JP2012185047A - Radio positioning system according to high-precision analysis method - Google Patents

Abstract

[Purpose] The present invention measures the distance from each transmitter to a receiver by taking in the change characteristics of the radio field intensity, thereby improving the accuracy of distance measurement, and thus greatly improving the reliability of the wireless positioning system itself. An object of the present invention is to provide a wireless positioning system using a highly accurate analysis method.
[Configuration] A transmitter with known locations for transmitting radio waves and a receiver for receiving radio waves transmitted from transmitters with known multiple locations, using the radio field strength value of the transmitted radio waves Is a wireless positioning system that measures the distance from each transmitter to the receiver and measures the position of the receiver from each measured distance, and the distance from each transmitter to the receiver using the radio field strength value When measuring, the measurement is performed in consideration of the change characteristic of the radio field strength with respect to the change in the distance from each transmitter to the receiver, and the position of the receiver is measured using the measurement value in consideration of the change characteristic of the radio field intensity. It is characterized by that.
[Selection] Figure 1

Description

The present invention relates to a wireless positioning system capable of measuring a position wirelessly, and more particularly to a wireless positioning system based on a high-precision analysis method capable of performing positioning with high accuracy by reducing positioning errors of the system.

  2. Description of the Related Art Conventionally, a technique for measuring the position of a radio wave transmitting device from the radio wave intensity using radio wave radio wave intensity has been developed (Japanese Patent Publication No. 2010-509571).

Here, the conventional position measurement system using communication radio wave intensity is a radio wave transmitted from a transmitter whose location is known in an environment where there are a plurality of receivers whose coordinates are known. Is estimated from the radio field intensity at the time each receiver is received, and the distance from the transmitter with the known location to the receiver, so that the coordinates of each receiver and between each transmitter and receiver are estimated. The position of the receiver was calculated from the distance (see FIGS. 7 and 8).

Special table 2010-509571

However, in the conventional system, in the correction of the error in the calculation of the position of the receiver, the measurement is performed with the same error regardless of the distance from each transmitter to the receiver.
This is probably because the conventional system uses a so-called GPS positioning method as it is. In other words, since the conventional GPS positioning method calculates the distance using the propagation time of the radio wave, the error correction value is also the distance from each transmitter to the receiver due to the clock error with the receiver. This seems to be because it is not related at all.

However, the radio wave intensity attenuation degree of the radio wave transmitted from the transmitter is not uniformly attenuated in proportion to the transmitted distance.
As understood from FIG. 4, for example, it is abruptly attenuated to about 50 m, but it has been found that the radio wave intensity hardly fluctuates after about 50 m.
However, conventionally, the error correction value is the same regardless of the distance from each transmitter to the receiver, so the accuracy of the distance measurement is lowered, and thus the accuracy of the conventional wireless positioning system itself is difficult. There was a problem that there was.

Thus, the present invention was devised to solve the problems of the conventional system described above, and the attenuation of the communication radio wave intensity is large when the distance from each transmitter to the receiver is short. That is, the radio field strength is greatly attenuated and the distance accuracy estimated by the radio field strength is high (the error is small), and when the distance from each transmitter to the receiver is long, the change in radio field strength is small, that is, the radio field strength is Therefore, it is necessary to consider the change characteristic of the radio field intensity that the accuracy of the distance estimated by the radio field intensity is low (the error is large) because it hardly changes.
In the present invention, by measuring the distance from each transmitter to the receiver by incorporating the change characteristics of the radio field intensity, the accuracy of distance measurement is improved, and the reliability of the wireless positioning system itself is greatly increased. An object of the present invention is to provide a wireless positioning system using a high-precision analysis method.

であり、
各発信機から受信機までの距離を算出する計算式は、

であり、
前記電波強度特性を考慮した計算式は、

である、
（なお、

とする。対象を３次元として考えた場合には、上記の式にZ項を加えた式となる。ss_iは電波強度値，P_txは送信電力，fは周波数，r_iは前記距離，nはパラメータ。）

