Positioning terminal, information processing device, and positioning method

Abstract

To provide a positioning terminal that prevents a reduction in the accuracy of positioning on the boundary between indoors and outdoors.SOLUTION: A positioning terminal has: a receiving unit that receives first signals from a satellite and second signals from signal generators installed on a structure; and a control unit that, based on a result of comparison between the distance between a first positioning result acquired from the first signals and a second positioning result acquired from the second signals, and the positioning accuracy of the second positioning result, outputs any one of the first positioning result and the second positioning result.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a positioning terminal, an information processing device, and a positioning method. [Background technology]

[0002] Patent Document 1 discloses a position detection system that seamlessly determines the position of a moving object at the boundary between indoors and outdoors based on positioning using positioning signals from satellites and positioning using beacon signals from signal generators installed both outdoors and indoors.

[0003] In the mobile unit of Patent Document 1, even if a positioning result is obtained by a positioning signal from a satellite, if a positioning result is obtained by a beacon signal, the positioning result by the beacon signal is adopted in preference to the positioning result by the positioning signal from the satellite. This is in consideration of the characteristic that the positioning result by the beacon signal is less likely to be disturbed compared to the positioning result by the positioning signal from the satellite at the boundary between indoors and outdoors, such as near the entrance of a building.

[0004] The positioning accuracy of the positioning result using the positioning signal from the satellite is, for example, on the order of several centimeters. The positioning accuracy of the positioning result using the beacon signal is, for example, on the order of several meters. Therefore, the positioning result using the positioning signal from the satellite generally has a higher positioning accuracy than the positioning result using the beacon signal. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-132627 A Summary of the Invention [Problem to be solved by the invention]

[0006] As described above, the mobile object of Patent Document 1 preferentially adopts the positioning result by the beacon signal even if the positioning result by the positioning signal from the satellite is obtained at the boundary between indoors and outdoors. Therefore, in Patent Document 1, even if the positioning signal from the satellite is properly received, the positioning result by the beacon signal with low accuracy is adopted, which is a problem in that the positioning accuracy of the mobile object decreases.

[0007] A non-limiting embodiment of the present disclosure contributes to providing a positioning terminal and an information processing device that can suppress a decrease in positioning accuracy at the boundary between outdoors and indoors. [Means for solving the problem]

[0008] Books A positioning terminal according to one embodiment of the disclosure has a receiving unit that receives a first signal from a satellite and a second signal from a signal generator installed in a structure, and a control unit that outputs either the first positioning result or the second positioning result based on a comparison result between a distance between a first positioning result obtained based on the first signal and a second positioning result obtained based on the second signal and the positioning accuracy of the second positioning result, and when the second positioning result is obtained and the first positioning result can no longer be obtained, the control unit outputs either the third positioning result or the second positioning result based on a comparison result between a cumulative error of a third positioning result obtained based on the most recent first positioning result and a sensor signal and the positioning accuracy. Moreover, a positioning terminal according to one embodiment of the present disclosure includes a receiving unit that receives a first signal from a satellite and a second signal from a signal generator installed in a structure, and a control unit that outputs either the first positioning result or the second positioning result based on a comparison result between a distance between a first positioning result obtained based on the first signal and a second positioning result obtained based on the second signal and the positioning accuracy of the second positioning result, and when the second positioning result is obtained and the first positioning result can no longer be obtained, the control unit outputs a third positioning result obtained based on the most recent first positioning result and a sensor signal until a predetermined time has elapsed.

[0009] BooksA positioning method according to one disclosed embodiment receives a first signal from a satellite and a second signal from a signal generator installed in a structure, and outputs either the first positioning result or the second positioning result based on a comparison result between a distance between a first positioning result obtained based on the first signal and a second positioning result obtained based on the second signal and the positioning accuracy of the second positioning result, and when the second positioning result is obtained and the first positioning result can no longer be obtained, outputs either the third positioning result or the second positioning result based on a comparison result between a cumulative error of a third positioning result obtained based on the most recent first positioning result and a sensor signal and the positioning accuracy. Moreover, a positioning method according to an embodiment of the present disclosure receives a first signal from a satellite and a second signal from a signal generator installed in a structure, and outputs either the first positioning result or the second positioning result based on a comparison result between a distance between a first positioning result obtained based on the first signal and a second positioning result obtained based on the second signal and the positioning accuracy of the second positioning result, and when the second positioning result is obtained and the first positioning result can no longer be obtained, outputs a third positioning result obtained based on the most recent first positioning result and a sensor signal until a predetermined time has elapsed.

[0010] Books An information processing device according to one embodiment of the disclosure includes a receiving unit that receives a first signal from a satellite and a second signal from a signal generator installed in a structure from a terminal that receives the first signal and the second signal, and a transmitting unit that transmits either the first positioning result or the second positioning result to the terminal based on a comparison result between a distance between a first positioning result obtained based on the first signal and a second positioning result obtained based on the second signal and the positioning accuracy of the second positioning result, and when the second positioning result is obtained and the first positioning result can no longer be obtained, the transmitting unit outputs either the third positioning result or the second positioning result based on a comparison result between a cumulative error of a third positioning result obtained based on the most recent first positioning result and a sensor signal and the positioning accuracy. Moreover, an information processing device according to one embodiment of the present disclosure includes a receiving unit that receives a first signal from a satellite and a second signal from a signal generator installed in a structure from a terminal that receives the first signal and the second signal, and a transmitting unit that transmits either the first positioning result or the second positioning result to the terminal based on a comparison result between a distance between a first positioning result obtained based on the first signal and a second positioning result obtained based on the second signal and the positioning accuracy of the second positioning result, and when the second positioning result is obtained and the first positioning result can no longer be obtained, the transmitting unit outputs a third positioning result obtained based on the most recent first positioning result and a sensor signal until a predetermined time has elapsed.

[0011] Books A positioning method according to one embodiment of the disclosure includes receiving a first signal from a satellite and a second signal from a signal generator installed in a structure from a terminal, transmitting either the first positioning result or the second positioning result to the terminal based on a comparison result between a distance between a first positioning result obtained based on the first signal and a second positioning result obtained based on the second signal and the positioning accuracy of the second positioning result, and when the second positioning result is obtained and the first positioning result can no longer be obtained, outputting either the third positioning result or the second positioning result based on a comparison result between a cumulative error of a third positioning result obtained based on the most recent first positioning result and a sensor signal and the positioning accuracy. Moreover, a positioning method according to an embodiment of the present disclosure includes receiving a first signal from a satellite and a second signal from a signal generator installed in a structure from a terminal, and transmitting either the first positioning result or the second positioning result to the terminal based on a comparison result between a distance between a first positioning result obtained based on the first signal and a second positioning result obtained based on the second signal and the positioning accuracy of the second positioning result, and when the second positioning result is obtained and the first positioning result can no longer be obtained, outputting a third positioning result obtained based on the most recent first positioning result and a sensor signal until a predetermined time has elapsed.

