Monitoring device, location detection method, program, and location detection system

Abstract

To provide a technology that optimizes the balance between positioning accuracy and power consumption in monitored devices, thereby efficiently acquiring highly accurate location information while improving battery life. [Solution] The monitored terminal includes a first positioning unit 11 that measures position with low power consumption, a second positioning unit 12 that measures position with high accuracy, a positioning switching unit 13 that controls the operation of the second positioning unit 12 according to the error in the position obtained by the first positioning unit 11, and a transmission unit 14 that transmits at least one of the acquired positions to the server.

Description

Technical Field

[0001] The present invention relates to a monitored terminal for detecting the position of a monitored person, a position detection method, a program, and a position detection system.

Background Art

[0002] In recent years, for the purpose of ensuring the safety of children and the elderly, etc., and tracking articles in logistics, monitoring terminals using GPS (Global Positioning System) have become widely popular. However, positioning using GPS has problems such as a large positioning error or difficulty in positioning itself in an environment where radio waves from GPS satellites are difficult to reach, such as indoors or in a shopping arcade.

[0003] In order to solve such problems, indoor positioning technologies using wireless communication technologies such as Wi-Fi (Wireless Fidelity) and BLE (Bluetooth Low Energy) have been proposed. For example, Patent Document 1 discloses a technology for acquiring position information by switching a plurality of wireless technologies.

[0004] However, in conventional positioning using BLE, sufficient positioning accuracy may not always be obtained. On the other hand, wireless technologies capable of high-precision positioning such as UWB (Ultra Wide Band) have the problem of high power consumption, and continuous use is not realistic from the perspective of the battery life of the monitored terminal. Also, regarding specific threshold settings for appropriately switching between low-power consumption positioning and high-precision positioning according to the required level of positioning accuracy and the surrounding environment, and a method for dynamically optimizing the threshold, there is still room for improvement. Furthermore, the installation cost and operation load of the anchor device may also be a barrier to introduction.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

[0006] The present invention aims to provide a technology that can suppress the power consumption of a monitored terminal and improve its battery life. [Means for solving the problem]

[0007] To solve the above problems, a monitoring terminal according to one aspect of the present invention is: A first positioning unit that acquires the location of the person being monitored with low power consumption, A second positioning unit that acquires the location of the person being monitored with high precision, A positioning switching unit that activates the second positioning unit when the position error obtained by the first positioning unit exceeds a predetermined threshold, and stops the second positioning unit after acquiring the position, A transmission unit that sends at least one acquisition location to the server. It is characterized by having the following features. [Effects of the Invention]

[0008] According to the present invention, it is possible to improve battery life. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram showing the overall configuration of a position detection system according to one embodiment of the present invention. [Figure 2] Figure 1 is a block diagram showing an example of the hardware configuration of a monitored terminal. [Figure 3] Figure 1 is a flowchart showing an example of the positioning switching process in a monitored terminal. [Figure 4] This is an example of a graph showing the history of positional errors and the updating of predetermined thresholds according to this embodiment. [Figure 5]This is an example of a time chart showing the operating timing in the power saving control according to this embodiment. [Figure 6] Figure 1 is a block diagram showing an example of the functional configuration of the positioning switching unit. [Figure 7] This is an example of a sequence diagram showing the priority determination process when the anchor device according to this embodiment is the master terminal. [Figure 8] This figure schematically illustrates the principle of AoA positioning by the first positioning unit according to this embodiment. [Figure 9] This figure schematically illustrates the principle of RTT distance measurement by the second positioning unit according to this embodiment. [Figure 10] This figure shows an example of a location information screen displayed on the parent terminal according to this embodiment. [Figure 11] This is a block diagram illustrating the concept of calculating a confidence score related to one embodiment of the present invention. [Figure 12] This is a block diagram showing the main functional configuration of a server relating to one embodiment of the present invention. [Modes for carrying out the invention]

[0010] Embodiments of the present invention will be described in detail below with reference to the drawings. In each drawing, identical or corresponding components are denoted by the same reference numerals, and redundant explanations will be omitted as appropriate.

[0011] (Overview of the entire system) Figure 1 is a schematic diagram showing the overall configuration of a location detection system 1 according to one embodiment of the present invention. The location detection system 1 comprises at least one monitored terminal 10, a plurality of anchor devices 20 (20a, 20b, 20c, etc.), and a server 30. These are connected to each other via a network NW (e.g., the Internet, a mobile phone network, a LAN (Local Area Network)) as appropriate. Parents and administrators can access the server 30 via the network NW using their own terminal (hereinafter referred to as the parent terminal 40) to check location information.

[0012] The watched terminal 10 is a terminal held or worn by a person under watch (e.g., a child, an elderly person, a pet, or an important item, etc.). As will be described later, the watched terminal 10 has a function of measuring its own position and transmitting the position information to the server 30.

[0013] The anchor device 20 is a device serving as a reference point for assisting in the position measurement of the watched terminal 10. The anchor device 20 may be a dedicated beacon terminal fixedly installed, or may be a general-purpose portable terminal such as a smartphone.

[0014] The server 30 receives, stores the position information transmitted from the watched terminal 10, and provides it to the guardian terminal 40 as necessary. Further, the server 30 may have functions of managing the operation settings of the watched terminal 10 and assisting in arithmetic processing for improving the positioning accuracy. FIG. 12 shows an example of the main functional configuration of such a server 30, including a communication unit 301, a data reception unit 302, a data storage unit 303, a position information processing unit 304, a learning model management unit 305, a display control information generation unit 306, an operation log analysis unit 307, a data transmission unit 308, etc. These will be described later.

[0015] This position detection system 1 is generally assumed to be provided or its operation is managed collectively by a single service provider for the watched terminal 10, the server 30, and related applications (for the guardian terminal 40). Thereby, the integrity of the entire system is maintained, and users can receive smooth services.

[0016] (Description of the hardware configuration of the watched terminal) FIG. 2 is a block diagram showing the hardware configuration of the watched terminal 10 according to this embodiment. The watched terminal 10 includes a control unit 100, a storage unit 101, a first positioning unit 11, a second positioning unit 12, a positioning switching unit 13, a transmission unit 14, a power supply unit 102, various sensors 103, etc.

[0017] The control unit 100 consists of a CPU (Central Processing Unit), an MPU (Micro Processing Unit), etc., and comprehensively controls the operation of the entire monitored terminal 10 by executing programs stored in the memory unit 101.

[0018] The memory unit 101 consists of storage media such as ROM (Read Only Memory), RAM (Random Access Memory), and flash memory, and stores programs executed by the control unit 100, data necessary for processing, and positional information obtained.

[0019] The first positioning unit 11 is a positioning means for acquiring the location of the person being monitored with low power consumption. The second positioning unit 12 is a positioning means for acquiring the location of the person being monitored with high accuracy. The positioning switching unit 13 has the function of activating the second positioning unit 12 when the position error obtained by the first positioning unit 11 exceeds a predetermined threshold, and stopping the second positioning unit 12 after the position has been acquired. The transmission unit 14 has the function of transmitting location information acquired by the first positioning unit 11 or the second positioning unit 12, or information associated therewith, to the server 30 via the network NW.

[0020] The power supply unit 102 includes a battery (for example, a lithium-ion battery) and supplies power to each part of the monitored terminal 10. The control unit 100 monitors the remaining power of the power supply unit 102 and can perform power saving control as described later.

