Positioning device, positioning program, and positioning method

Abstract

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

Description

Technical Field

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

Background Art

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

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] Conventional positioning technologies such as VPS and VSLAM have been difficult to use in places where cameras cannot be used (such as in the dark or in places where photography is prohibited). Also, conventional positioning technologies have been unable to cope with changes in the surrounding environment (brightness and object arrangement).

Means for Solving the Problems

[0005] To solve the above problems, a positioning device according to one aspect of the present invention is a positioning device for positioning a movable terminal device, wherein the terminal device is the target of positioning, and the terminal device includes a first transmitting unit that emits a UWB signal which is an ultra-wideband wireless signal, a first receiving unit that receives a UWB signal from the positioning device, and a first measuring unit that measures the distance to the positioning device with respect to the terminal device and the direction in which the positioning device is located, based on the UWB signal received by the first receiving unit, and the positioning device includes a second transmitting unit that emits a UWB signal, a second receiving unit that receives a UWB signal from the terminal device, a second measuring unit that measures the distance to the terminal device with respect to the positioning device and the direction in which the terminal device is located, based on the UWB signal received by the second receiving unit, an acquisition unit that acquires a first measurement result which is the measurement result of the first measuring unit from the terminal device, and a positioning unit that positions the terminal device based on at least one of the first measurement result and the second measurement result which is the measurement result of the second measuring unit.

[0006] Furthermore, another aspect of the present invention relates to a positioning program that causes a computer to function as a positioning device for positioning a mobile terminal device, wherein the computer is configured to position a terminal device comprising: a first transmitter that emits a UWB signal, which is an ultra-wideband wireless signal; a first receiver that receives a UWB signal from the positioning device; and a measurement unit that measures the distance to the positioning device with respect to the terminal device and the direction in which the positioning device is located, based on the UWB signal received by the first receiver, and is connected to a second transmitter that emits a UWB signal and a second receiver that receives a UWB signal from the terminal device, and causes the computer to execute: a measurement process that measures the distance to the terminal device with respect to the positioning device and the direction in which the terminal device is located, based on the UWB signal received by the second receiver; an acquisition process that acquires a first measurement result, which is the measurement result from the measurement unit, from the terminal device; and a positioning process that positions the terminal device based on at least one of the first measurement result and a second measurement result, which is the measurement result in the measurement process. Furthermore, a computer-readable recording medium on which a learning data generation program is recorded also falls within the scope of the present invention.

[0007] Furthermore, another aspect of the present invention relates to a positioning method for positioning a movable terminal device using a positioning device, comprising: a first transmission step in which the terminal device emits a UWB signal, which is an ultra-wideband wireless signal; a second transmission step in which the positioning device emits a UWB signal; a first reception step in which the terminal device receives a UWB signal from the positioning device; a first measurement step in which the terminal device measures the distance to the positioning device with respect to the terminal device and the direction in which the positioning device is located, based on the UWB signal received in the first reception step; and the positioning device The system includes: a second receiving step of receiving a UWB signal from the terminal device; a second measuring step of the positioning device measuring the distance to the terminal device and the direction in which the terminal device is located, based on the UWB signal received in the second receiving step; an acquisition step of the positioning device acquiring a first measurement result, which is the measurement result in the first measuring step, from the terminal device; and a positioning step of the positioning device positioning the terminal device based on at least one of the first measurement result and the second measurement result, which is the measurement result in the second measuring step. [Brief explanation of the drawing]

[0008] [Figure 1] This is a block diagram showing an example of the functional configuration of a positioning system according to an embodiment of the present invention. [Figure 2] This diagram illustrates the positioning of terminal devices performed by the positioning device provided by the system. [Figure 3] This diagram illustrates how the positioning device in the system calculates the attitude angle of the terminal device. [Figure 4] This flowchart shows an example of the flow of a positioning method according to the present invention. [Modes for carrying out the invention]

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

[0010] [Outline configuration of positioning system 100] As shown in Figure 1, the positioning system 100 comprises a terminal device 1 and a positioning device 2.

