JP2006220465A - Position specifying system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position specifying system capable of specifying a position of an object irrespective of an indoor or outdoor position, by using a light signal from a light source. <P>SOLUTION: This position specification system is provided with light source units 1-3 installed in a predetermined position to project a light signal containing pieces ID1-ID3 of intrinsic identification information, and an object 10 having a photoreception part 11 for receiving the light signal to generate a photoreception output, a positional relation measuring part 20 for extracting the pieces ID1-ID3 of identification information from the photoreception output to identify the light source units 1-3, and for calculating distances as a positional relation between the identified light source units 1-3 and itself (object 10), and a position specifying part 30 for specifying a position of itself (object 10), based on positional information of the light source units 1-3 stored in a map database 31, and based on information from the positional relation measuring part 20. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a position specifying system that specifies the position of an object using an optical signal from a light source.

  For example, in a communication system that wirelessly communicates between a base station and a terminal device, the propagation path of radio waves between the base station and the terminal device is affected by multipath fading due to fluctuations caused by, for example, movement of people. Receive strength changes. As a result, communication throughput becomes unstable and communication retransmission becomes necessary.

  In order to prevent the communication throughput of the terminal from being lowered at any location in a multipath environment, adaptive beam forming and adaptive null steering are applied to efficiently transmit and receive radio waves by applying adaptive array antenna technology. You can do it. However, in order to obtain efficient radio wave transmission and reception directivity by applying such adaptive array antenna technology, if the position of the terminal device is not accurately known, the beam direction of the array antenna, the equalizer, etc. The optimization characteristics cannot be optimized.

As a method for specifying the position of an object such as the terminal device described above, there is a positioning system using, for example, GPS (Global Positioning System) (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 2001-298774

However, a positioning system using GPS has a problem that it is difficult to receive radio waves from a satellite indoors, and cannot be used for specifying the position of an object existing indoors.
The present invention has been made paying attention to the above-described problems, and an object thereof is to provide a position specifying system that can specify the position of an object regardless of whether it is indoors or outdoors.

  For this reason, the position specifying system of the present invention described in claim 1 includes a light source that projects an optical signal including at least unique identification information, and a light receiving unit that receives the optical signal and generates a light reception output. The light source is identified based on the object and identification information extracted from the light reception output, the positional relationship between the identified light source and the object is acquired based on the light reception output, and the acquired positional relationship information An object position specifying unit that specifies the position of the object based on light source position information indicating the position of the light source.

  In such a configuration, an optical signal including unique identification information is projected from the light source, and the object receives the optical signal from the light source at the light receiving unit. The object position specifying unit identifies the light emission source of the received light signal based on the light reception output of the light receiving unit of the object, and acquires and acquires the positional relationship between the identified light source and the object based on the light reception output. Based on the positional relationship information and the light source position information indicating the position of the light source, the presence position of the object is specified.

  In the invention of claim 2, the object position specifying unit acquires a relative positional relationship between the light source and the object, and is expressed by the relative positional relationship information and a coordinate position of a predetermined coordinate system. Based on the light source position information, the coordinate position in the coordinate system is specified as the presence position of the object. According to a third aspect of the present invention, the object position specifying unit acquires a relative positional relationship between the light source and the object, and is represented by the relative positional relationship information and a coordinate position of a predetermined coordinate system. Based on the light source position information, the position when the light source is the origin may be specified as the position of the object.

According to a fourth aspect of the present invention, when the light receiving unit includes a light receiving element, distance information between at least three light sources and the object is acquired as the positional relationship information.
According to a fifth aspect of the present invention, when the light receiving unit is configured to receive the optical signal with a two-dimensional light receiving device through an optical system, the positional relationship information includes at least one light source and the object. The elevation angle and azimuth angle information is obtained.

  The light source including the light source position information in addition to the identification information is projected from the light source, and the object position specifying unit acquires the light source position information from the light reception output. It may be configured. According to a seventh aspect of the present invention, the object position specifying unit may acquire the light source position information from a map database in which position information of each light source is stored in advance.

