Positioning device, positioning program, and positioning method

Abstract

To position an terminal to be positioned with high accuracy even when a camera cannot be used and there is no other means for measuring an angle.SOLUTION: The position measurement device (2) includes a second transmission section (21) for transmitting a UWB signal, a second reception section (22) for receiving the UWB signal from the terminal (1), a second measurement section (241) for measuring a range to the terminal with reference to the position measurement device and a direction in which the terminal exists based on the UWB signal received by the second reception section, an obtainment section (242) for obtaining a first measurement result which is a measurement result by the first measurement section from the terminal, and a position measurement section (243) for measuring a position of the terminal based on at least one of the first measurement result and the second measurement result which is a measurement result by the second measurement section.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] In recent VR and AR, positioning using VSLAM and IMU has become mainstream, as described in Patent Document 1. In recent VR and AR, absolute coordinates in real space are also acquired using GNSS, VPS, and AR markers, as described in Patent Document 2. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-091953 [Patent Document 2] Japanese Patent Publication No. 2023-077070 Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional positioning technologies such as VPS and VSLAM were difficult to use in places where cameras could not be used (in the dark, in places where photography is prohibited, etc.) Furthermore, conventional positioning technologies could not adapt to changes in the surrounding environment (such as brightness and object placement). [Means for solving the problem]

[0005] In order to solve the above problem, a positioning device according to one embodiment of the present invention is a positioning device that positions a mobile terminal device, and targets the terminal device as a positioning target, the terminal device comprising: a first transmitter that emits a UWB signal, which is an ultra-wideband radio signal; a first receiver that receives the UWB signal from the positioning device; and a first measurement unit that measures the distance to the positioning device and the direction in which the positioning device is located based on the UWB signal received by the first receiver; and the positioning device comprises: a second transmitter that emits a UWB signal; a second receiver that receives the UWB signal from the terminal device; a second measurement unit that measures the distance to the terminal device and the direction in which the terminal device is located based on the UWB signal received by the second receiver; an acquisition unit that acquires from the terminal device a first measurement result, which is the measurement result by the first measurement unit; and a positioning unit that positions the terminal device based on at least one of the first measurement result and the second measurement result, which is the measurement result by the second measurement unit.

[0006] In addition, a positioning program according to another aspect of the present invention is a positioning program that causes a computer to function as a positioning device that positions a mobile terminal device, wherein the computer targets a terminal device that includes a first transmitter that emits a UWB signal, which is an ultra-wideband radio signal, a first receiver that receives the UWB signal from the positioning device, and a measurement unit that measures the distance to the positioning device and the direction in which the positioning device is located based on the UWB signal received by the first receiver, and is connected to a second transmitter that emits a UWB signal and a second receiver that receives the UWB signal from the terminal device, and causes the computer to execute a measurement process that measures the distance to the terminal device and the direction in which the terminal device is located based on the UWB signal received by the second receiver, an acquisition process that acquires a first measurement result, which is the measurement result by the measurement unit, from the terminal device, and a positioning process that positions the terminal device based on at least one of the first measurement result and the second measurement result, which is the measurement result in the measurement process. Note that a computer-readable recording medium on which a training data generation program is recorded also falls within the scope of the present invention.