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

[0012] (First transmission unit 11) The first transmitter 11 emits a UWB signal (beacon). The UWB signal is an ultra-wideband radio signal. In this embodiment, the first transmitter 11 repeatedly emits the UWB signal. The period for emitting the UWB signal may be constant or variable.

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

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

[0015] (Camera 14) The camera 14 according to this embodiment captures an object (such as an object or a landscape) existing in the direction in which one surface faces, and generates data of the video (moving image). Further, the camera 14 according to this embodiment is provided on one surface of the terminal device 1. Note that the camera 14 may generate still image data.

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

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

[0018] [Second transmission unit 21] The second transmission unit 21 emits a UWB signal. The second transmission unit 21 according to this embodiment repeatedly emits a UWB signal at the same cycle as when the first transmission unit 11 emits a UWB signal. The timing at which the second transmission unit 21 emits a UWB signal may be the same as the timing at which the first transmission unit 11 emits, or may be slightly before or after.

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

[0020] [Storage unit 23] The storage unit 23 stores a positioning program 231. The positioning program 231 is a program that causes a computer to function as the positioning device 2 that positions the terminal device 1 configured to be movable. The storage unit 23 according to this embodiment is composed of a semiconductor memory, a hard disk drive, or the like.

[0021] [Communications Section 25] The communication unit 25 communicates with the terminal device 1. In this embodiment, the communication unit 25 receives a first measurement result from the terminal device 1 via WebSocket communication. The first measurement result is the measurement result from the first measurement unit 13 of the terminal device 1. In addition, the communication unit 25 in this embodiment transmits video (details described later) to the terminal device 1 via HTTP communication.

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

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

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

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

[0026] (Positioning unit 243) The positioning unit 243 performs positioning processing. In the positioning processing, the positioning unit 243 positions the terminal device 1 based on at least one of the first measurement result and the second measurement result. The second measurement result is the measurement result by the second measurement unit 241. Positioning includes cases where distance and direction are extracted from at least one of the first measurement result and the second measurement result (using the distance and direction as they are in subsequent processing), and cases where coordinates are calculated based on distance and direction. In this embodiment, the positioning unit 243 calculates coordinates indicating the absolute position of the terminal device 1 based on the first measurement result or the second measurement result and the coordinates of the positioning device 2.

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

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

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

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

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

[0032] [Effects of positioning device 2 and positioning system 100] As described above, the positioning device 2 and the positioning system 100 equipped with the positioning device 2 position the terminal device 1 using the results of mutual measurements taken by the terminal device 1 and the positioning device 2 using UWB signals. Therefore, the position and movement of the terminal device 1 can be determined even in places where the camera 14 cannot be used (such as in darkness or places where photography is prohibited). In other words, with the positioning device 2 and the positioning system 100 equipped with the positioning device 2, the position of the terminal device to be positioned can be determined with high accuracy even in situations where the camera cannot be used and there are no other means of measuring angles.

[0033] Furthermore, since the positioning device 2 and positioning system 100 do not use a camera (image), they do not inadvertently photograph unrelated people in their vicinity. In other words, the positioning device 2 and positioning system 100 do not raise privacy concerns.

[0034] Furthermore, VPS and VSLAM required prior preparation, such as map adjustments, every time the environment changed. However, with the positioning device 2 and positioning system 100, as long as the positioning device 2 does not move, the position and movement of the terminal device 1 can be determined even if the surrounding environment changes.

[0035] Furthermore, VPS and VSLAM required CPU-intensive processing (image analysis, point cloud matching, etc.). Therefore, depending on the equipment used, processing could be slow (resulting in a decrease in the quality of the VR and AR experience). However, positioning device 2 and positioning system 100 use numerical values ​​(distance and direction) for positioning, resulting in a lower computational load compared to image-based VPS and VSLAM.