ことを特徴とし、
または、
前記位置を計測する受信機は、複数個である、
ことを特徴とし、
または、
前記位置を計測する受信機は、移動する、
ことを特徴とし、
または、
前記各発信機は、無線ＬＡＮのアクセスポイントであり、前記受信機は、前記無線ＬＡＮのアクセスポイントからの信号を受信する端末機器である、
ことを特徴とし、
または、
前記場所が既知な発信機を場所が既知な受信機に換えると共に、前記受信機を場所が不知な発信機に換えて、該受信機の無線測位が行える、
ことを特徴とし、
または、
作業エリア内において前記受信機を作業者及び作業車両に取り付け、前記高精度解析法による高精度解析法による無線測位システムを作動して、前記作業エリア内の受信機の位置情報を計測すると共に、該位置情報をコンピュータに送信して取得させ、コンピュータでは、取得した位置情報から作業エリアにおける作業員の把握が行えると共に、前記位置情報から作業車両の作業員への接近に対し警告を発しうるシステムが構築できる、
ことを特徴とし、
または、
前記受信機を地下街及び商業施設内の人員に携帯させ、前記高精度解析法による無線測位システムを作動して、前記受信機の位置情報を計測すると共に、該位置情報をコンピュータに送信して取得させ、コンピュータでは、取得した位置情報から地下街及び商業施設内における人員の把握が行えると共に、前記位置情報から緊急避難誘導路を随時形成できるシステムが構築できる、
ことを特徴とするものである。
The wireless positioning system based on the high-precision analysis method according to the present invention is:
A transmitter having a plurality of known locations for transmitting radio waves, and a receiver for receiving radio waves transmitted from the transmitters having a plurality of known locations, using a radio field intensity value of the transmitted radio waves. It is a wireless positioning system that measures the distance from each transmitter to the receiver and measures the position of the receiver from each measured distance.
When measuring the distance from each transmitter to the receiver using the radio field intensity value, taking into account the change characteristics of the radio field strength with respect to the change in the distance from each transmitter to the receiver,
Measure the position of the receiver using the measured value considering the change characteristics of the radio field intensity,
It is characterized by
Or
A transmitter having a plurality of known locations for transmitting radio waves, and a receiver for receiving radio waves transmitted from the transmitters having a plurality of known locations, using a radio field intensity value of the transmitted radio waves. It is a wireless positioning system that measures the distance from each transmitter to the receiver and measures the position of the receiver from each measured distance.
When measuring the distance from each transmitter to the receiver using the radio field intensity value, the degree of change in radio field intensity is large when the distance from each transmitter to the receiver is short, and from each transmitter to the receiver. Measured using a numerical value that takes into account the change characteristics of radio field strength, such that the degree of change in radio field strength is small when the distance of
Measure the position of the receiver using the measured value,
It is characterized by
Or
A transmitter having a plurality of known locations for transmitting radio waves, and a receiver for receiving radio waves transmitted from the transmitters having a plurality of known locations, using a radio field intensity value of the transmitted radio waves. It is a wireless positioning system that measures the distance from each transmitter to the receiver and measures the position of the receiver from each measured distance.
When measuring the distance from each transmitter to the receiver using the radio field intensity value, the degree of change in radio field intensity is large when the distance from each transmitter to the receiver is short, and from each transmitter to the receiver. Forming a calculation formula that takes into account the change characteristics of radio field strength that the degree of change in radio field strength is small when the distance of is long, and using the numerical values calculated by the formula, perform measurements,
Measure the position of the receiver using the measured value,
It is characterized by
Or
A transmitter having a plurality of known locations for transmitting radio waves, and a receiver for receiving radio waves transmitted from the transmitters having a plurality of known locations, using a radio field intensity value of the transmitted radio waves. It is a wireless positioning system that measures the distance from each transmitter to the receiver and measures the position of the receiver from each measured distance.
When measuring the distance from each transmitter to the receiver using the radio field intensity value, the degree of change in radio field intensity is large when the distance from each transmitter to the receiver is short, and from each transmitter to the receiver. The calculation formula that considers the change characteristics of the radio field strength when the distance of the radio wave is small, the calculation formula that calculates the radio field strength value, and the calculation that calculates the distance from each transmitter to the receiver Form from the formula, measure using the numerical value calculated by the formed formula,
Measure the position of the receiver using the measured value,
It is characterized by
Or
The calculation formula for calculating the radio wave intensity value is:

And
The formula to calculate the distance from each transmitter to the receiver is

And
The calculation formula considering the radio wave intensity characteristics is

Is,
(Note that

And When the target is considered to be three-dimensional, the equation is obtained by adding the Z term to the above equation. ss _i is a radio field intensity value, P _tx is transmission power, f is a frequency, r _i is the distance, and n is a parameter. )