[0007] Furthermore, a positioning method according to another aspect of the present invention is a positioning method for positioning a mobile terminal device using a positioning device, the method comprising: a first transmitting step in which the terminal device transmits a UWB signal, which is an ultra-wideband radio signal; a second transmitting step in which the positioning device transmits the UWB signal; a first receiving step in which the terminal device receives the UWB signal from the positioning device; and a first measuring step in which the terminal device measures a distance to the positioning device and a direction in which the positioning device is located, based on the UWB signal received in the first receiving step; The method includes a second receiving step of receiving a UWB signal from the terminal device, a second measurement step in which the positioning device measures the distance to the terminal device and the direction in which the terminal device is located based on the UWB signal received in the second receiving step, an acquisition step in which the positioning device acquires a first measurement result, which is the measurement result from the first measurement step, from the terminal device, and a positioning step in which the positioning device positions the terminal device based on at least one of the first measurement result and the second measurement result, which is the measurement result from the second measurement step. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a block diagram showing an example of a functional configuration of a positioning system according to an embodiment of the present invention. [Figure 2] 2 is a diagram illustrating the positioning of a terminal device performed by a positioning device included in the system. FIG. [Figure 3] 10A and 10B are diagrams illustrating calculation of the attitude angle of the terminal device performed by the positioning device included in the system. [Figure 4] 1 is a flowchart illustrating an example of the flow of a positioning method according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0009] <Positioning System 100> Hereinafter, a positioning system 100 according to an embodiment of the present invention will be described in detail.

[0010] [Schematic configuration of positioning system 100] As shown in FIG. 1, the positioning system 100 includes a terminal device 1 and a positioning device 2.

[0011] [Terminal device 1] The terminal device 1 is configured to be portable. Specifically, the size and weight of the terminal device 1 are such that the user can carry it around. The terminal device 1 includes a first transmitting unit 11, a first receiving unit 12, and a first measuring unit 13. The terminal device 1 according to this embodiment further includes a camera 14 and a display unit 15.

[0012] (First Transmission Section 11) The first transmitter 11 emits a UWB signal (beacon). The UWB signal is an ultra-wide band radio signal. The first transmitter 11 according to this embodiment repeatedly emits the UWB signal. The period for emitting the UWB signal may be fixed or may be variable.

[0013] (First receiving unit 12) The first receiving unit 12 receives the UWB signal from the positioning device 2. The first receiving unit 12 may be configured as an integrated module together with the first transmitting unit 11.

[0014] (First measuring unit 13) The first measuring unit 13 measures the distance to the positioning device 2 relative to the terminal device 1 and the direction in which the positioning device 2 is located, based on the UWB signal received by the first receiving unit 12. The first measuring unit 13 according to this embodiment measures the distance and direction every time the first receiving unit 12 receives a UWB signal.

[0015] (Camera 14) Camera 14 according to this embodiment captures an image of an object (such as an object or a landscape) that exists in the direction that one face faces, and generates image (video) data of the image. Camera 14 according to this embodiment is provided on one face of terminal device 1. Camera 14 may also generate still image data.

[0016] (Display section 15) Display unit 15 displays the object photographed by camera 14. As described above, camera 14 according to this embodiment generates video data. Therefore, display unit 15 displays the video of the object photographed by the camera. Display unit 15 according to this embodiment is provided on the other surface (back surface) of terminal device 1 that faces the opposite side to one surface.

[0017] [Specific configuration of positioning device 2] The positioning device 2 is a device that positions the terminal device 1. The positioning device 2 targets the terminal device 1 configured as described above. The positioning device 2 includes a second transmitting unit 21, a second receiving unit 22, a storage unit 23, and a calculation unit 24. The positioning device 2 according to this embodiment further includes a communication unit 25.

[0018] [Second Transmission Unit 21] The second transmitter 21 emits a UWB signal. The second transmitter 21 according to this embodiment repeatedly emits a UWB signal at the same cycle as the first transmitter 11 emits a UWB signal. The timing at which the second transmitter 21 emits the UWB signal may be simultaneous with the timing at which the first transmitter 11 emits the UWB signal, or may be slightly earlier or later than the timing at which the first transmitter 11 emits the UWB signal.

[0019] [Second receiving unit 22] The second receiving unit 22 receives the UWB signal from the terminal device 1 .

[0020] [Storage unit 23] The storage unit 23 stores a positioning program 231. The positioning program 231 is a program that causes a computer to function as a positioning device 2 that measures the position of a mobile terminal device 1. The storage unit 23 according to this embodiment is configured with a semiconductor memory, a hard disk drive, etc.

