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

Abstract

To position a target terminal device without adjusting a receiving device with precise adjustment.SOLUTION: A positioning system includes a target terminal device, a plurality of receiving devices each having an antenna for receiving a radio wave transmitted from the target terminal device, and a positioning device 10 communicably connected to the plurality of receiving devices. The positioning device 10 includes a relative position calculation unit 14A and a position calculation unit 14B. The relative position calculation unit 14A calculates respective relative positions of second receiving devices with respect to a first receiving device, based on relative distances of the second receiving devices to the first receiving device and relative angles of radio wave receiving surfaces of antennas of the second receiving devices with respect to a radio wave receiving surface of an antenna of the first receiving device. The position calculation unit 14B calculates position information of the target terminal device by using reception angles of radio waves received by the receiving devices, the relative positions of the receiving devices that received the radio waves, and mounting height information of the first receiving device.SELECTED DRAWING: Figure 4

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 prior art, in order to measure the position of the target terminal device, it was necessary to set up a plurality of receiving devices by adjusting their positions, inclinations, etc. with high precision in advance.

[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 positioning a target terminal device without having to adjust and install a receiving device with high precision. [Means for solving the problem]

[0006] A positioning system according to an embodiment includes a target terminal device, a plurality of receiving devices each having an antenna for receiving radio waves transmitted from the target terminal device, and a positioning device communicatively connected to the plurality of receiving devices. The positioning device includes a relative position calculation unit and a position calculation unit. The relative position calculation unit calculates the relative position of each of the plurality of second receiving devices relative to the first receiving device based on the relative distance of each of the plurality of second receiving devices, which are other receiving devices than a first receiving device predetermined as a reference among the plurality of receiving devices, relative to the first receiving device, and the relative angle of the radio wave receiving surface of the antenna of the second receiving device relative to the radio wave receiving surface of the antenna of the first receiving device. The position calculation unit calculates position information of the target terminal device using the reception angle of the radio waves received by each of the plurality of receiving devices, the relative position of the receiving device that received the radio waves, and mounting height information of the first receiving device. [Effects of the Invention]

[0007] According to the positioning system, positioning device, positioning method, and positioning program disclosed herein, it is possible to locate the position of a target terminal device without adjusting and installing a receiving device with high accuracy. [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 the receiving device. [Figure 3] FIG. 3 is a diagram illustrating an example of calculation of the relative position. [Figure 4] FIG. 4 is a block diagram illustrating an example of a functional configuration of the positioning device. [Figure 5] FIG. 5 is a flowchart illustrating an example of the flow of information processing executed by the receiving device according to the embodiment. [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 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 determines 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] The receiving device 20 is a device having an antenna 23 that receives radio waves transmitted from the target terminal device 30. The receiving device 20 receives radio waves at a radio wave receiving surface 23A of the antenna 23. The receiving device 20 may be referred to as a locator, a sensor terminal, or the like. The receiving device 20 transmits information about the reception angle of the radio waves received at the radio wave receiving surface 23A to the positioning device 10.

[0015] In this embodiment, the positioning system 1 includes a plurality of receiving devices 20. For example, a plurality of receiving devices 20 are 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 four receiving devices 20 are installed in an area E in a room. Note that the number of receiving devices 20 arranged in the area E is not limited to four. Furthermore, a plurality of receiving devices 20 may be arranged in each of the plurality of areas E.

[0016] In this embodiment, at least one of the multiple receiving devices 20 included in the positioning system 1 functions as a first receiving device 21. The first receiving device 21 is a receiving device 20 that serves as a reference for positioning and is predetermined. Of the receiving devices 20 included in the positioning system 1, the receiving devices 20 other than the first receiving device 21 function as second receiving devices 22. When describing the first receiving device 21 and the second receiving device 22 collectively, they will be simply referred to as receiving devices 20.

[0017] The positioning device 10 locates the position of the target terminal device 30 based on information about radio waves transmitted from the target terminal device 30 and received by the receiving device 20, etc.