[0036] Furthermore, VPS and VSLAM require the cameras and displays to be kept running, resulting in high power consumption. Therefore, depending on the equipment used, the operating time could be shortened. However, with the positioning device 2 and positioning system 100, UWB signals can be transmitted with low power consumption, and the cameras 14 and displays do not necessarily need to be kept powered on continuously. Therefore, the position and movement of the terminal device 1 can be determined with low power consumption.

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

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

[0039] [Procedure for positioning method S100] Positioning method S100 is a method for positioning a mobile terminal device 1 using a positioning device 2. As shown in Figure 4, positioning method S100 includes a first transmission step A1, a second transmission step B1, a first reception step A2, a first measurement step A3, a second reception step B2, a second measurement step B3, an acquisition step B4, and a positioning step B5.

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

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

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

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

[0044] [Second reception step B2] After terminal device 1 emits a UWB signal, the process moves to the second reception step B2. In the second reception step B2, positioning device 2 receives a UWB signal from terminal device 1.

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

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

[0047] [Positioning Step B5] After the positioning device 2 has acquired at least one of the first measurement result and the second measurement result, it proceeds to positioning step B5. In positioning step B5, the positioning device 2 positions the terminal device 1 based on at least one of the first measurement result and the second measurement result, which is the measurement result from the second measurement step B3.

[0048] [Effects of positioning method S100] According to the positioning method S100 described above, similar to the positioning device 2 and positioning system 100, even when a camera is unavailable and there are no other means for measuring angles, the positioning of the target terminal device can be performed with high accuracy.

[0049] Furthermore, according to positioning method S100, the positioning device 2 and positioning system 100 do not raise privacy concerns. Also, according to the positioning device 2 and positioning system 100, as long as the positioning device 2 remains stationary, the position and movement of the terminal device 1 can be determined even if the surrounding environment changes. In addition, the positioning device 2 and positioning system 100 have a lower computational load compared to VPS and VSLAM which use images. Furthermore, the positioning device 2 and positioning system 100 can determine the position and movement of the terminal device 1 with low power consumption. In addition, the positioning device 2 and positioning system 100 provide higher positioning accuracy than when using GNSS.

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

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

[0052] Furthermore, the positioning program may be recorded on one or more computer-readable recording media, rather than temporarily. Each unit may or may not have such recording media. In the latter case, the positioning program may be supplied to each unit via any wired or wireless transmission medium.

[0053] Furthermore, some or all of the functions of each control block 241 to 245 provided by the above-mentioned arithmetic unit can also be realized by logic circuits. For example, an integrated circuit in which logic circuits functioning as each control block 241 to 245 are formed is also included in the scope of the present invention. In addition, it is also possible to realize the functions of each part by, for example, a quantum computer.

[0054] 〔summary〕 A positioning device according to Embodiment 1 of the present invention is a positioning device for positioning a movable terminal device, wherein the terminal device is the target of positioning, and comprises a first transmitting unit that emits a UWB signal which is an ultra-wideband wireless signal, a first receiving unit that receives a UWB signal from the positioning device, and a first measuring unit that measures the distance to the positioning device with respect to the terminal device and the direction in which the positioning device is located, based on the UWB signal received by the first receiving unit, and comprises a second transmitting unit that emits a UWB signal, a second receiving unit that receives a UWB signal from the terminal device, a second measuring unit that measures the distance to the terminal device with respect to the positioning device and the direction in which the terminal device is located, based on the UWB signal received by the second receiving unit, an acquisition unit that acquires a first measurement result which is the measurement result of the first measuring unit from the terminal device, and a positioning unit that positions the terminal device based on at least one of the first measurement result and the second measurement result which is the measurement result of the second measuring unit.