[0021] [Communications Department 25] The communication unit 25 communicates with the terminal device 1 . The communication unit 25 according to this embodiment receives a first measurement result from the terminal device 1 via WebSocket communication. The first measurement result is a measurement result obtained by the first measurement unit 13 of the terminal device 1. Furthermore, the communication unit 25 according to this embodiment transmits video (described in detail below) to the terminal device 1 via HTTP communication.

[0022] [Calculation unit 24] The calculation unit 24 includes a second measurement unit 241, an acquisition unit 242, and a positioning unit 243. The calculation unit 24 according to this embodiment further includes a generation unit 244, a transmission control unit 245, and a second acquisition unit 246. The calculation unit 24 according to this embodiment is configured with a processor (the positioning device 2 is configured with a computer). Therefore, the functions of the control blocks 241 to 246 are realized by the calculation unit 24 executing a transmission process, a measurement process, an acquisition process, a positioning process, and a second acquisition process in accordance with the positioning program 231 stored in the storage unit 23.

[0023] (Second acquisition part 246) The second acquisition unit 246 executes a second acquisition process. In the second acquisition process, the second acquisition unit 246 acquires the UWB signal from the second receiving unit 22.

[0024] (Second measuring unit 241) The second measuring unit 241 executes a measurement process. In the measurement process, the second measuring unit 241 measures the distance to the terminal device 1 and the direction in which the terminal device 1 is located, relative to the positioning device 2, based on the UWB signal received by the second receiving unit 22. The second measuring unit 241 according to this embodiment measures the distance and direction every time the second receiving unit 22 receives a UWB signal (every time the second acquiring unit 246 acquires a UWB signal).

[0025] (Acquisition part 242) The acquisition unit 242 executes an acquisition process. In the acquisition process, the acquisition unit 242 acquires the first measurement result from the terminal device 1.

[0026] (Positioning unit 243) The positioning unit 243 executes a positioning process. In the positioning process, the positioning unit 243 locates the position of the terminal device 1 based on at least one of the first measurement result and the second measurement result. The second measurement result is a measurement result obtained by the second measurement unit 241. Positioning includes extracting the distance and direction from at least one of the first measurement result and the second measurement result (using the distance and direction as is for subsequent processing), and calculating coordinates based on the distance and direction. The positioning unit 243 according to this embodiment calculates coordinates indicating the absolute position of the terminal device 1 based on the first measurement result or the second measurement result and the coordinates of the positioning device 2.

[0027] Specifically, the positioning unit 243 first calculates a three-dimensional vector of the terminal device 1 based on the distance to the terminal device 1 and the direction (X, Y, and Z directions) in which the terminal device 1 is located in an XYZ coordinate system based on the positioning device 2, which are included in the second positioning result. Next, the positioning unit 243 converts the three-dimensional vector into three-dimensional coordinates of the positioning device, with the position of the positioning device 2 as the origin. For example, as shown in FIG. 2, it is assumed that the distance to the terminal device 1 based on the positioning device 2 (the length of the line segment L1 connecting the positioning device 2 and the terminal device 1) included in the second positioning result is d. It is also assumed that the Z-direction component of the direction in which the terminal device 1 is located based on the positioning device 2 (the angle formed by the line segment L1 and the XY plane) is α. It is also assumed that the X-direction component of the direction in which the terminal device 1 is located based on the positioning device 2 (the angle formed by the first projection line L2 of the line segment L1 onto the XY plane and the X axis) is β. In this case, the positioning unit 243 calculates the coordinates of the terminal device 1 with the positioning device 2 as the origin as (dcosα·cosβ, dcosα·sinβ, dsinα). Next, the positioning unit 243 calculates the position of the terminal device 1 with the position of the positioning device 2 in real space (three-dimensional coordinates) as a reference, based on the three-dimensional coordinates. For example, assume that the position of the positioning device 2 in real space is (a, b, c). In this case, the positioning unit 243 calculates the position of the terminal device 1 in real space as (a+dcosα·cosβ, b+dcosα·sinβ, c+dsinα).

