Positioning system and positioning method

Abstract

The positioning system includes: a plurality of transmission terminals, each of which transmits a radio wave; and a reception terminal provided with a reception unit that receives the plurality of radio waves transmitted by the plurality of transmission terminals, respectively, and a positioning unit that combines and positions the plurality of radio waves, the plurality of radio waves including the same identifier.

Description

Technical Field

[0001] This disclosure relates to positioning systems and positioning methods. This application claims priority based on Japanese Patent Application No. 2023-56812, filed on March 31, 2023, the contents of which are incorporated herein by reference. Background Technology

[0002] Patent document 1 discloses the following technology: calculating the average value of the received signal strength transmitted from multiple wireless beacons registered in the same area, and determining that the person carrying the receiving terminal is located in the area with the largest average value among the average received signal strength values ​​of multiple areas, from the area where the average received signal strength value exceeds a set minimum value. Existing technical documents Patent documents

[0003] U.S. Patent Application Publication No. 2021 / 0235229 Summary of the Invention The problem that the invention aims to solve

[0004] In the technology disclosed in Patent Document 1, multiple wireless beacons need to be pre-registered by region in the application. Therefore, in the technology disclosed in Patent Document 1, because users need to perform registration operations by region, it may not be easy to easily configure multiple wireless beacons in each region. Therefore, one aspect of this disclosure aims to provide a positioning system and method capable of easily locating a target using multiple radio waves transmitted separately by multiple transmitting terminals. Solution for solving the problem

[0005] The positioning system disclosed herein includes: a plurality of transmitting terminals, each transmitting radio waves; and a receiving terminal having a receiving part and a positioning part, wherein the receiving part receives a plurality of radio waves transmitted by the plurality of transmitting terminals respectively, and the positioning part merges the plurality of radio waves for positioning, wherein the plurality of radio waves contain the same identifier.

[0006] The positioning method disclosed herein includes the steps of: receiving multiple radio waves containing the same identifier transmitted by multiple transmitting terminals respectively; and merging the multiple radio waves for positioning. Attached Figure Description

[0007] Figure 1 This is a block diagram illustrating an example of the configuration of a positioning system. Figure 2 This is a block diagram illustrating an example of the configuration of the transmitting terminal according to the first embodiment. Figure 3 This is a block diagram illustrating an example of the configuration of the receiving terminal according to the first embodiment. Figure 4 This is a diagram illustrating an example of a received signal log. Figure 5 This is a flowchart illustrating an example of the operation of the receiving terminal according to the first embodiment. Figure 6 This diagram represents an example of multiple transmitting terminals configured in multiple regions. Figure 7 This is a diagram illustrating the locations of multiple sending and receiving terminals. Figure 8 This is a block diagram illustrating an example of the configuration of the transmitting terminal according to the fourth embodiment. Figure 9 This diagram represents an example of multiple transmitting terminals configured in multiple regions. Detailed Implementation

[0008] (First Implementation) Reference Figures 1-6 The first embodiment will be described below. Furthermore, for the accompanying drawings, the same or similar elements are labeled with the same reference numerals, and repeated descriptions are omitted.

[0009] Figure 1 This is a block diagram illustrating an example of the configuration of a positioning system 100. The positioning system 100 includes multiple transmitting terminals 101 and receiving terminals 102.

[0010] Each of the multiple transmitting terminals 101 transmits a radio wave 111 containing the same identifier. Specifically, the multiple transmitting terminals 101 are configured by region, and each transmitting terminal 101 transmits the radio wave 111 via short-range wireless communication. For example, the identifier is a Bluetooth (registered trademark) device address. That is, the multiple transmitting terminals 101 configured in each region transmit radio waves 111 containing identifiers that are different for each region.

[0011] The receiving terminal 102 receives multiple radio waves 111 transmitted from multiple transmitting terminals 101, and combines the multiple radio waves 111 for positioning. For example, the receiving terminal 102 is a smartwatch, card-type device, ring-type device, glasses-type device, clothing-type device, etc.

[0012] Furthermore, the positioning system 100 has an area for identifying the location of the receiving terminal 102. At least one transmitting terminal 101 is configured within this area, which transmits radio waves 111 containing a uniquely identified identifier.

[0013] When multiple transmitting terminals 101 are configured in a region, the transmitting terminals 101 configured in that region transmit radio waves 111 containing a unique and definite identifier shared by all transmitting terminals 101 in that region.