[0055] In the positioning device according to embodiment 2 of the present invention, the positioning unit may be configured to calculate coordinates indicating the absolute position of the terminal device based on the first measurement result or the second measurement result and the coordinates of the positioning device.

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

[0057] In the positioning device according to embodiment 4 of the present invention, in embodiment 2 or 3 described above, the positioning unit may further calculate the attitude angle of the terminal device based on the direction in which the positioning device is located relative to the terminal device included in the first measurement result and the direction in which the terminal device is located relative to the positioning device included in the second measurement result.

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

[0059] A positioning device according to embodiment 6 of the present invention, in embodiment 5 described above, the terminal device comprises a camera and a display unit that displays an object captured by the camera, and the generation unit may be configured to generate an augmented reality image as the image, which is superimposed on the object and appears to be an augmented reality image that appears to have been captured by the camera when the terminal device is positioned at the orientation angle.

[0060] In the positioning device according to embodiment 7 of the present invention, in embodiment 5 described above, the communication unit may be configured to receive the first measurement result from the terminal device via WebSocket communication and transmit the video to the terminal device via HTTP communication.

[0061] A system according to aspect 8 of the present invention comprises a mobile terminal device and a positioning device for positioning the terminal device, wherein the terminal device comprises a first transmitter that emits a UWB signal which is an ultra-wideband wireless signal, a first receiver that receives the UWB signal from the positioning device, and a first measurement unit that measures the distance to the positioning device with respect to the terminal device and the direction in which the positioning device is located based on the UWB signal received by the first receiver, and the positioning device comprises a second transmitter that emits a UWB signal, a second receiver that receives the UWB signal from the terminal device, a second measurement unit that measures the distance to the terminal device with respect to the positioning device and the direction in which the terminal device is located based on the UWB signal received by the second receiver, an acquisition unit that acquires a first measurement result which is the measurement result of the first measurement unit from the terminal device, and a positioning unit that positions the terminal device based on at least one of the first measurement result and the second measurement result which is the measurement result of the second measurement unit.

[0062] A positioning program according to aspect 9 of the present invention is a positioning program that causes a computer to function as a positioning device for positioning a mobile terminal device, wherein the computer targets a terminal device comprising: a first transmitting unit that emits a UWB signal, which is an ultra-wideband wireless signal; a first receiving unit that receives a UWB signal from the positioning device; and a measuring unit that measures the distance from the terminal device to the positioning device and the direction in which the positioning device is located, based on the UWB signal received by the first receiving unit, and emits a second transmitting unit that emits a UWB signal The system is connected to a positioning unit and a second receiving unit that receives a UWB signal from the terminal device, and the computer is configured to perform the following: a measurement process that measures the distance to the terminal device and the direction in which the terminal device is located, based on the UWB signal received by the second receiving unit; an acquisition process that obtains a first measurement result, which is the measurement result from the measurement unit, from the terminal device; and a positioning process that positions the terminal device based on at least one of the first measurement result and the second measurement result, which is the measurement result from the measurement process.

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

[0064] 100 positioning systems 1. Terminal device 11. First Transmission Unit 12 First receiving unit 13 First Measurement Unit 14 Cameras 15 Display 2 Positioning device 21 Second Transmission Unit 22 Second receiving unit 23 Memory section 231 Positioning Program 24 Arithmetic section 25 Communications Department 241 Second Measurement Unit 242 Acquisition Department 243 Positioning Unit 244 Generation part 245 Transmission Control Unit 246 Second Acquisition Department S100 Positioning Method A1 First transmission step A2 First reception step A3 First Measurement Step B1 Second transmission step B2 Second Reception Step B3 Second Measurement Step Steps to obtain B4 B5 Positioning Step L1 line segment L2 First projection line L3 Second projection line L4 Third projection line

Claims

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

2. A communication unit that communicates with the aforementioned terminal device, A generation unit that generates video based on the positioning results from the positioning unit, A transmission control unit controls the communication unit to transmit the aforementioned video to the terminal device, Furthermore, The positioning device according to claim 1.