[0021] The various sensors 103 include, for example, an accelerometer, a gyroscope, and a geomagnetic sensor, and are used to detect the movement and state of the person being monitored. For example, based on the output from the accelerometer, it is possible to determine whether the person being monitored is stationary or moving.

[0022] These functions, including the first positioning unit 11, the second positioning unit 12, the positioning switching unit 13, the transmission unit 14, and the control unit and learning unit described later, may be software-based functional blocks realized by the control unit 100 executing a specific program stored in the memory unit 101, or they may be implemented as dedicated hardware circuits (e.g., ASIC: Application Specific Integrated Circuit).

[0023] It should be noted that the "first positioning unit" and the "second positioning unit" do not necessarily refer to physically separate hardware components. For example, a single wireless communication chipset or processor may provide both low-power positioning functionality (as the first positioning unit) and high-precision positioning functionality (as the second positioning unit) by switching its operating mode. The important point is that two positioning functions with different principles or performance characteristics are provided.

[0024] (Explanation of the first positioning unit) The first positioning unit 11 acquires the approximate location (rough position) of the monitored terminal 10 using low-power wireless communication technology. In this embodiment, the first positioning unit 11 is configured as a low-power wireless unit that uses BLE (Bluetooth Low Energy) and calculates the position, particularly using the AoA (Angle of Arrival) method (corresponding to Appendix 2).

[0025] Specifically, as shown in Figure 8, the first positioning unit 11 is equipped with multiple antennas ANT1 (for example, an array antenna) and receives BLE signals SIG1 transmitted from surrounding anchor devices 20 (in this case, functioning as BLE beacons). Based on the phase difference of the signals SIG1 received by each antenna element, it calculates the arrival angle θ of the signals from each anchor device 20. If arrival angle information is obtained from three or more anchor devices 20, the two-dimensional or three-dimensional position P1 of the monitored terminal 10 can be calculated using the principles of triangulation or trilateration. For example, by setting the antenna spacing to half the wavelength λ of the BLE signal (λ / 2), the arrival angle can be estimated with high accuracy.

[0026] Positioning by the first positioning unit 11 can be performed with relatively low power consumption, but it is susceptible to the influence of the surrounding radio wave environment (reflection, shielding, etc.), and the positioning error may be several meters to more than ten meters. The position obtained by this positioning is denoted as P1.

[0027] (Supplementary information on intermediate and lower-level concepts related to the higher-level concept of "acquiring data with low power consumption") "Acquiring with low power consumption" refers to a positioning method in which the current consumption per positioning operation is below a predetermined value (e.g., 10mA or less). In addition to BLE AoA, other positioning methods such as the fingerprinting method using Wi-Fi's RSSI (Received Signal Strength Indication), other low-power wireless communication standards such as Zigbee®, or the power-saving mode of GNSS (Global Navigation Satellite System, a general term for satellite positioning systems including GPS) can also be used as the first positioning unit 11.

[0028] (Explanation of the second positioning unit) The second positioning unit 12 acquires the position of the monitored terminal 10 with higher accuracy than the first positioning unit 11. In this embodiment, the second positioning unit 12 is configured as a round-trip time measurement unit using ultra-wideband radio, which calculates the distance to the anchor device 20 by measuring RTT (Round Trip Time) or ToF (Time of Flight) using UWB (Ultra Wide Band) communication and determines the position based on this (corresponding to Appendix 3).

[0029] Specifically, as shown in Figure 9, when activated by the positioning switching unit 13, the second positioning unit 12 transmits and receives UWB signals SIG2 with surrounding anchor devices 20 (which function as UWB anchors in this case). For example, the system measures the round-trip signal time T_rtt from the time the monitored terminal 10 sends a signal to the anchor device 20 (Tx), the anchor device 20 receives it and sends a response signal back (Rx→Tx), and the monitored terminal 10 receives that response signal (Rx). By correcting for signal propagation delay and other factors from this round-trip time T_rtt and multiplying by the speed of light c, the precise distance D between each anchor device 20 is calculated (D=c×T_rtt / 2, etc.). If the distances to three or more anchor devices 20 are known, the highly accurate position P2 of the monitored terminal 10 can be calculated using the principle of trilateration. Positioning using UWB generally provides high positioning accuracy of several centimeters to tens of centimeters (e.g., less than 1m).

[0030] However, UWB communication consumes more power than BLE and other technologies, making continuous operation disadvantageous from a battery life perspective. Let's call the position obtained using this method P2.

[0031] (Supplementary information on intermediate and subordinate concepts to the higher-level concept of "acquiring with high accuracy") "Acquiring with high accuracy" refers to a positioning method in which, for example, the 90th percentile value of the positioning error is less than 1 meter. In addition to UWB RTT, other methods such as Wi-Fi RTT (IEEE 802.11mc), positioning methods using sound waves (ultrasound), or high-precision GNSS (RTK-GNSS, etc.) can also be used as the second positioning unit 12.

[0032] (Explanation of the positioning switching unit) Figure 3 is a flowchart of the positioning switching process performed by the positioning switching unit 13. Figure 6 shows an example of a functional block diagram of the positioning switching unit 13. The positioning switching unit 13 can functionally include an error estimation unit 131, a comparison unit 132, a start / stop control unit 133, a learning unit 134, a timer 135, and the like.

[0033] Here, "activating the second positioning unit" means transitioning the second positioning unit to an active state in which it can perform key operations for acquiring high-precision location information (e.g., sending and receiving UWB signals and distance calculation), and this includes not only physical power-on but also recovery from sleep or low-power standby states. Furthermore, "stopping the second positioning unit" means transitioning the second positioning unit to a state in which it does not perform the aforementioned key operations, i.e., an idle state, sleep state, low-power standby state, or a state where power consumption is substantially suppressed.

[0034] First, the first positioning unit 11 periodically acquires the rough position P1 of the monitored terminal 10 (for example, at 10-second intervals) (step S301). Next, the error estimation unit 131 estimates the error σ of the acquired coarse position P1 (step S302). In this specification, "error of position obtained by the first positioning unit" broadly encompasses accuracy indicators that show the reliability, certainty, or precision of the position information obtained by the first positioning unit, and can be embodied, for example, as shown in Figure 11, as a confidence score calculated by the confidence score calculation unit 1100. The confidence score calculation unit 1100 accepts at least one, preferably multiple, of the following as inputs: (a) accuracy-related information 1101 output by the first positioning unit 11 itself (e.g., stability of received signal strength in BLE positioning, number of available anchors, geometry information, angle of arrival resolution and signal quality in AoA positioning, number of received satellites and DOP value in GPS positioning); (b) temporal and spatial consistency with past positioning history 1102 stored in the memory unit 101 (e.g., validity of movement speed and distance from the previous positioning position, detection of position jumps); and (c) other onboard sensor information 1103 from various sensors 103 (e.g., presence or absence of position fluctuation in a stationary state as determined by the acceleration sensor, consistency between activity state and position change). The confidence score calculation unit 1100 then calculates a final confidence score 1104 by, for example, adding these inputs with predetermined weights, or by evaluating them using a rule engine that increases or decreases the score when certain conditions are met. The lower this confidence score, the larger the error or the lower the reliability is judged to be. Therefore, a configuration in which the quality of position information obtained by the first positioning unit is evaluated based on such a confidence score, and the second positioning unit is activated if the evaluation result does not meet a predetermined standard (threshold), is included in the technical concept of the present invention. Specific methods for estimating the error σ include, for example, using the difference between P2 when high-precision positioning (positioning by the second positioning unit 12) was performed last time and P1 acquired immediately before that, estimating from the signal strength from multiple anchor devices 20 and the degree of variation in positioning results, or estimating by considering the movement status from information such as acceleration sensors. Alternatively, the difference distance between the known coordinates of the nearest anchor device 20 and P1 may simply be treated as the error (corresponding to Appendix 9).

