Positioning system, positioning device, method for positioning, and positioning program

Abstract

To measure the position of a target terminal device even with a reduced number of receiving devices.SOLUTION: A positioning system 1 includes a target terminal device 30, a receiving device 20, and a positioning device 10. The target terminal device 30 includes a first barometer 31 and a transmitting unit 32 for transmitting a radio wave including a first pressure measured by the first barometer 31. The receiving device 20 includes a second barometer 22, an antenna 21 for receiving the radio wave, and a transmitting unit for transmitting measurement result information including a reception angle of the received radio wave, a second pressure measured by the second barometer 22, and the first pressure included in the radio wave. The positioning device 10 includes a specifying unit for specifying the position of the target terminal device 30 on the basis of the first pressure, the second pressure, and the reception angle included in the measurement result information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a positioning system, a positioning device, a positioning method, and a positioning program. [Background technology]

[0002] There is known a system that receives radio waves emitted from a target terminal device such as a beacon and determines the position of the target terminal device based on the received radio waves. For example, there is known a system that installs a plurality of receiving devices such as locators each having an antenna for receiving radio waves in advance and measures the position of the target terminal device based on the radio waves received by each of the plurality of receiving devices and the position information of each of the plurality of receiving devices. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-216474 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology, in order to measure the position of the target terminal device, it was necessary to adjust the position and tilt of each of the multiple receiving devices with high precision in advance and install them. Also, in the conventional technology, reducing the number of receiving devices sometimes made it difficult to measure the position of the target terminal device.

[0005] The problem to be solved by the present invention is to provide a positioning system, a positioning device, a positioning method, and a positioning program that are capable of measuring the position of a target terminal device even when the number of receiving devices is reduced. [Means for solving the problem]

[0006] A positioning system according to an embodiment includes a target terminal device, a receiving device, and a positioning device. The target terminal device includes a first barometer and a transmitting unit that transmits radio waves including a first atmospheric pressure measured by the first barometer. The receiving device includes a second barometer, an antenna that receives the radio waves, and a transmitting unit that transmits measurement result information including a reception angle of the received radio waves, a second atmospheric pressure measured by the second barometer, and the first atmospheric pressure included in the radio waves. The positioning device includes an identifying unit that identifies the location of the target terminal device based on the first atmospheric pressure, the second atmospheric pressure, and the reception angle included in the measurement result information. [Effects of the Invention]

[0007] According to the positioning system, positioning device, positioning method, and positioning program of the present disclosure, it is possible to measure the position of a target terminal device even if the number of receiving devices is reduced. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of a positioning system according to an embodiment. [Figure 2] FIG. 2 is a block diagram illustrating an example of a functional configuration of a target terminal device according to the embodiment. [Figure 3] FIG. 3 is a block diagram illustrating an example of a functional configuration of the receiving device. [Figure 4] FIG. 4 is a block diagram illustrating an example of a functional configuration of the positioning device. [Figure 5] FIG. 5 is an explanatory diagram of an example of identifying the location of a target terminal device. [Figure 6] FIG. 6 is a flowchart illustrating an example of the flow of information processing executed by the receiving device according to the embodiment. [Figure 7] FIG. 7 is a flowchart illustrating an example of the flow of information processing executed by the positioning device according to the embodiment. [Figure 8] FIG. 8 is an explanatory diagram of a modified example. [Figure 9] FIG. 9 is a block diagram showing an example of a functional configuration of a receiving device according to a modified example. [Figure 10] FIG. 10 is a diagram showing the hardware configuration. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment of a positioning system, a positioning device, a positioning method, and a positioning program will be described in detail below with reference to the accompanying drawings.

[0010] FIG. 1 is a schematic diagram showing an example of a positioning system 1 according to this embodiment.

[0011] The positioning system 1 includes a positioning device 10, a receiving device 20, and a target terminal device 30. The receiving device 20 and the positioning device 10 are connected to each other via a network or the like so as to be able to communicate with each other.

[0012] The positioning system 1 is a system that measures the position of the target terminal device 30 based on radio waves transmitted from the target terminal device 30.