[0018] FIG. 2 is a block diagram showing an example of the functional configuration of the receiving device 20. As shown in FIG.

[0019] The receiving device 20 includes an antenna 23, an acceleration sensor 24, a direction sensor 25, a communication unit 27, a storage unit 28, and a control unit 29. The antenna 23, the acceleration sensor 24, the direction sensor 25, the communication unit 27, the storage unit 28, and the control unit 29 are communicatively connected via a bus or the like.

[0020] The antenna 23 receives radio waves at the radio wave receiving surface 23A. In this embodiment, the receiving device 20 employs an AoA (Angle of Arrival) arrangement in which multiple antennas 23 are arranged one-dimensionally or two-dimensionally along the radio wave receiving surface 23A, 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 23A.

[0021] The acceleration sensor 24 is a sensor that detects the acceleration of the radio wave receiving surface 23A of the antenna 23. The direction sensor 25 is a sensor that detects the direction of the radio wave receiving surface 23A of the antenna 23. Furthermore, the receiving devices 20 perform distance measurement by communicating with each other using ToF (Time of Flight) or the like.

[0022] The communication unit 27 is a communication interface that communicates with the positioning device 10 via a network or the like. The storage unit 28 stores various types of data. In this embodiment, the storage unit 28 stores in advance installation height information that indicates the installation height of the first receiving device 21. In detail, the storage unit 28 stores in advance a receiving device ID that is identification information of the first receiving device 21 and installation height information of the first receiving device 21 identified by the receiving device ID, in association with each other. The installation height information of the first receiving device 21 is information that indicates the height (altitude) in the vertical direction of the installation position of the first receiving device 21 in real space.

[0023] The control unit 29 executes information processing in the receiving device 20. The control unit 29 includes an azimuth / inclination measurement unit 29A, an output unit 29B, a relative distance derivation unit 29C, a relative angle derivation unit 29D, a relative position calculation unit 29E, and a transmission unit 29F.

[0024] The azimuth and tilt measurement unit 29A, the output unit 29B, the relative distance derivation unit 29C, the relative angle derivation unit 29D, the relative position calculation unit 29E, and the transmission unit 29F 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.

[0025] The azimuth and tilt measurement unit 29A measures the azimuth and tilt of the radio wave receiving surface 23A of the antenna 23. The azimuth and tilt measurement unit 29A measures the tilt by calculating the tilt of the radio wave receiving surface 23A from the detection result by the acceleration sensor 24. The azimuth and tilt measurement unit 29A may calculate the tilt of the radio wave receiving surface 23A using a known method such as that shown in JP 2022-57952 A based on the acceleration detected by the acceleration sensor 24. The azimuth and tilt measurement unit 29A also measures the azimuth of the radio wave receiving surface 23A by acquiring the detection result by the azimuth sensor 25.

[0026] The output unit 29B outputs the orientation and inclination of the radio wave receiving surface 23A measured by the orientation and inclination measurement unit 29A. For example, the output unit 29B outputs the orientation and inclination of the radio wave receiving surface 23A to a display unit provided in the receiving device 20. Furthermore, for example, the output unit 29B transmits first measurement result information including the device ID of the receiving device 20 and the orientation and inclination of the radio wave receiving surface 23A to the positioning device 10 via the communication unit 27. Having received the first measurement result information, the positioning device 10 outputs the device ID of the receiving device 20 and the orientation and inclination of the radio wave receiving surface 23A to the display unit of the positioning device 10 or to a user terminal or the like communicatively connected to the positioning device 10 via a network.

[0027] Therefore, a user who visually checks the device ID and the orientation and inclination of the radio wave receiving surface 23A displayed on these displays or the like can confirm the orientation and inclination of the radio wave receiving surface 23A of the receiving device 20 identified by the device ID. Furthermore, the user can easily adjust the attitude of the antenna 23, etc., as necessary, so that the orientation and inclination of the radio wave receiving surface 23A of the receiving device 20 become the desired orientation and inclination.