[0035] The comparison unit 132 compares the estimated error σ (or confidence score 1104) with a predetermined threshold σ_th stored in the storage unit 101 (step S303). Alternatively, if the distance traveled from the previously acquired rough position P1_prev |P1 - P1_prev| exceeds another predetermined threshold d_th, this may also be included as a condition for determining that the error is large (or the confidence level is low).

[0036] If the estimated error σ exceeds a predetermined threshold σ_th (YES in step S303), or if the travel distance exceeds a threshold d_th, the start / stop control unit 133 starts the second positioning unit 12 (step S304). The second positioning unit 12 acquires a highly accurate position P2 (step S305). After acquiring the position P2, the start / stop control unit 133 quickly stops the second positioning unit 12 to reduce power consumption (step S306). In this case, the transmission unit 14 transmits the highly accurate position P2 to the server 30 (step S308).

[0037] On the other hand, if the estimated error σ is less than or equal to a predetermined threshold σ_th (NO in step S303), the second positioning unit 12 is not activated, and the transmission unit 14 transmits the rough position P1 to the server 30 (steps S307, S308).

[0038] The positioning switching unit 13 may include a learning unit 134 (corresponding to Appendix 4). Here, "updating by machine learning" is not limited to using a specific algorithm (e.g., neural network, decision tree, support vector machine, etc.), but encompasses any data-driven method that uses past data (history of position errors, time-series data of confidence scores, actual error data when positioning is performed by the second positioning unit, battery level, time, day of the week, the current environment of the person being monitored estimated from past behavioral patterns, activity level obtained from the accelerometer, etc.) as input features, and automatically or semi-automatically adjusts and optimizes parameters including predetermined thresholds to improve future performance (balance between positioning accuracy and power saving). This may include, for example, rule-based adaptive logic that adjusts thresholds in stages based on past error statistics. The important thing is that the system learns from past data and adapts future operating criteria based on that. This learning may be performed with the objective function of minimizing battery consumption by suppressing unnecessary activation of the second positioning unit while accurately identifying situations that require highly accurate location information. The learning unit 134 updates a predetermined threshold σ_th (and / or d_th) online using a machine learning method (for example, a lightweight machine learning model such as TinyML) based on these input features and objectives. Figure 4 is an example of a graph showing the error history and threshold updates, with time on the horizontal axis and the magnitude of the error and the threshold on the vertical axis. The learning unit 134 enables situation-adaptive threshold control, such as temporarily setting a higher threshold (making it more difficult to activate the second positioning unit) even with the same confidence score when the battery level is low, or setting a lower threshold to activate the second positioning unit even with a lower confidence score in locations or time periods where the confidence level of the first positioning unit has significantly decreased in the past. This optimizes the balance between positioning accuracy and power consumption.

[0039] Furthermore, the positioning switching unit 13 may be equipped with a timer 135 (as per Appendix 7). The timer 135 prohibits the restart of the second positioning unit 12 until a predetermined time (cool-down time T, for example, 60 seconds) has elapsed after the second positioning unit 12 has acquired a position and stopped. This suppresses the frequent starting and stopping of the second positioning unit 12 (so-called stuttering) even if the error of the first positioning unit 11 temporarily exceeds a threshold for several consecutive periods, thereby preventing unnecessary power consumption.

[0040] Furthermore, the positioning switching unit 13 may introduce hysteresis characteristics in determining whether to start or stop the second positioning unit. For example, even if the confidence score of the first positioning unit slightly exceeds a predetermined threshold (the error becomes smaller) after the second positioning unit has been started, the second positioning unit is not immediately stopped. Instead, the operation of the second positioning unit is continued until the confidence score exceeds a higher stabilization threshold or until a predetermined time has elapsed. Conversely, by providing similar hysteresis when starting the second positioning unit from a stopped state, frequent starting and stopping (chattering) near the threshold can be suppressed, improving system stability and user experience. Cooperation with the cool-down timer 135 also contributes to this stabilization.

[0041] (Explanation of the transmission unit and server processing) The transmitting unit 14 transmits location information (P1 or P2) acquired by the first positioning unit 11 or the second positioning unit 12 to the server 30 at an appropriate timing. The information to be transmitted may include not only location coordinates, but also positioning time, positioning method (first positioning unit or second positioning unit), battery level, etc.

[0042] Furthermore, the transmission unit 14 can transmit a reliability index corresponding to the acquired location to the server 30 (as per Appendix 8). The reliability index is calculated based on, for example, the estimated error σ (or reliability score 1104) itself, the number of anchor devices 20 that could be used for positioning, and the signal quality in the case of positioning by the first positioning unit 11. In the case of positioning by the second positioning unit 12, it is similarly calculated based on the number of anchors used, the geometric dilution of precision (GDOP), and the variability of the distance measurement results. The server 30 can use this reliability index to show the accuracy level of the displayed location information to the user or to filter out information with low reliability.

[0043] Server 30 stores the received location information in a database and provides it to the authorized user's guardian terminal 40 as a location information screen 1000, as shown in Figure 10. As shown in Figure 10, an icon ICN indicating the current location of the person being monitored is displayed on a map on the location information screen 1000. The display of this icon ICN changes depending on the positioning method of the received location information (whether by the first positioning unit or the second positioning unit) and the associated reliability index. For example, in the example in Figure 10, icon ICN1 based on high-precision location information from the second positioning unit is shown with a solid line and the text "High Precision" is added. On the other hand, icon ICN2 based on coarse location information from the first positioning unit is shown with a dotted line and the text "Normal Precision" is added. By changing the display in this way, guardians can identify the quality of the location information at a glance. Furthermore, buttons for switching the display of the update time, battery level, and movement history may be placed on the screen. Providing such a UI contributes to improving the usability on the guardian terminal 40.

[0044] The server 30 not only receives data, but also, as shown in Figure 12, has a display control information generation unit 306 that generates display control information to determine the display manner (color, shape, accompanying text, etc.) of the icon ICN on the map displayed on the parent terminal 40, based on the received location information and reliability index (or operation log information described later), and may have a function to transmit this information to the parent terminal 40 via the data transmission unit 308 along with the location information processed by the location information processing unit 304 (corresponding to Appendix 15). This reduces the load on the application on the parent terminal side while providing a unified UI. Furthermore, the server 30 can also have the location information processing unit 304 perform behavioral analysis based on the data stored in the data storage unit 303 and provide the results to the parent terminal. These processes are typical functions performed on the server of a service provider that provides this location detection system 1.

[0045] (Explanation of anchoring device) As mentioned above, the anchor device 20 may be a fixed-installation dedicated beacon, or it may be a general-purpose device such as a smartphone (hereinafter referred to as the master terminal SP) or a tablet terminal (corresponding to part of Appendix 13).