[0013] The target terminal device 30 is a beacon that transmits radio waves, which are wireless signals, within a predetermined distance range. The target terminal device 30 transmits radio waves including a terminal ID (identification) that has been assigned to it in advance. The ID is identification information. The target terminal device 30 can move within real space by being held or supported by a positioning target T, for example. The positioning target T is, for example, a user, a moving body such as a vehicle, etc.

[0014] In this embodiment, the target terminal device 30 includes a first barometer 31 and a transmitter 32.

[0015] FIG. 2 is a block diagram showing an example of the functional configuration of the target terminal device 30. As shown in FIG.

[0016] The target terminal device 30 includes a first barometer 31, a transmitter 32, a memory 33, and a controller 34. The first barometer 31, transmitter 32, memory 33, and controller 34 are communicatively connected via a bus or the like.

[0017] The first barometer 31 is a barometer that measures atmospheric pressure. The first barometer 31 measures the atmospheric pressure at the current location of the first barometer 31. The first barometer 31 is located at the same altitude as the main body of the target terminal device 30, and is configured integrally with the target terminal device 30. Therefore, the first barometer 31 measures the atmospheric pressure at the current location of the target terminal device 30. The atmospheric pressure measured by the first barometer 31 will be referred to as the first atmospheric pressure in the following description.

[0018] The transmitter 32 transmits from the antenna 32A radio waves including the first atmospheric pressure measured by the first barometer 31 and the terminal ID of the target terminal device 30. The radio waves transmitted from the antenna 32A of the transmitter 32 are received by the antenna 21 (described later) of the receiver 20 (see FIG. 1).

[0019] The memory unit 33 stores various data. The control unit 34 executes information processing in the target terminal device 30. For example, the control unit 34 controls the transmitting unit 32 to transmit radio waves including the first atmospheric pressure measured by the first barometer 31 and the terminal ID of the target terminal device 30 stored in the memory unit 33.

[0020] Returning to Figure 1, we continue the explanation.

[0021] The receiving device 20 is a device having an antenna 21 that receives radio waves transmitted from the target terminal device 30, and a second barometer 22. The receiving device 20 receives radio waves at a radio wave receiving surface 21A of the antenna 21. The receiving device 20 may also be referred to as a locator, a sensor terminal, or the like. The second barometer 22 is a barometer that measures atmospheric pressure. The second barometer 22 measures the atmospheric pressure at the current location of the second barometer 22. In this embodiment, the second barometer 22 is provided in the receiving device 20. More specifically, the second barometer 22 is positioned at the same altitude as the main body of the receiving device 20 and is configured integrally with the main body of the receiving device 20. Therefore, the second barometer 22 measures the atmospheric pressure at the installation location of the receiving device 20. The atmospheric pressure measured by the second barometer 22 will be referred to as the second atmospheric pressure in the following description.

[0022] The receiving device 20 transmits measurement result information, including the reception angle of the radio waves received by the radio wave receiving surface 21A, the device ID of the receiving device 20, the terminal ID of the target terminal device 30, the first atmospheric pressure, and the second atmospheric pressure, etc., to the positioning device 10 (details will be described later).

[0023] In this embodiment, the positioning system 1 includes one receiving device 20. For example, one receiving device 20 is arranged in an area E. The area E is a predetermined area, such as a building, a room, or an area outside a building in real space. FIG. 1 shows an example in which one receiving device 20 is installed in an area E inside a room. The number of receiving devices 20 arranged in the area E is not limited to one. Alternatively, a receiving device 20 may be arranged in each of a plurality of areas E.

[0024] The positioning device 10 measures the position of the target terminal device 30 based on measurement result information including the reception angle of the radio wave transmitted from the target terminal device 30 and received by the receiving device 20.

[0025] FIG. 3 is a block diagram showing an example of the functional configuration of the receiving device 20. As shown in FIG.

[0026] The receiving device 20 includes an antenna 21, a second barometer 22, a communication unit 23, a storage unit 24, and a control unit 25. The antenna 21, the second barometer 22, the communication unit 23, the storage unit 24, and the control unit 25 are communicatively connected via a bus or the like.