[0028] The positioning unit 243 may be configured to calculate the average value of the distance to the positioning device 2 using the terminal device 1 as a reference, which is included in the first measurement result, and the distance to the terminal device 1 using the positioning device as a reference, which is included in the second measurement result. In this case, the positioning unit 243 may be configured to calculate the coordinates based on the average value (using the average value as the distance).

[0029] The positioning unit 243 according to this embodiment further calculates the attitude angle of the terminal device 1 based on the direction in which the positioning device 2 exists relative to the terminal device 1 included in the first measurement result. For example, as shown in FIG. 3, in an xyz coordinate system (x-axis: axis perpendicular to one surface (the surface on which the display unit 15 is provided) of the terminal device 1 or another surface, y-axis: axis extending in the short direction of the terminal device 1, z-axis: axis extending in the long direction of the terminal device 1) included in the first positioning result, the horizontal component of the direction in which the positioning device 2 exists (the trajectory of the UWB signal) (the angle formed by the second projection line L3 of the line segment L1 connecting the positioning device 2 and the terminal device 1 onto the xy plane and the x-axis) is assumed to be θ. Also, the vertical component of the direction in which the positioning device 2 exists (the angle formed by the third projection line L4 of the line segment L1 connecting the positioning device 2 and the terminal device 1 onto the xz plane and the x-axis) is assumed to be φ. In this case, the positioning unit 243 calculates the attitude angle of the terminal device 1 as (θ, φ).

[0030] (Generation unit 244) The generation unit 244 generates an image based on the positioning result by the positioning unit 243. As described above, the terminal device 1 according to this embodiment includes the camera 14 and the display unit 15. Therefore, the generation unit 244 according to this embodiment generates an augmented reality (AR) image to be superimposed on an image of a target captured by the camera 14, and the augmented reality image appears to have been captured by the camera 14 when the terminal device 1 is positioned at an attitude angle. Note that the generation unit 244 may be configured to generate a virtual reality (VR) image based on the positioning result. In this case, the terminal device 1 does not need to include the camera 14 (image generation function).

[0031] (Transmission control unit 245) The transmission control unit 245 controls the communication unit 25 to transmit the video data generated by the generation unit 244 to the terminal device 1. Under the control of this transmission control unit 245, the communication unit 25 transmits the video data to the terminal device 1. Upon receiving the video data, the terminal device 1 displays the video based on the data on the display unit 15.

[0032] [Effects of the positioning device 2 and the positioning system 100] The positioning device 2 and the positioning system 100 including the positioning device 2 described above locate the terminal device 1 using the results of mutual measurements made by the terminal device 1 and the positioning device 2 using UWB signals. This makes it possible to identify the position and movement of the terminal device 1 even in places where the camera 14 cannot be used (such as darkness or places where photography is prohibited). In other words, the positioning device 2 and the positioning system 100 including the positioning device 2 can locate the position of the terminal device to be located with high accuracy even in situations where a camera cannot be used and there is no other means of measuring angles.

[0033] Furthermore, since the positioning device 2 and the positioning system 100 do not use a camera (video), there is no risk of accidentally capturing an image of an unrelated person around the positioning device 2 and the positioning system 100. In other words, the positioning device 2 and the positioning system 100 do not cause privacy issues.

[0034] Furthermore, VPS and VSLAM require advance preparations such as map adjustments every time the environment changes. However, the positioning device 2 and positioning system 100 can identify the position and movement of the terminal device 1 even if the surrounding environment changes, as long as the position of the positioning device 2 is not moved.

[0035] Furthermore, VPS and VSLAM require CPU-intensive processing (image analysis, point cloud matching, etc.). This can lead to processing delays (deteriorating the quality of the VR or AR experience) depending on the device used. However, positioning device 2 and positioning system 100 use numerical values ​​(distance and direction) to perform positioning, so the computational load is smaller than that of VPS and VSLAM, which use images.