[0028] The relative distance deriving unit 29C derives the relative distance of the second receiving device 22 with respect to the first receiving device 21. The relative angle deriving unit 29D derives the relative angle of the radio wave receiving surface 23A of the second receiving device 22 with respect to the radio wave receiving surface 23A of the first receiving device 21.

[0029] For example, assume that the receiving device 20 is a second receiving device 22.

[0030] In this case, the relative distance derivation unit 29C of the second receiving device 22 derives the relative distance of the second receiving device 22 with respect to the first receiving device 21. In particular, the relative distance derivation unit 29C derives the distance to the first receiving device 21 measured in the distance measurement communication as the relative distance of the second receiving device 22 with respect to the first receiving device 21. The relative distance derivation unit 29C may also derive the relative distance of the second receiving device 22 with respect to the first receiving device 21 from the reception strength of the radio waves transmitted from the first receiving device 21 when received by the radio wave receiving surface 23A.

[0031] Furthermore, the relative angle derivation unit 29D of the second receiving device 22 derives the relative angle of the radio wave receiving surface 23A of the second receiving device 22 with respect to the radio wave receiving surface 23A of the first receiving device 21. The relative angle derivation unit 29D derives the reception angle of the radio waves transmitted from the first receiving device 21 by the radio wave receiving surface 23A using the AoA method, and derives the reception angle as the relative angle of the radio wave receiving surface 23A of the second receiving device 22 with respect to the radio wave receiving surface 23A of the first receiving device 21.

[0032] The relative position calculation unit 29E of the second receiving device 22 calculates the relative position of the second receiving device 22 with respect to the first receiving device 21 using the relative distance of the second receiving device 22 with respect to the first receiving device 21 and the relative angle of the radio wave receiving surface 23A of the second receiving device 22 with respect to the radio wave receiving surface 23A of the first receiving device 21.

[0033] FIG. 3 is a diagram illustrating an example of calculation of the relative position.

[0034] For example, assume that the first receiving device 21 is located at position A, which is the origin, and the second receiving device 22 is located at each of arbitrary positions C and B. Then, the second receiving device 22 at position C is located at a relative distance r c and the relative angle Φ c In this case, the relative position calculation unit 29E of the second receiving device 22 calculates sin Φ c ×rc By calculating the y-axis coordinate y c Find cosΦ c ×r c By calculating the x-axis coordinate x c By calculating the relative position (x c ,y c ) can be calculated.

[0035] Similarly, the relative position (x b ,y b ) can be calculated.

[0036] Returning to Figure 2, we continue the explanation.

[0037] The transmitting unit 29F transmits second measurement result information to the positioning device 10, which includes the device ID of the second receiving device 22, the relative position of the second receiving device 22 with respect to the first receiving device 21, and the device ID of the first receiving device 21.

[0038] The transmitter 29F may transmit second measurement result information to the positioning device 10, including the device ID of the second receiving device 22, the relative distance to the first receiving device 21, the relative angle of the first receiving device 21 to the radio wave receiving surface 23A, and the device ID of the first receiving device 21. In this case, the first receiving device 21 may be configured without the relative position calculation unit 29E, and the positioning device 10 may calculate the relative position of each of the multiple second receiving devices 22 to the first receiving device 21 in the same manner as described above.

[0039] In addition, the first receiving device 21 may receive radio waves sequentially from each of the multiple second receiving devices 22, and calculate the relative distance, relative angle, and relative position of the second receiving device 22 with respect to the first receiving device 21 for each of the multiple second receiving devices 22 in the same manner as described above.

[0040] FIG. 4 is a block diagram showing an example of the functional configuration of the positioning device 10. As shown in FIG.

[0041] 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.

[0042] 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 may be a keyboard, a pointing device, or the like. The display function and the input reception function may be integrated into a touch panel.

[0043] The storage unit 13 stores various types of information. The storage unit 13 stores in advance the device ID of the first receiving device 21 in association with the mounting height information of the first receiving device 21. The storage unit 13 may store, for each of the multiple first receiving devices 21, the device ID in association with the mounting height information of the first receiving device 21 identified by the device ID.