[0027] The antenna 21 receives radio waves at the radio wave receiving surface 21A. In this embodiment, the receiving device 20 employs an AoA (Angle of Arrival) arrangement in which multiple antennas 21 are arranged one-dimensionally or two-dimensionally along the radio wave receiving surface 21A, and is configured to be able to derive the reception angle, which is the angle at which the radio waves arrive at the radio wave receiving surface 21A.

[0028] The communication unit 23 is a communication interface that communicates with the positioning device 10 via a network, etc. The storage unit 24 stores various types of data.

[0029] The control unit 25 executes information processing in the receiving device 20. The control unit 25 includes a receiving unit 25A and a transmitting unit 25B.

[0030] The receiving unit 25A and the transmitting unit 25B are realized, for example, by one or more processors. For example, each of these units may be realized by having a processor such as a CPU (Central Processing Unit) execute a program, i.e., by software. Each of the above units may be realized by a processor such as a dedicated IC (Integrated Circuit), i.e., by hardware. Each of the above units may be realized by a combination of software and hardware. When multiple processors are used, each processor may realize one of the units, or may realize two or more of the units.

[0031] The receiver 25A derives the reception angle of radio waves transmitted from the target terminal device 30 and received by the radio wave receiving surface 21A. The receiver 25A derives the reception angle of radio waves by calculating the reception angle of the radio waves received by the radio wave receiving surface 21A using a known AoA method. The receiver 25A also reads the first atmospheric pressure measured by the first barometer 31 of the target terminal device 30 that is the sender of the radio waves, which is included in the received radio waves.

[0032] The transmitter 25B transmits measurement result information including the second atmospheric pressure measured by the second barometer 22 and the reception angle of the radio waves and the first atmospheric pressure derived by the receiver 25A to the positioning device 10. The transmitter 25B may transmit measurement result information further including the terminal ID of the target terminal device 30 contained in the radio waves to the positioning device 10. The transmitter 25B may also calculate the atmospheric pressure difference between the first atmospheric pressure and the second atmospheric pressure, and transmit measurement result information further including the atmospheric pressure difference to the positioning device 10.

[0033] FIG. 4 is a block diagram showing an example of the functional configuration of the positioning device 10. As shown in FIG.

[0034] The positioning device 10 includes a communication unit 11, a UI (user interface) unit 12, a storage unit 13, and a control unit 14. The communication unit 11, the UI unit 12, the storage unit 13, and the control unit 14 are communicatively connected via a bus or the like.

[0035] The communication unit 11 communicates with the receiving device 20 via a network or the like. The UI unit 12 includes a display function for displaying various information and an input reception function for receiving operation instructions from a user. The display function is, for example, a display. The input reception function is, for example, a keyboard, a pointing device, or the like. The display function and the input reception function may be integrated into a touch panel.

[0036] The storage unit 13 stores various types of information. For example, the storage unit 13 may store in advance a device ID of the receiving device 20 and position information of the receiving device 20. The position information of the receiving device 20 is, for example, three-dimensional position information in real space.

[0037] The control unit 14 executes information processing in the positioning device 10. The control unit 14 includes an identification unit 14A and an output unit 14B. The identification unit 14A and the output unit 14B are realized, for example, by one or more processors. For example, each of these units may be realized by having a processor such as a CPU execute a program, i.e., by software. Each of the above units may be realized by a processor such as a dedicated IC, i.e., by hardware. Each of the above units may be realized by a combination of software and hardware. When multiple processors are used, each processor may realize one of the units, or may realize two or more of the units.

[0038] The identification unit 14A identifies the position of the target terminal device 30 based on the first atmospheric pressure, the second atmospheric pressure, and the reception angle included in the measurement result information received from the receiving device 20. Identifying the position of the target terminal device 30 means deriving position information of the target terminal device 30.

[0039] FIG. 5 is an explanatory diagram of an example of identifying the location of the target terminal device 30. In FIG.