[0014] The extent of the region can be determined based on all transmitting terminals 101 that serve as the source of radio waves 111, which share the same identifier. Alternatively, the extent to which radio waves 111 transmitted by at least one of the transmitting terminals 101 can reach can also be considered as the extent of the region. Furthermore, the configuration interval between the multiple transmitting terminals 101 configured within the aforementioned region need not be a fixed interval.

[0015] Furthermore, the positioning system 100 may have multiple regions for identifying the location of the receiving terminal 102. The transmitting terminal 101 is configured in each of the multiple regions, but the transmitting terminal 101 is not configured in multiple regions. Since the transmitting terminal 101 is configured in one region, an identifier corresponding to the region can be inferred from the identifier contained in the radio waves 111 transmitted by the transmitting terminal 101. Furthermore, when the receiving terminal 102 is located in an area where multiple regions overlap, the region to be identified is determined based on the reception strength of the radio waves 111 received by the receiving terminal 102. For example, the reception strength of the received radio waves 111 is compared, and the region is determined based on the identifier of the radio wave 111 with the highest reception strength. Therefore, even with a positioning system 100 having multiple regions, the receiving terminal 102 can be located.

[0016] Figure 2 This is a block diagram illustrating an example of the configuration of a transmitting terminal 101. The transmitting terminal 101 includes a transmitting unit 201. The transmitting unit 201 transmits radio waves 111 at predetermined intervals.

[0017] Figure 3 This is a block diagram illustrating an example of the configuration of the receiving terminal 102. The receiving terminal 102 includes a storage unit 301, a receiving unit 302, a time measurement unit 303, a control unit 304, and a positioning unit 305.

[0018] Storage unit 301 is a storage medium capable of storing various data, programs, etc., and is composed of, for example, a hard disk, an SSD (Solid State Drive), or a semiconductor memory. Storage unit 301 stores a received signal log 311 (see reference). Figure 4 )wait.

[0019] The receiving unit 302 receives multiple radio waves 111 transmitted by multiple transmitting terminals 101 respectively. Each of the multiple radio waves 111 contains the same identifier.

[0020] The control unit 304 and the positioning unit 305 perform various processes based on the programs and data stored in the storage unit 301. For example, the control unit 304 and the positioning unit 305 are implemented using a processor such as a CPU (Central Processing Unit).

[0021] The time measurement unit 303 measures the elapsed time from the start of the receiving period 312.

[0022] The control unit 304 causes the receiving unit 302 to receive multiple radio waves 111. Specifically, the control unit 304 causes the receiving unit 302 to receive multiple radio waves 111 from the start time of the receiving period 312 to the end time of the receiving period 312. Then, the control unit 304 associates the identifier contained in the radio wave 111, the reception strength of the radio wave 111, and the reception time and registers them in the reception signal log 311.

[0023] The positioning unit 305 combines multiple radio waves 111 for positioning. That is, the positioning unit 305 combines multiple radio waves 111 transmitted from the transmitting terminal 101 configured in the same area and received during the reception period 312 for positioning. For example, combining multiple radio waves 111 means calculating the average received strength of the multiple radio waves 111 received during the reception period 312.

[0024] Figure 4 This is a diagram illustrating an example of a received signal log 311. In the received signal log 311, for each radio wave 111 received from the start time of the reception period 312 to the end time of the reception period 312, an identifier, the received strength of the radio wave 111, and the reception time are associated.

[0025] For example, Figure 4 The illustrated received signal log 311 indicates that, during the period from the start to the end of the reception period 312, the receiving unit 302 received pulses contained in the radio wave 111, which includes the identifier representing 100, with reception strengths of -63dBm, -65dBm, and -67dBm. Furthermore, Figure 4 The illustrated received signal log 311 indicates that, during the period from the start to the end of the reception period 312, the receiving unit 302 received pulses contained in the radio wave 111, which contains the identifier representing 200, with reception strengths of -70dBm, -72dBm, and -71dBm. Here, since the receiving unit 302 does not identify the transmitting source of the radio wave 111, the transmitting sources of multiple radio waves 111 containing the same identifier can be the same or different.

[0026] Figure 5 This is a flowchart illustrating an example of the operation of the receiving terminal 102 according to this embodiment.

[0027] In step S501, the time measurement unit 303 sets the start time of the reception period 312. During the reception period, the receiving unit 302 waits to receive the radio wave 111 before receiving it.