[0046] In particular, consider the case where at least one of the master terminal SP and the fixed terminal (dedicated beacon BC) is available as the anchor device 20 that the second positioning unit 12 (e.g., UWB) will measure distance to (corresponding to appendices 12 and 13). The positioning switching unit 13 of the monitored terminal 10 may determine whether to activate the second positioning unit 12 and the positioning parameters depending on the type of anchor device 20 that can be detected in the surroundings (e.g., only the master terminal SP, or whether the fixed terminal BC is also available). For example, control may be considered in which the second positioning unit 12 is actively activated only when a reliable master terminal SP is nearby, or in which the frequency of use of the second positioning unit 12 is increased in areas where many fixed terminals BC are installed. Figure 7 shows an example of a determination sequence when the master terminal SP is preferentially used as an anchor.

[0047] This makes it possible to achieve highly accurate positioning using a parent's smartphone or other device even in environments where dedicated anchors can only be installed in limited areas, and conversely, to enjoy more stable and highly accurate positioning in environments where dedicated anchors are installed over a wide area. This contributes to reducing anchor installation costs and improving operational flexibility.

[0048] (Explanation of variations) In addition to the embodiments described above, the present invention can be modified in various ways.

[0049] (Power saving control based on static detection) The monitored terminal 10 is equipped with various sensors 103, such as an acceleration sensor, and the control unit 100 can determine whether the monitored person is stationary based on this sensor information (corresponding to Appendix 5). If it is determined that the monitored person is stationary, the control unit 100 extends the position acquisition interval by the first positioning unit 11 beyond the normal interval (for example, from the normal 10-second interval to a 30-second interval). This reduces unnecessary positioning operations and further reduces power consumption. Figure 5 is an image of a time chart showing how the positioning interval of the first positioning unit is extended, the duty cycle of the UWB (second positioning unit) decreases, and the battery discharge curve becomes gentler when the person is stationary (mid-horizontal axis).

[0050] (Startup suppression based on residual power) The control unit 100 monitors the remaining battery power of the power supply unit 102, and if the remaining power is below a predetermined value, it can instruct the positioning switching unit 13 to suppress the activation of the second positioning unit 12 (corresponding to Appendix 6). This prevents high-precision positioning, which consumes a lot of power, from being performed when the battery level is low, and maximizes the operating time of the terminal.

[0051] (Variations in positioning methods) The first positioning unit is not limited to BLE AoA (corresponding to Appendix 2), but may use other low-power wireless technologies such as BLE RSSI. Similarly, the second positioning unit is not limited to UWB RTT (corresponding to Appendix 3), but may use other technologies such as Wi-Fi RTT or acoustic positioning, as long as they offer higher accuracy than the first positioning unit.

[0052] (Variation: Implementation using a single chipset) In this embodiment, the first positioning unit 11 and the second positioning unit 12 may be implemented by a single wireless communication chipset that implements both BLE and UWB functions. In this case, the positioning switching unit 13 normally activates only the BLE function and sets the UWB function to low-power standby mode or sleep mode. When the position error obtained by the first positioning unit exceeds a predetermined threshold, the UWB function is switched to active mode (activated) to perform high-precision positioning, and after positioning is completed, it is switched back to low-power standby mode or sleep mode (stopped).

[0053] (Variation: Sending operation logs) The transmission unit 14 may be configured to transmit to the server 30 operational log information related to the decision-making process by the positioning switching unit 13, in addition to the acquired location information and confidence index (as per Appendix 16). This operational log information includes, for example, the specific value of the accuracy index (error or confidence score 1104) calculated by the first positioning unit, the value of the predetermined threshold applied at that time, and the decision result of whether or not the second positioning unit was activated, along with its timestamp. The server 30 accumulates and analyzes this log information in the operational log analysis unit 307 shown in Figure 12, thereby gaining a detailed understanding of the operational status of the monitored terminal 10. This information can be used to optimize the service and, if necessary, as objective evidence to determine whether or not there has been a rights infringement. Such a configuration is effective in making the internal processing of the terminal observable from the outside and improving the ease of proving infringement.

[0054] (Variation example: Rule-based implementation) The learning unit 134 may be implemented as a rule engine instead of using an advanced machine learning model. For example, it may store a set of rules such as "If the average confidence score for the last 10 activations of the second positioning unit falls below X, lower the threshold by Δσ" or "If the number of activations of the second positioning unit in the last 24 hours exceeds Y, raise the threshold by Δσ," and apply these rules based on the error history L (or confidence score history) to gradually update the predetermined threshold σ_th. This also falls within the scope of the present invention, as it adjusts the threshold based on the error history.

[0055] (Variation: Threshold selection) The positioning switching unit 13 does not necessarily dynamically update the threshold, but may be configured to hold a plurality of pre-set thresholds (e.g., indoor threshold, outdoor threshold, high-speed movement threshold) and select and use the optimal threshold based on GPS reception status, movement speed measured by an acceleration sensor, or instructions from a server. This configuration does not "update" the threshold, but it is related to the technical concept of the present invention in that it adapts the criteria for positioning switching according to the situation.

[0056] (Example: Distributed processing architecture using cloud integration) In this embodiment, the main real-time controls in the monitored terminal 10, such as error evaluation, comparison with a threshold, and starting / stopping the second positioning unit, are basically performed by the terminal's processor. However, for functions that require more advanced information processing or large-scale data analysis, the processing may be shared with the server 30.

[0057] For example, the following configurations are possible. (1) Server-side training and distribution of machine learning models to terminals: The machine learning models and threshold parameter sets used by the learning unit 134 related to Appendix 4 are trained and optimized using advanced algorithms by the learning model management unit 305 of the server 30 (see Figure 12) using anonymized positioning data, error information (confidence score), battery consumption information, environmental information, and other big data collected from multiple monitored terminals. The server 30 distributes the latest trained model (or its difference information and updated threshold parameters) obtained as a result to each monitored terminal 10 periodically or based on a specific trigger. The monitored terminal 10 applies the received model and parameters to its own learning unit 134 and performs inference processing (error evaluation and threshold comparison) according to the local situation. (2) Advanced error analysis and environmental recognition support by the server: The location information processing unit 304 of the server 30 (see Figure 12) comprehensively analyzes sensor data (accelerometer, gyroscope, etc.), limited positioning information (e.g., Wi-Fi scan results, cell ID), and external information (e.g., detailed indoor maps, weather information, event information) transmitted from the monitored terminal 10, and performs estimation of more complex error factors (e.g., identification of multipath environments, extraction of past error occurrence patterns in specific areas) and detailed environmental recognition (e.g., accurate estimation of indoor locations including hierarchies, identification within specific commercial facilities or transportation systems). The server 30 feeds back these analysis results and environmental recognition information as auxiliary information to improve the accuracy of the error evaluation logic and threshold setting in the monitored terminal 10. The monitored terminal 10 uses this feedback information to make more accurate decisions on switching positioning means.

[0058] By adopting such a distributed processing configuration through cloud integration, it becomes possible to make advanced decisions that go beyond the limitations of the processing power and battery capacity of the monitored terminal alone. This allows the fundamental effects of the present invention, namely positioning accuracy and power saving, to be achieved at an even higher level and more robustly in a variety of usage environments.