[0040] For example, assume that a first atmospheric pressure is measured by the first barometer 31 of the target terminal device 30, and a second atmospheric pressure is measured by the second barometer 22 of the receiving device 20. Also assume that the reception angle of the radio wave transmitted from the target terminal device 30 by the radio wave receiving surface 21A of the receiving device 20 is θ.

[0041] In this case, the determination unit 14A calculates the altitude difference h, which is the difference in altitude between the target terminal device 30 and the receiving device 20, from the air pressure difference between the first air pressure and the second air pressure. The altitude difference is the difference in position in the vertical direction. Here, it is known that an air pressure difference of 1 hPa corresponds to an altitude difference of 10 m. Therefore, the determination unit 14A can calculate the altitude difference h from the air pressure difference between the first air pressure and the second air pressure.

[0042] Specifically, for example, assume that the first atmospheric pressure is 973.31 Pa and the second atmospheric pressure is 973.10 Pa. In this case, the specification unit 14A multiplies the atmospheric pressure difference of 0.21 Pa by the altitude difference of 0.1 m, which corresponds to the atmospheric pressure difference of 1 Pa, to calculate the multiplication result of 2.1 m as the altitude difference h between the target terminal device 30 and the receiving device 20.

[0043] Next, the identification unit 14A calculates the distance L between the target terminal device 30 and the receiving device 20 from the calculated altitude difference and reception angle, and thereby identifies the position of the target terminal device 30 defined by the altitude difference and distance L.

[0044] 5, the distance L in the horizontal direction between the receiving device 20 and the target terminal device 30 can be calculated from tan θ×h. Note that the angle of incidence (reception angle) of the radio waves with respect to the vertical direction can be used for this θ. Here, the description will be given assuming that the reception angle of the radio waves measured by the receiving device 20 is the angle of incidence of the radio waves on the radio wave receiving surface 21A with respect to the vertical direction. Therefore, the identification unit 14A calculates the distance L in the horizontal direction between the receiving device 20 and the target terminal device 30 using the reception angle θ included in the measurement result information received from the receiving device 20, the altitude difference h calculated from the pressure difference between the first atmospheric pressure and the second atmospheric pressure, and the formula.

[0045] Then, the identification unit 14A calculates the location information of the target terminal device 30 using a known calculation method, using the location information of the receiving device 20 stored in the memory unit 13 and associated with the device ID of the receiving device 20 that sent the measurement result information, and the calculated altitude difference h and distance L.

[0046] For example, the identification unit 14A calculates the position obtained by subtracting the altitude difference h from the vertical height of the receiving device 20 represented by the position information of the receiving device 20 as the vertical position of the target terminal device 30. Furthermore, the identification unit 14A calculates the horizontal position of the target terminal device 30 as a position a distance L from the horizontal position of the receiving device 20 represented by the position information of the receiving device 20 along a straight line connecting the receiving device 20 and the target terminal device 30, which is in a direction defined by the reception angle θ in the horizontal direction. Then, the identification unit 14A identifies, as the position of the target terminal device 30, position information represented by a three-dimensional position representing the calculated vertical position and horizontal position of the target terminal device 30.

[0047] Through these processes, the identification unit 14A identifies the position of the target terminal device 30 from the altitude difference h and the reception angle θ.

[0048] As described above, the receiving device 20 may transmit measurement result information including the air pressure difference between the first air pressure and the second air pressure to the positioning device 10. In this case, the identifying unit 14A of the positioning device 10 may calculate the altitude difference h from the air pressure difference included in the measurement result information, and identify the position of the target terminal device 30 in the same manner as described above.

[0049] Next, the flow of information processing executed by the receiving device 20 of this embodiment will be described.

[0050] FIG. 6 is a flowchart showing an example of the flow of information processing executed by the receiving device 20 of this embodiment.

[0051] The receiving section 25A of the receiving device 20 receives the radio wave emitted from the target terminal device 30 (step S100).

[0052] The receiver 25A derives the reception angle of the radio wave received in step S100 (step S102). The receiver 25A also reads the first atmospheric pressure measured by the first barometer 31 of the target terminal device 30 that is the source of the received radio wave, which is included in the received radio wave (step S104).