[0036] Furthermore, VPS and VSLAM require the camera and display to be continuously powered, consuming a lot of power. This can shorten the usable time depending on the device being used. However, with the positioning device 2 and positioning system 100, UWB signals can be transmitted with little power, and the camera 14 and display do not necessarily need to be kept on, so the position and movement of the terminal device 1 can be determined with little power consumption.

[0037] GNSS also has problems such as low accuracy and the need for other means to measure altitude / angle. However, the positioning device 2 and positioning system 100 can accurately calculate distance and direction using UWB signals, resulting in higher positioning accuracy than when using GNSS.

[0038] <Positioning method S100> Next, a positioning method S100 according to another embodiment of the present invention will be described in detail.

[0039] [Flow of positioning method S100] The positioning method S100 is a method of positioning a mobile terminal device 1 using a positioning device 2. As shown in Fig. 4, the positioning method S100 includes a first transmitting step A1, a second transmitting step B1, a first receiving step A2, a first measuring step A3, a second receiving step B2, a second measuring step B3, an acquiring step B4, and a positioning step B5.

[0040] [First transmission step A1] In the first transmission step A1, the terminal device 1 transmits a UWB signal, which is an ultra-wideband wireless signal.

[0041] [Second transmission step B1] After the terminal device 1 emits a UWB signal, a second transmission step B1 is performed before the terminal device 1 emits the UWB signal or in parallel with the terminal device 1 emitting the UWB signal. In the second transmission step B1, the positioning device 2 emits a UWB signal.

[0042] [First receiving step A2] After the positioning device 2 emits the UWB signal, the process proceeds to a first reception step A2. In the first reception step A2, the terminal device 1 receives the UWB signal from the positioning device 2.

[0043] [First measurement step A3] After the terminal device 1 receives the UWB signal, the process proceeds to a first measurement step A3, in which the terminal device 1 measures the distance to the positioning device 2 and the direction in which the positioning device 2 is located, based on the UWB signal received in the first reception step.

[0044] [Second Receiving Step B2] After the terminal device 1 emits the UWB signal, the process proceeds to a second reception step B2, in which the positioning device 2 receives the UWB signal from the terminal device 1.

[0045] [Second measurement step B3] After the positioning device 2 receives the UWB signal, the process proceeds to a second measurement step B3, in which the positioning device 2 measures the distance to the terminal device 1 and the direction in which the terminal device 1 is located, based on the UWB signal received in the second reception step.

[0046] [Acquisition step B4] After the positioning device 2 measures the direction in which the terminal device 1 is located, the process proceeds to an acquisition step B4. In the acquisition step B4, the positioning device 2 acquires from the terminal device 1 a first measurement result, which is the measurement result obtained in the first measurement step A3.

[0047] [Positioning step B5] After the positioning device 2 acquires at least one of the first measurement result and the second measurement result, the process proceeds to positioning step B5, in which the positioning device 2 locates the position of the terminal device 1 based on at least one of the first measurement result and the second measurement result, which is the measurement result obtained in second measurement step B3.

[0048] [Effects of positioning method S100] According to the positioning method S100 described above, similar to the positioning device 2 and positioning system 100, even in a situation where a camera is not available and there is no other means for measuring angles, it is possible to perform positioning of the terminal device to be positioned with high accuracy.

[0049] Furthermore, according to the positioning method S100, the positioning device 2, and the positioning system 100, privacy issues do not arise. Furthermore, according to the positioning device 2 and the positioning system 100, the position and movement of the terminal device 1 can be identified even if the surrounding environment changes, as long as the position of the positioning device 2 is not moved. Furthermore, according to the positioning device 2 and the positioning system 100, the calculation load is smaller than that of VPS and VSLAM, which use images. Furthermore, according to the positioning device 2 and the positioning system 100, the position and movement of the terminal device 1 can be identified with less power consumption. Furthermore, according to the positioning device 2 and the positioning system 100, the positioning accuracy is higher than when GNSS is used.

[0050] <Modification> The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention.

