Position measurement apparatus

Abstract

Indoors, a UWB communication device 1007 of a user terminal 10 and a UWB communication device 20 installed indoors perform position measurement using radio. An acquisition unit 31 acquires a position measurement result (position measurement result of UWB position measurement) obtained by measuring the position of the user terminal 10 by radio from the UWB communication device 20 via a network 2 (step S11). Next, an identifying unit 32 identifies the state of possession of the user terminal 10 by a user (step S12). A correction unit 33 determines a correction value corresponding to the pressure identified by the identifying unit 32 (step S13), and corrects the position measurement result acquired by the acquisition unit 31 by the correction value (step S14).

Description

Positioning device

[0001] The present invention relates to indoor positioning technology.

[0002] Various technologies have been proposed for measuring position indoors where the Global Positioning System (GPS) cannot be used. For example, Patent Literature 1 discloses a system in which a mobile terminal carried by a pedestrian acquires beacon IDs from multiple BLE beacons installed in a passageway and transmits them to a server, and the server determines the position of the mobile terminal based on these beacon IDs and images captured by a movable camera.

[0003] Patent No. 6340862

[0004] For indoor use, in addition to the Bluetooth low energy (BLE) disclosed in the above-mentioned Patent Document 1, other known positioning technologies use wireless communication standards such as UWB (Ultra Wide Band). Positioning using this type of wireless communication can result in low positioning accuracy because the radio waves are easily affected by obstacles.

[0005] Therefore, an object of the present invention is to improve the accuracy of indoor wireless positioning.

[0006] In order to solve the above problem, the present invention provides a positioning device comprising an acquisition unit that acquires positioning results obtained by wirelessly positioning the position of a user terminal carried by a user indoors, an identification unit that identifies the state of holding the user terminal by the user, and a correction unit that corrects the acquired positioning results in accordance with the identified state of holding.

[0007] According to the present invention, it is possible to improve the accuracy of indoor wireless positioning.

[0008] 1 is a diagram showing an example of the overall configuration of a positioning system 1 according to an embodiment of the present invention. FIG. 2 is a diagram showing the hardware configuration of a user terminal 10 according to the embodiment. FIG. 3 is a diagram showing the hardware configuration of an information processing device 30 according to the embodiment. FIG. 4 is a diagram showing an example of the functional configuration of the information processing device 30 according to the embodiment. FIG. 5 is a diagram showing an example of data stored by the information processing device 30 according to the embodiment. FIG. 6 is a flowchart showing an example of the operation of the information processing device 30 according to the embodiment. FIG. 7 is a diagram showing an example of data stored by the information processing device 30 according to a modified example. FIG. 8 is a diagram showing an example of data stored by the information processing device 30 according to the modified example. FIG. 9 is a diagram showing an example of data stored by the information processing device 30 according to the modified example.

[0009] [Configuration] FIG. 1 is a diagram showing an example of a positioning system 1 according to the present embodiment. The positioning system 1 includes a user terminal 10 carried by a user, multiple UWB communication devices 20, an information processing device 30 functioning as an example of the positioning device of the present invention, and a network 2 including a wireless communication network or a wired communication network. The wireless communication network included in the network 2 is, for example, a wireless communication network conforming to LTE (Long Term Evolution). While FIG. 1 illustrates one user terminal 10 and three UWB communication devices, the number of these devices is arbitrary. Each user terminal 10 is a computer that can be carried by a user, such as a smartphone, a wearable device, or a tablet device. Each UWB communication device 20 is installed indoors in a facility, equipment, or building.

[0010] FIG. 2 is a diagram showing the hardware configuration of the user terminal 10. The user terminal 10 is physically configured as a computer device including a processor 1001, a memory 1002, a storage 1003, a network communication device 1004, an input device 1005, an output device 1006, a UWB (Ultra Wide Band) communication device 1007, a sensor 1008, and a bus connecting these devices. Each of these devices operates using power supplied from a battery (not shown). In the following description, the term "device" may be interpreted as a circuit, device, unit, or the like. The hardware configuration of the user terminal 10 may be configured to include one or more of the devices shown in the figure, or may be configured without including some of the devices. Furthermore, the user terminal 10 may be configured by communicating and connecting multiple devices each having a different housing.