[0028] In step S502, the control unit 304 determines whether the receiving unit 302 has received radio wave 111. If the receiving unit 302 has not received radio wave 111 in step S502, the control unit 304 moves the processing to step S504. On the other hand, if the receiving unit 302 has received radio wave 111 in step S502, in step S503, the control unit 304 associates the identifier contained in the received radio wave 111 with the received signal strength of the received radio wave 111 and registers it in the received signal log 311. Then, the control unit 304 moves the processing to step S504.

[0029] In step S504, the receiving unit 302 determines whether the receiving period 312 has elapsed since the start time of the receiving period 312 set in step S501. If, in step S504, the receiving period 312 has not elapsed since the start time of the receiving period 312, the control unit 304 returns the process to step S502. On the other hand, if, in step S504, the receiving period 312 has elapsed since the start time of the receiving period 312, the control unit 304 moves the process to step S505.

[0030] In step S505, the positioning unit 305 calculates the average received strength of multiple radio waves 111 that contain the same identifier and are transmitted from multiple transmitting terminals 101 respectively. That is, the positioning unit 305 calculates the average received strength for radio waves 111 that contain the same identifier. Specifically, the positioning unit 305 calculates the average received strength of multiple radio waves 111 that contain the same identifier by taking the average value of the received strength associated with the received time during the received period and associated with the same identifier in the received signal log 311. Thus, the positioning unit 305 can calculate the average received strength of multiple radio waves 111 by region.

[0031] For example, suppose that storage unit 301 stores Figure 4 The illustrated received signal log 311. In this case, the positioning unit 305 calculates that the average received strength of the radio wave 111 containing the identifier representing 100 is -65dBm. Furthermore, the positioning unit 305 calculates that the average received strength of the radio wave 111 containing the identifier representing 200 is -71dBm.

[0032] In step S506, the positioning unit 305 performs positioning based on the average reception strength calculated in step S505. Specifically, when the receiving terminal 102 receives multiple radio waves 111 containing distinct identifiers, the positioning unit 305 calculates the average reception strength according to the identifiers. Then, the positioning unit 305 determines the area where the receiving terminal 102 is located from the multiple radio waves 111 containing distinct identifiers based on the identifier with the highest average reception strength. For example, when the storage unit 301 stores... Figure 4When the received signal log 311 is shown, the positioning unit 305 determines that the receiving terminal 102 is located in the area configured by the transmitting terminal 101 that transmits radio waves containing the identifier representing 200.

[0033] When the positioning unit 305 calculates the average received strength based on the received strength of the pulses contained in the received radio wave 111 and performs positioning, the accuracy can be improved by increasing the number of pulses received by the receiving unit 302. Therefore, in the positioning system 100, each transmitting terminal 101 transmits radio waves 111 containing identifiers different according to the region. Therefore, in the positioning system 100, the receiving terminal 102 does not need to distinguish the transmission source to calculate the average received strength of radio waves 111 transmitted from multiple transmitting terminals 101 configured in the same area, and performs positioning based on the calculated average received strength. Therefore, in the positioning system 100, the receiving terminal 102 can easily perform positioning using multiple radio waves 111 transmitted separately by multiple transmitting terminals 101.

[0034] Furthermore, in the positioning system 100 according to this embodiment, it is only necessary to configure a transmitting terminal 101 that transmits radio waves 111 containing the same identifier within the area, without needing to pre-register multiple transmitting terminals 101 configured within the area in the receiving terminal 102. Therefore, in the positioning system 100 according to this embodiment, multiple transmitting terminals 101 can be easily configured within the area, and positioning can be performed based on the received strength of the radio waves 111 transmitted from the multiple transmitting terminals 101.

[0035] Figure 6 This diagram illustrates an example of transmitting terminals 101a to 101d configured in regions 601 and 602. Transmitting terminals 101a and 101b are configured in region 601, and both transmit radio waves 111a. The multiple radio waves 111a transmitted by transmitting terminals 101a and 101b share the same identifier. Transmitting terminals 101c and 101d are configured in region 602, and both transmit radio waves 111b. The multiple radio waves 111b transmitted by transmitting terminals 101c and 101d share the same identifier.

[0036] For example, when user 603 carrying receiving terminal 102a is located in area 601, the average reception strength of multiple radio waves 111a is higher than the average reception strength of multiple radio waves 111b. However, when user 603 moves from area 601 to area 602, the average reception strength of multiple radio waves 111b is higher than the average reception strength of multiple radio waves 111a. Therefore, the positioning unit 305 can determine the area where receiving terminal 102 is located by calculating the average reception strength according to the identifier.