It is characterized by
Or
There are a plurality of receivers for measuring the position.
It is characterized by
Or
The receiver for measuring the position moves,
It is characterized by
Or
Each transmitter is a wireless LAN access point, and the receiver is a terminal device that receives a signal from the wireless LAN access point.
It is characterized by
Or
The transmitter with the known location is replaced with a receiver with a known location, and the receiver is replaced with a transmitter with an unknown location to perform wireless positioning of the receiver.
It is characterized by
Or
Attach the receiver to a worker and a work vehicle in a work area, operate a wireless positioning system based on the high-precision analysis method based on the high-precision analysis method, and measure position information of the receiver in the work area; A system in which the position information is transmitted to a computer to be acquired, and in the computer, a worker in a work area can be grasped from the acquired position information, and a warning can be issued from the position information to the approach of the work vehicle to the worker. Can be built,
It is characterized by
Or
The receiver is carried by personnel in an underground shopping center and a commercial facility, and the wireless positioning system based on the high-precision analysis method is operated to measure the position information of the receiver and transmit the position information to a computer for acquisition. In addition, the computer can grasp the personnel in the underground shopping center and the commercial facility from the acquired position information, and can construct a system that can form an emergency evacuation guideway from time to time.
It is characterized by this.

In the case of a wireless positioning system based on the high-accuracy analysis method according to the present invention, the attenuation of the communication radio wave intensity is not attenuated in proportion to the transmission distance, but the radio wave intensity is reduced when the distance from each transmitter to the receiver is short. Radio wave strength change characteristics that the degree of change is large, that is, the radio field strength is greatly attenuated and the change in radio field strength is small when the distance from each transmitter to the receiver is long, that is, the radio field strength hardly changes. Therefore, the accuracy of distance measurement is improved by measuring the distance from each transmitter to the receiver by incorporating the change characteristics of the radio field strength. There is an excellent effect that the reliability can be greatly increased.

It is a schematic structure explanatory drawing explaining the schematic structure of a present Example. It is explanatory drawing explaining the use condition of this invention. It is explanatory drawing explaining the error comparison of the conventional method and this invention. It is explanatory drawing explaining the attenuation state of radio wave intensity. It is Example structure explanatory drawing explaining the Example of this invention. FIG. 3 is a configuration explanatory diagram illustrating a schematic configuration of a positioning calculation server computer. It is explanatory drawing (1) explaining the system configuration | structure of a prior art example. It is explanatory drawing (2) explaining the system configuration | structure of a prior art example.

  Hereinafter, the present invention will be described based on embodiments shown in the drawings.

  In FIG. 1, wireless LAN access points 1a, 1b, 1c, and 1d, which are transmitters whose locations are known, are installed, and a wireless terminal 2 that is a receiver is placed therein, and positioning measurement of this wireless terminal 2 is performed. The example which performed is shown.

  In this example, the radio field strength values of the access points 1a, 1b, 1c and 1d of the respective wireless LANs are as follows: the access point 1a is −42.4, the access point 1b is −70.8, the access point 1c is −55.5, and the access point 1d is − It is measured as 63.2.

However, in the present invention, the radio wave intensity value is not used as it is for measuring the distance from the transmitter having the known location to the receiver. As described above, the attenuation of the radio wave intensity is abruptly attenuated, for example, to about 50 m as understood from FIG. 4, but the radio wave intensity hardly fluctuates after about 50 m. In addition, the attenuation of radio field intensity does not attenuate in proportion to the transmission distance, and when the distance from each transmitter to the receiver is short, the change in radio field intensity is large, that is, the radio field intensity is greatly attenuated. When the distance from the transmitter to the receiver is long, the degree of change in the radio field intensity is small, that is, the radio field intensity changes characteristic that the radio field intensity hardly changes.
Therefore, when measuring the distance from the transmitter to the receiver, it is necessary to take into account the change characteristics of the radio wave intensity.

  Therefore, in the present invention, a so-called “estimated radio wave intensity value” in consideration of the change characteristic of the radio wave intensity is obtained, and the numerical value is used for measurement.

Therefore, the following formula is used. By the way, the following expression 2 is an expression when the object is considered as a two-dimensional plane. Therefore, when the target is considered to be three-dimensional as in the conventional examples of FIGS. 7 and 8, the equation is obtained by adding the Z term to the equation such as the following equation (2).

First, the relational expression between the radio wave intensity and the distance is shown in Equation 1.