[0059] (Torture: Selection and integration of positioning results via server linkage) In this embodiment, the monitored terminal 10 may be configured to transmit both or more positioning results from the first positioning unit 11 and the second positioning unit 12 to the server 30, without necessarily narrowing down the positioning information (or their reliability information) to a single final position within the terminal. In this case, the second positioning unit 12 does not necessarily receive strict start / stop control based on the error and threshold of the positioning switching unit 13 described in Appendix 1, but may also operate autonomously, for example, on a predetermined schedule or with a low duty cycle, and transmit its positioning results to the server 30 periodically, or together with the positioning results of the first positioning unit.

[0060] The server 30 comprehensively evaluates multiple received positioning results (e.g., data from the first positioning unit which is low power consumption but frequent, and data from the second positioning unit which is highly accurate but intermittent), along with associated reliability indicators, the activity status of the person being monitored, battery level, and surrounding environment information, and selects, integrates, or estimates the optimal location information to be provided to the guardian terminal 40 in real time. For example, while normally primarily using the location information from the first positioning unit, if newer, highly accurate location information is obtained from the second positioning unit, or if the server determines that the reliability of the first positioning unit has decreased, it switches to the location information from the second positioning unit, or integrates both with weighting.

[0061] In such a configuration, the role of the positioning switching unit 13 on the monitored terminal 10 side may be limited to basic operation control of the second positioning unit (e.g., minimum duty cycle control to prevent extreme battery consumption), or it may only change the operating mode of the second positioning unit (e.g., positioning frequency, transmission frequency) based on instructions from the server 30. However, looking at the system as a whole, by utilizing information from both the first and second positioning units and making substantially high-precision location information available depending on the situation, it aligns with the present invention's concept of solving the problem of "achieving both positioning accuracy and power saving." Such judgment, selection, and integration processing on the server side can also be broadly considered as part of the "positioning switching" function in the system of the present invention.

[0062] (Modified example: Positioning switching control using context information) In this embodiment, the positioning switching unit 13 may, in addition to comparing the position error (or confidence score) obtained by the first positioning unit 11 with a predetermined threshold, or alternatively, control the activation and deactivation of the second positioning unit 12 based on contextual information indicating the situation and environment of the person being monitored.

[0063] For example, the positioning switching unit 13 is (a) Based on information from various sensors 103 (accelerometer, gyroscope, etc.), if a sudden change in the behavior of the person being monitored (e.g., falling, collision, starting to run, remaining motionless for a long period of time), (b) When an emergency signal input is detected from a specific operating means (not shown, for example, an SOS button) provided on the terminal device 100, (c) If the reception status of the first positioning unit 11 (GPS, etc.) or information from other sensors (barometric pressure sensor, Wi-Fi module, etc.) predicts or detects an environmental change that may significantly reduce the positioning accuracy of the first positioning unit, such as entering an indoor environment or losing the GPS signal, (d) If entry into or exit from a pre-defined geofence area is detected, or (e) When a high-precision positioning request command is received from the guardian terminal 40 or the server 30, Regardless of the current error evaluation result of the first positioning unit, or by temporarily changing the error evaluation threshold, the second positioning unit 12 is activated to acquire highly accurate location information. After acquiring the location, the second positioning unit 12 is similarly stopped.

[0064] Such context-based activation control can also be combined with control based on the error (accuracy index) of the first positioning unit. For example, while normally the activation of the second positioning unit is determined based on the error and a threshold, a hybrid control approach is also conceivable in which, if a specific context like (a) to (e) above is detected, the second positioning unit is activated preferentially regardless of the magnitude of the error.

[0065] Thus, a configuration in which the high-precision positioning means is activated not only by the accuracy indicator of the first positioning unit, but also by various contextual information that contributes to ensuring the safety and improving the convenience of the person being monitored, can also be included within the scope of the technical idea of ​​the present invention, which is to optimally switch the positioning means according to the situation.

[0066] (Variation: Autonomous operation of each positioning unit and intelligent information integration and selection on the server side) In this embodiment, the first positioning unit 11 and the second positioning unit 12 of the monitored terminal 10 are not necessarily controlled solely by direct start / stop commands from the positioning switching unit 13 inside the terminal. Rather, they may be configured to perform positioning operations to a certain extent autonomously, or based on a predetermined schedule or their own operating criteria, and transmit the results to the server 30.

[0067] For example, the first positioning unit 11 performs positioning continuously or periodically with low power consumption and transmits the position information sequentially to the server 30. On the other hand, the second positioning unit 12 operates autonomously without directly relying on the error information output by the first positioning unit 11. For example, it may start up for a short time at regular intervals (e.g., every 5 minutes) to perform high-precision positioning and transmit the results, or it may evaluate the surrounding anchor environment and distance measurement quality and transmit the positioning results only if it determines that high-quality positioning is possible.

[0068] In such cases, the server 30 receives information streams from the first positioning unit 11 and a (more intermittent) information stream from the second positioning unit 12 in parallel, and comprehensively analyzes the information from both (location coordinates, timestamp, confidence index, etc.). Then, using advanced decision-making logic on the server 30 side (e.g., AI, rule-based system, context analysis), it performs processing such as selecting the final location information to be provided to the guardian terminal 40 from the results of the first positioning unit, selecting from the results of the second positioning unit, or generating a combined version of both, depending on the situation of the person being monitored and the required accuracy.

[0069] In this configuration, the role of the "positioning switching unit" within the terminal may be limited (for example, managing the basic operation schedule of each positioning unit or changing the operating mode based on instructions from the server), or it may appear to be formally non-existent. However, the system as a whole shares a common technical philosophy in that it uses low-power positioning information and high-precision positioning information as needed, thereby solving the problem of the present invention, which is to "achieve both positioning accuracy and power saving." In particular, if the decision logic on the server side includes an operation that essentially uses the information of the first positioning unit (for example, its low reliability or lack of updates for a long time) as a trigger to prioritize the use of information from the second positioning unit, then it can be interpreted that a broad "positioning switching" function is implemented distributed throughout the system.

[0070] (Modified example: Positioning switching control based on positioning quality trends) In this embodiment, the decision to activate the second positioning unit 12 by the positioning switching unit 13 does not necessarily have to be based solely on an immediate comparison between a single position error (or confidence score) obtained in each positioning event by the first positioning unit 11 and a predetermined threshold. For example, the positioning switching unit 13 stores and analyzes time-series data of multiple location data acquired by the first positioning unit 11 over a certain period in the past (e.g., the last few minutes), or accuracy indices (error and confidence score) calculated from them. Based on this stored data, (a) If the moving average of the precision index exceeds a predetermined deterioration threshold, (b) If the variance of the accuracy index exceeds a predetermined destabilization threshold, (c) If, for multiple consecutive times, any of the individual accuracy indicators fall outside the acceptable range, (d) If a clear downward trend is detected in the accuracy indicator, The system may be configured to activate the second positioning unit 12 when it detects a statistical trend that indicates the positioning quality of the first positioning unit is continuously deteriorating or becoming unstable.

[0071] This type of startup control based on trend analysis of positioning quality can suppress the frequent startup and shutdown of the second positioning unit in response to momentary large errors in individual positioning events (e.g., temporary radio interference or multipath effects), thereby contributing to more stable system operation and overall power consumption efficiency. Even in this case, it is essentially related to the technical concept of the present invention, as it switches to the high-precision positioning means triggered by the positioning quality (error in a broad sense) of the first positioning unit no longer meeting predetermined criteria (statistical threshold or trend pattern).