[0011] Each function of the user terminal 10 is realized by loading specified software (programs) onto hardware such as the processor 1001 and memory 1002, causing the processor 1001 to perform calculations, control communication via the network communication device 1004, and control at least one of reading and writing data in the memory 1002 and storage 1003.

[0012] The processor 1001 controls the entire computer by running, for example, an operating system. The processor 1001 may be configured as a central processing unit (CPU) including an interface with peripheral devices, a control device, an arithmetic unit, a register, etc. Furthermore, for example, a baseband signal processing unit, a call processing unit, etc. may be realized by the processor 1001.

[0013] The processor 1001 reads programs (program codes), software modules, data, etc. from at least one of the storage 1003 and the network communication device 1004 into the memory 1002 and executes various processes in accordance with these. The programs used are those that cause a computer to execute at least some of the operations described below. The functional blocks of the user terminal 10 may be implemented by a control program stored in the memory 1002 and running on the processor 1001. Various processes may be executed by a single processor 1001, or may be executed simultaneously or sequentially by two or more processors 1001. The processor 1001 may be implemented by one or more chips. The programs may be transmitted from the network 2 to the user terminal 10 via a telecommunications line.

[0014] The memory 1002 is a computer-readable recording medium and may be configured by at least one of, for example, a read-only memory (ROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a random access memory (RAM), etc. The memory 1002 may also be called a register, a cache, a main memory (primary storage device), etc. The memory 1002 can store executable programs (program codes), software modules, etc. for implementing the method according to this embodiment.

[0015] Storage 1003 is a computer-readable recording medium, and may be composed of at least one of, for example, an optical disk such as a CD-ROM (Compact Disc ROM), a hard disk drive, a flexible disk, a magneto-optical disk (e.g., a compact disk, a digital versatile disk, a Blu-ray (registered trademark) disk), a smart card, a flash memory (e.g., a card, a stick, a key drive), a floppy (registered trademark) disk, a magnetic strip, etc. Storage 1003 may also be called an auxiliary storage device.

[0016] The network communication device 1004 is hardware (transmission / reception device) for communicating between computers via the network 2 in accordance with a communication standard such as LTE (Long Time Evolution), and is also referred to as a network device, network controller, network card, communication module, etc. The network communication device 1004 may be configured to include a high-frequency switch, a duplexer, a filter, a frequency synthesizer, etc. to realize at least one of frequency division duplex (FDD) and time division duplex (TDD). For example, a transmission / reception antenna, an amplifier unit, a transmission / reception unit, a transmission path interface, etc. may be realized by the network communication device 1004. The transmission / reception unit may be implemented as a transmission unit and a reception unit that are physically or logically separated.

[0017] The input device 1005 is an input device (e.g., a key, a microphone, a switch, a button, a camera, etc.) that accepts input from the outside. The output device 1006 is an output device (e.g., a display, a speaker, an LED lamp, etc.) that outputs to the outside. Note that the input device 1005 and the output device 1006 may be integrated into one device (e.g., a touch panel).

[0018] The UWB communication device 1007 is hardware (transmitting / receiving device) for performing wireless communication between computers (hereinafter referred to as UWB communication) in accordance with the UWB communication standard. UWB can achieve three functions: positioning, radar, and wireless communication. In particular, this embodiment utilizes the positioning and wireless communication functions. The UWB communication device 1007 of the user terminal 10 and a UWB communication device 20 installed indoors perform positioning wirelessly. A well-known positioning method may be used here. For example, the UWB communication device 1007 of the user terminal 10 and one UWB communication device 20 installed indoors may perform one-to-one wireless communication, allowing the UWB communication device 20 to determine the relative position of the UWB communication device 1007 with respect to its own position. Furthermore, the UWB communication device 1007 of the user terminal 10 may perform one-to-many wireless communication with a plurality of UWB communication devices 20 installed indoors, so that each UWB communication device 20 measures the relative position of the UWB communication device 1007 with respect to its own position. Note that, like the UWB communication device 1007, each UWB communication device 20 is hardware (transmission / reception device) for performing wireless communication between computers in accordance with the UWB communication standard.

[0019] The sensor 1008 is hardware for detecting the state of the user's holding the user terminal 10. In this embodiment, the state of the user's holding the user terminal 10 refers to the state in which the user terminal 10 is held in the user's hand, and more specifically, is represented by the pressure when the user terminal 10 is held in the user's hand. In this embodiment, the sensor 1008 is, for example, a pressure sensor, and is provided over the entire rear or front surface of the user terminal 10.