[0044] The control unit 14 executes information processing in the positioning device 10. The control unit 14 includes a relative position calculation unit 14A, a position calculation unit 14B, and an output unit 14C. The relative position calculation unit 14A, the position calculation unit 14B, and the output unit 14C are realized, for example, by one or more processors. For example, each of these units may be realized by causing a processor such as a CPU to 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 two or more of the units.

[0045] The relative position calculation unit 14A calculates the relative position of each of the multiple second receiving devices 22 with respect to the first receiving device 21 based on the relative distance of each of the multiple second receiving devices 22, which are receiving devices 20 other than the first receiving device 21 that is predetermined as a reference among the multiple receiving devices 20, with respect to the first receiving device 21, and the relative angle of the radio wave receiving surface 23A of the antenna 23 of the second receiving device 22 with respect to the radio wave receiving surface 23A of the antenna 23 of the first receiving device 21.

[0046] For example, the relative position calculation unit 14A may calculate the relative position of each of the multiple second receiving devices 22 with respect to the first receiving device 21 by receiving from the receiving device 20 the second measurement result information including the relative position with respect to the first receiving device 21 calculated by the receiving device 20 based on the relative distance and relative angle. That is, the relative position calculation unit 14A receives from the first receiving device 21 or the second receiving device 22 the second measurement result information including the device ID of the second receiving device 22, the relative position of the second receiving device 22 with respect to the first receiving device 21, and the device ID of the first receiving device 21. Then, the relative position calculation unit 14A may read the relative position included in the second measurement result information to calculate the relative position between the second receiving device 22 identified by the device ID included in the second measurement result information and the first receiving device 21 identified by the device ID included in the second measurement result information.

[0047] Furthermore, the relative position calculation unit 14A may calculate the relative position of the second receiving device 22 with respect to the first receiving device 21 based on the relative distance and relative angle received from the receiving device 20. In detail, from the first receiving device 21 or the second receiving device 22, second measurement result information including the device ID of the second receiving device 22, the relative distance with respect to the first receiving device 21, the relative angle of the first receiving device 21 with respect to the radio wave receiving surface 23A, and the device ID of the first receiving device 21 is received for each pair of the first receiving device 21 and the second receiving device 22. Then, for each piece of received second measurement result information, the relative position calculation unit 14A calculates the relative position in the same manner as the relative position calculation unit 29E using the relative distance and relative angle included in the second measurement result information. Through this calculation process, the relative position calculation unit 14A calculates the relative position of the second receiving device 22, identified by the device ID included in the second measurement result information, with respect to the first receiving device 21, identified by the device ID included in the second measurement result information.

[0048] Furthermore, the relative position calculation unit 14A may correct the relative angle received from the receiving device 20 according to the orientation of the radio wave receiving surface 23A received from the receiving device 20, and calculate the relative position using the corrected relative angle. In detail, the relative position calculation unit 14A corrects the relative angle received from the receiving device 20 to an angle that is assumed to be adjusted so that the orientation of the radio wave receiving surface 23A received from the receiving device 20 matches the orientation of the radio wave receiving surface 23A of the first receiving device 21. Then, the relative position calculation unit 14A may calculate the relative position in the same manner as described above using the corrected relative angle.

[0049] The position calculation unit 14B calculates the position information of the target terminal device 30 using the reception angle of the radio waves transmitted from the target terminal device 30 received by each of the multiple receiving devices 20, the relative position of the receiving device 20 that received the radio waves with respect to the first receiving device 21, and the installation height information of the first receiving device 21.

[0050] The position calculation unit 14B calculates the relative position of the target terminal device 30 with respect to the first receiving device 21 using a known method, using the reception angle of the radio waves transmitted from the target terminal device 30 received by at least two receiving devices 20 and the relative positions of each of these receiving devices 20 with respect to the same first receiving device 21.