[0053] The transmitter 25B transmits measurement result information including the second atmospheric pressure measured by the second barometer 22, the radio wave reception angle derived in step S102, and the first atmospheric pressure read in step S104 to the positioning device 10 (step S106). Then, this routine ends.

[0054] Next, an example of the flow of information processing executed by the positioning device 10 of this embodiment will be described.

[0055] FIG. 7 is a flowchart showing an example of the flow of information processing executed by the positioning device 10 of this embodiment.

[0056] The identifying unit 14A receives the measurement result information from the receiving device 20 (step S200).

[0057] The identifying unit 14A calculates the difference in altitude between the receiving device 20 and the target terminal device 30 from the difference in air pressure between the first air pressure and the second air pressure included in the measurement result information received in step S200 (step S202).

[0058] The identification unit 14A identifies the position of the target terminal device 30 using the reception angle of the radio wave included in the measurement result information received in step S200 and the altitude difference calculated in step S202 (step S204).

[0059] The output unit 14B outputs location information indicating the location of the target terminal device 30 identified in step S204 (step S206). For example, the output unit 14B displays the location information of the target terminal device 30 on the UI unit 12. Furthermore, for example, the output unit 14B may transmit the location information of the target terminal device 30 to an external device via the communication unit 11. Then, this routine ends.

[0060] As described above, the positioning system 1 of this embodiment includes a target terminal device 30, a receiving device 20, and a positioning device 10. The target terminal device 30 includes a first barometer 31 and a transmitting unit 32 that transmits radio waves including a first atmospheric pressure measured by the first barometer 31. The receiving device 20 includes a second barometer 22, an antenna 21 that receives radio waves, and a transmitting unit 25B that transmits measurement result information including the reception angle of the received radio waves, the second atmospheric pressure measured by the second barometer 22, and the first atmospheric pressure included in the radio waves. The positioning device 10 identifies the location of the target terminal device 30 based on the first atmospheric pressure, the second atmospheric pressure, and the reception angle included in the measurement result information.

[0061] In the prior art, to calculate the location information of the target terminal device 30, it was necessary to precisely adjust the position, tilt, etc. of each of the multiple receiving devices 20 in advance and install them. Furthermore, in the prior art, the location of the target terminal device 30 was estimated by superimposing the arrival directions of radio waves received by each of the multiple receiving devices 20. Furthermore, in the prior art, in order to accurately estimate the location of the target terminal device 30, each of the multiple receiving devices 20 had to be installed in a higher location with less vibration, which required strict installation conditions. Furthermore, in the prior art, reducing the number of receiving devices 20 could make it difficult to measure the location of the target terminal device 30.

[0062] On the other hand, in the positioning system 1 of this embodiment, the positioning device 10 identifies the position of the target terminal device 30 using the first atmospheric pressure of the target terminal device 30, the reception angle of the radio waves received by the receiving device 20 from the target terminal device 30, and the second atmospheric pressure of the target terminal device 30. That is, in the positioning system 1 of this embodiment, the position of the target terminal device 30 is identified from the atmospheric pressure measurement results by the two barometers, the first barometer 31 and the second barometer 22, and the reception angle of the radio waves transmitted from the target terminal device 30 and received by the receiving device 20.

[0063] Therefore, in the positioning system 1 of this embodiment, it is possible to identify the position of the target terminal device 30 using radio waves received by one of the multiple receiving devices 20, each of which is installed with high accuracy.

[0064] Therefore, the positioning system 1 of this embodiment can measure the position of the target terminal device 30 even if the number of receiving devices 20 is reduced.

[0065] Furthermore, in the positioning system 1 of this embodiment, the position of the target terminal device 30 can be identified using radio waves received by one receiving device 20, so there is no need to install multiple receiving devices 20, and it is possible to reduce the number of installed antennas 21. Therefore, the positioning system 1 of this embodiment can reduce the number of installed antennas 21, thereby enabling cost reduction.