[0020] Each device, such as the processor 1001 and the memory 1002, is connected by a bus for communicating information. The bus may be configured using a single bus, or may be configured using different buses between each device.

[0021] The user terminal 10 may be configured to include hardware such as a microprocessor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a field programmable gate array (FPGA), and some or all of the functional blocks may be realized by the hardware. For example, the processor 1001 may be implemented using at least one of these pieces of hardware.

[0022] Fig. 3 is a diagram showing the hardware configuration of information processing device 30. The hardware configuration of information processing device 30 may be configured to include one or more of the devices shown in Fig. 3, or may be configured to exclude some of the devices. Furthermore, information processing device 30 may be configured by communicating with multiple devices each having a different housing.

[0023] The information processing device 30 is physically configured as a computer device including a processor 3001, a memory 3002, a storage 3003, a network communication device 3004, an input device 3005, an output device 3006, and a bus connecting these devices, etc. Each function of the information processing device 30 is realized by loading predetermined software (programs) onto hardware such as the processor 3001, memory 3002, etc., causing the processor 3001 to perform calculations, control communication via the network communication device 3004, and control at least one of reading and writing of data from and to the memory 3002 and storage 3003. The processor 3001, memory 3002, storage 3003, network communication device 3004, input device 3005, output device 3006, and the bus connecting them are similar in hardware to the processor 1001, memory 1002, storage 1003, network communication device 1004, input device 1005, output device 1006, and the bus connecting them described for the user terminal 10.

[0024] 4 is a diagram showing an example of the functional configuration of the information processing device 30. The acquisition unit 31 acquires, from the UWB communication device 20 via the network 2, a positioning result (UWB positioning result) obtained by wirelessly measuring the position of the user terminal 10 carried by the user indoors.

[0025] The identification unit 32 identifies the state in which the user is holding the user terminal 10. Specifically, the processor 1001 of the user terminal 10 transmits the pressure value detected by the sensor 1008 from the UWB communication device 1007 to the UWB communication device 20, and the UWB communication device 20 transmits the pressure value together with the positioning result via the network 2 to the information processing device 30. The identification unit 32 identifies the pressure when the user terminal 10 is being held by the user's hand based on the pressure value.

[0026] The correction unit 33 corrects the positioning results acquired by the acquisition unit 31 according to the holding state identified by the identification unit 32 (i.e., the pressure when the user terminal 10 is held by the user's hand). It is known that when a user holds the user terminal 10 tightly or lightly, the user's hand acts as an obstacle to wireless communication, resulting in slightly different UWB positioning results. Therefore, as shown in FIG. 5 , the correction unit 33 stores a correction value indicating how to correct the positioning results for each expected pressure (contact pressure). The correction unit 33 may also store an algorithm for calculating the correction value instead of the correction value itself. The correction unit 33 corrects the positioning results with a correction value corresponding to the pressure by referring to the stored result. Here, the correction value indicating how to correct the positioning results or the algorithm for calculating the correction value is assumed to be identified through prior experiments, simulations, or the like.

[0027] [Operation] Next, the operation of the information processing device 30 will be described with reference to Fig. 6. In the following description, for example, when the information processing device 30 is described as the subject of processing, this specifically means that the processor 3001 performs calculations by loading predetermined software (programs) onto hardware such as the processor 3001 and memory 3002, and controls communication via the network communication device 3004 and the reading and / or writing of data from the memory 3002 and storage 3003, thereby executing processing. The same applies to the user terminal 10.

[0028] Indoors, the UWB communication device 1007 of the user terminal 10 and the UWB communication device 20 installed indoors perform positioning wirelessly. The acquisition unit 31 acquires the positioning result (UWB positioning result) of the user terminal 10 wirelessly measured from the UWB communication device 20 via the network 2 (step S11).

[0029] Next, the identification unit 32 identifies the state of holding the user terminal 10 by the user (step S12). Specifically, the processor 1001 of the user terminal 10 transmits the pressure value detected by the sensor 1008 from the UWB communication device 1007 to the UWB communication device 20, and the UWB communication device 20 transmits the pressure value together with the positioning result to the information processing device 30 via the network 2. The identification unit 32 identifies the pressure when the user terminal 10 is being held by the user's hand based on the pressure value.