A configuration in which the object position specifying unit is incorporated in the object and a wireless communication unit is provided, and the light source position information is acquired from the map database provided outside via the wireless communication unit. Good.
In such a configuration, by incorporating the object position specifying unit into the object, the object itself can specify the position, and a map database need not be provided for each object.

As in claim 9, the terminal device in the communication system that performs wireless communication between the base station and the terminal device may be used as the object for specifying the position of the terminal device.
In such a configuration, since the position of the terminal device can be specified, the efficiency of communication between the terminal device and the base station can be improved using the adaptive array antenna technology.

  Specifically, as in claim 10, the object position specifying unit extracts the identification information to identify a light source, and determines a positional relationship between the identified light source and the object based on the light reception output. The object on the map based on the acquired light source / object positional relationship acquisition means, the positional relationship information acquired by the light source / object positional relationship acquisition means and the fixed position information of the light source stored in the map database It may be configured to include a position specifying means for specifying the presence position of.

  The positional relationship information acquired by the light source / object positional relationship acquisition unit in the terminal device, the position specifying unit in the base station, and the light source / object positional relationship acquisition unit. May be configured to transmit to the base station via wireless communication means.

  As in claim 12, the base station propagates radio waves between the terminal device and the base station based on the position information of the terminal device specified by the position specifying means and the ambient environment information stored in the map database. It is preferable to have a configuration for estimating the path and optimally controlling the directivity of the array antenna or the equalization characteristic of the equalizer based on the estimated radio wave propagation path information.

The light source may be a visible light source that projects the optical signal of visible light.
In such a configuration, since the visible light source is present everywhere, it is possible to provide a specific position system in which the place of use is not restricted.

As described above, according to the position specifying system of the present invention, since the position of the object is specified using the optical signal from the light source, it is sufficient if there is a light source such as a lighting device, both indoors and outdoors. It is possible to provide an object localization system that is free of restrictions on location.
In addition, when applied to a communication system that wirelessly communicates between a base station and a terminal device and configured to identify the position of the terminal device, it becomes possible to know the position of the terminal device on the base station side. When calculating the propagation path of radio waves, it can be calculated in real time in a short time, and the efficiency and speed of the communication system can be improved.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic diagram showing a first embodiment of a position specifying system according to the present invention.
In FIG. 1, the position specifying system of the present embodiment includes, for example, a plurality of light source units 1 to 3 and an object 10 that is a position specifying target.

  The plurality of light source units 1 to 3 are installed at different fixed positions set in advance, respectively, and project optical signals including unique identification information ID1 to ID3. , Light sources L1 to L3, drive control units 1A to 3A for controlling the driving of the light sources L1 to L3, and memories 1B to 3B storing the identification information ID1 to ID3, respectively. The operation will be described by taking the light source unit 1 as an example. The drive control unit 1A reads the identification information ID1 from the memory 1B, and controls the light source L1 to blink according to the identification information ID1. Accordingly, an optical signal including the identification information ID1 is transmitted from the light source L1. Similarly, optical signals including identification information ID2 and ID3 are transmitted from the light source units 2 and 3, respectively. Here, each of the drive control units 1A to 3A transmits optical signals obtained by spreading the identification information ID1 to ID3 with different cyclic code sequences (for example, PN code sequences) by applying a spread spectrum communication method. The light sources L1 to L3 are controlled to blink. As the light sources L1 to L3, for example, a visible light source such as an LED, an infrared light source, a laser light source, and the like are conceivable, but a visible light source that can be installed in any place, indoors or outdoors, is desirable.

The object 10 receives optical signals from the light source units 1 to 3 and specifies its own position based on the received light output and map data. The light receiving unit 11 and the light source / object positional relationship acquisition means The positional relationship measuring unit 20, the position specifying unit 30 that is a position specifying unit, and the control unit 12 are configured. Here, the positional relationship measuring unit 20 and the position specifying unit 30 constitute an object position specifying unit.
The light receiving unit 11 is configured to include a light receiving element that receives light signals from the light source units 1 to 3 and generates a light receiving output corresponding to the received light signals.