[0051] In detail, for example, the position calculation unit 14B calculates the distance between two receiving devices 20 that receive radio waves from the same target terminal device 30, based on the relative positions of these receiving devices 20 with respect to the first receiving device 21. Then, the position calculation unit 14B calculates the angle formed by a line connecting one receiving device 20 and the target terminal device 30 and a line connecting the other receiving device 20 and the target terminal device 30, by subtracting the sum of the reception angles of the radio waves transmitted from the target terminal device 30 and received by the two receiving devices 20 from 180°. Then, the position calculation unit calculates the distance between each of the two receiving devices 20 and the target terminal device 30 by calculating the sine law using these distances, reception angles, and the formed angles. Through these calculation processes, the position calculation unit 14B determines the position of the target terminal device 30 with respect to these two receiving devices 20, and thereby calculates the relative position of the target terminal device 30 with respect to the first receiving device 21.

[0052] Furthermore, the position calculation unit 14B uses the relative position and the installation height information of the first receiving device 21 to calculate the three-dimensional position of the target terminal device 30 in real space as position information by a known method.

[0053] The output unit 14C outputs the location information of the target terminal device 30.

[0054] Next, an example of the flow of information processing executed by the positioning system 1 of this embodiment will be described.

[0055] FIG. 5 is a flowchart showing an example of the flow of information processing executed by the receiving device 20 of this embodiment.

[0056] The azimuth and inclination measurement unit 29A measures the azimuth and inclination of the radio wave receiving surface 23A of the antenna 23 (step S100). The azimuth and inclination measurement unit 29A measures the azimuth and inclination of the radio wave receiving surface 23A of the receiving device 20 by acquiring the detection results of the acceleration sensor 24 and the orientation sensor 25.

[0057] The output unit 29B outputs the measurement results of the direction and tilt of the radio wave receiving surface 23A measured in step S100 (step S102), and then ends this routine.

[0058] For example, the output unit 29B outputs the orientation and tilt of the radio wave receiving surface 23A to a display unit provided in the receiving device 20. Furthermore, for example, the output unit 29B transmits first measurement result information including the device ID of the receiving device 20 and the orientation and tilt of the radio wave receiving surface 23A to the positioning device 10 via the communication unit 27. Having received the first measurement result information, the positioning device 10 outputs it to a display unit of the positioning device 10 or a user terminal or the like communicatively connected to the positioning device 10 via a network.

[0059] Therefore, a user who visually checks the device ID and the orientation and inclination of the radio wave receiving surface 23A displayed on the display unit or user terminal can confirm the orientation and inclination of the radio wave receiving surface 23A of the receiving device 20 identified by the device ID. Furthermore, the user can easily adjust the attitude of the antenna 23, etc., as necessary, so that the orientation and inclination of the radio wave receiving surface 23A of the receiving device 20 become the desired orientation and inclination.

[0060] Next, an example of the flow of information processing executed by the receiving device 20 of this embodiment when calculating the relative position will be described.

[0061] 6 is a flowchart showing an example of the flow of information processing executed by the receiving device 20 of this embodiment when calculating the relative position. FIG. 6 shows an example of the flow of information processing executed by the second receiving device 22.

[0062] The relative distance derivation unit 29C derives the relative distance of the second receiving device 22 with respect to the first receiving device 21 (step S200). For example, the relative distance derivation unit 29C derives the distance to the first receiving device 21 measured in the distance measurement communication as the relative distance of the second receiving device 22 with respect to the first receiving device 21.

[0063] The relative angle derivation unit 29D derives the relative angle of the radio wave receiving surface 23A of the second receiving device 22 with respect to the radio wave receiving surface 23A of the first receiving device 21 (step S202). The relative angle derivation unit 29D derives the reception angle of the radio waves transmitted from the first receiving device 21 by the radio wave receiving surface 23A using the AoA method, and derives the reception angle as the relative angle of the radio wave receiving surface 23A of the second receiving device 22 with respect to the radio wave receiving surface 23A of the first receiving device 21.