[0030] The correction unit 33 determines a correction value according to the pressure identified by the identification unit 32 (step S13), and corrects the positioning result acquired by the acquisition unit 31 with the correction value (step S14). The positioning result corrected in this way is used for a predetermined purpose.

[0031] According to the embodiment described above, it is possible to improve the accuracy of indoor wireless positioning.

[0032] [Modifications] The present invention is not limited to the above-described embodiment. The above-described embodiment may be modified as follows. Furthermore, two or more of the following modifications may be combined. [Modification 1] The state in which the user holds the user terminal 10 may be something other than the pressure exerted when the user terminal 10 is gripped by the user's hand, as illustrated in the embodiment. The state in which the user holds the user terminal 10 may be, for example, the area of ​​the user terminal 10 gripped by the user's hand. When the area in which the user grips the user terminal 10 is large or small, the user's hand acts as a wireless obstacle, resulting in slightly different UWB positioning results. Therefore, the user terminal 10 includes a contact sensor 1008 provided over the entire rear or front surface of the user terminal 10. The processor 1001 transmits the area value detected by the sensor 1008 from the UWB communication device 1007 to the UWB communication device 20. The UWB communication device 20 transmits the area value together with the above-described positioning results to the information processing device 30 via the network 2. As shown in FIG. 7 , the correction unit 33 of the information processing device 30 stores a correction value indicating how to correct the positioning results for each estimated area (contact area). The correction unit 33 may store an algorithm for calculating the correction value instead of the correction value itself. The correction unit 33 refers to the stored result and corrects the positioning results with a correction value corresponding to the area of ​​the user terminal 10 held by the user's hand. Here, the correction value indicating how to correct the positioning results or the algorithm for calculating the correction value is assumed to be identified through prior experiments, simulations, or the like. In this way, the identification unit 32 may identify the area of ​​the user terminal 10 held by the user's hand, and the correction unit 33 may perform correction according to the identified area.

[0033] [Variation 2] The state of the user terminal 10 being held by the user may be, for example, the portion of the user terminal 10 held by the user's hand, i.e., the position of the entire user terminal 10 occupied by the portion held by the user's hand. Depending on the position of the portion of the user terminal 10 held by the user relative to the UWB communication device 1007 (typically, whether the user's hand covers the antenna portion of the UWB communication device 1007, etc.), the user's hand acts as a wireless obstacle, resulting in slightly different UWB positioning results. Therefore, the user terminal 10 is equipped with a contact sensor 1008 provided over the entire back or front surface of the user terminal 10, and the processor 1001 transmits the portion detected by the sensor 1008 from the UWB communication device 1007 to the UWB communication device 20. The UWB communication device 20 transmits the portion along with the positioning result via the network 2 to the information processing device 30. As shown in FIG. 8 , the correction unit 33 of the information processing device 30 stores a correction value indicating how to correct the positioning results for each anticipated part (contact part). The correction unit 33 may store an algorithm for calculating the correction value instead of the correction value itself. The correction unit 33 refers to the stored result and corrects the positioning results with a correction value corresponding to the part of the user terminal 10 held by the user's hand. Here, the correction value indicating how to correct the positioning results or the algorithm for calculating the correction value is assumed to be identified by prior experiments, simulations, or the like. In this way, the identification unit 32 may identify the part of the user terminal 10 held by the user's hand, and the correction unit 33 may perform correction according to the identified part.

[0034] [Variation 3] The state of the user terminal 10 held by the user may be, for example, the state of the attitude of the user terminal 10. The state of the attitude of the user terminal 10 here refers to, for example, the direction of the normal to the front surface of the user terminal 10 relative to the vertical direction. The orientation of the antenna of the UWB communication device 1007 differs depending on the attitude of the user terminal 10, resulting in slightly different UWB positioning results. Therefore, the user terminal 10 is equipped with an acceleration sensor or a gyro sensor as the sensor 1008, and the processor 1001 transmits the attitude of the user terminal 10 detected by the sensor 1008 from the UWB communication device 1007 to the UWB communication device 20. The UWB communication device 20 transmits the attitude along with the positioning results to the information processing device 30 via the network 2. As shown in FIG. 9 , the correction unit 33 of the information processing device 30 stores correction values ​​that indicate how to correct the positioning results for each assumed attitude. Furthermore, the correction unit 33 may store an algorithm for calculating the correction values ​​instead of the correction values ​​themselves. The correction unit 33 refers to the stored result and corrects the positioning result with a correction value according to the attitude of the user terminal 10. Here, the correction value for correcting the positioning result or an algorithm for calculating the correction value is assumed to be specified by prior experiments, simulations, etc. In this way, the specification unit 32 may specify the attitude of the user terminal 10 as the state of holding the user terminal 10, and the correction unit 33 may perform correction according to the specified attitude.