[0012] These comprehensive or specific aspects may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium, or may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium. Effect of the Invention

[0013] According to an embodiment of the present disclosure, it is possible to suppress a decrease in positioning accuracy at the boundary between outdoors and indoors.

[0014] Further advantages and benefits of an embodiment of the present disclosure will become apparent from the specification and drawings. Such advantages and / or benefits may be provided by some of the embodiments and features described in the specification and drawings, respectively, but not necessarily all of them may be provided to obtain one or more identical features. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram showing an example of a positioning system according to an embodiment. [Diagram 2] A diagram explaining examples of areas where RTK positioning, DR positioning, and indoor positioning results can be obtained. [Diagram 3] FIG. 1 is a diagram illustrating an example of a method for adopting RTK positioning results and indoor positioning results. [Figure 4] FIG. 1 is a diagram for explaining an example of a method for adopting a DR positioning result and an indoor positioning result. [Diagram 5] FIG. 1 is a diagram for explaining an example of a signal received by a positioning terminal; [Figure 6] A diagram showing an example of the block configuration of a positioning terminal [Figure 7] Flowchart showing an example of the operation of a positioning terminal [Figure 8] Flowchart showing an example of the operation of a positioning device for outdoor positioning (RTK positioning) [Figure 9] Flowchart showing an example of the operation of a positioning terminal in outdoor positioning (DR positioning) [Figure 10]Flowchart showing an example of operation of a positioning terminal for indoor positioning [Figure 11] A flowchart showing an example of the operation of an integrated positioning process of a positioning terminal. [Figure 12] FIG. 1 is a diagram for explaining an example of signals communicated by a positioning terminal; [Figure 13] A diagram showing an example of a block configuration of a computing server DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters or duplicate explanation of substantially the same configuration may be omitted. This is to avoid the following explanation becoming unnecessarily redundant and to facilitate understanding by those skilled in the art.

[0017] It should be noted that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0018] FIG. 1 is a diagram showing an example of a positioning system 1 according to an embodiment. The positioning system 1 has a satellite 11, signal generators 12a and 12b, and a positioning terminal (not shown). In addition to the positioning system 1, FIG. 1 shows a building A1 and a user U1. The positioning terminal is attached to or carried by the user U1. The user U1 travels between the outdoors and indoors of the building A1, for example.

[0019] The satellite 11 is, for example, a satellite of the Global Navigation Satellite System (GNSS).

[0020] The signal generator 12a is installed at the boundary between the outdoors and the indoors of the building A1. For example, the signal generator 12a may be installed under the eaves of the building A1. That is, the signal generator 12a is installed at a position where the positioning terminal can receive the positioning signal from the satellite 11 and the indoor signal from the signal generator 12a. In other words, an area is formed at the boundary between the outdoors and the indoors of the building A1 where the positioning terminal can receive the positioning signal from the satellite 11 and the indoor signal from the signal generator 12a.

[0021] The signal generator 12b is installed indoors in the building A1. For example, the signal generator 12b may be installed on the ceiling of the building A1. The signal generator 12a and the signal generator 12b wirelessly transmit indoor signals of the same format or standard.

[0022] The positioning terminal measures the position of the positioning terminal by using a positioning signal wirelessly transmitted from the satellite 11. For example, the positioning terminal measures the position of the positioning terminal by using a real-time kinematic (RTK) method.

[0023] In addition, the positioning terminal uses a DR (Dead Reckoning) method to determine the position of the positioning terminal. For example, when the positioning terminal is unable to obtain a FIX solution by the RTK method, the positioning terminal determines the position of the positioning terminal using the most recently obtained FIX solution and a sensor signal from a sensor such as an acceleration sensor or a gyro sensor.

[0024] Moreover, the positioning terminal measures the position of the positioning terminal by using indoor signals wirelessly transmitted from the signal generators 12a and 12b.

[0025] The signal generators 12a and 12b installed in the building A1 may be, for example, a WiFi (registered trademark) device, a BLE (registered trademark) device, a WiGig (registered trademark) device, or an IMES (Indoor Messaging System) device. That is, the signal generators 12a and 12b may wirelessly transmit an indoor signal based on, for example, the WiFi standard, the BLE standard, the WiGig standard, or the IMES standard.

[0026] Hereinafter, positioning using the RTK method may be referred to as RTK positioning. Positioning using the DR method may be referred to as DR positioning. Positioning using indoor signals wirelessly transmitted from the signal generators 12a and 12b may be referred to as indoor positioning.

[0027] The following describes examples of the characteristics of each of the RTK positioning, DR positioning, and indoor positioning. In the RTK positioning, a likely candidate among the float solutions, which are position candidates, is determined as a fixed solution. Since the evaluation of the certainty is performed using signals from multiple satellites, in an environment where the signals from the satellites are blocked or reflected, even outdoors, the certainty of none of the float solutions may exceed a predetermined reference value, and a fixed solution may not be identified. Therefore, near a building A1 outdoors, for example, the positioning result is likely to be a float solution due to blocking by the walls of the building A1. However, depending on the surrounding environment and the position of the satellite, a fixed solution may be obtained even in such an environment. However, the fixed solution obtained in this case may be incorrect, as it is a solution obtained as a result of mistaking a signal reflected by a wall or the like for a signal sent directly from the satellite (such an incorrect fixed solution is called a "false fixed solution").

[0028] The positioning accuracy of the FIX solution is, for example, on the order of a few centimeters. As described above, since there may be multiple Float solutions, the positioning result is not determined from the Float solution, but a value indicating a position with low accuracy can be output by outputting the most likely Float solution or outputting the average value of multiple Float solutions. In this specification, the tentative position output in this way is also called a "Float solution" unless there is a particular need to distinguish it. The positioning accuracy of this Float solution is, for example, on the order of a few meters, depending on the conditions around the building A1.

[0029] DR positioning uses sensor signals to measure (estimate) the position of the positioning terminal based on the position of the most recent FIX solution. The positioning result by DR positioning accumulates errors due to, for example, measurement errors by the sensor, and the accuracy deteriorates over time.

[0030] Indoor positioning is based on the Wifi standard, the BLE standard, the WiGig standard, IMES, etc. The accuracy of indoor positioning differs depending on the system, but is generally on the order of a few meters.

[0031] FIG. 2 is a diagram for explaining an example of an area where the positioning results of RTK positioning, DR positioning, and indoor positioning can be obtained. Note that the area shown in FIG. 2 is not a predetermined area, but an example of a schematic area for explaining the environment assumed in this embodiment, and it is very difficult to specify in a real environment. In FIG. 2, the same components as in FIG. 1 are given the same reference numerals. In FIG. 2, a user U1 moves from outdoors to indoors of a building A1. That is, the positioning terminal moves from outdoors to indoors of a building A1.