[0051] For example, in the positioning system 100 according to the above embodiment, the positioning device 2 generates an image based on the positioning result, and the terminal device 1 displays the image based on the image data. However, the positioning result obtained by the present invention is not limited to the generation and display of an image. It can be used in general technologies that use position information, such as robot control. In this case, the calculation unit 24 of the positioning device 2 does not need to include the generation unit 244.

[0052] The positioning program may be stored in one or more computer-readable storage media, rather than being stored temporarily. Each unit may or may not have the storage media. In the latter case, the positioning program may be supplied to each unit via any wired or wireless transmission medium.

[0053] Furthermore, some or all of the functions of the control blocks 241 to 245 included in the arithmetic unit can be realized by logic circuits. For example, the scope of the present invention also includes integrated circuits formed with logic circuits that function as the control blocks 241 to 245. In addition, the functions of each unit can also be realized by, for example, a quantum computer.

[0054] 〔summary〕 A positioning device according to a first aspect of the present invention is a positioning device that positions a mobile terminal device, and targets the terminal device as a positioning target, the terminal device comprising: a first transmitter that emits a UWB signal, which is an ultra-wideband radio signal; a first receiver that receives the UWB signal from the positioning device; and a first measurement unit that measures the distance to the positioning device and the direction in which the positioning device is located based on the UWB signal received by the first receiver. The positioning device is also configured to comprise: a second transmitter that emits a UWB signal; a second receiver that receives the UWB signal from the terminal device; a second measurement unit that measures the distance to the terminal device and the direction in which the terminal device is located based on the UWB signal received by the second receiver; an acquisition unit that acquires from the terminal device a first measurement result that is the measurement result by the first measurement unit; and a positioning unit that positions the terminal device based on at least one of the first measurement result and the second measurement result that is the measurement result by the second measurement unit.

[0055] A positioning device according to aspect 2 of the present invention may be configured in the above-mentioned aspect 1 such that the positioning unit calculates coordinates indicating the absolute position of the terminal device based on the first measurement result or the second measurement result and the coordinates of the positioning device.

[0056] A positioning device according to aspect 3 of the present invention may be configured such that, in aspect 2 above, the positioning unit calculates an average value of the distance to the positioning device from the terminal device included in the first measurement result and the distance to the terminal device from the positioning device included in the second measurement result, and calculates the coordinates based on the average value.

[0057] A positioning device according to aspect 4 of the present invention may be configured such that, in aspect 2 or 3 above, the positioning unit further calculates an attitude angle of the terminal device based on the direction in which the positioning device is located relative to the terminal device included in the first measurement result and the direction in which the terminal device is located relative to the positioning device included in the second measurement result.

[0058] A positioning device according to aspect 5 of the present invention may be configured as in aspect 4 above, further comprising a communication unit that communicates with the terminal device, a generation unit that generates an image based on the positioning result by the positioning unit, and a transmission control unit that controls the communication unit to transmit the image to the terminal device.

[0059] A positioning device according to aspect 6 of the present invention may be configured such that, in aspect 5 above, the terminal device includes a camera and a display unit that displays an object photographed by the camera, and the generation unit generates an augmented reality image as the image to be superimposed on the object, the augmented reality image appearing to have been photographed by the camera when the terminal device is positioned at the attitude angle.

[0060] A positioning device according to aspect 7 of the present invention may be configured such that, in aspect 5 above, the communication unit receives the first measurement result from the terminal device via WebSocket communication and transmits the video to the terminal device via HTTP communication.