  The positional relationship measuring unit 20 extracts the identification information based on the light reception output of the light receiving unit 11 to identify the light source units 1 to 3 and determines the positional relationship between the identified light source and the object 10 based on the light reception output. From the input unit 21 that receives the light reception output of the light receiving unit 11, the code holding unit 22 that stores and holds the cyclic code sequences respectively corresponding to the cyclic code sequences of the light source units 1 to 3, and the input unit 21 A correlation processing unit 23 that performs correlation processing on the input signal to be transmitted using each cyclic code sequence held in the code holding unit 22, and receives identification information ID <b> 1 to ID <b> 3 based on the correlation output of the correlation processing unit 23. The light source determination unit 24 for identifying the light source units 1 to 3 that are the light emission sources of the optical signal and the time difference between the light emission time and the light reception time based on the correlation output of the correlation processing unit 23 and the light source units 1 to 3 Constructed and a distance calculator 25 for calculating the distance information (positional relationship information).

The position specifying unit 30 specifies the position of the object 10 on the map based on the distance information (position relationship information) obtained by the position relationship measuring unit 20 and the fixed position information of each of the light source units 1 to 3. The map database 31 in which the map data (for example, coordinate positions on the map) of the light source units 1 to 3 is stored, the fixed position information of each light source unit 1 to 3 stored in the map database 31, and the position A position calculation unit that calculates the existence position of the object 10 on the map based on the identification information and distance information of the light source units 1 to 3 transmitted from the light source determination unit 24 and the distance calculation unit 25 of the relationship measurement unit 20, respectively. 32.
The control unit 12 controls operations of the positional relationship measuring unit 20 and the position specifying unit 30.

Next, the operation of the position specifying system of this embodiment will be described.
For example, it is assumed that the light source units 1 to 3 are mounted at different fixed positions set in advance on the ceiling of the room 4 as shown in FIGS. The position information of the fixed positions A to C is stored in advance in the map database 31. Then, it is assumed that the object 10 exists at a position at a distance r1 from the light source unit 1, a distance r2 from the light source unit 2, and a distance r3 from the light source unit 3, as shown in FIG. 2A shows a view when the room is viewed from above, and FIG. 2B shows a view when the view is seen from the side.

  The light source units 1 to 3 include clock units synchronized with each other by a reference clock, and the light sources L1 to L3 are driven to blink by the drive control units 1A to 3A in synchronization with each other. Thereby, an optical signal including its own identification information ID1 spread by the cyclic code sequence PN1 from the light source unit 1 and a light including its own identification information ID2 spread from the light source unit 2 by the cyclic code sequence PN2. An optical signal including its own identification information ID3 obtained by spreading the signal from the light source unit 3 using the cyclic code sequence PN3 is transmitted in synchronization with each other, and is repeatedly transmitted at predetermined intervals. The cyclic code sequences PN1, PN2, and PN3 are cyclic code sequences having no correlation with each other.

  When the light receiving unit 11 of the object 10 receives the optical signal, the received light output is input to the input unit 21 of the positional relationship measuring unit 20, and the correlation processing unit 23 stores the code holding unit 22 in the same manner as in a known spread spectrum communication system. Correlation processing is performed using the retained cyclic code sequences PN1 to PN3. With this correlation processing, if an optical signal from the light source unit 1 is received, a high level correlation output is generated when the correlation processing is performed with the cyclic code sequence PN1. Similarly, if an optical signal from the light source unit 2 is received, a high-level correlation output is generated when correlation processing is performed with the cyclic code sequence PN2, and if an optical signal from the light source unit 3 is received, a cyclic code sequence is generated. A high level correlation output is generated when correlation processing is performed by PN3. The light source determination unit 24 determines which cyclic code sequence of the optical signal is received based on the correlation output of the correlation processing unit 23 to determine the light source units 1 to 3 that have received the light. Further, the distance measuring unit 25 uses the same principle as that of the GPS system, and from the time information of a clock unit (not shown) provided in the object 10 synchronized with the reference clock, the time when the optical signal is transmitted from the light source unit. The distance between each light source unit and the object 10 is calculated from the difference between the input time of the received light output, in other words, the time when the optical signal is received by the light receiving unit 11, and the distance information r1 to r3 is obtained. Then, the positional relationship measuring unit 20 sends the distance information r1 to r3 corresponding to the received identification information ID1 to ID3 of the light source units 1 to 3 to the position specifying unit 30.