[0072] (Example: Positioning switching control based on server instructions) In this embodiment, the activation and deactivation of the second positioning unit 12 does not necessarily have to be based solely on autonomous decisions made by the positioning switching unit 13 inside the monitored terminal 10, but may be configured to be performed based on instructions from the server 30.

[0073] For example, the monitored terminal 10 periodically transmits location information (and / or related accuracy indicators) acquired by the first positioning unit 11 to the server 30. The server 30 comprehensively analyzes this received information, requests from the guardian terminal 40, or other external information (e.g., geofence information, the monitored person's schedule, past behavior patterns), and if it determines that highly accurate location information is required, it sends an instruction command to the monitored terminal 10 to activate the second positioning unit 12 and perform positioning.

[0074] The monitored terminal 10 receives this instruction command, activates the second positioning unit 12, acquires highly accurate location information, and transmits it to the server 30. The second positioning unit 12 is stopped in the same manner when it receives a stop command from the server 30, or when it reaches a predetermined number of positioning measurements or operating time specified by the server 30. In this configuration, the role of the positioning switching unit 13 within the monitored terminal 10 is primarily to interpret instructions from the server 30 and control the hardware of the second positioning unit 12. Even in this case, the system as a whole starts and stops the second positioning unit based on information from the first positioning unit (evaluated on the server side) and a judgment on the necessity of high-precision positioning according to the situation, and as a result contributes to solving the problem of the present invention, which is to achieve both positioning accuracy and power saving. In particular, if the judgment criteria on the server side substantially use information from the first positioning unit (for example, its low reliability or approach to an important area) as the main trigger, this is strongly related to the technical idea of ​​the present invention.

[0075] (Variations: Predictive launch and cyclical high-precision positioning control) In this embodiment, the decision by the positioning switching unit 13 to activate the second positioning unit 12 is not necessarily limited to cases where the current error (or confidence score) from the first positioning unit 11 actually exceeds a predetermined threshold. For example, the positioning switching unit 13 may be configured to proactively activate the second positioning unit 12 when it analyzes the time-series trend of the error from the first positioning unit and predicts that there is a high probability that the error will exceed a predetermined threshold in the future. This prediction may be based on the rate of change of the error, a specific sensor pattern, or a prediction model using machine learning.

[0076] Furthermore, the operation of the second positioning unit 12 after it is activated does not necessarily stop immediately after acquiring a single piece of position information. Instead, it may continue to perform high-precision positioning for a predetermined time (e.g., 10 to 30 seconds), or it may be performed as a high-precision positioning cycle consisting of a predetermined number of intermittent positionings (e.g., 3 to 5 times). Multiple high-precision position data acquired during this cycle are processed, for example, by averaging, filtering, or selecting the most reliable data, and used as the final position information.

[0077] The second positioning unit 12 is stopped when this high-precision positioning cycle is completed, when it is determined that the quality of the location information acquired during the cycle has stabilized and the error of the first positioning unit has recovered to below a predetermined level, or based on other constraints such as the remaining battery level. Such predictive startup and cyclical high-precision positioning control are related to the technical concept of the present invention in that they secure highly accurate positioning information more proactively and stably, while suppressing unnecessary frequent startup and shutdown of the second positioning unit, thereby improving the balance between overall positioning performance and power saving.

[0078] (Implementation as a program) The present invention can also be understood as a program (Appendix 11) that causes the control unit 100 (computer) of the monitored terminal 10 to execute the position detection method including the position switching process described above. This program may be provided by recording it on a computer-readable recording medium such as the storage unit 101, or it may be distributed via a network. Specifically, the program uses a processor to execute the following steps (corresponding to Appendix 10): (a) acquire the position of the monitored person using low-power wireless communication, (b) compare the error of the position with a predetermined threshold, (c) if the threshold is exceeded, acquire the position of the monitored person using high-precision wireless communication, stop the high-precision wireless communication after acquisition, and (d) transmit at least one of the acquired positions to the server. The position detection method described in Appendix 10 assumes that real-time judgment and control regarding the position information of the monitored person are mainly performed by the processor installed in the monitored terminal 10. However, as mentioned above, in order to further enhance the effects of the present invention, a distributed processing mode in which some processing steps or auxiliary processing such as the generation and updating of judgment criteria are performed in cooperation with the processor on the server 30 side may also be included.

[0079] Furthermore, it can also be understood as a program (Appendix 14) that receives location information of the person being monitored and information indicating whether it was acquired by the first positioning unit or the second positioning unit from the server 30 to the computer of the guardian terminal 40, and displays the location information on a map in an identifiable manner based on that information.

[0080] This invention contributes to improving the functionality of a computer (the control unit 100 of the monitored terminal 10). Specifically, 1. Reduced Processing Load and Improved Real-Time Performance: By activating the second positioning unit only when the error of the first positioning unit is large, the computational load can be significantly reduced compared to when high-precision positioning is always performed. This allows even small terminals with limited processing power to achieve both near real-time location information updates and power-saving operation. In particular, dynamic threshold updates using machine learning (Appendix 4) enhance adaptability to environmental changes, further suppress unnecessary high-precision positioning, and improve real-time performance and processing efficiency. 2. Reduced Power Consumption (Improved Battery Life): The reduction in processing load described above directly leads to reduced power consumption, extending the operating time of battery-powered devices. Extending the positioning interval based on stationary detection (Note 5), suppressing high-precision positioning according to battery level (Note 6), and a cool-down timer (Note 7) further enhance this effect. 3. Data Structure and Communication Volume Reduction: Instead of always transmitting high-precision location data, transmitting high-precision data only when necessary and normally transmitting coarse location data (which may be smaller in size) can potentially reduce communication volume. Adding reliability indicators (Appendix 8) and operation log information (configuration corresponding to Appendix 16) can also improve data processing efficiency on the server side. 4. Improved Usability: For users (parents and administrators), convenience is improved by reducing the frequency of battery replacement and charging of the device. In addition, a sense of security is increased because location information can be obtained with optimal accuracy depending on the situation. Making smartphones usable as anchor devices (Appendix 13) lowers the barrier to system implementation and improves usability. Furthermore, as shown in Figure 10, by displaying the positioning method and reliability in an identifiable way in the UI of the parent terminal 40, users can intuitively grasp the quality of location information, improving usability (corresponding to Appendix 14).

[0081] Although embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various design modifications are possible without departing from the spirit of the invention. For example, each component and processing step described in each embodiment can be combined as appropriate within a non-contradictory range.

[0082] 《Summary (Addendum)》 [General tasks] To improve power efficiency in the monitored terminal. To achieve both positioning accuracy and power saving in wireless communication terminals.