[0032] 2 indicates an area where the positioning terminal can obtain a FIX solution from the positioning signal of the satellite 11. Hereinafter, the FIX solution obtained from the positioning signal of the satellite 11 may be referred to as an RTK positioning result.

[0033] 2 indicates an area where the positioning terminal can obtain a positioning result from the indoor signals of the signal generators 12a and 12b. Hereinafter, the positioning result obtained from the indoor signals of the signal generators 12a and 12b may be referred to as an indoor positioning result.

[0034] In area A13, indicated by a double-headed arrow in FIG. 2, where area A11 and area A12 overlap, the positioning terminal can obtain two positioning results: an RTK positioning result and an indoor positioning result. In other words, in area A13, the positioning terminal can receive a positioning signal from the satellite 11 and an indoor signal from the signal generators 12a and 12b. The positioning terminal adopts (outputs) the positioning result that is estimated to have higher positioning accuracy between the RTK positioning result and the indoor positioning result, using a method to be described later.

[0035] When the positioning terminal is no longer able to obtain an RTK positioning result (fixed solution), it calculates the positioning result based on the DR positioning from the most recently adopted RTK positioning result and the sensor signal. For example, when the positioning terminal goes beyond the area A11 (or area A13) where the RTK positioning result can be obtained and the RTK positioning result can no longer be obtained, it calculates the positioning result based on the DR positioning.

[0036] Therefore, when the positioning terminal leaves the area A11 (or area A13) where the RTK positioning result can be obtained, it can obtain two positioning results: a positioning result based on DR positioning and an indoor positioning result.

[0037] The positioning terminal adopts the positioning result that is estimated to have higher positioning accuracy between the positioning result based on the DR positioning and the indoor positioning result by a method described later. Hereinafter, the positioning result obtained by the DR positioning may be referred to as the DR positioning result.

[0038] 3 is a diagram for explaining an example of a method for adopting the RTK positioning result and the indoor positioning result. The indoor positioning result A21 shown by a black circle in FIG. 3 indicates the indoor positioning result calculated by the positioning terminal from the indoor signals of the signal generators 12a and 12b.

[0039] The indoor positioning error A22 indicated by the dotted circle in Fig. 3 indicates an error of the indoor positioning result. The indoor positioning error A22 is a predetermined value, and varies depending on, for example, each method, each standard, or the performance of the signal generators 12a and 12b applied to the indoor positioning. In the example of Fig. 3, the indoor positioning error A22 of the indoor positioning result A21 is "d". The indoor positioning error A22 may be regarded as the positioning accuracy of the indoor positioning.

[0040] RTK positioning results A23 and A24 indicated by white circles and squares in FIG. 3 indicate RTK positioning results (FIX solutions) calculated by the positioning terminal from the positioning signal from the satellite 11.

[0041] Here, as described in the characteristic examples of each positioning, in the vicinity of building A1, a FIX solution may be obtained by RTK positioning, but there may be an incorrect FIX solution. That is, in area A13 shown in FIG. 3, a FIX solution is obtained by RTK positioning, but there may be an incorrect FIX solution included.

[0042] Therefore, when the positioning terminal obtains the RTK positioning result and the indoor positioning result, it calculates the distance "x" between the two positioning results and compares it with the indoor positioning error "d". When the calculated distance "x" is smaller than the indoor positioning error "d" (x < d), the positioning terminal estimates (determines) that the RTK positioning result has a low possibility of being an incorrect FIX solution and adopts the RTK positioning result. On the other hand, when the calculated distance "x" is greater than or equal to the indoor positioning error "d" (x ≥ d), the positioning terminal estimates that the RTK positioning result has a high possibility of being an incorrect FIX solution and adopts the indoor positioning result.

[0043] For example, as shown in FIG. 3, assume that the positioning terminal calculates the indoor positioning result A21 and the RTK positioning result A23. The distance between the indoor positioning result A21 and the RTK positioning result A23 is x1 (x1 < d) as shown in FIG. 3. In this case, the positioning terminal determines that the RTK positioning result has a low possibility of being an incorrect FIX solution and adopts the RTK positioning result A23 with higher positioning accuracy than the indoor positioning result A21.

[0044] On the contrary, for example, as shown in FIG. 3, assume that the positioning terminal calculates the indoor positioning result A21 and the RTK positioning result A24. The distance between the indoor positioning result A21 and the RTK positioning result A24 is x2 (x2 > d) as shown in FIG. 3. In this case, the positioning terminal determines that the RTK positioning result has a high possibility of being an incorrect FIX solution and adopts the indoor positioning result A21.

[0045] Note that as described with reference to FIG. 2, when the positioning terminal exceeds area A11 (or area A13) where the RTK positioning result can be obtained, it performs DR positioning based on the most recently adopted RTK positioning result (FIX solution) and the sensor signal, and calculates the DR positioning result. The positioning terminal adopts the positioning result that is estimated to have higher positioning accuracy between the calculated DR positioning result and the indoor positioning result.

[0046] Fig. 4 is a diagram for explaining an example of a method for adopting a DR positioning result and an indoor positioning result. Time t0 in Fig. 4 indicates the time when the positioning terminal starts DR positioning. Time t1 in Fig. 4 indicates the current time (e.g., the time when the positioning terminal calculates the DR positioning result). Time "tDR" indicates the time from time "t0" when the positioning terminal starts DR positioning to the current time "t1".

[0047] As described in the examples of the positioning characteristics, errors in the DR positioning results accumulate over time.

[0048] Therefore, when the positioning terminal obtains a DR positioning result and an indoor positioning result, it calculates (estimates) the DR cumulative error for the time "tDR" from the time when the DR positioning started to the current time, and compares it with the indoor positioning error "d". If the calculated DR cumulative error is smaller than the indoor positioning error "d", the positioning terminal estimates that the DR positioning result has less error (higher positioning accuracy) than the indoor positioning result, and adopts the DR positioning result. On the other hand, if the calculated DR cumulative error is equal to or greater than the indoor positioning error "d", the positioning terminal estimates that the DR positioning result has more error (lower positioning accuracy) than the indoor positioning result, and adopts the indoor positioning result.

[0049] For example, the amount of error per unit time of the DR cumulative error is assumed to be "a". In a real environment, the amount of error per unit time of the DR cumulative error is not a constant value, but in this embodiment, for the sake of simplicity, it is assumed to be "a". In a real environment, the amount of error per unit time "a" can be estimated from, for example, the average value of past DR cumulative errors and the characteristics of various sensors used for DR positioning. The positioning terminal multiplies the amount of error "a" by the time "tDR" from the start of DR positioning to the current time, to calculate the DR cumulative error "eDR" from the start of DR positioning to the current time.