  The position specifying unit 30 calculates the existence position of the object 10 from the identification information ID1 to ID3, the distance information r1 to r3, and the coordinate data of the light source units 1 to 3 in the map database 31. This is based on the same principle as the GPS system, and the intersections of three spheres having radii r1 to r3 centered on each of the light source units 1 to 3 based on the distances r1 to r3 from the three light source units 1 to 3. By obtaining, the intersection is obtained as the coordinate position of the object 10. If the light source unit is arranged so that the light receiving unit 11 of the object 10 can constantly receive four or more optical signals, the position specifying accuracy of the object 10 can be further increased.

According to the position specifying system having such a configuration, the position of the object 10 can be specified using an optical signal. Therefore, the position of the object 10 can be specified at any place as long as there is a lighting device regardless of whether it is indoors or outdoors. Moreover, what is necessary is just to attach an illuminating device also in the place without an illuminating device.
For example, if it is assumed that the object 10 is a movable robot, it is possible to move and work by grasping its own position from the light signal of the illumination device.

  In the case of a configuration in which a map database is provided in an object as in this embodiment, for example, when the light source unit fails and needs to be replaced and the identification information of the light source unit is changed, the map database for each object is changed. The contents must be corrected. If a map database is provided externally and a communication function is provided for an object so that the position information of a desired light source unit is taken in from the external map database, even if the contents of the map database as described above need to be corrected, Only the contents of the map database need be modified, and it is not necessary to modify the contents of the map database for each object, so the map database can be easily modified.

  Further, the optical signal generation source may be configured to electrically connect a separate light source to the unit device including the drive control unit and the memory instead of the light source unit as in the present embodiment. When the light source fails, only the light source needs to be replaced, so that maintenance costs can be reduced and the identification information in the memory need not be changed.

In the above-described embodiment, the light receiving unit 11 is configured by a light receiving element. However, a configuration in which an optical signal is received by a two-dimensional light receiving device such as a CCD or a CMOS sensor may be used.
The object position specifying operation in the case of such a configuration will be described below with reference to FIG.
In this case, as shown in FIG. 3, the light receiving unit 11 includes a two-dimensional light receiving device 11A and an optical system including an optical lens 11B for condensing an optical signal from the light source unit 1 on the two-dimensional device 11A. Provided and configured.

  The optical signal from the light source unit 1 is condensed on the two-dimensional light receiving device 11A by an optical system including the optical lens 11B. In this case, the light source unit 1 viewed from the object 10 using the focal length of the optical lens 11B and the distance between the coordinate origin and the focal point from the position of the focal point of the two-dimensional light receiving device 11A with respect to the coordinate origin. As the relative positional relationship, the elevation angle φ and the azimuth angle θ can be calculated. Therefore, in the case of such a configuration, the positional relationship measuring unit 20 calculates the elevation angle φ and the azimuth angle θ instead of the distance information as positional relationship information between the object 10 and the light source unit 1. Further, the identification information ID of the light source unit 1 can identify the received optical signal by extracting the identification information ID1 by the same correlation processing as described above based on the light reception output of the two-dimensional light receiving device 11A. judge. And if the positional relationship information and identification information of the elevation angle φ and the azimuth angle θ are sent to the position specifying unit 30, the position of the object 10 can be specified from the coordinate position data of the light source unit 1 in the map database 31.

  According to the configuration using the two-dimensional light receiving device 11A, the position of the object 10 can be specified by receiving the optical signal of at least one light source unit.