[0035] [Variation 4] The correction value may depend on the model of the user terminal 10. Therefore, the processor 1001 of the user terminal 10 transmits its own model name from the UWB communication device 1007 to the UWB communication device 20. The UWB communication device 20 transmits the model name along with the positioning results to the information processing device 30 via the network 2. As shown in FIG. 10 , the correction unit 33 of the information processing device 30 stores a correction value for each model, which indicates how to correct the positioning results. The correction unit 33 may also store an algorithm for calculating the correction value instead of the correction value itself. The correction unit 33 refers to the stored result and corrects the positioning results with a correction value appropriate for the model of the user terminal 10. Here, the correction value for how to correct the positioning results or the algorithm for calculating the correction value is assumed to be identified through prior experiments, simulations, or the like. In this way, the correction unit 33 may perform correction for each model of the user terminal 10.

[0036] [Modification 5] The information processing device that acquires the positioning results and corrects them may be provided in the user terminal 10 or the UWB communication device 20 .

[0037] [Modification 6] The positioning method is not limited to the one using UWB as exemplified in the embodiment. For example, positioning may be performed using the BLE (Bluetooth low energy) wireless communication standard, or may be performed using other wireless communication standards.

[0038] [Other Modifications] The block diagrams used to explain the above embodiments show functional blocks. These functional blocks (components) are realized by any combination of hardware and / or software. Furthermore, the method for realizing each functional block is not particularly limited. That is, each functional block may be realized using a single device that is physically or logically coupled, or may be realized using two or more physically or logically separated devices that are directly or indirectly connected (for example, using wires, wirelessly, etc.) and these multiple devices. The functional block may also be realized by combining software with the single device or the multiple devices.

[0039] Functions include, but are not limited to, judgment, determination, judgment, calculation, computation, processing, derivation, investigation, search, confirmation, reception, transmission, output, access, resolution, selection, selection, establishment, comparison, assumption, expectation, consideration, broadcasting, notifying, communicating, forwarding, configuring, reconfiguring, allocating, mapping, and assignment. For example, a functional block (component) that performs transmission is called a transmitting unit or transmitter. As mentioned above, there are no particular limitations on how these functions are implemented.

[0040] For example, a store terminal in an embodiment of the present disclosure may function as a computer that performs the processing of the present disclosure.

[0041] Each aspect / embodiment described in the present disclosure may be applied to at least one of systems using LTE (Long Term Evolution), LTE-Advanced (LTE-A), SUPER 3G, IMT-Advanced, 4G (4th generation mobile communication system), 5G (5th generation mobile communication system), FRA (Future Radio Access), NR (New Radio), W-CDMA (registered trademark), GSM (registered trademark), CDMA2000, UMB (Ultra Mobile Broadband), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.20, UWB (Ultra-Wide Band), Bluetooth (registered trademark), or other suitable systems, and next-generation systems extended based on these. Furthermore, a combination of multiple systems (e.g., a combination of at least one of LTE and LTE-A with 5G, etc.) may also be applied.

[0042] The order of the procedures, sequences, flowcharts, etc. of each aspect / embodiment described in this disclosure may be changed unless it is consistent. For example, the methods described in this disclosure present elements of various steps using an example order, and are not limited to the particular order presented.

[0043] Input and output information may be stored in a specific location (for example, memory) or may be managed using a management table. Input and output information may be overwritten, updated, or added to. Output information may be deleted. Input information may be transmitted to another device.

[0044] The determination may be made based on a value represented by one bit (0 or 1), a Boolean value (true or false), or a numerical comparison (e.g., comparison with a predetermined value).