[0050] If the calculated DR cumulative error "eDR" is smaller than the indoor positioning error "d", the positioning terminal determines that the DR positioning result has less error than the indoor positioning result and adopts the DR positioning result. On the other hand, if the calculated DR cumulative error "eDR" is equal to or larger than the indoor positioning error "d", the positioning terminal determines that the DR positioning result has more error than the indoor positioning result and adopts the indoor positioning result.

[0051] The error amount "a" of the DR cumulative error per unit time is obtained in advance from, for example, the measurement error of the sensor.

[0052] Fig. 5 is a diagram for explaining an example of a signal received by the positioning terminal 13 attached to or carried by the user U1. In Fig. 5, the same components as in Fig. 1 are given the same reference numerals.

[0053] 5, the positioning terminal 13 receives a positioning signal from a satellite 11. The positioning terminal 13 also receives reference station data from a distribution server .

[0054] The distribution server 14 is, for example, a server that provides a distribution service of reference station data used in RTK positioning. The positioning terminal 13 receives the reference station data from the distribution server 14 via a wireless network such as a mobile wireless network, and corrects the positioning signal from the satellite 11 using the received reference station data. The reference station data may also be referred to as correction data.

[0055] The distribution server 14 may distribute, for example, reference station data of an electronic reference point in the vicinity of the positioning terminal 13. Here, the electronic reference point is a reference station corresponding to the reference station data in a system including the distribution server 14. The electronic reference point may be, for example, a reference station that is actually installed, or may be a virtual reference station whose position and correction data are estimated based on information obtained from a reference station that is actually installed. In other words, the reference station data distributed from the distribution server 14 may be reference station data corresponding to the position of this electronic reference point.

[0056] The distribution server 14 may be, for example, a server of a reference station data distribution service operated by a government agency or a company. The reference station data distributed by the distribution server 14 may be generated using the positions of reference stations surveyed by a distributor and satellite signals received by the reference stations. There are various commercially available reference station data distribution services, and detailed descriptions thereof will be omitted.

[0057] The positioning terminal 13 receives indoor signals from the signal generators 12a and 12b. When the positioning terminal 13 performs positioning based on, for example, the WiFi standard, the BLE standard, or the WiGi standard, the indoor signals wirelessly transmitted from the signal generators 12a and 12b may be beacon signals. The positioning terminal 13 may perform positioning of the positioning terminal 13 by, for example, the reception strength of the beacon signal, the arrival direction of the beacon signal, or three-point positioning using the beacon signal.

[0058] Furthermore, when the positioning terminal 13 performs positioning based on, for example, IMES, the indoor signals wirelessly transmitted from the signal generators 12a and 12b may be signals based on the same protocol as that of the GNSS satellites. The positioning terminal 13 may read position information including latitude and longitude set in the signal generators 12a and 12b to position the positioning terminal 13.

[0059] Fig. 6 is a diagram showing an example of a block configuration of the positioning terminal 13. As shown in Fig. 6, the positioning terminal 13 has a processor 21, a storage unit 22, an output unit 23, a satellite signal receiving unit 24, a communication unit 25, an indoor signal receiving unit 26, and a sensor unit 27.

[0060] The processor 21 controls the entire positioning terminal 13. The processor 21 may be, for example, a processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processing).

[0061] The storage unit 22 stores a program for the processor 21 to control each unit. The storage unit 22 also stores data for the processor 21 to perform calculation processing or data for the processor 21 to control each unit. The storage unit 22 may be a storage device such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, or a HDD (Hard Disk Drive).

[0062] The output unit 23 outputs data output from the processor 21 to an output device such as a display device or an external memory. For example, the output unit 23 outputs the positioning result calculated or adopted by the processor 21 to an output device such as a display device or an external memory.

[0063] The satellite signal receiving unit 24 receives the positioning signal from the satellite 11. The satellite signal receiving unit 24 demodulates the received positioning signal and outputs it to the processor 21.

[0064] The communication unit 25 communicates with the distribution server 14 via a wireless network, such as a mobile wireless network.

[0065] The indoor signal receiving unit 26 receives the indoor signals from the signal generators 12a and 12b. The indoor signal receiving unit 26 demodulates the received indoor signals and outputs the demodulated signals to the processor 21.

[0066] The sensor unit 27 is, for example, a sensor such as an acceleration sensor or a gyro sensor. The sensor unit 27 converts a measured physical quantity into an electrical signal and outputs the electrical signal to the processor 21.

[0067] Fig. 7 is a flowchart showing an example of the operation of the positioning terminal 13. The positioning terminal 13, for example, repeatedly executes the process of the flowchart shown in Fig. 7 at a predetermined cycle.

[0068] The positioning terminal 13 performs outdoor positioning (S1). For example, the positioning terminal 13 performs RTK positioning using a positioning signal from a satellite 11. The positioning terminal 13 also performs DR positioning using the most recent RTK positioning result and a sensor signal from the sensor unit 27.

[0069] The outdoor positioning process using RTK positioning will be described in detail with reference to the flowchart in Fig. 8. The outdoor positioning process using DR positioning will be described in detail with reference to the flowchart in Fig. 9.

[0070] The positioning terminal 13 performs indoor positioning (S2). For example, the positioning terminal 13 performs indoor positioning using indoor signals from the signal generators 12a and 12b. The indoor positioning process will be described in detail with reference to the flowchart of FIG.

[0071] The positioning terminal 13 determines whether or not an indoor positioning result has been obtained by the indoor positioning of S2 (S3).

[0072] When the positioning terminal 13 determines in S3 that an indoor positioning result has not been obtained ("N" in S3), it outputs the outdoor positioning result (RTK positioning result) to the output device (S4). Note that, for example, when the positioning terminal 13 is located outdoors where the indoor signals of the signal generators 12a and 12b cannot reach, it determines that an indoor positioning result has not been obtained. Then, the positioning terminal 13 outputs, for example, the RTK positioning result obtained outdoors to the output device.

[0073] The positioning terminal 13 determines whether the outdoor positioning result acquired by the outdoor positioning of S1 is either the RTK positioning result (FIX solution) or the DR positioning result (S5).

[0074] If the positioning terminal 13 determines in S5 that either the RTK positioning result or the DR positioning result has not been obtained ("N" in S5), it outputs the indoor positioning result obtained by the indoor positioning in S2 to the output device (S6).