Next, a second embodiment of the present invention will be described.
The second embodiment is an example in which the position identification system of the present invention is applied to position identification of a terminal device in a communication system in which wireless communication is performed between a base station and a terminal device. In addition, the same code | symbol is attached | subjected to the same element as 1st Embodiment, and description is abbreviate | omitted.
FIG. 4 shows a schematic configuration diagram of the communication system.
In FIG. 4, the communication system of this embodiment includes a terminal device 40 corresponding to a terminal of the communication system, for example, a wireless LAN terminal, and a base station 50 corresponding to a master station of the communication system, for example, a wireless LAN access point. Consists of.

The terminal device 40 corresponding to the object of the first embodiment includes a light receiving unit 41, a positional relationship measuring unit 42, a radio unit 43, an antenna 44, a communication unit 45, and a control unit 46. .
The light receiving unit 41 receives an optical signal including the identification information ID1 to ID3 of the light source units 1 to 3, and may be configured to receive the optical signal with a light receiving element, and receive the optical signal with a two-dimensional light receiving device. It may be configured.

The positional relationship measuring unit 42 measures the positional relationship between the terminal device 40 and the light source units 1 to 3. When the light receiving unit 41 is configured by a light receiving element, each of the positional relationship measuring units 42 is based on optical signals of at least three light source units. When the distances r1 to r3 to the light source unit are measured as shown in FIG. 1, and the light receiving unit 41 is constituted by a two-dimensional light receiving device such as a CCD or a CMOS, at least one light source as described in FIG. The elevation angle φ and the azimuth buying angle θ of the light source unit viewed from the terminal device 40 are measured based on the optical signal of the unit.
The wireless unit 43 is for performing wireless communication with the base station 50 via the antenna 44.
The communication unit 45 is for communicating information with a host device such as a personal computer.
The control unit 46 controls each unit of the terminal device 40 such as the positional relationship measurement unit 42, the radio unit 43, and the communication unit 45.

The base station 50 includes a position specifying unit 51, a path calculation unit 52, a delay / attenuation calculation unit 53, an equalizer control unit 54, an equalizer 55, an array antenna control unit 56, and an array antenna 57. And a communication unit 58 and a control unit 59.
The position specifying unit 51 has the same configuration as that of the first embodiment, and specifies the position of the terminal device 40 based on the information transmitted from the terminal device 40 and the light source unit position information of the map database 31.

  The route calculation unit 52 includes the position information of the terminal device 40 specified by the position specifying unit 51 and ambient environment information (for example, walls, ceilings, floors, fixtures, etc.) stored in the map database of the position specifying unit 51. The propagation path of the radio wave between the terminal device 40 and the base station 50 is estimated from the arrangement data) and its own position information using a conventionally known ray tracing method.

Based on the radio wave propagation path information estimated by the path calculation unit 52, the delay / attenuation amount calculation unit 53 calculates the delay time based on the loss of radio waves and the path length due to various obstacles on the path.
The equalizer control unit 54 optimally controls the equalization characteristics of the received signal of the equalizer 55 based on the calculation result of the delay / attenuation amount calculation unit 53.

The array antenna control unit 56 calculates the optimum beam direction and null direction of the array antenna 57 based on the propagation path information estimated by the path calculation unit 52, and directs the array antenna 57 according to the position of the terminal device 40. Control gender.
The communication unit 58 is for communicating with the outside through, for example, a wired (LAN) line.
The control unit 59 controls each part in the base station 50 such as the position specifying unit 51, the path calculation unit 52, the delay / attenuation amount calculation unit 53, the equalizer control unit 54, the array antenna control unit 56, and the like.

Next, the operation of the communication system of this embodiment will be described with reference to the flowcharts of FIGS.
FIG. 5 is an operation flowchart of the terminal device 40.
In step 1 (indicated by S1 in the figure, the same shall apply hereinafter), it is determined whether or not a light reception output is generated from the light receiving unit 41. If the light signal is received by the light receiving unit 41 and a light reception output is generated, the determination is YES, and the process proceeds to step 2.
In Step 2, the positional relationship measuring unit 42 identifies the light source unit that is the generation source based on the identification information ID1 to ID3 included in the received light signal, as in the first embodiment described above.