[0066] Furthermore, in the positioning system 1 of this embodiment, the position of the target terminal device 30 can be identified using radio waves received by one receiving device 20, so there is no need to install multiple receiving devices 20 in the area E where the position of the target terminal device 30 is to be measured. Therefore, in addition to the above effects, the positioning system 1 of this embodiment can relax restrictions on the area E in which the receiving device 20 can be installed.

[0067] In the present embodiment, a configuration in which the positioning system 1 includes one receiving device 20 has been described as an example. However, the positioning system 1 may also be configured to include a plurality of receiving devices 20. In this case, in a configuration in which the positioning system 1 includes a plurality of receiving devices 20, which only requires that the plurality of receiving devices 20 and the positioning device 10 are configured to be able to communicate with each other, for example, even if radio waves transmitted from a certain target terminal device 30 are received by only one receiving device 20, the positioning system 1 of this embodiment can measure the position of the target terminal device 30.

[0068] (Variation) In the above embodiment, an example has been described in which one second barometer 22 is integrally provided in the receiving device 20. However, the receiving device 20 may be configured to include a plurality of second barometers 22. Furthermore, the receiving device 20 may be configured such that these plurality of second barometers 22 are separate from the receiving device 20 and are located at positions different from the receiving device 20.

[0069] FIG. 8 is a schematic diagram showing an example of the arrangement of the second barometer 22 in this modified example.

[0070] For example, the receiving device 20 may be configured to include a plurality of second barometers 22, such as second barometers 22A to 22F. The number of second barometers 22 included in the receiving device 20 of this modified example is not limited to six, as long as it is plural.

[0071] 9 is a functional block diagram of an example of the configuration of the receiving device 20 in this modified example. The receiving device 20 has a configuration similar to that of the receiving device 20 in the above embodiment. However, the receiving device 20 includes a second barometer 22 outside the device body of the receiving device 20, and is communicatively connected to the second barometer 22 wirelessly or via a wired connection via a communication unit 26 provided in the second barometer 22 and a communication unit 23 provided in the receiving device 20. That is, in this modified example, each of the multiple second barometers 22 includes a communication unit 26 and is communicatively connected to the control unit 25 of the receiving device 20 via the communication unit 26.

[0072] Returning to Figure 8, the explanation will continue. These multiple second barometers 22A to 22F are arranged at the same altitude as the antenna 21 of the receiving device 20, but are configured as separate entities from the main body of the receiving device 20. That is, these multiple second barometers 22A to 22F are arranged at the same altitude as the antenna 21 of the receiving device 20, but are located at different positions in the horizontal direction relative to the antenna 21. Furthermore, these multiple second barometers 22A to 22F are arranged at the same altitude but at different positions in the horizontal direction.

[0073] In this case, the receiving unit 25A of the receiving device 20 derives the reception angle of the radio wave received from the target terminal device 30 in the same manner as described above. Then, the receiving unit 25A identifies the second barometer 22, of the multiple second barometers 22A to 22F, that is located closest to the target terminal device 30, from the derived reception angle and the vertical height of the receiving device 20. In detail, the receiving unit 25A pre-stores the positions of the multiple second barometers 22 (second barometers 22A to 22F), and identifies the second barometer 22, of the multiple second barometers 22A to 22F, that is located closest to the target terminal device 30, from these positions, the reception angle, and the vertical height of the receiving device 20. For example, assume a situation in which the receiving unit 25A identifies second barometer 22E as the second barometer 22 located closest to the target terminal device 30. The receiving unit 25A reads the second atmospheric pressure measured by the identified second barometer 22 via the communication unit 23 and the communication unit 26 of the second barometer 22 .

[0074] Then, the transmitting unit 25B of the receiving device 20 transmits to the positioning device 10 measurement result information including the receiving angle of the radio waves received from the target terminal device 30, the first atmospheric pressure of the target terminal device 30 contained in the radio waves, and the second atmospheric pressure measured by the second barometer 22E located at a position closest to the target terminal device 30.

[0075] Therefore, in this modified example, the positioning device 10 can determine the position of the target terminal device 30 using the second atmospheric pressure measured by the second barometer 22 among the multiple second barometers 22 that is located closest to the target terminal device 30, and the first atmospheric pressure and radio wave reception angle of the target terminal device 30.