[0075] That is, when the positioning terminal 13 acquires an indoor positioning result ("Y" in S3) but does not acquire both the RTK positioning result and the DR positioning result ("N" in S5), it outputs the indoor positioning result acquired by the indoor positioning of S2 to the output device. For example, when the positioning terminal 13 is located indoors in a building A1 where it cannot receive a positioning signal from the satellite 11 and has ended DR positioning, it determines that an outdoor positioning result has not been acquired and outputs the indoor positioning result acquired by the indoor positioning of S2 to the output device.

[0076] When it is determined in S5 that either one of the outdoor positioning results, the RTK positioning result or the DR positioning result, has been obtained ("Y" in S5), the positioning terminal 13 performs an integrated positioning process (S7).

[0077] That is, when the positioning terminal 13 acquires an indoor positioning result ("Y" in S3) and also acquires an outdoor positioning result of either the RTK positioning result or the DR positioning result ("Y" in S5), it performs an integrated positioning process.

[0078] In addition, the integrated positioning process is a process in which, for example, when an RTK positioning result is obtained in S1 and an indoor positioning result is obtained in S2, the positioning result that is estimated to have higher positioning accuracy between the RTK positioning result and the indoor positioning result is adopted and output as the integrated positioning result.

[0079] In addition, the integrated positioning process is a process in which, for example, when a DR positioning result is acquired in S1 and an indoor positioning result is acquired in S2, one of the DR positioning result and the indoor positioning result that is estimated to have higher positioning accuracy is adopted and output as the integrated positioning result. The integrated positioning process will be described in detail with reference to the flowchart of FIG.

[0080] The positioning terminal 13 outputs the integrated positioning result generated in the integrated positioning process of S7 to an output device (S8).

[0081] 8 is a flowchart showing an example of an operation in outdoor positioning (RTK positioning) of the positioning terminal 13. The flowchart shown in FIG. 8 shows a detailed example of the operation of S1 in FIG.

[0082] The positioning terminal 13 receives a positioning signal from the satellite 11 (S11).

[0083] The positioning terminal 13 receives the reference station data from the distribution server 14 (S12).

[0084] The positioning terminal 13 calculates an RTK solution based on the positioning signal received in S11 and the reference station data received in S12 (S13).

[0085] The positioning terminal 13 sets the RTK positioning solution (RTK positioning result) calculated in S13 as the outdoor positioning result (S14). Note that, if the RTK positioning solution is not obtained in S13, the positioning terminal 13 sets the outdoor positioning result as no solution.

[0086] The positioning terminal 13 stores the outdoor positioning result of S14 in the storage unit 22 (S15).

[0087] Fig. 9 is a flowchart showing an example of operation in outdoor positioning (DR positioning) of the positioning terminal 13. The flowchart shown in Fig. 9 shows a detailed example of operation of S1 in Fig. 7. The processes of S21 to S23 in Fig. 9 are similar to those of S11 to S13 in Fig. 8, and the description thereof will be omitted.

[0088] The positioning terminal 13 judges whether the quality of the RTK positioning solution calculated in S23 is a FIX solution or not (S24).

[0089] When the positioning terminal 13 determines in S24 that the quality of the RTK positioning solution is a FIX solution ("Y" in S24), it sets the RTK positioning solution (RTK positioning result) of the FIX solution as the outdoor positioning result (S25).

[0090] If the positioning terminal 13 determines in S24 that the quality of the RTK positioning solution is not a FIX solution ("N" in S24), it determines whether the outdoor positioning result from one epoch ago is either the RTK positioning result or the DR positioning result of the FIX solution (S26).

[0091] If the positioning terminal 13 determines in S26 that the outdoor positioning result from one epoch ago is either the RTK positioning result or the DR positioning result of the FIX solution ("Y" in S26), it acquires a sensor signal from the sensor unit 27 (S27).

[0092] The positioning terminal 13 calculates a movement vector for one epoch from the sensor signal acquired in S27 (S28).

[0093] The positioning terminal 13 adds the movement vector calculated in S28 to the outdoor positioning result of one epoch before, and sets the result (that is, the DR positioning result) as the outdoor positioning result (S29).

[0094] If the positioning terminal 13 determines in S26 that the outdoor positioning result from one epoch ago is not either the RTK positioning result of the FIX solution or the DR positioning result ("N" in S26), it determines the RTK positioning solution of the Float solution as the outdoor positioning result (S30).

[0095] The positioning terminal 13 stores the outdoor positioning results obtained in the processes of S25, S29, and S30 in the storage unit 22 (S31).

[0096] 10 is a flowchart showing an example of an operation in indoor positioning of the positioning terminal 13. The flowchart shown in FIG. 10 shows a detailed example of the operation of S2 in FIG.

[0097] The positioning terminal 13 receives indoor signals from the signal generators 12a and 12b (S41).

[0098] The positioning terminal 13 calculates an indoor solution based on the indoor signal received in S41 (S42).

[0099] The positioning terminal 13 regards the indoor positioning solution calculated in S42 as the indoor positioning result (S43). Note that, if the indoor positioning solution is not obtained in S42, the positioning terminal 13 regards the outdoor positioning result as no solution.

[0100] The positioning terminal 13 stores the outdoor positioning result of S43 in the storage unit 22 (S44).

[0101] 11 is a flowchart showing an example of the operation of the integrated positioning process of the positioning terminal 13. The flowchart shown in FIG. 11 shows a detailed example of the operation of S7 in FIG.

[0102] The positioning terminal 13 judges whether or not the quality of the outdoor positioning result acquired by the outdoor positioning in S1 of FIG. 7 is a FIX solution (RTK positioning result) (S51).

[0103] If the positioning terminal 13 determines in S51 that the quality of the outdoor positioning result obtained by outdoor positioning is a FIX solution ("Y" in S51), it calculates the distance "x" between the outdoor positioning result (FIX solution) obtained by outdoor positioning and the indoor positioning result obtained by indoor positioning in S2 (S52).

[0104] The positioning terminal 13 judges whether the distance "x" calculated in S52 is smaller than the indoor positioning error "d" (S53).

[0105] If the positioning terminal 13 determines in S53 that the distance "x" is smaller than the indoor positioning error "d" ("Y" in S53), it determines the outdoor positioning result (RTK positioning result of the FIX solution) acquired in S1 of FIG. 7 as the integrated positioning result (S54).

[0106] In other words, if the outdoor positioning result is not different from the indoor positioning result by more than the indoor positioning error "d", the positioning terminal 13 estimates that the outdoor positioning result is unlikely to be an erroneous fix solution, and adopts the outdoor positioning result which has higher positioning accuracy than the indoor positioning result.

[0107] When the positioning terminal 13 determines in S53 that the distance "x" is not smaller than the indoor positioning error "d" ("N" in S53), it sets the indoor positioning result acquired in S2 of FIG. 7 as the integrated positioning result (S55).