In step 3, the distance (or elevation angle φ and azimuth angle θ) to the identified light source unit is measured. Here, when measuring the distance, it is necessary to acquire distance information to at least three or more light source units. When measuring the elevation angle φ and the azimuth angle θ, the elevation angle φ and the azimuth with respect to at least one light source unit. Information on the angle θ may be measured.
In step 4, the ID information obtained in steps 2 and 3 and the distance (or elevation angle φ and azimuth angle θ) information corresponding to the ID information are transmitted to the base station 50 at a slow communication speed that does not cause intersymbol interference. To send.

FIG. 6 is an operation flowchart of the base station 50.
In step 11, it is determined whether or not ID information and distance (or elevation angle φ and azimuth angle θ) information has been received. If received, the determination is YES, and the process proceeds to step 12.
In step 12, the position specifying unit 51 specifies the position on the map of the terminal device 40 that is the information transmission source from the received information and the position information of the light source unit in the map database.

In step 13, the path calculation unit 52 calculates a radio wave propagation path from the position information of the terminal device 40 obtained in step 12 and the position information of itself (base station 50) by using the ray tracing method.
In step 14, the delay / attenuation amount calculation unit 53 calculates the delay amount and attenuation amount of the propagation path estimated in step 13 based on the surrounding environment information stored in advance in the map database.

In step 15, the equalizer controller 54 calculates a set value based on the calculation result of step 14 so that the equalization characteristic of the equalizer 55 is optimum for the terminal device 40, and based on the calculation result. The equalization characteristic of the equalizer 55 is changed.
In step 16, the array antenna control unit 56 changes the setting of the directivity characteristics of the array antenna 57 so that the null is directed in the unnecessary wave direction and the beam is directed in the desired wave direction based on the propagation path information estimated in step 13.
In step 17, it is determined whether or not information has been received from another terminal device. If it has not been received, the determination is no and the flow ends.

  According to the communication system to which the position specifying system having such a configuration is applied, the position of the terminal device 40 can be known on the base station 50 side. For this reason, when calculating the propagation path of the radio wave between the base station and the terminal device using the ray tracing method, the combination of the paths can be limited and the propagation path can be estimated in real time. Therefore, even if the radio wave propagation environment between the base station and the terminal device changes due to the influence of a person's movement or the like, the communication between the base station and the terminal device can be efficiently and speeded up.

  Further, as in the present embodiment, by providing the map database on the base station 50 side instead of each terminal device 40, the map database accompanying replacement when the light source units 1 to 3 fail and need to be replaced. Only the base station 50 needs to correct the ID information. Therefore, in a communication system having a large number of terminal devices 40, it is easy to modify the contents of the map database.

  The position specifying system of the present invention is not limited to the configuration of each embodiment described above. For example, for all light source identification information received from an object that has received a light signal from the light source, and light source position information corresponding to each light source acquired from the light signal or the map database, to the light source provided with the position specifying unit It is good also as a structure which identifies the position of an object by transmitting. In this case, as a means for transmitting information from the object side to the light source side, any communication method may be used as long as it is a communication means capable of transmitting information such as light and radio waves. By adopting such a configuration, for example, it is possible to collect information such as vehicles in the tunnel, which is difficult in the GPS system, outside the tunnel by using illumination in the tunnel.

  Further, the light source is not necessarily fixedly installed. In this case, for example, the current position information from each light source may be transmitted to the object, and the current position information from each light source side is notified to the management unit of the map database so that the map database is sequentially updated. It is good also as a simple structure.

  Further, in the above-described embodiment, the relative positional relationship information such as the distance between the light source and the object, the elevation angle, the azimuth angle, and the light source position information represented by the coordinate position of a predetermined coordinate system (for example, map data) The absolute coordinate position in the coordinate system is specified as the object presence position. For example, as the object existence position, the position when viewed from each light source, that is, each light source is set as the origin position. You may make it identify with the relative position with respect to each light source at the time, and various forms can be considered for the position specific form of an object.