[0061] A system according to an eighth aspect of the present invention is a system comprising a mobile terminal device and a positioning device that positions the terminal device, wherein the terminal device comprises a first transmitter that emits a UWB signal, which is an ultra-wideband radio signal, a first receiver that receives the UWB signal from the positioning device, and a first measurement unit that measures the distance to the positioning device from the terminal device and the direction in which the positioning device is located based on the UWB signal received by the first receiver; and the positioning device comprises a second transmitter that emits a UWB signal, a second receiver that receives the UWB signal from the terminal device, and a second measurement unit that measures the distance to the terminal device from the positioning device and the direction in which the terminal device is located based on the UWB signal received by the second receiver, an acquisition unit that acquires from the terminal device a first measurement result that is the measurement result by the first measurement unit, and a positioning unit that positions the terminal device based on at least one of the first measurement result and the second measurement result that is the measurement result by the second measurement unit.

[0062] A positioning program according to a ninth aspect of the present invention is a positioning program that causes a computer to function as a positioning device that positions a mobile terminal device, the computer targets a terminal device that includes a first transmitter that emits a UWB signal, which is an ultra-wideband wireless signal, a first receiver that receives the UWB signal from the positioning device, and a measurement unit that measures the distance to the positioning device and the direction in which the positioning device is located based on the UWB signal received by the first receiver, and a second transmitter that emits a UWB signal. and a second receiving unit that receives a UWB signal from the terminal device, and causes the computer to execute a measurement process that measures the distance to the terminal device and the direction in which the terminal device is located based on the UWB signal received by the second receiving unit, an acquisition process that acquires a first measurement result, which is the measurement result by the measurement unit, from the terminal device, and a positioning process that positions the terminal device based on at least one of the first measurement result and a second measurement result, which is the measurement result in the measurement process.

[0063] A positioning method according to aspect 10 of the present invention is a positioning method for positioning a mobile terminal device using a positioning device, the method comprising: a first transmission step in which the terminal device transmits a UWB signal, which is an ultra-wideband radio signal; a second transmission step in which the positioning device transmits the UWB signal; a first reception step in which the terminal device receives the UWB signal from the positioning device; a first measurement step in which the terminal device measures a distance to the positioning device and a direction in which the positioning device is located, based on the UWB signal received in the first reception step; The method includes: a second receiving step of receiving a UWB signal from a terminal device; a second measurement step in which the positioning device measures the distance to the terminal device and the direction in which the terminal device is located based on the UWB signal received in the second receiving step; an acquisition step in which the positioning device acquires a first measurement result, which is the measurement result of the first measurement step, from the terminal device; and a positioning step in which the positioning device positions the terminal device based on at least one of the first measurement result and the second measurement result, which is the measurement result of the second measurement step. [Explanation of symbols]

[0064] 100 Positioning System 1. Terminal equipment 11 First Transmission Department 12 First receiving unit 13 First Measurement Section 14 Camera 15 Display section 2. Positioning Device 21 Second Transmission Department 22 Second receiving unit 23 Memory section 231 Positioning Program 24 Arithmetic section 25 Communications Department 241 Second Measurement Department 242 Acquisition Department 243 Positioning Unit 244 Generation part 245 Transmission control section 246 Second Acquisition Department S100 positioning method A1 First sending step A2 First receiving step A3 First measurement step B1 Second transmission step B2 Second receiving step B3 Second measurement step B4 Acquisition Steps B5 Positioning Step L1 line segment L2 First projection line L3 Second projection line L4 Third projection line

Claims

1. A positioning device that measures the position of a mobile terminal device, The terminal device to be positioned is one that includes a first transmitter that emits a UWB signal, which is an ultra-wideband wireless signal, a first receiver that receives the UWB signal from the positioning device, and a first measurement unit that measures the distance to the positioning device and the direction in which the positioning device is located, based on the UWB signal received by the first receiver, a second transmitter that emits a UWB signal; a second receiving unit that receives a UWB signal from the terminal device; a second measuring unit that measures the distance to the terminal device and the direction in which the terminal device is located, based on the UWB signal received by the second receiving unit; an acquisition unit that acquires a first measurement result, which is a measurement result by the first measurement unit, from the terminal device; a positioning unit that positions the terminal device based on at least one of the first measurement result and a second measurement result that is a measurement result by the second measurement unit; Equipped with Positioning device.