[0108] That is, if the outdoor positioning result is different from the indoor positioning result by an indoor positioning error "d" or more, the positioning terminal 13 estimates that the outdoor positioning result is highly likely to be an erroneous fix solution, and adopts the indoor positioning result.

[0109] When the positioning terminal 13 determines in S51 that the quality of the outdoor positioning result acquired by the outdoor positioning is not a FIX solution ("N" in S51), it calculates the time "tDR" from the start of DR positioning to the present (S56). That is, when the positioning terminal 13 determines that the outdoor positioning result acquired by the outdoor positioning in S1 of Fig. 7 is a DR positioning result, it calculates the time "tDR".

[0110] The positioning terminal 13 multiplies the time "tDR" calculated in S56 by the amount of error "a" per unit time of the DR positioning to calculate the DR cumulative error "tDR·a" for the time "tDR" from the start of the DR positioning to the present (S57).

[0111] The positioning terminal 13 judges whether the DR cumulative error "tDR·a" calculated in S57 is smaller than the indoor positioning error "d" (S58).

[0112] When the positioning terminal 13 determines in S58 that the DR cumulative error "tDR·a" is smaller than the indoor positioning error "d" ("Y" in S58), it shifts the process to S52.

[0113] That is, if the cumulative error of the outdoor positioning result (DR positioning result) is not equal to or greater than the indoor positioning error "d", the positioning terminal 13 calculates the distance "x" between the outdoor positioning result (DR positioning result) and the indoor positioning result acquired by the indoor positioning of S2 (S52). Then, the positioning terminal 13 executes the processes of S53 to S54. This is because, when DR positioning is executed starting from an incorrect FIX solution, a DR positioning result with a large error may be obtained even if the DR cumulative error "tDR·a" is smaller than the indoor positioning error "d". Therefore, in order to remove the DR positioning result starting from an incorrect FIX solution, if the positioning terminal 13 determines in S58 that the DR cumulative error "tDR·a" is smaller than the indoor positioning error "d" ("Y" in S58), the process proceeds to S52.

[0114] If the positioning terminal 13 determines in S58 that the DR cumulative error "tDR·a" is not smaller than the indoor positioning error "d" ("N" in S58), it sets the indoor positioning result acquired in S2 of FIG. 7 as the integrated positioning result (S60).

[0115] That is, if the accumulated error of the outdoor positioning result (DR positioning result) is equal to or greater than the indoor positioning error "d", the positioning terminal 13 estimates that the positioning accuracy of the outdoor positioning result is lower than that of the indoor positioning result, and adopts the indoor positioning result.

[0116] As described above, the satellite signal receiving unit 24 of the positioning terminal 13 receives a positioning signal (first signal) from the satellite 11. The indoor signal receiving unit 26 receives an indoor signal (second signal) from the signal generators 12a and 12b. The processor 21 outputs either the RTK positioning result or the indoor positioning result based on a comparison result between the distance between the RTK positioning result acquired from the positioning signal and the indoor positioning result acquired from the indoor signal, and the positioning accuracy (indoor positioning error) of the indoor positioning result. This allows the positioning terminal 13 to suppress a decrease in positioning accuracy at the boundary between the outdoors and the indoors of the building A1.

[0117] For example, even if the positioning terminal 13 obtains an indoor positioning result by an indoor signal from the signal generators 12a and 12b at the boundary between the outdoors and the indoors of the building A1, the positioning terminal 13 does not immediately adopt the indoor positioning result. When the positioning terminal 13 obtains an RTK positioning result by a positioning signal from the satellite 11 at the boundary between the outdoors and the indoors of the building A1, if the distance between the RTK positioning result and the indoor positioning result is smaller than the indoor positioning error of the indoor positioning, the positioning terminal 13 outputs the RTK positioning result with higher positioning accuracy than the indoor positioning result. This allows the positioning terminal 13 to suppress a decrease in positioning accuracy at the boundary between the outdoors and the indoors of the building A1.

[0118] In this configuration, if the distance between the incorrect fix solution and the indoor positioning result happens to be smaller than the indoor positioning error, the incorrect fix solution may be output. However, in indoor positioning, it can only be guaranteed that the positioning terminal 13 is within the range of the indoor positioning error, so even if an incorrect fix solution is output, the positioning accuracy will not deteriorate compared to when the indoor positioning result is output. In addition, since the accuracy of the correct fix solution is higher than that of the indoor positioning, when the correct fix solution is output, a position with accuracy higher than that of the indoor positioning can be output. Therefore, according to this configuration, regardless of whether the RTK positioning result is an incorrect fix solution, it is possible to output a positioning result with accuracy higher than that of the configuration that switches to the indoor positioning result as soon as the indoor positioning result is obtained.

[0119] Furthermore, when an indoor positioning result is obtained and an RTK positioning result cannot be obtained, the processor 21 of the positioning terminal 13 outputs either the DR positioning result or the indoor positioning result based on a comparison result between the DR cumulative error of the DR positioning result obtained from the most recent RTK positioning result and the sensor signal and the indoor positioning error of the indoor positioning. This allows the positioning terminal 13 to suppress a decrease in positioning accuracy at the boundary between the outdoors and the indoors of the building A1.

[0120] For example, when an indoor positioning result is obtained and an RTK positioning result is no longer available, the positioning terminal 13 does not immediately adopt the indoor positioning result. When a DR positioning result is obtained from the most recent RTK positioning result and a sensor signal, when the DR cumulative error of the DR positioning result is smaller than the indoor positioning error of the indoor positioning, and further when the distance between the DR positioning result and the indoor positioning result is smaller than the indoor positioning error of the indoor positioning, the positioning terminal 13 outputs a DR positioning result with higher positioning accuracy than the indoor positioning result. This allows the positioning terminal 13 to suppress a decrease in positioning accuracy at the boundary between the outdoors and the indoors of building A1 while reducing the possibility that a DR positioning result based on a false FIX solution is output.

[0121] In this configuration, even if the DR positioning result is based on an incorrect FIX solution, it may happen that the condition for outputting the DR positioning result is satisfied. However, in indoor positioning, since it can only be guaranteed that the positioning terminal 13 is within the range of the indoor positioning error, even if the DR positioning result is based on an incorrect FIX solution, the positioning accuracy will not deteriorate compared to the case where the indoor positioning result is output. Furthermore, if the DR cumulative error is sufficiently small, the accuracy of the DR positioning solution based on the correct FIX solution is higher than that of the indoor positioning, so that when the DR positioning solution based on the correct FIX solution is output, a position with accuracy higher than that of the indoor positioning result can be output. Therefore, according to this configuration, regardless of whether the DR positioning result is based on an incorrect FIX solution, as soon as the indoor positioning result is obtained, a positioning result with accuracy higher than that of the configuration in which the indoor positioning result is switched to can be output.