1 is a schematic configuration diagram of a first embodiment of a position specifying system according to the present invention. Illustration of distance measurement between object and light source Illustration of measuring the elevation angle and azimuth angle of a light source viewed from an object Schematic configuration diagram of a communication system to which the present invention is applied Operation flowchart of terminal device Base station operation flowchart

Explanation of symbols

1-3 Light source unit 10 Object 11 Light receiving unit 20, 42 Position relation measuring unit 24 Light source determining unit 25 Distance calculating unit 30, 51 Position specifying unit 31 Map database 32 Position calculating unit 40 Terminal device 43 Radio unit 50 Base station 52 Path calculation Unit 53 Delay / Attenuation Calculation Unit 54 Equalizer Control Unit 56 Array Antenna Control Unit 57 Array Antenna

Claims (13)

A light source that emits an optical signal including at least unique identification information;
An object including a light receiving unit that receives the optical signal and generates a light reception output;
The light source is identified based on the identification information extracted from the light reception output, the positional relationship between the identified light source and the object is acquired based on the light reception output, and the acquired positional relationship information and the light source Based on light source position information indicating the position, an object position specifying unit for specifying the position of the object;
A position specifying system characterized by comprising a structure.   The object position specifying unit acquires a relative positional relationship between the light source and the object, and based on the relative positional relationship information and the light source position information represented by a coordinate position of a predetermined coordinate system. The position specifying system according to claim 1, wherein a coordinate position in the coordinate system is specified as the presence position of the object.   The object position specifying unit acquires a relative positional relationship between the light source and the object, and based on the relative positional relationship information and the light source position information represented by a coordinate position of a predetermined coordinate system. The position specifying system according to claim 1, wherein a position when the light source is an origin is specified as an existence position of the object.   When the said light-receiving part is a structure provided with a light receiving element, it is the structure which acquires the distance information between the said three or more said light sources and the said object as said positional relationship information. Location system described in one.   When the light receiving unit is configured to receive the optical signal with a two-dimensional light receiving device via an optical system, the positional relationship information includes at least one elevation angle and azimuth information between the light source and the object. The position identifying system according to any one of claims 1 to 3, wherein the position identifying system is configured to be acquired.   The light source includes a light signal including its own light source position information in addition to the identification information, and the object position specifying unit acquires the light source position information from the light reception output. 5. The location system according to any one of 5 above.   The position specifying system according to claim 1, wherein the object position specifying unit is configured to acquire the light source position information from a map database in which position information of each light source is stored in advance.   8. The configuration according to claim 7, wherein the object position specifying unit is incorporated in the object and a wireless communication unit is provided, and the light source position information is acquired from the map database provided outside via the wireless communication unit. Location system.   The position specifying system according to any one of claims 1 to 8, wherein the terminal apparatus in a communication system that performs wireless communication between a base station and a terminal apparatus is applied to the position of the terminal apparatus as the object.   The object position specifying unit extracts the identification information to identify a light source, and obtains a positional relationship between the identified light source and the object based on the received light output. The position specifying means for specifying the presence position of the object based on the positional relationship information acquired by the light source / object positional relationship acquisition means and the light source position information. The location system according to one.   The terminal device is provided with the light source / object positional relationship acquisition means, the base station is provided with the position specifying means, and the positional relationship information acquired by the light source / object positional relationship acquisition means is transmitted via wireless communication means. The position specifying system according to claim 10 configured to transmit to a base station.   The base station estimates a radio wave propagation path between the terminal device and the base station based on the position information of the terminal device specified by the position specifying means and the ambient environment information stored in the map database, and the estimation The position specifying system according to claim 11, wherein the position specifying system has a configuration for optimally controlling the directivity of the array antenna or the equalization characteristic of the equalizer based on the wireless radio wave propagation path information.   The position specifying system according to claim 1, wherein the light source is a visible light source that projects the optical signal of visible light.

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