[0064] The relative position calculation unit 29E calculates the relative position of the second receiving device 22 with respect to the first receiving device 21 using the relative distance calculated in step S200 and the relative angle calculated in step S202 (step S204).

[0065] The transmitter 29F transmits second measurement result information including the device ID of the second receiving device 22, the relative position of the second receiving device 22 with respect to the first receiving device 21, and the device ID of the first receiving device 21 to the positioning device 10 (step S206). Then, this routine ends.

[0066] Next, the flow of information processing executed by the positioning device 10 of this embodiment will be described.

[0067] FIG. 7 is a flowchart showing an example of the flow of information processing executed by the positioning device 10 of this embodiment.

[0068] The control unit 14 of the positioning device 10 determines whether or not the first measurement result information has been received from the receiving device 20 (step S300).

[0069] If the determination in step S300 is affirmative (step S300: Yes), the control unit 14 associates the orientation and tilt of the radio wave receiving surface 23A included in the first measurement result information with the device ID of the receiving device 20 that has the antenna 23 of the radio wave receiving surface 23A, and displays them on the UI unit 12 (step S302). Then, this routine ends.

[0070] If the determination in step S300 is negative (step S300: No), the process proceeds to step S304.

[0071] In step S304, the control unit 14 determines whether or not the second measurement result information has been received from the receiving device 20. If the determination in step S304 is affirmative (step S304: Yes), the process proceeds to step S306.

[0072] In step S306, the relative position calculation unit 14A calculates the relative position of the second receiving device 22 with respect to the first receiving device 21 based on the second measurement result information received in step S304 (step S306).

[0073] For example, assume that the second measurement result information includes the device ID of the second receiving device 22, the relative position of the second receiving device 22 with respect to the first receiving device 21, and the device ID of the first receiving device 21. In this case, the relative position calculation unit 14A reads the relative position included in the second measurement result information, and calculates the relative position between the second receiving device 22 identified by the device ID included in the second measurement result information and the first receiving device 21 identified by the device ID.

[0074] Also, for example, assume that the second measurement result information includes the device ID of the second receiving device 22, the relative distance to the first receiving device 21, the relative angle of the first receiving device 21 to the radio wave receiving surface 23A, and the device ID of the first receiving device 21. In this case, the relative position calculation unit 14A calculates the relative position in the same manner as the relative position calculation unit 29E using the relative distance and relative angle included in the second measurement result information. Through this calculation process, the relative position calculation unit 14A calculates the relative position of the second receiving device 22 identified by the device ID to the first receiving device 21 identified by the device ID included in the second measurement result information.

[0075] Then, the relative position calculation unit 14A stores the relative position calculated in step S306 in association with the device ID of the second receiving device 22 represented by the relative position and the device ID of the first receiving device 21 in the storage unit 13. Then, this routine ends.

[0076] On the other hand, if the determination in step S304 is negative (step S304: No), the process proceeds to step S310.

[0077] In step S310, the position calculation unit 14B determines whether or not radio wave reception information has been received from at least two receiving devices 20, indicating the reception angle of radio waves transmitted from the same target terminal device 30 and received by the receiving devices 20 (step S310). The radio wave reception information includes, for example, the device ID of the receiving device 20 that received the radio waves, the terminal ID of the target terminal device 30 contained in the radio waves received by the receiving device 20, and the reception angle of the radio waves.

[0078] If the determination in step S310 is negative (step S310: No), this routine ends. If the determination in step S310 is positive (step S310: Yes), the process proceeds to step S312.

[0079] In step S312, the position calculation unit 14B reads the relative position of each of the multiple receiving devices 20 that received the radio waves relative to the same first receiving device 21 (step S312). The position calculation unit 14B identifies the device ID of the receiving device 20 included in each of the multiple pieces of radio wave reception information received in step S310. Then, the position calculation unit 14B reads, in the storage unit 13, the relative positions associated with the device IDs of each of the multiple second receiving devices 22 that are the identified multiple device IDs and the device ID of the same first receiving device 21 for these device IDs. Through these processes, the position calculation unit 14B reads the relative position of each of the multiple receiving devices 20 that received the radio waves relative to the same first receiving device 21.