[0122] In the above, the condition for determining whether the distance between the DR positioning result and the indoor positioning result is smaller than the indoor positioning error of the indoor positioning is that the DR cumulative error is smaller than the indoor positioning error of the indoor positioning. With this configuration, when the DR cumulative error is already sufficiently large and the DR positioning result is difficult to trust regardless of whether the starting point of the DR positioning is a false fix solution, it is possible to determine not to adopt the DR positioning result without determining whether the distance is smaller than the indoor positioning error of the indoor positioning.

[0123] In the above, the indoor positioning error is used as a comparison target with the DR cumulative error, but a value smaller than the indoor positioning error may be used as a comparison target. In this way, for example, when the actual measurement value of the DR cumulative error is likely to vary, it is possible to reduce the possibility that a DR positioning result in which the actual DR cumulative error is larger than the calculated DR cumulative error is output.

[0124] Also, a value larger than the indoor positioning error may be used as a comparison target with the DR cumulative error. In this way, even if the position shift due to the erroneous FIX solution and the position shift due to the DR cumulative error coincidentally cancel each other out, the DR positioning result can be output. Furthermore, the comparison between the DR cumulative error and the indoor positioning error itself may be omitted, and a determination may always be made as to whether the difference between the DR positioning result and the indoor positioning result is smaller than the indoor positioning error. In this way, in addition to the effect obtained by using a value larger than the indoor positioning error as a comparison target with the DR cumulative error, the calculation of the DR cumulative error itself can be omitted.

[0125] (Variation 1) In the above embodiment, the positioning terminal 13 compares the DR cumulative error of the DR positioning result with the indoor positioning error of the indoor positioning, and outputs either the DR positioning result or the indoor positioning result (see, for example, S58 to S60 in FIG. 11), but is not limited to this. For example, the positioning terminal 13 may output the DR positioning until the DR cumulative error exceeds the indoor positioning error of the indoor positioning.

[0126] The time (DR output time) at which the DR cumulative error exceeds the indoor positioning error of indoor positioning may be calculated in advance and set in the positioning terminal 13. The DR output time is calculated, for example, by dividing the indoor positioning error "d" of the indoor positioning by the error amount "a" per unit time of the DR positioning. When the indoor positioning result is obtained and the RTK positioning result cannot be obtained, the positioning terminal 13 starts DR positioning and outputs the DR positioning result until the DR output time has elapsed. When the DR output time has elapsed, the positioning terminal 13 outputs the indoor positioning result.

[0127] (Variation 2) In the above embodiment, the positioning terminal 13 measures the position of the positioning terminal 13, but this is not limited to the above. The calculation server may measure the position of the positioning terminal 13.

[0128] Fig. 12 is a diagram for explaining an example of signals communicated by the positioning terminal 13. In Fig. 12, the same components as in Fig. 5 are denoted by the same reference numerals. Fig. 12 shows a calculation server 31 that measures the position of the positioning terminal 13.

[0129] The positioning terminal 13 transmits the positioning signal received from the satellite 11, the reference station data received from the distribution server 14, and the indoor signal received from the signal generators 12a and 12b to the calculation server 31. In addition, the positioning terminal 13 transmits the sensor signal received from the sensor unit 27 to the calculation server 31.

[0130] The calculation server 31 measures the position of the positioning terminal 13 based on each signal received from the positioning terminal 13. The calculation server 31 executes the same process as the positioning terminal 13 described above, and measures the position of the positioning terminal 13. The calculation server 31 transmits the result of the positioning to the positioning terminal 13.

[0131] Fig. 13 is a diagram showing an example of a block configuration of the calculation server 31. As shown in Fig. 13, the calculation server 31 has a processor 41, a storage unit 42, an output unit 43, and a communication unit 44.

[0132] The processor 41 controls the entire operation of the calculation server 31. The processor 41 may be, for example, a processor such as a CPU or a DSP.

[0133] The storage unit 42 stores a program for the processor 41 to control each part. The storage unit 42 also stores data for the processor 41 to perform calculation processing or data for the processor 41 to control each part. The storage unit 42 may be a storage device such as a RAM, a ROM, a flash memory, or a HDD.

[0134] The output unit 43 outputs data output from the processor 41 to an output device such as a display device. For example, the output unit 43 outputs the positioning result calculated or adopted by the processor 41 to an output device such as a display device.

[0135] The communication unit 44 communicates with the positioning terminal 13 via a wireless network such as a mobile wireless network. The communication unit 44 receives various information transmitted from the positioning terminal 13. In addition, the communication unit 44 transmits the result of positioning of the positioning terminal 13 calculated or adopted by the processor 41 to the positioning terminal 13.

[0136] The positioning process of the calculation server 31 is similar to that of the positioning terminal 13, and therefore a detailed description thereof will be omitted.

[0137] (Variation 3) When moving from inside to outside of the building A1, the positioning terminal 13 may adopt the RTK positioning result if the RTK positioning result (fix solution) continues for a predetermined number of epochs. This is because RTK positioning is more accurate than indoor positioning, and if it can be estimated that the RTK positioning result is unlikely to be an erroneous fix solution, there is little point in deliberately adopting the indoor positioning result. Note that an erroneous fix solution occurs only when the reflection of a signal by a wall or the like meets special conditions. Therefore, if the conditions are slightly broken, the reliability of the RTK positioning result itself decreases, and it is highly likely that only a float solution will be obtained. Therefore, in this modified example, it is confirmed that the RTK positioning result (fix solution) continues for a predetermined number of epochs, thereby confirming that the possibility of an erroneous fix occurring is low.

[0138] In addition, before the RTK positioning result (FIX solution) continues for a predetermined number of epochs, there is a possibility that the RTK positioning result is an incorrect FIX solution, so the indoor positioning result may be adopted, or as in each of the above-mentioned embodiments, it may be determined which result to output based on a comparison of the difference between the RTK positioning result and the indoor positioning result and the indoor positioning error.

[0139] (Variation 4) The signal generators 12a and 12b may not be installed in the building A1, but may be installed in structures such as tunnels and utility poles.

[0140] (Variation 5) In the above embodiment, RTK, which is a type of interference positioning method, has been described as an example of a positioning method using correction data, but the present invention may be applied to other positioning methods using correction data from a device equivalent to a reference station. Specifically, application to interference positioning methods other than RTK and D-GPS is possible. Although the content of the correction data may differ depending on the positioning method, if the correction data uses a satellite signal received by the reference station, it is common that it is necessary to ensure the reception quality of the satellite signal in order to perform accurate positioning. Therefore, by applying the configuration of the above embodiment, the reference station can be easily installed even in these positioning methods, and the quality of positioning after the installation of the reference station can be stabilized.