[0076] Therefore, the positioning system 1 of this modified example can measure the position of the target terminal device 30 with higher accuracy than the above embodiment.

[0077] Furthermore, the receiving unit 25A of the receiving device 20 may identify, from among the multiple second barometers 22, the second barometer 22 that is located in the direction from which the radio waves arrive relative to the antenna 21 of the receiving device 20, based on the reception angle of the radio waves received from the target terminal device 30 in the same manner as described above. In particular, the receiving unit 25A stores in advance the positions of the multiple second barometers 22 (second barometers 22A to 22F), and uses these positions and the reception angle of the radio waves to identify the second barometer 22 that is located in the direction from which the radio waves arrive relative to the antenna 21 of the receiving device 20. Then, the receiving unit 25A of the receiving device 20 reads the second atmospheric pressure measured by the second barometer 22 from the identified second barometer 22 via the communication unit 23 and the communication unit 26 of the second barometer 22.

[0078] Then, the transmitter 25B of the receiving device 20 transmits to the positioning device 10 measurement result information including the receiving angle of the radio waves received from the target terminal device 30, the first atmospheric pressure of the target terminal device 30 contained in the radio waves, and the second atmospheric pressure measured by the second barometer 22 located in the direction from which the radio waves arrive relative to the antenna 21 of the receiving device 20.

[0079] In this case, the positioning device 10 can identify the position of the target terminal device 30 using the second atmospheric pressure measured by the second barometer 22 among the multiple second barometers 22 that is positioned in the direction from which the radio waves of the target terminal device 30 are coming, and the first atmospheric pressure and radio wave reception angle of the target terminal device 30.

[0080] Therefore, the positioning system 1 of this modified example can measure the position of the target terminal device 30 with higher accuracy than the above embodiment.

[0081] In the above embodiment and the above modified example, the receiving device 20 and the positioning device 10 are configured as separate entities. However, the receiving device 20 and the positioning device 10 may be configured as an integrated unit. For example, the positioning device 10 may be provided in the receiving device 20 provided in the positioning system 1.

[0082] Next, an example of the hardware configuration of the positioning device 10, the receiving device 20, and the target terminal device 30 of the above embodiment will be described.

[0083] FIG. 10 is a diagram showing an example of the hardware configuration of the positioning device 10, the receiving device 20, and the target terminal device 30 of the above embodiment.

[0084] The positioning device 10, receiving device 20, and target terminal device 30 of the above embodiment are equipped with a control device such as a CPU 40A, storage devices such as a ROM (Read Only Memory) 40B, a RAM (Random Access Memory) 40C, and an HDD (Hard Disk Drive), a communication I / F unit 40D that interfaces with various devices, and a bus 40E that connects each unit, and have a hardware configuration that uses a normal computer.

[0085] In the positioning device 10, the receiving device 20, and the target terminal device 30 of the above embodiment, the CPU 40A reads out a program from the ROM 40B onto the RAM 40C and executes it, thereby realizing each of the above functions on the computer.

[0086] The programs for executing the above processes executed by the positioning device 10, the receiving device 20, and the target terminal device 30 of the above embodiment may be stored in the HDD. Also, the programs for executing the above processes executed by the positioning device 10, the receiving device 20, and the target terminal device 30 of the above embodiment may be provided by being pre-installed in the ROM 40B.

[0087] The programs for executing the above processes executed by the positioning device 10, receiving device 20, and target terminal device 30 of the above embodiments may be stored in an installable or executable file format on a computer-readable storage medium such as a CD-ROM, CD-R, memory card, DVD (Digital Versatile Disk), or flexible disk (FD) and provided as a computer program product. The programs for executing the above processes executed by the positioning device 10, receiving device 20, and target terminal device 30 of the above embodiments may be stored on a computer connected to a network such as the Internet and provided by downloading via the network. The programs for executing the above processes executed by the positioning device 10, receiving device 20, and target terminal device 30 of the above embodiments may be provided or distributed via a network such as the Internet.