[0083] [Issues corresponding to Appendix 1] In monitored devices, it is necessary to suppress power consumption while ensuring positioning accuracy. [Note 1] (Note 1) A first positioning unit that acquires the location of the person being monitored with low power consumption, A second positioning unit that acquires the location of the person being monitored with high precision, A positioning switching unit that activates the second positioning unit when the position error obtained by the first positioning unit exceeds a predetermined threshold, and stops the second positioning unit after acquiring the position, A transmission unit that sends at least one acquisition location to the server, A monitoring terminal equipped with the following features. (Effects of Appendix 1) Normally, positioning is performed using the low-power first positioning unit, and the high-precision second positioning unit is used only when the error is large, thus achieving the required accuracy while keeping overall power consumption down. Here, "error" broadly encompasses accuracy indicators (e.g., a confidence score combining multiple pieces of information) that indicate the reliability, certainty, or accuracy of the location information obtained by the first positioning unit. Furthermore, "first positioning unit" and "second positioning unit" are functional distinctions and include configurations in which a single piece of hardware switches modes. In addition, "startup" and "shutdown" refer to transitions between an active state and an inactive state (including a low-power standby state) in which power consumption substantially changes. The "positioning switching unit" is typically provided within the monitored terminal and directly controls the startup and shutdown of the second positioning unit based on the error of the first positioning unit and a predetermined threshold, but the technical concept of the present invention is not necessarily limited to this specific control architecture. For example, an information processing system in which the first positioning unit and the second positioning unit each autonomously collect and transmit information, and a server that receives this information preferentially uses the information from the second positioning unit, or integrates both pieces of information to generate final location information, is also within the scope of solving the problems of the present invention. In this system, the high-precision positioning information is used in a manner that is essentially in accordance with the error (accuracy index) of the first positioning unit. Furthermore, the "positioning switching unit" may also include a mode in which, while using a comparison of the position error obtained by the first positioning unit with a predetermined threshold as the basic judgment criterion, it also considers other contextual information such as the behavior of the person being monitored, the surrounding environment, or instructions from the outside, as a supplementary or preferential consideration to control the activation and deactivation of the second positioning unit. Furthermore, "when the position error obtained by the first positioning unit exceeds a predetermined threshold" may include not only cases where the current error exceeds the threshold, but also cases where an increase in the error is predicted and it is determined that the probability of it substantially exceeding the threshold has increased, or cases where it is detected that a statistical error index or quality degradation trend derived from multiple positioning results over a certain period in the past has exceeded a predetermined standard. In addition, "stopping the second positioning unit after acquiring the position" may include not only stopping immediately after acquiring a single position, but also stopping after a predetermined time or a predetermined number of positioning cycles have been completed, thus effectively ending operation after achieving the objective of high-precision positioning.This enables more flexible and effective control over switching between positioning methods.

[0084] [Issues corresponding to Appendix 2] For the first positioning unit, a low-power positioning method is required that is less expensive and easier to implement. [Note 2] (Note 2) The monitoring terminal described in Appendix 1, The first positioning unit is a low-power wireless unit that calculates the position based on the angle of arrival of the received signal. A monitoring device. (Effects due to Appendix 2) Low-power positioning can be achieved with relatively simple configurations such as BLE AoA.

[0085] [Issues corresponding to Appendix 3] The second positioning unit requires a highly reliable high-precision positioning method. [Note 3] (Note 3) The monitoring terminal described in Appendix 1, The second positioning unit is a round-trip time measurement unit using ultra-wideband wireless communication. A monitoring device. (Effects of Appendix 3) It enables highly accurate positioning, such as UWB RTT.

[0086] [Issues corresponding to Appendix 4] The threshold for switching positioning needs to be optimized according to the environment and circumstances. [Note 4] (Note 4) The monitoring terminal described in Appendix 1, The positioning switching unit includes a learning unit that updates the predetermined threshold based on the history of position errors using machine learning. A monitoring device. (Effects of Appendix 4) Machine learning can dynamically optimize thresholds, allowing for a more sophisticated balance between positioning accuracy and power efficiency. Here, "updating by machine learning" broadly encompasses data-driven adjustment methods, including rule-based adaptive logic (e.g., situational adaptive threshold control that considers battery status and environmental information).

[0087] [Issues corresponding to Appendix 5] We want to reduce unnecessary power consumption when the person being monitored is stationary. [Note 5] (Note 5) The monitoring terminal described in Appendix 1, Accelerometer and A control unit that extends the position acquisition interval of the first positioning unit when it is determined that the person being monitored is stationary based on the output of the acceleration sensor, A monitoring terminal equipped with the following features. (Effects of Appendix 5) Reducing the positioning frequency while stationary allows for further power savings.

[0088] [Issues corresponding to Appendix 6] When the battery level is low, we want to avoid the sudden power consumption caused by high-precision positioning. [Note 6] (Note 6) The monitoring terminal described in Appendix 1, The positioning switching unit suppresses the activation of the second positioning unit when the remaining power is below a predetermined value. A monitoring device. (Effects of Appendix 6) This can prevent battery depletion and extend the device's operating time.

[0089] [Issues corresponding to Appendix 7] We want to avoid the second positioning unit frequently starting and stopping in a short period of time. [Note 7] (Note 7) The monitoring terminal described in Appendix 1, The positioning switching unit includes a timer that prohibits the restart of the second positioning unit for a predetermined period of time after the second positioning unit has acquired its position. A monitoring device. (Effects of Appendix 7) This reduces fluctuations in the second positioning unit, thereby decreasing unnecessary power consumption and processing load. The introduction of hysteresis characteristics also contributes to this effect.

[0090] [Issues corresponding to Appendix 8] We want to be able to determine the reliability of the location information on the server side. [Note 8] (Note 8) The monitoring terminal described in Appendix 1, The transmission unit transmits a confidence index corresponding to the acquired location to the server. A monitoring device. (Effects of Appendix 8) The server can process and display location information according to its quality.

[0091] [Issues corresponding to Appendix 9] I would like to provide a specific definition of the error in location information. [Note 9] (Note 9) The monitoring terminal described in Appendix 1, The positioning switching unit uses, as the position error obtained by the first positioning unit, at least one of the following: the difference distance between the estimated position calculated by the first positioning unit and the coordinates of the nearest anchor device, or the history of the difference between the position obtained by the first positioning unit and the position obtained by the second positioning unit. A monitoring device. (Effects of Appendix 9) This clarifies the technical meaning of "error" and aids in the interpretation of the scope of rights. This could be a broader form of confidence score.

[0092] [Issues corresponding to Appendix 10] An efficient method for detecting the location of the person being monitored is needed. [Note 10] (Note 10) The processor, A step of obtaining the location of the person being monitored using low-power wireless technology, The steps include comparing the error in the acquired position with a predetermined threshold, If the error exceeds the predetermined threshold, the high-precision wireless communication is used to acquire the position of the person being monitored, and the high-precision wireless communication is stopped after the position is acquired. The steps include sending at least one of the acquired locations to the server, A method for detecting location, which is used to perform this operation. (Effects of Appendix 10) By appropriately switching positioning methods, the processor can achieve both efficient location detection and power saving. This method is primarily intended for execution on the terminal side, but distributed processing with a server is not ruled out.

[0093] [Issues corresponding to Appendix 11] A program is needed to execute the above position detection method on a computer. [Note 11] (Note 11) A program to cause a computer to execute the position detection method described in Appendix 10. (Effects of Appendix 11) By installing it on a computer, the above efficient location detection method can be realized.

[0094] [Issues corresponding to Appendix 12] The entire system, including the monitored terminal, anchoring device, and server, needs to achieve efficient location detection. [Note 12] (Note 12) The monitoring terminal described in Appendix 1, The second positioning unit of the monitored terminal and an anchor device that performs distance measurement response, A server that receives location information of the person being monitored transmitted from the monitoring terminal, A position detection system equipped with the following features. (Effects of Appendix 12) The system as a whole can efficiently and accurately detect and manage the location of the person being monitored.