2. the positioning unit calculates coordinates indicating an absolute position of the terminal device based on the first measurement result or the second measurement result and the coordinates of the positioning device; The positioning device according to claim 1 .

3. The positioning unit calculating an average value of a distance to the positioning device using the terminal device as a reference, which is included in the first measurement result, and a distance to the terminal device using the positioning device as a reference, which is included in the second measurement result; Calculating the coordinates based on the average values. The positioning device according to claim 2 .

4. the positioning unit further calculates an attitude angle of the terminal device based on a direction in which the positioning device exists relative to the terminal device included in the first measurement result; The positioning device according to claim 2 or 3.

5. a communication unit that communicates with the terminal device; a generation unit that generates an image based on the positioning result by the positioning unit; a transmission control unit that controls the communication unit to transmit the video to the terminal device; Further provided with The positioning device according to claim 4.

6. the terminal device includes a camera and a display unit that displays an object photographed by the camera, the generation unit generates, as the image, an augmented reality image to be superimposed on the image of the target, the augmented reality image appearing to have been captured by the camera when the terminal device was positioned at the attitude angle. The positioning device according to claim 5 .

7. The communication unit receiving the first measurement result from the terminal device through WebSocket communication; transmitting the video to the terminal device via HTTP communication; The positioning device according to claim 5 .

8. A system including a mobile terminal device and a positioning device that positions the terminal device, The terminal device a first transmitter that emits a UWB signal, which is an ultra-wideband wireless signal; a first receiving unit that receives a UWB signal from the positioning device; a first measuring unit that measures the distance to the positioning device and the direction in which the positioning device is located, based on the UWB signal received by the first receiving unit; Equipped with The positioning device is a second transmitter that emits a UWB signal; a second receiving unit that receives a UWB signal from the terminal device; a second measuring unit that measures the distance to the terminal device and the direction in which the terminal device is located, based on the UWB signal received by the second receiving unit; an acquisition unit that acquires a first measurement result, which is a measurement result by the first measurement unit, from the terminal device; a positioning unit that positions the terminal device based on at least one of the first measurement result and a second measurement result that is a measurement result by the second measurement unit; Equipped with system.

9. A positioning program that causes a computer to function as a positioning device that measures the position of a mobile terminal device, The computer The terminal device is a device to be positioned, the device comprising: a first transmitter that emits a UWB signal, which is an ultra-wideband wireless signal; a first receiver that receives the UWB signal from the positioning device; and a measurement unit that measures the distance to the positioning device and the direction in which the positioning device is located, based on the UWB signal received by the first receiver; a second transmitting unit that transmits an UWB signal and a second receiving unit that receives the UWB signal from the terminal device, The computer, a measurement process for measuring a distance to the terminal device and a direction in which the terminal device is located, based on the UWB signal received by the second receiving unit; an acquisition process of acquiring a first measurement result, which is a measurement result by the measurement unit, from the terminal device; a positioning process for determining the position of the terminal device based on at least one of the first measurement result and a second measurement result that is a measurement result in the measurement process; Execute Positioning program.

10. A positioning method for positioning a mobile terminal device using a positioning device, comprising: a first transmitting step in which the terminal device transmits a UWB signal, which is an ultra-wideband wireless signal; a second transmitting step in which the positioning device emits an UWB signal; a first receiving step in which the terminal device receives a UWB signal from the positioning device; a first measurement step in which the terminal device measures a distance to the positioning device and a direction in which the positioning device is located, based on the UWB signal received in the first reception step; a second receiving step in which the positioning device receives a UWB signal from the terminal device; a second measurement step in which the positioning device measures a distance to the terminal device and a direction in which the terminal device is located, based on the UWB signal received in the second reception step; an acquisition step in which the positioning device acquires a first measurement result, which is a measurement result in the first measurement step, from the terminal device; a positioning step in which the positioning device positions the terminal device based on at least one of the first measurement result and a second measurement result that is a measurement result in the second measurement step; Including, Positioning method.

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