[0037] (Second Implementation) Next, the second embodiment will be described. Furthermore, in the accompanying drawings, the same or equivalent elements are labeled with the same reference numerals, and repeated descriptions are omitted. For configurations and processes that have substantially the same function as other embodiments, reference numerals are used and descriptions are omitted; only the differences from other embodiments are described.

[0038] In the positioning system 100 according to this embodiment, the radio wave 111 includes multiple pulses. Furthermore, during the reception period 312, the number of pulses transmitted by each of the multiple transmitting terminals 101 is the same as, or differs from, the number of pulses transmitted by the other transmitting terminals among the multiple transmitting terminals 101 by a predetermined number or less.

[0039] Therefore, the receiving unit 302 according to this embodiment can receive multiple radio waves 111 transmitted from multiple transmitting terminals 101, and the transmitting sources are not concentrated. As a result, the positioning unit 305 according to this embodiment can calculate the average received radio wave intensity based on the received intensity of the pulse contained in the received radio wave 111 when the transmitting sources are not concentrated, and perform positioning based on the calculated average received radio wave intensity.

[0040] (Third Implementation) Reference Figure 7 The third embodiment will be described. For configurations and processes that have essentially the same function as those in other embodiments, reference will be made to the same reference numerals and descriptions will be omitted; only the differences from other embodiments will be described.

[0041] In the positioning system 100 of this embodiment, each of the plurality of transmitting terminals 101 is configured within the range that radio waves 111 transmitted by the other transmitting terminals 101 can reach. The range that radio waves 111 can reach refers to the range within which radio waves 111 can be received with a reception strength exceeding a predetermined threshold. When measuring the range that radio waves 111 can reach, it is best to eliminate interference factors such as obstructions that may hinder communication. Furthermore, the range that radio waves 111 can reach can also be determined by placing a receiving terminal 102 at the location of another transmitting terminal 101 while one transmitting terminal 101 is transmitting radio waves 111, and whether the receiving terminal can receive the radio waves 111 transmitted by that transmitting terminal 101. In addition, the receiving unit 302 of this embodiment receives multiple radio waves 111 containing the same identifier at a location capable of receiving the radio waves 111 transmitted by each transmitting terminal 101.

[0042] Figure 7This diagram illustrates an example of the positions of transmitting terminal 101a, transmitting terminal 101b, and receiving terminal 102. Transmitting terminals 101e and 101f each transmit radio waves 111. The radio waves 111 transmitted by transmitting terminals 101e and 101f each contain the same identifier.

[0043] For example, suppose that radio wave 111 transmitted from transmitting terminal 101e is located within range 1001 and can be received with a reception strength exceeding a predetermined threshold. Furthermore, suppose that radio wave 111 transmitted from transmitting terminal 101f is located within range 1001 and can be received with a reception strength exceeding a predetermined threshold.

[0044] Here, for example, it is assumed that the receiving terminal 102 is located within the range 1003 encompassed by range 1001 and range 1002. In this case, the receiving unit 302 of the receiving terminal 102 can receive radio waves 111 transmitted from the transmitting terminal 101e and 101f with a receiving strength exceeding a predetermined threshold. As a result, the positioning unit 305 of the receiving terminal 102 can calculate the average receiving strength of the radio waves 111 transmitted from the transmitting terminal 101e and 101f, and perform positioning based on the calculated average receiving strength.

[0045] (Fourth Implementation) Reference Figures 8-9 The fourth embodiment will now be described. Configurations and processes that have substantially the same function as those in other embodiments will be referred to by common reference numerals and their descriptions will be omitted; only the differences from other embodiments will be explained.

[0046] In the positioning system 100 according to this embodiment, at least one of the plurality of transmitting terminals 101 transmits radio waves 111 via optical power supply. That is, at least one of the plurality of transmitting terminals 101 transmits radio waves 111 via a photovoltaic cell 1101 (see reference 1101). Figure 8The power generated transmits radio waves 111. Therefore, at least one of the multiple transmitting terminals 101 will transmit intermittently when ambient light is insufficient. Intermittent transmission means that the transmission interval of the radio waves 111 transmitted by the transmitting terminal 101 is lower than the set frequency of the transmitting terminal 101. For example, the transmitting terminal 101 is set to transmit radio waves 111 at a 100ms interval, but actually transmits radio waves 111 at a 200ms interval, etc., transmitting at a longer interval than set. In addition, besides the transmitting terminal 101 that transmits radio waves 111 through optical power supply as described above, the transmitting terminal 101 implemented by other power sources may also perform intermittent transmission. In a plurality of transmitting terminals 101, when the transmission interval of the radio wave 111 of one transmitting terminal 101 is longer than the oscillation interval of the radio wave 111 of the other transmitting terminals 101 (for example, within 1000ms, when the transmission interval of the radio wave 111 of one transmitting terminal 101 is longer than the oscillation interval of the radio wave 111 of the other transmitting terminals 101), it can be considered that the transmitting terminal 101 is performing intermittent transmission.