3. The terminal device comprises a camera and a display unit that displays the object captured by the camera. The generation unit generates an augmented reality image to be superimposed on the target image, which appears as if the camera had captured the image when the terminal device was positioned at the orientation angle. The positioning device according to claim 2.

4. The aforementioned communications unit is The terminal device receives the first measurement result via WebSocket communication. The video is transmitted to the terminal device via HTTP communication. The positioning device according to claim 2.

5. A system comprising a mobile terminal device and a positioning device for positioning the terminal device, The aforementioned terminal device is A first transmitter that emits a UWB signal, which is an ultra-wideband wireless signal, A first receiving unit that receives a UWB signal from the positioning device, A first measuring unit measures the distance to the positioning device relative to the terminal device and the direction in which the positioning device is located, based on the UWB signal received by the first receiving unit, Equipped with, The positioning device is, A second transmitter that emits a UWB signal, A second receiving unit that receives a UWB signal from the aforementioned terminal device, A second measuring unit measures the distance to the terminal device and the direction in which the terminal device is located, based on the UWB signal received by the second receiving unit, An acquisition unit that acquires a first measurement result, which is the measurement result from the first measurement unit, from the terminal device, A positioning unit that positions the terminal device based on at least one of the first measurement result and the second measurement result which is the measurement result from the second measurement unit, Equipped with, The positioning unit further calculates the attitude angle of the terminal device based on the direction in which the positioning device is located, with respect to the terminal device included in the first measurement result. system.

6. A positioning program that causes a computer to function as a positioning device for positioning a mobile terminal device, The aforementioned computer, The terminal device is defined as a device to be positioned, comprising: a first transmitting unit that emits a UWB signal, which is an ultra-wideband wireless signal; a first receiving unit that receives the UWB signal from the positioning device; and a measuring unit that measures the distance to the positioning device and the direction in which the positioning device is located, based on the UWB signal received by the first receiving unit. A second transmitting unit that emits a UWB signal, and a second receiving unit that receives a UWB signal from the terminal device. It is equipped with the following features: To the aforementioned computer, Based on the UWB signal received by the second receiving unit, a measurement process is performed to measure the distance to the terminal device with respect to the positioning device and the direction in which the terminal device is located. The terminal device is used to acquire a first measurement result, which is the measurement result from the measurement unit. A positioning process that positions the terminal device based on at least one of the first measurement result and the second measurement result which is the measurement result in the measurement process, Make it run, In the positioning process, the computer is instructed to further calculate the attitude angle of the terminal device based on the direction in which the positioning device is located, with respect to the terminal device included in the first measurement result. Positioning program.

7. A positioning method for positioning a mobile terminal device using a positioning device, The terminal device performs a first transmission step in which it emits a UWB signal, which is an ultra-wideband wireless signal, The positioning device performs a second transmission step in which it emits a UWB signal, The terminal device performs a first receiving step in which it receives a UWB signal from the positioning device, The terminal device performs a first measurement step in which it measures the distance to the positioning device relative to the terminal device and the direction in which the positioning device is located, based on the UWB signal received in the first reception step. The positioning device performs a second receiving step in which it receives a UWB signal from the terminal device, The positioning device performs a second measurement step in which, based on the UWB signal received in the second reception step, the positioning device measures the distance to the terminal device with respect to the positioning device and the direction in which the terminal device is located. The positioning device performs an acquisition step in which it acquires a first measurement result, which is the measurement result in the first measurement step, from the terminal device. The positioning device performs a positioning step in which it positions the terminal device based on at least one of the first measurement result and the second measurement result which is the measurement result in the second measurement step, Includes, In the positioning step, the positioning device further calculates the attitude angle of the terminal device based on the direction in which the positioning device is located relative to the terminal device included in the first measurement result. Positioning method.

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