[0080] Then, the position calculation unit 14B reads from the storage unit 13 the mounting height information of the first receiving device 21, which is the reference for the relative position read in step S312 (step S314).

[0081] Then, the position calculation unit 14B calculates the position information of the target terminal device 30 using the reception angle of the radio waves contained in the radio wave reception information received in step S310, the relative position read in step S312, and the installation height information of the first receiving device 21 read in step S314 (step S316).

[0082] The output unit 14C outputs the location information of the target terminal device 30 calculated in step S314 (step S318). For example, the output unit 14C displays the location information of the target terminal device 30 calculated in step S314 on the UI unit 12. Furthermore, the output unit 14C may store the location information in the storage unit 13 in association with the terminal ID of the target terminal device 30. Furthermore, the output unit 14C may transmit the location information to an external device via the communication unit 11. Then, this routine ends.

[0083] As described above, the positioning system 1 of this embodiment includes a target terminal device 30, a plurality of receiving devices 20 each having an antenna 23 that receives radio waves transmitted from the target terminal device 30, and a positioning device 10 communicatively connected to the plurality of receiving devices 20. The positioning device 10 includes a relative position calculation unit 14A and a position calculation unit 14B. The relative position calculation unit 14A calculates the relative position of each of the plurality of second receiving devices 22 with respect to the first receiving device 21 based on the relative distance of each of the plurality of second receiving devices 22, which is a receiving device 20 other than a first receiving device 21 that is predetermined as a reference among the plurality of receiving devices 20, with respect to the first receiving device 21, and the relative angle of the radio wave receiving surface 23A of the antenna 23 of the second receiving device 22 with respect to the radio wave receiving surface 23A of the antenna 23 of the first receiving device 21. The position calculation unit 14B calculates the position information of the target terminal device 30 using the reception angle of the radio waves received by each of the multiple receiving devices 20, the relative position of the receiving device 20 that received the radio waves, and the installation height information of the first receiving device 21.

[0084] In the prior art, to calculate the position information of the target terminal device 30, it was necessary to adjust the position, inclination, etc. of each of the receiving devices 20 with high precision in advance and install them. On the other hand, in the positioning system 1 of this embodiment, the position information of the target terminal device 30 is calculated using the relative position calculated based on the relative distance and relative angle of each of the multiple second receiving devices 22 to the first receiving device 21. Therefore, in the positioning system 1 of this embodiment, it is possible to calculate the position information of the target terminal device 30 without having to adjust the position and inclination of each of the multiple receiving devices 20 with high precision and install them.

[0085] Therefore, the positioning system 1 of this embodiment can locate the target terminal device 30 without having to adjust and install the receiving device 20 with high precision.

[0086] In other words, the positioning system 1 of this embodiment does not require the user to carefully adjust the position or inclination of the receiving device 20 when installing it, and the target terminal device 30 can be positioned using the relative position without having to manually input the position information of the receiving device 20 into the positioning system 1, for example.

[0087] Therefore, in addition to the above-mentioned effects, the positioning system 1 of this embodiment can reduce the burden on the user and prevent a decrease in the positioning accuracy of the target terminal device 30 due to an erroneous input.

[0088] In the present embodiment, 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 system 1 may be configured such that the positioning device 10 is provided in at least one of the multiple receiving devices 20.

[0089] 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.

[0090] FIG. 8 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.