ここで、ss_iは電波強度値，P_txは送信電力，fは周波数，r_iは前記距離，nはパラメータ
を示す。
次に、無線ＬＡＮの各アクセスポイント1ａ、1b、1c、1dと受信機である無線端末２との間の距離を求める式を数２に示す。

Here, ss _i is a radio wave intensity value, P _tx is transmission power, f is a frequency, r _i is the distance, and n is a parameter.
Next, an equation for obtaining a distance between each wireless LAN access point 1a, 1b, 1c, 1d and the wireless terminal 2 as a receiver is shown in Equation 2.

これら数１と数２の式から、下記の関係式が得られる。

From these formulas 1 and 2, the following relational expression is obtained.

なお、

とする。

前記数３の式がいわゆる「推定電波強度値」を求める式となる。すなわち、各発信機から受信機までの距離が短いときには電波強度の変化度が大きいため、大きく電波強度が減衰し、各発信機から受信機までの距離が長いときには、電波強度の変化度が小さく、電波強度はほとんど変化しない、との電波強度の変化特性を考慮した「推定電波強度値」を求めることができるのである。

In addition,

And

The above equation 3 is an equation for obtaining a so-called “estimated radio wave intensity value”. That is, when the distance from each transmitter to the receiver is short, the degree of change in radio field intensity is large, so the radio field intensity is greatly attenuated. When the distance from each transmitter to receiver is long, the degree of change in radio field intensity is small. Therefore, it is possible to obtain an “estimated radio wave intensity value” in consideration of a change characteristic of the radio wave intensity that the radio wave intensity hardly changes.

を求める。
「推定電波強度値」

は前記の数３の式より、下記の式が導かれる。 Here, first, the actual radio wave intensity values of the access points 1a, 1b, 1c, and 1d are as follows: the access point 1a is −42.4, the access point 1b is −70.8, the access point 1c is −55.5, and the access point 1d is −63.2. I already mentioned that.

Next, "Estimated signal strength value"

Ask for.
"Estimated signal strength"

The following equation is derived from the above equation (3).

そして、数３の式と数４の式とよりそれぞれの推定電波強度値が求められ、次いで実際の電波強度値と、前記推定された電波強度値の残差（Δss_i）が求められる。

Then, the estimated radio wave intensity values are obtained from the formulas 3 and 4, and then the actual radio wave intensity value and the residual (Δss _i ) between the estimated radio wave intensity values are obtained.

すなわち、上記の式により、各アクセスポイント1ａ、1b、1c、1dごとに、実際に測定された電波強度値と、推定された電波強度値の残差（Δss_i）が求められるのである。

さらに、各アクセスポイント1ａ、1b、1c、1dごとに求められた電波強度値の残差（Δss_i）が充分に小さくなるまで更新する。

That is, according to the above formula, for each access point 1a, 1b, 1c, 1d, the actually measured radio wave intensity value and the residual (Δss _i ) between the estimated radio wave intensity values are obtained.

Furthermore, the radio wave intensity values obtained for each of the access points 1a, 1b, 1c, and 1d are updated until the residual (Δss _i ) becomes sufficiently small.

  That is, the following equation (6) is used for each access point 1a, 1b, 1c, 1d to determine the amount of change (Δx, Δy, Δn) of each parameter, and update the initial value (see FIG. 2) It will do.

ここで、Δss_iは先ほど求めた残差，δss_i/δx，δss_i/δy，δss_i/δｎは数３の式を偏微分することによって得ることができる数値である。

Here, Δss _i is the residual obtained earlier, and δss _i / δx, δss _i / δy, and δss _i / δn are numerical values that can be obtained by partial differentiation of equation (3).

  As described above, the correction distance as shown in FIG. 2 is measured. FIG. 2 shows the first correction distance and the third correction distance.

Next, the measurement result by this invention is shown in FIG. As understood from FIG. 3, the actual position of the wireless terminal 2 has an X coordinate value of 4.50 m and a Y coordinate value of 1.00 m. In the method of the present invention, the X coordinate value is 1 .15 m, the Y coordinate value is 2.46 m, and the error is only 3.66 m.
On the other hand, in the conventional method, the X coordinate value is 4.53 m, the Y coordinate value is 7.64 m, and the error is 6.64 m.
Thus, in the present invention, compared to the conventional method, the actual position of the wireless terminal 2 and the oblique distance of the positioning result are small.

FIG. 5 shows the grasping of the workers 4... In the tunnel 3 which is a work area and the rapid approach of the work vehicle 5 to the worker 4 by using the wireless positioning system based on the high-precision analysis method of the present invention. An example of constructing a work management system such as warning is shown.
5, each worker 4 or work vehicle 5 has a wireless terminal 2 as a receiver, and a wireless LAN access point 1 at predetermined intervals on both sides in the width direction of the tunnel 3. Is provided. Further, for example, a positioning calculation server computer 6 is arranged in the network.