[0088] Although the embodiments and modifications of the present invention have been described above, they are presented as examples and are not intended to limit the scope of the invention. This novel embodiment can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. The above embodiments and modifications and their modifications are included within the scope and spirit of the invention, and are also included in the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0089] 1. Positioning System 10 Positioning device 14A Specific part 20 Receiving device 21 Antenna 22 Second barometer 25A Receiver 25B Transmitter 30 Target terminal device 31 First Barometer 32 Communications Department

Claims

1. a target terminal device having a first barometer and a transmitter that transmits radio waves including the first barometer measured by the first barometer; a receiving device including a second barometer, an antenna for receiving the radio waves, and a transmitting unit for transmitting measurement result information including the reception angle of the received radio waves, the second atmospheric pressure measured by the second barometer, and the first atmospheric pressure included in the radio waves; a positioning device having an identification unit that identifies the position of the target terminal device based on the first atmospheric pressure, the second atmospheric pressure, and the reception angle included in the measurement result information; A positioning system comprising:

2. The specifying unit of the positioning device calculating an altitude difference, which is a difference in height between the target terminal device and the receiving device, from the pressure difference between the first pressure and the second pressure; calculating a distance between the target terminal device and the receiving device from the altitude difference and the receiving angle, thereby identifying the position defined by the altitude difference and the distance; The positioning system of claim 1 .

3. The receiving device a plurality of second barometers arranged at different positions in a horizontal direction relative to the antenna, The transmission unit transmit the measurement result information including the second atmospheric pressure measured by the second barometer located at a position closest to the target terminal device estimated from the reception angle of the radio wave; The positioning system of claim 1 .

4. The receiving device a plurality of second barometers arranged at different positions in a horizontal direction relative to the antenna, The transmission unit transmit the measurement result information including the second atmospheric pressure measured by the second barometer located in the direction from which the radio waves arrive relative to the antenna, estimated from the reception angle of the radio waves; The positioning system of claim 1 .

5. the transmitting unit of the receiving device transmits the measurement result information including an air pressure difference between the first air pressure and the second air pressure; the identifying unit of the positioning device identifies the position of the target terminal device based on the air pressure difference and the reception angle. The positioning system of claim 1 .

6. The positioning device is provided in the receiving device. The positioning system of claim 1 .

7. A positioning device communicably connected to a receiving device having an antenna for receiving radio waves transmitted from a target terminal device having a first barometer and a transmitting unit for transmitting radio waves including a first atmospheric pressure measured by the first barometer, and a transmitting unit for transmitting measurement result information including a second barometer and a reception angle of the received radio waves, the second atmospheric pressure measured by the second barometer, and the first atmospheric pressure included in the radio waves, an identification unit that identifies a position of the target terminal device based on the first atmospheric pressure, the second atmospheric pressure, and the reception angle included in the measurement result information; A positioning device comprising:

8. A positioning method executed by a positioning device communicably connected to a receiving device having an antenna for receiving radio waves transmitted from a target terminal device having a first barometer and a transmitting unit for transmitting radio waves including a first atmospheric pressure measured by the first barometer, and a transmitting unit for transmitting measurement result information including a second barometer and a receiving angle of the received radio waves, the second atmospheric pressure measured by the second barometer, and the first atmospheric pressure included in the radio waves, identifying a position of the target terminal device based on the first atmospheric pressure, the second atmospheric pressure, and the reception angle included in the measurement result information; A positioning method including:

9. A positioning program executed on a computer communicably connected to a receiving device having an antenna for receiving radio waves transmitted from a target terminal device having a first barometer and a transmitting unit for transmitting radio waves including a first atmospheric pressure measured by the first barometer, and a transmitting unit for transmitting measurement result information including a second barometer and a receiving angle of the received radio waves, the second atmospheric pressure measured by the second barometer, and the first atmospheric pressure included in the radio waves, identifying a position of the target terminal device based on the first atmospheric pressure, the second atmospheric pressure, and the reception angle included in the measurement result information; Positioning program including.

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