[0141] Although the embodiments have been described above with reference to the drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can come up with various modified or altered examples within the scope of the claims. It is understood that such modified or altered examples also belong to the technical scope of the present disclosure. In addition, the components in the embodiments may be arbitrarily combined within the scope of the present disclosure.

[0142] In the above-described embodiments, the notation "... part" used for each component may be replaced with other notations such as "... circuit", "... assembly", "... device", "... unit", or "... module".

[0143] The present disclosure can be realized by software, hardware, or software in cooperation with hardware. Each functional block used in the description of the above embodiment may be realized partially or entirely as an LSI, which is an integrated circuit, and each process described in the above embodiment may be controlled partially or entirely by one LSI or a combination of LSIs. The LSI may be composed of individual chips, or may be composed of one chip so as to include some or all of the functional blocks. The LSI may have input and output of data. Depending on the degree of integration, the LSI may be called an IC, a system LSI, a super LSI, or an ultra LSI.

[0144] The integrated circuit method is not limited to LSI, and may be realized by a dedicated circuit, a general-purpose processor, or a dedicated processor. In addition, after LSI manufacturing, a programmable FPGA (Field Programmable Gate Array) or a reconfigurable processor that can reconfigure the connections and settings of circuit cells inside the LSI may be used. The present disclosure may be realized as digital processing or analog processing.

[0145] Furthermore, if a new integrated circuit technology that can replace LSI appears due to the progress of semiconductor technology or a derivative technology, it is possible to integrate the functional blocks using that technology. The application of biotechnology is also a possibility. [Industrial Applicability]

[0146] The present disclosure is useful for positioning systems that calculate positions using signals from satellites and indoor signals from signal generators installed in structures. [Explanation of symbols]

[0147] 1 Positioning System 11 satellites 12a, 12b Signal generator 13 Positioning terminal 14 Distribution Server 21 Processors 22 Memory section 23 Output section 24 Satellite signal receiver 25 Communications Department 26 Indoor signal receiver 27 Sensor section 31 Computing Server A1 Building U1 User A11~A13 area A21 Indoor positioning results A22 Indoor positioning error A23, A24 RTK positioning results

Claims

1. a receiving unit that receives a first signal from a satellite and a second signal from a signal generator installed on a structure; a control unit that outputs one of the first positioning result and the second positioning result based on a comparison result between a distance between a first positioning result acquired based on the first signal and a second positioning result acquired based on the second signal and a positioning accuracy of the second positioning result, When the second positioning result is obtained and the first positioning result cannot be obtained, the control unit outputs either the third positioning result or the second positioning result based on a comparison result between an accumulated error of a third positioning result obtained based on the most recent first positioning result and a sensor signal and the positioning accuracy. Positioning terminal.

2. When the accumulated error is smaller than the positioning accuracy, the control unit outputs the third positioning result. The positioning terminal according to claim 1.

3. a receiving unit that receives a first signal from a satellite and a second signal from a signal generator installed on a structure; a control unit that outputs one of the first positioning result and the second positioning result based on a comparison result between a distance between a first positioning result acquired based on the first signal and a second positioning result acquired based on the second signal and a positioning accuracy of the second positioning result, when the second positioning result is obtained and the first positioning result cannot be obtained, the control unit outputs a third positioning result acquired based on the most recent first positioning result and a sensor signal until a predetermined time has elapsed. Positioning terminal.

4. the predetermined time is determined based on the positioning accuracy and an error amount per unit time of the third positioning result. The positioning terminal according to claim 3.

5. receiving a first signal from a satellite and a second signal from a signal generator installed on the structure; outputting one of the first positioning result and the second positioning result based on a comparison result between a distance between a first positioning result acquired based on the first signal and a second positioning result acquired based on the second signal and a positioning accuracy of the second positioning result; when the second positioning result is obtained and the first positioning result cannot be obtained, outputting either the third positioning result or the second positioning result based on a comparison result between an accumulated error of a third positioning result obtained based on the most recent first positioning result and a sensor signal and the positioning accuracy. Positioning method.

6. receiving a first signal from a satellite and a second signal from a signal generator installed on the structure; outputting one of the first positioning result and the second positioning result based on a comparison result between a distance between a first positioning result acquired based on the first signal and a second positioning result acquired based on the second signal and a positioning accuracy of the second positioning result; when the second positioning result is obtained and the first positioning result cannot be obtained, outputting a third positioning result obtained based on the most recent first positioning result and a sensor signal until a predetermined time has elapsed. Positioning method.

7. a receiving unit that receives a first signal from a satellite and a second signal from a signal generator installed in a structure from a terminal that receives the first signal and the second signal; a transmitter that transmits one of the first positioning result and the second positioning result to the terminal based on a comparison result between a distance between a first positioning result acquired based on the first signal and a second positioning result acquired based on the second signal and a positioning accuracy of the second positioning result, When the second positioning result is obtained and the first positioning result cannot be obtained, the transmission unit outputs either the third positioning result or the second positioning result based on a comparison result between an accumulated error of a third positioning result obtained based on the most recent first positioning result and a sensor signal and the positioning accuracy. Information processing device.

8. a receiving unit that receives a first signal from a satellite and a second signal from a signal generator installed in a structure from a terminal that receives the first signal and the second signal; a transmitter that transmits one of the first positioning result and the second positioning result to the terminal based on a comparison result between a distance between a first positioning result acquired based on the first signal and a second positioning result acquired based on the second signal and a positioning accuracy of the second positioning result, when the second positioning result is obtained and the first positioning result cannot be obtained, the transmission unit outputs a third positioning result obtained based on the most recent first positioning result and a sensor signal until a predetermined time has elapsed. Information processing device.

9. receiving a first signal from a satellite and a second signal from a signal generator installed on a structure from a terminal that receives the first signal and the second signal; transmit, to the terminal, one of the first positioning result and the second positioning result, based on a comparison result between a distance between a first positioning result acquired based on the first signal and a second positioning result acquired based on the second signal, and a positioning accuracy of the second positioning result; when the second positioning result is obtained and the first positioning result cannot be obtained, outputting either the third positioning result or the second positioning result based on a comparison result between an accumulated error of a third positioning result obtained based on the most recent first positioning result and a sensor signal and the positioning accuracy. Positioning method.

10. receiving a first signal from a satellite and a second signal from a signal generator installed on a structure from a terminal that receives the first signal and the second signal; transmit, to the terminal, one of the first positioning result and the second positioning result, based on a comparison result between a distance between a first positioning result acquired based on the first signal and a second positioning result acquired based on the second signal, and a positioning accuracy of the second positioning result; when the second positioning result is obtained and the first positioning result cannot be obtained, outputting a third positioning result obtained based on the most recent first positioning result and a sensor signal until a predetermined time has elapsed. Positioning method.

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