[0045] Although the present disclosure has been described in detail above, it is clear to those skilled in the art that the present disclosure is not limited to the embodiments described herein. The present disclosure can be implemented in modified and altered forms without departing from the spirit and scope of the present disclosure as defined by the claims. Therefore, the description of the present disclosure is intended to be illustrative and does not have any limiting meaning on the present disclosure.

[0046] Software, whether referred to as software, firmware, middleware, microcode, hardware description language, or otherwise, should be construed broadly to mean instructions, instruction sets, code, code segments, program code, programs, subprograms, software modules, applications, software applications, software packages, routines, subroutines, objects, executable files, threads of execution, procedures, functions, etc. Additionally, software, instructions, information, etc. may be transmitted or received over a transmission medium. For example, if software is transmitted from a website, server, or other remote source using wired technologies (such as coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL)), and / or wireless technologies (such as infrared, microwave), then such wired and / or wireless technologies are included within the definition of a transmission medium.

[0047] The information, signals, etc. described in this disclosure may be represented using any of a variety of different technologies. For example, data, instructions, commands, information, signals, bits, symbols, chips, etc. that may be referred to throughout the above description may be represented by voltage, current, electromagnetic waves, magnetic fields or magnetic particles, optical fields or photons, or any combination thereof. Note that terms described in this disclosure and terms necessary for understanding this disclosure may be replaced with terms having the same or similar meanings.

[0048] Furthermore, the information, parameters, etc. described in this disclosure may be expressed using absolute values, may be expressed using relative values ​​from a predetermined value, or may be expressed using other corresponding information.

[0049] As used in this disclosure, the phrase "based on" does not mean "based only on," unless expressly stated otherwise. In other words, the phrase "based on" means both "based only on" and "based at least on."

[0050] As used in this disclosure, any reference to an element using a designation such as "first," "second," etc. does not generally limit the quantity or order of those elements. These designations may be used in this disclosure as a convenient method of distinguishing between two or more elements. Thus, a reference to a first and a second element does not imply that only two elements may be employed or that the first element must in some way precede the second element.

[0051] The "unit" in the configuration of each of the above devices may be replaced with "means," "circuit," "device," etc.

[0052] When the terms "include," "including," and variations thereof are used in this disclosure, these terms are intended to be inclusive, similar to the term "comprising." Furthermore, when the term "or" is used in this disclosure, it is not intended to be an exclusive or.

[0053] In this disclosure, where articles are added by translation, such as a, an, and the in English, the disclosure may include that the nouns following these articles are in the plural form.

[0054] 1...positioning system, 2...network, 10...user terminal, 1001...processor, 1002...memory, 1003...storage, 1004...network communication device, 1005...input device, 1006...output device, 1007...UWB communication device, 1008...sensor, 20...UWB communication device, 30...information processing device, 31...acquisition unit, 32...identification unit, 33...correction unit, 3001...processor, 3002...memory, 3003...storage, 3004...network communication device, 3005...input device, 3006...output device

Claims

1. A positioning device comprising: an acquisition unit that acquires positioning results obtained by wirelessly measuring the position of a user terminal carried by a user indoors; an identification unit that identifies the state in which the user terminal is being carried by the user; and a correction unit that corrects the acquired positioning results in accordance with the identified state in which the user terminal is being carried.

2. The positioning device according to claim 1, wherein the holding state is a state in which the user terminal is held in the user's hand.

3. The positioning device according to claim 2, characterized in that the identification unit identifies the pressure when the user terminal is held by the user's hand, and the correction unit performs correction according to the identified pressure.

4. The positioning device according to claim 2, characterized in that the identification unit identifies an area of ​​the user terminal that is held by the user's hand, and the correction unit performs a correction according to the identified area.

5. The positioning device according to claim 2, characterized in that the identification unit identifies a part of the user terminal that is being held by the user's hand, and the correction unit performs correction according to the identified part.

6. The positioning device according to claim 1, characterized in that the carrying state is the posture state of the user terminal.

7. The positioning device according to claim 1, characterized in that the correction unit performs the correction differently for each model of the user terminal.

8. The positioning device according to claim 1, characterized in that the correction unit stores a correction value or algorithm for correcting the positioning result for each of the carrying states, and performs the correction using the correction value or algorithm corresponding to the identified carrying state.

9. The positioning device according to claim 1, characterized in that the wireless communication uses a wireless communication standard such as BLE (Bluetooth low energy) or UWB (Ultra Wide Band).

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