[0047] Furthermore, the radio waves 111 transmitted by each transmitting terminal 101 contain multiple pulses. Additionally, when each transmitting terminal 101 transmits multiple radio waves 111 via optical power, the interval between the pulses transmitted by each transmitting terminal 101 will vary. Moreover, when the transmitting terminal 101 transmits radio waves 111 via optical power, even if the transmitting terminal 101 and the receiving terminal 102 are in a stationary state, the received intensity of the radio waves 111 may fluctuate over time.

[0048] Furthermore, in environments with insufficient ambient light, the interval between transmitted pulses may be longer for each of the multiple transmitting terminals 101 compared to environments with sufficient ambient light. Specifically, when transmitting terminal 101 transmits radio waves 111 via optical power, the lower the ambient light, the longer the interval between transmitted pulses may be. As a result, when ambient light is insufficient, the number of pulses received by receiving terminal 102 may be less than when ambient light is sufficient.

[0049] Furthermore, when the transmitting terminal 101 transmits radio waves 111 via optical power, it is difficult to shorten the transmission interval in an environment with sufficient ambient illumination. Therefore, in order to improve the accuracy of the positioning result of the positioning unit 305, multiple transmitting terminals 101 that transmit radio waves 111 containing the same identifier can be configured in the area to obtain a sufficient number of transmissions for positioning.

[0050] Figure 8 This is a block diagram illustrating an example of the configuration of a transmitting terminal 101 equipped with a photovoltaic cell 1101.

[0051] The photovoltaic cell 1101 generates electricity through the photoelectric effect and supplies the generated electricity to the transmitter 201.

[0052] In this embodiment, the transmitting unit 201 transmits radio waves 111 at a preset transmission interval when the illumination around the transmitting terminal 101 is sufficient and the photovoltaic cell 1101 supplies sufficient power to the transmitting unit 201. On the other hand, when the illumination around the transmitting terminal 101 is insufficient and the photovoltaic cell 1101 cannot supply sufficient power to the transmitting unit 201, the transmitting unit 201 transmits intermittently.

[0053] Figure 9 This diagram shows an example of transmitting terminals 101g to 101l configured in regions 1201 to 1203. Transmitting terminals 101g to 101l transmit radio waves 111 via optical power supply.

[0054] Specifically, area 1201 is equipped with transmitting terminals 101g and 101h, which respectively transmit radio waves 111d containing the same identifier. Area 1202 is equipped with transmitting terminals 101i and 101j, which respectively transmit radio waves 111e containing the same identifier. Area 1203 is equipped with transmitting terminals 101k and 101l, which respectively transmit radio waves 111f containing the same identifier.

[0055] Here, it is assumed that regions 1201 to 1203 are areas within the tunnel, in an environment with insufficient illumination. Furthermore, it is assumed that transmitting terminals 101g and 101l are disposed on the side walls of the tunnel. In this case, in regions 1201 to 1203, due to insufficient power supply to the transmitting units 201 of transmitting terminals 101g and 101l, the transmitting units 201 of transmitting terminals 101g and 101l may transmit intermittently.

[0056] For example, suppose a mobile body 1211 carrying a receiving terminal 102a moves from region 1201 to region 1202. Suppose that only one transmitting terminal 101 is configured in each of regions 1201 and 1202. In regions 1201 and 1202, under conditions of insufficient illumination around the transmitting terminal 101, the receiving unit 302 of the receiving terminal 102a may not be able to adequately receive the radio waves 111 transmitted from the transmitting terminal 101 during the receiving period 312. In this case, the positioning unit 305 of the receiving terminal 102a cannot perform proper positioning and cannot determine the region to which the receiving terminal 102a belongs.