[0091] 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 communication I / F unit 40E that connects each unit, and have a hardware configuration that uses a normal computer.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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]

[0096] 1. Positioning System 10 Positioning device 14A Relative position calculation unit 14B Position calculation section 20 Receiving device 21 First receiving device 22 Second receiving device 23 Antenna 23A Radio wave receiving surface 29A Azimuth and tilt measurement unit 29C Relative distance derivation unit 29D Relative angle derivation part 29E Relative position calculation unit 30 Target terminal device

Claims

1. a target terminal device; a plurality of receiving devices each having an antenna for receiving radio waves transmitted from the target terminal device; and a positioning device communicably connected to the plurality of receiving devices; The positioning device is a relative position calculation unit that calculates a relative position of each of a plurality of second receiving devices relative to the first receiving device based on a relative distance of each of the second receiving devices, the second receiving devices being other than a first receiving device that is predetermined as a reference among the plurality of receiving devices, relative to the first receiving device, and a relative angle of a radio wave receiving surface of the antenna of the second receiving device relative to a radio wave receiving surface of the antenna of the first receiving device; a position calculation unit that calculates position information of the target terminal device using the reception angle of the radio wave received by each of the plurality of reception devices, the relative position of the reception device that received the radio wave, and installation height information of the first reception device; A positioning system comprising:

2. The receiving device a relative distance deriving unit that derives a relative distance between the first receiving device and the second receiving device; a relative angle deriving unit that derives a relative angle of a radio wave receiving surface of the antenna of the second receiving device with respect to a radio wave receiving surface of the antenna of the first receiving device; having The positioning system of claim 1 .

3. The relative position calculation unit calculating the relative position of each of the second receiving devices with respect to the first receiving device by receiving the relative position of the second receiving device with respect to the first receiving device, the relative position being calculated by the receiving device based on the relative distance and the relative angle; The positioning system of claim 1 .

4. The relative position calculation unit calculating the relative position of the second receiving device with respect to the first receiving device based on the relative distance and the relative angle received from the receiving device; The positioning system of claim 1 .

5. The receiving device a measurement unit for measuring the direction and inclination of the radio wave receiving surface of the antenna; an output unit that outputs the measured orientation and tilt; The positioning system of claim 1 , comprising:

6. The positioning device is provided in at least one of the plurality of receiving devices; The positioning system of claim 1 .

7. A positioning device communicably connected to a plurality of receivers each having an antenna for receiving radio waves transmitted from a target terminal device, a relative position calculation unit that calculates a relative position of each of a plurality of second receivers relative to the first receiver based on a relative distance of each of the second receivers, which are other receivers than a first receiver that is predetermined as a reference among the plurality of receivers, relative to the first receiver, and a relative angle of a radio wave receiving surface of the antenna of the second receiver relative to a radio wave receiving surface of the antenna of the first receiver; a position calculation unit that calculates position information of the target terminal device using the reception angle of the radio wave received by each of the plurality of receivers, the relative position of the receiver that received the radio wave, and installation height information of the first receiver; A positioning device comprising:

8. A positioning method executed by a positioning device communicably connected to a plurality of receivers each having an antenna for receiving radio waves transmitted from a target terminal device, calculating a relative position of each of the plurality of second receivers with respect to the first receiver based on a relative distance of each of the plurality of second receivers, which are other receivers than a first receiver predetermined as a reference among the plurality of receivers, with respect to the first receiver, and a relative angle of a radio wave receiving surface of the antenna of the second receiver with respect to a radio wave receiving surface of the antenna of the first receiver; calculating location information of the target terminal device using the reception angle of the radio wave received by each of the plurality of receivers, the relative position of the receiver that received the radio wave, and installation height information of the first receiver; A positioning method including:

9. A positioning program executed by a computer communicably connected to a plurality of receivers each having an antenna for receiving radio waves transmitted from a target terminal device, calculating a relative position of each of the plurality of second receivers with respect to the first receiver based on a relative distance of each of the plurality of second receivers, which are other receivers than a first receiver predetermined as a reference among the plurality of receivers, with respect to the first receiver, and a relative angle of a radio wave receiving surface of the antenna of the second receiver with respect to a radio wave receiving surface of the antenna of the first receiver; calculating location information of the target terminal device using the reception angle of the radio wave received by each of the plurality of receivers, the relative position of the receiver that received the radio wave, and installation height information of the first receiver; Positioning program including.

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