; 190: Radio wave intensity acquisition unit.

Claims

1. A positioning device, wherein, This positioning device has the following features: The temporary location calculation unit uses multiple two-dimensional direction vectors and multiple three-dimensional direction vectors to determine the temporary location of the terminal. The multiple two-dimensional direction vectors are vectors calculated using each of multiple observation angles, and are vectors based on the angles of the multiple observation angles in the two-dimensional direction. The multiple observation angles are observed as the angles between the respective positions of multiple base stations and the terminal communicating with the multiple base stations in three-dimensional space. The multiple three-dimensional direction vectors are vectors calculated using each of the multiple observation angles, and are vectors based on the angles of the multiple observation angles in the three-dimensional direction. The two-dimensional location calculation unit uses the two-dimensional components of the locations of the plurality of base stations, the plurality of two-dimensional direction vectors, and the plurality of two-dimensional weights to calculate the two-dimensional location of the terminal. The plurality of two-dimensional weights are weights corresponding to the two-dimensional components of the locations of the plurality of base stations, and are weights determined based on the two-dimensional components of the locations of the plurality of base stations and the two-dimensional components of the temporary location. The three-dimensional position calculation unit uses the three-dimensional components of the positions of the plurality of base stations, the plurality of three-dimensional direction vectors, and the plurality of three-dimensional weights to calculate the three-dimensional position of the terminal. The plurality of three-dimensional weights are weights corresponding to the three-dimensional components of the positions of the plurality of base stations, and are weights determined based on the three-dimensional components of the positions of the plurality of base stations and the three-dimensional components of the temporary position. The location integration unit calculates a weighted average of the two-dimensional components of the two-dimensional position and the three-dimensional position as the two-dimensional component of the terminal's position, and uses the third-dimensional component of the three-dimensional position as the third-dimensional component of the terminal's position. as well as The parameter changing unit changes the value of the parameter used in the weighted average, i.e. the weighted average parameter, to a value corresponding to the shape of the object region.

2. The positioning device according to claim 1, wherein, The plurality of two-dimensional weights are respectively the reciprocals of the distances formed by the two-dimensional components of the respective locations of the plurality of base stations and the two-dimensional components of the temporary location. The plurality of three-dimensional weights are the reciprocals of the distances between the three-dimensional components of the respective locations of the plurality of base stations and the three-dimensional components of the temporary location.

3. The positioning device according to claim 1, wherein, The parameter changing unit changes the value of the weighted average parameter based on the ratio of the length of the short side of the object region to the length of the long side of the object region, and the ratio of the length of the diagonal direction of the object region in two dimensions to the height of the object region.

4. The positioning device according to any one of claims 1 to 3, wherein, The parameter changing unit refers to a lookup table that represents the value of the weighted average parameter according to each condition, and changes the value of the weighted average parameter.

5. The positioning device according to any one of claims 1 to 3, wherein, The object region is the region determined based on the temporary location.

6. The positioning device according to any one of claims 1 to 3, wherein, The positioning device also has a region information input unit, which accepts information representing the length of the long side, the length of the short side, and the height of the object region.

7. The positioning device according to any one of claims 1 to 3, wherein, The target area is the space including the terminal and the base stations among the plurality of base stations whose radio wave intensity for the terminal is above the intensity reference value.

8. A positioning method, wherein, The computer uses multiple two-dimensional direction vectors and multiple three-dimensional direction vectors to determine the temporary position of the terminal. The multiple two-dimensional direction vectors are vectors calculated using each of a plurality of observation angles, and are vectors based on the angles of these observation angles in two-dimensional directions. These observation angles are observed as the angles between the positions of multiple base stations and the terminal communicating with each of the multiple base stations in three-dimensional space. The multiple three-dimensional direction vectors are vectors calculated using each of the plurality of observation angles, and are vectors based on the angles of these observation angles in three-dimensional directions. The computer uses the two-dimensional components of the locations of the plurality of base stations, the plurality of two-dimensional direction vectors, and the plurality of two-dimensional weights to calculate the two-dimensional position of the terminal. The plurality of two-dimensional weights are weights corresponding to the two-dimensional components of the locations of the plurality of base stations, and are determined based on the two-dimensional components of the locations of the plurality of base stations and the two-dimensional components of the temporary position. The computer uses the three-dimensional components of the locations of the plurality of base stations, the plurality of three-dimensional direction vectors, and the plurality of three-dimensional weights to determine the three-dimensional position of the terminal. The plurality of three-dimensional weights are weights corresponding to the three-dimensional components of the locations of the plurality of base stations, and are determined based on the three-dimensional components of the locations of the plurality of base stations and the three-dimensional components of the temporary position. The computer calculates a weighted average of the two-dimensional and three-dimensional components of the two-dimensional position, which is used as the two-dimensional component of the terminal's position. The third-dimensional component of the three-dimensional position is then used as the third-dimensional component of the terminal's position. The value of the parameter used in the weighted average is changed to a value corresponding to the shape of the object region.

9. A computer-readable recording medium containing a positioning program that causes a positioning device, which functions as a computer, to perform the following processing: The temporary location calculation process uses multiple two-dimensional direction vectors and multiple three-dimensional direction vectors to determine the temporary location of the terminal. The multiple two-dimensional direction vectors are vectors calculated using each of the multiple observation angles, and are vectors based on the angles of the multiple observation angles in the two-dimensional direction. The multiple observation angles are observed as the angles between the respective positions of multiple base stations and the terminal communicating with the multiple base stations in three-dimensional space. The multiple three-dimensional direction vectors are vectors calculated using each of the multiple observation angles, and are vectors based on the angles of the multiple observation angles in the three-dimensional direction. The two-dimensional location calculation process uses the two-dimensional components of the locations of the multiple base stations, the multiple two-dimensional direction vectors, and the multiple two-dimensional weights to calculate the two-dimensional location of the terminal. The multiple two-dimensional weights are weights corresponding to the two-dimensional components of the locations of the multiple base stations, and are determined based on the two-dimensional components of the locations of the multiple base stations and the two-dimensional components of the temporary location. The three-dimensional position calculation process uses the three-dimensional components of the positions of the multiple base stations, the multiple three-dimensional direction vectors, and the multiple three-dimensional weights to calculate the three-dimensional position of the terminal. The multiple three-dimensional weights are weights corresponding to the three-dimensional components of the positions of the multiple base stations, and are determined based on the three-dimensional components of the positions of the multiple base stations and the three-dimensional components of the temporary position. The location integration process calculates the weighted average of the two-dimensional components of the two-dimensional location and the three-dimensional location, which is used as the two-dimensional component of the terminal's location. The third-dimensional component of the three-dimensional location is used as the third-dimensional component of the terminal's location. as well as The parameter change process changes the value of the parameter used in the weighted average to a value that corresponds to the shape of the object region.

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