[0057] However, by configuring transmitting terminals 101g to 101j within regions 1201 and 1202, the receiving unit 302 of the receiving terminal 102a may receive radio waves 111 transmitted from at least one of the transmitting terminals 101g to 101j during the receiving period 312. Therefore, the positioning unit 305 of the receiving terminal 102b can perform positioning even in environments with insufficient illumination around the transmitting terminals 101g to 101j, and can determine the region to which the receiving terminal 102a belongs.

[0058] Therefore, in the positioning system 100 of this embodiment, even in an environment where the illumination around the transmitting terminal 101 is insufficient, or when the transmitting terminal 101 is transmitting intermittently, by configuring multiple transmitting terminals 101 that transmit radio waves 111 containing the same identifier in the area, the receiving terminal 102 can perform positioning and determine the area to which the receiving terminal 102 belongs.

[0059] Furthermore, for example, suppose that person 1212 carrying receiving terminal 102b is located within area 1203. Also suppose that a metal shield 1213 is disposed between transmitting terminal 101k and person 1212. In this case, radio waves between receiving terminal 102b and transmitting terminal 101k are blocked, and the receiving unit 302 of receiving terminal 102b may be unable to receive radio waves 111f transmitted from transmitting terminal 101k.

[0060] However, within region 1203, if the radio waves between the transmitting terminal 101l and the receiving terminal 102b are not blocked, the receiving unit 302 of the receiving terminal 102b can receive the radio waves 111f transmitted from the transmitting terminal 101l because the transmitting terminal 101l is provided. As a result, the positioning unit 305 of the receiving terminal 102b can perform positioning based on the average reception strength of the radio waves 111f transmitted from the transmitting terminal 101l, and can determine the region to which the receiving terminal 102b belongs. Therefore, in the positioning system 100 according to this embodiment, even if the radio waves between at least one of the plurality of transmitting terminals 101 and the receiving terminal 102 are blocked, the receiving terminal 102 can still perform positioning based on the reception strength of the radio waves 111f transmitted from the other of the plurality of transmitting terminals 101.

[0061] The processes performed in the above embodiments are not limited to the processing methods exemplified in each embodiment. The above functional blocks can be implemented using logic circuits (hardware) formed in integrated circuits or the like, or using software using a CPU. The above implementations can be executed by multiple computers. For example, the processes performed by each functional block of the receiving terminal 102 can be partially executed by other computers, or all processes can be performed by multiple computers.

[0062] This disclosure is not limited to the embodiments described above, and can be replaced by configurations that are substantially the same as those shown in the embodiments, have the same effect, or can achieve the same purpose. The scope of this disclosure also includes embodiments obtained by appropriately combining the technical means disclosed in different embodiments. Furthermore, by combining the technical means disclosed in each embodiment, new technical features can be formed.

Claims

1. A positioning system, characterized in that, include: Multiple transmitting terminals, each transmitting radio waves; A receiving terminal includes a receiving unit and a positioning unit. The receiving unit receives multiple radio waves transmitted by the plurality of transmitting terminals, and the positioning unit combines the multiple radio waves for positioning. The multiple radio waves share the same identifier.

2. The positioning system according to claim 1, characterized in that, Combining the multiple radio waves refers to calculating the average received strength of the multiple radio waves received during the reception period.

3. The positioning system according to claim 2, characterized in that, The radio waves contain multiple pulses. During the receiving period, the number of pulses transmitted by each of the transmitting terminals is the same as the number of pulses transmitted by the other transmitting terminals among the plurality of transmitting terminals, or the difference is less than a specified number.

4. The positioning system according to claim 1 or 2, characterized in that, Each of the aforementioned transmitting terminals is configured within the range that radio waves transmitted by other transmitting terminals can reach.

5. The positioning system according to claim 4, characterized in that, The receiving unit receives the plurality of radio waves at a position where it can receive the radio waves.

6. The positioning system according to claim 1 or 2, characterized in that, The multiple transmitting terminals are configured according to region. The identifiers are different for each region.

7. The positioning system according to claim 1 or 2, characterized in that, At least one of the plurality of transmitting terminals transmits the radio waves via optical power.

8. The positioning system according to claim 1 or 2, characterized in that, At least one of the plurality of transmitting terminals transmits radio waves in an intermittent manner.

9. The positioning system according to claim 7, characterized in that, The radio waves contain multiple pulses. The interval between the pulses transmitted by each of the aforementioned transmitting terminals is variable.

10. A positioning method, characterized in that, include: The steps of receiving multiple radio waves containing the same identifier, transmitted separately by multiple transmitting terminals; The step of merging the multiple radio waves for positioning.

Images