[0095] [Issues corresponding to Appendix 13] In position detection systems, we want to enable flexible operation depending on the type of anchor device. [Note 13] (Note 13) The position detection system described in Appendix 12, The anchor device includes at least one of a master terminal and a fixed terminal, The monitored terminal determines whether or not to activate the second positioning unit according to the type of anchor device that can be detected. Location detection system. (Effects of Appendix 13) This enables the operation of a flexible, high-precision positioning system that is less affected by the installation status of dedicated anchors.

[0096] [Issues corresponding to Appendix 14] We want to make it easy for users to identify the quality of the location information received on their parental devices. [Note 14] (Note 14) On the computer, The process involves receiving from a designated server the location information of the person being monitored, acquired by the monitored terminal, and information indicating whether the location information was acquired by a first positioning unit that acquires information with low power consumption or a second positioning unit that acquires information with high accuracy. The steps include: when displaying the received location information on a map, displaying the location information acquired by the first positioning unit and the location information acquired by the second positioning unit on the display unit in a manner that allows for identification based on the information; A program to execute. (Effects of Appendix 14) By clearly displaying the location information's positioning method (or reliability) on the parent's device, parents can more accurately understand the situation of the person they are monitoring.

[0097] [Issues corresponding to Appendix 15] In location detection systems, we aim to improve convenience for parents by having the server more actively participate in providing information. [Note 15] (Note 15) The position detection system described in Appendix 12, The server receives location information transmitted from the monitored terminal, and information indicating whether the location information was acquired by the first positioning unit or the second positioning unit. Based on the aforementioned information, when transmitting the location information to the parent terminal, display control information is generated to display the location information acquired by the first positioning unit and the location information acquired by the second positioning unit in a manner that allows for identification. Location detection system. (Effects of Appendix 15) By having the server generate display control information, it is possible to reduce the load on parental devices while providing a unified identification display.

[0098] [Issues corresponding to Appendix 16] In our location detection system, we want to monitor the operating status of terminals on the server side to improve service quality and assist in the exercise of rights. [Note 16] (Note 16) A position detection system as described in Appendix 12 or 15, The server receives, stores, or analyzes operation log information related to the decision-making process by the positioning switching unit from the monitored terminal. Location detection system. (Effects of Appendix 16) By collecting and analyzing operation logs, the server contributes to verifying system operation, optimizing services, and securing objective evidence for the exercise of rights as needed. [Explanation of Symbols]

[0099] 1…Location detection system 10…Monitored device 11…First positioning unit 12...Second positioning unit 13... Positioning switching unit 14…Transmitter 20, 20a, 20b, 20c... Anchor devices 30… Server 301... (Server's) communications unit 302... (Server) Data receiving unit 303... (Server) data storage unit 304… (Server) Location Information Processing Unit 305…(Server) Learning Model Management Department 306…(Server) Display Control Information Generation Unit 307... (Server) Operation Log Analysis Department 308... (Server) Data transmission unit 40…Parental device 100... Control Unit 101...Storage section 102...Power supply section 103... Various sensors 131...Error estimation section 132...Comparison section 133...Startup / Shutdown Control Unit 134…Learning Department 135... Timer 1000…Location information screen 1100... Confidence score calculation unit 1101…Accuracy-related information 1102... Past positioning history 1103...Other onboard sensor information 1104…Confidence score ANT1…Antenna of the first positioning unit BC... Fixed terminal (beacon) D... Distance ICN, ICN1, ICN2... Icons L... Error history MAP...Map NW...Network P1...Position determined by the first positioning unit P2...Position determined by the second positioning unit SIG1…Signal from the first positioning unit (BLE signal) SIG2…Signal from the second positioning unit (UWB signal) SP... Main unit (smartphone) T... Cool-down time T_rtt… Signal round trip time θ…Arrival angle σ…Estimation error σ_th…Predetermined threshold

Claims

1. A first positioning unit that acquires the location of the person being monitored with low power consumption, A second positioning unit that acquires the location of the person being monitored with high precision, A positioning switching unit that activates the second positioning unit when the position error obtained by the first positioning unit exceeds a predetermined threshold, and stops the second positioning unit after acquiring the position, A transmission unit that sends at least one acquisition location to the server, A monitoring terminal equipped with the following features.

2. A monitoring terminal according to claim 1, The first positioning unit is a low-power wireless unit that calculates the position based on the angle of arrival of the received signal. A monitoring device.

3. A monitoring terminal according to claim 1, The second positioning unit includes a round-trip time measurement unit using ultra-wideband wireless communication. A monitoring device.

4. A monitoring terminal according to claim 1, The positioning switching unit includes a learning unit that updates the predetermined threshold based on the history of position errors using machine learning. A monitoring device.

5. A monitoring terminal according to claim 1, Accelerometer and A control unit that extends the position acquisition interval of the first positioning unit when it is determined that the person being monitored is stationary based on the output of the acceleration sensor, A monitoring terminal equipped with the following features.

6. A monitoring terminal according to claim 1, The positioning switching unit suppresses the activation of the second positioning unit when the remaining power is below a predetermined value. A monitoring device.

7. A monitoring terminal according to claim 1, The positioning switching unit includes a timer that prohibits the restart of the second positioning unit for a predetermined period of time after the second positioning unit has acquired its position. A monitoring device.

8. A monitoring terminal according to claim 1, The transmission unit transmits a confidence index corresponding to the acquired location to the server. A monitoring device.

9. A monitoring terminal according to claim 1, The positioning switching unit uses, as the position error obtained by the first positioning unit, at least one of the following: the difference distance between the estimated position calculated by the first positioning unit and the coordinates of the nearest anchor device, or the history of the difference between the position obtained by the first positioning unit and the position obtained by the second positioning unit. A monitoring device.

10. The processor, A step of obtaining the location of the person being monitored using low-power wireless technology, The steps include comparing the error in the acquired position with a predetermined threshold, If the error exceeds the predetermined threshold, the high-precision wireless communication is used to acquire the position of the person being monitored, and the high-precision wireless communication is stopped after the position is acquired. The steps include sending at least one of the acquired locations to the server, A method for detecting location, which is used to perform this task.

11. A program for causing a computer to perform the position detection method described in claim 10.

12. The monitoring terminal described in claim 1, The second positioning unit of the monitored terminal and an anchor device that performs distance measurement response, A server that receives location information of the person being monitored transmitted from the monitoring terminal, A position detection system equipped with the following features.

13. A position detection system according to claim 12, The anchor device includes at least one of a master terminal and a fixed terminal, The monitored terminal determines whether or not to activate the second positioning unit according to the type of anchor device that can be detected. Location detection system.

14. On the computer, The process involves receiving from a designated server the location information of the person being monitored, acquired by the monitored terminal, and information indicating whether the location information was acquired by a first positioning unit that acquires information with low power consumption or a second positioning unit that acquires information with high accuracy. The steps include: when displaying the received location information on a map, displaying the location information acquired by the first positioning unit and the location information acquired by the second positioning unit on the display unit in a manner that allows for identification based on the information; A program to execute.

15. A position detection system according to claim 12, The server receives location information transmitted from the monitored terminal, and information indicating whether the location information was acquired by the first positioning unit or the second positioning unit. Based on the aforementioned information, when transmitting the location information to the parent terminal, display control information is generated to display the location information acquired by the first positioning unit and the location information acquired by the second positioning unit in a manner that allows for identification. Location detection system.

16. A position detection system according to claim 12 or 15, The server receives, stores, or analyzes operation log information related to the decision-making process by the positioning switching unit from the monitored terminal. Location detection system.

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