The positioning calculation server computer 6 includes a transmission unit 8, a reception unit 9, a control unit 10 including a CPU, a storage unit 11 including a hard disk, an input unit 12 such as a keyboard, a display 7, and the like. It is configured.
And each radio field intensity value with respect to each wireless LAN access point 1... From each wireless terminal 2... Possessed by each worker 4 or each work vehicle 5 is the positioning calculation server computer. In the positioning calculation server computer 6, the control unit 10 refers to and measures the data stored in the storage unit 11 and various arithmetic expressions, thereby measuring the estimated radio wave intensity value, The position of each wireless terminal 2... That each worker 4 or each work vehicle 5 has is measured.

  Each measured position is displayed on, for example, a tunnel on the display 7 of the positioning calculation server computer 6 or on the display 7 of each wireless terminal 2... Of each worker 4 or each work vehicle 5. 3 is extracted from the storage unit 11 and drawn, and an image of each worker 4 or each work vehicle 5 is displayed as a position of each worker 4 or each work vehicle 5 on the whole image.

  Then, for example, when a dump as the work vehicle 5 suddenly approaches a specific worker 4, a message “Dump approaching” is posted on the image and the control unit 10 generates a warning sound. The warning is transmitted from the transmission unit 8 to each worker 4 or the wireless terminal 2 of each work vehicle 5. On the wireless terminal 2 side, as understood from FIG. 5, characters “Dump approaching” are drawn on the entire work area image (image in the tunnel) drawn on the display 7, A predetermined warning sound is generated.

  Thus, the wireless positioning system based on the high-precision analysis method of the present invention can be used as a work area management system and can be constructed. And the position recognition of each worker 4 and each work vehicle 5 at this time can be performed with extremely high accuracy. Even when each worker 4 or each work vehicle 5 is moving, the position can be continuously recognized.

  Also, the wireless terminals 2... Serving as the receivers are carried by personnel in underground malls and commercial facilities, and a plurality of wireless LAN access points 1 are arranged at predetermined intervals in the underground malls and commercial facilities. In addition, an underground shopping center and a commercial facility management system using a wireless positioning system based on a high-precision analysis method can also be constructed.

  Then, the wireless positioning system based on the high-precision analysis method is operated, and the radio field intensity values of the wireless terminals 2... Serving as the receivers are sent to the positioning calculation server computer 6. 2 are measured, and the position information is stored and acquired in the storage unit 11 of the positioning calculation server computer 6.

That is, in the positioning calculation server computer 6, the estimated radio field intensity value is measured by the control unit 10, and the positions of the wireless terminals 2... Possessed by the personnel in the underground shopping center and the commercial facility are measured and confirmed.
Further, the measured positions are displayed on the display 7 of the positioning calculation server computer 6 or on the display 7 of each wireless terminal 2... Possessed by personnel in each underground shopping center and commercial facility. It is displayed as the position of the personnel in the underground shopping center and the commercial facility on the entire image in the underground shopping center and the commercial facility.

Further, it is possible to easily and continuously grasp the personnel in the underground mall and the commercial facility, and form an emergency evacuation guideway in the underground mall and the commercial facility as needed by the control unit 10 and the storage unit 11 based on the position information. A system that can be built.
In addition, about the radio | wireless terminal 2 ... used as the receiver mentioned above, it is set as the radio | wireless terminal 2 ... which can remove and carry a receiving part, and put the receiving part in the pocket of the personnel in the said underground shopping center and a commercial facility Alternatively, it may be configured to be worn.
Further, a reception function may be added to a credit card or a driver's license possessed by personnel in the underground shopping center and the commercial facility, thereby constructing the system of the present invention. Furthermore, it is conceivable that a device equipped with a receiving mechanism is attached in advance to clothes or the like worn by personnel in the underground mall and commercial facilities.

  Therefore, the present invention can be used and utilized not only for construction work but also for grasping humans in commercial facilities and underground malls, etc., and can be used for grasping the number of people in the event of a sudden disaster and building an emergency evacuation taxiway It is.

In addition, by linking the indoor wireless positioning system based on the high accuracy analysis method according to the present invention with a GPS positioning system for the outdoors, it is also possible to construct a system that can continuously recognize the outdoors and indoors. .

DESCRIPTION OF SYMBOLS 1 Wireless LAN access point 2 Wireless terminal 3 Tunnel 4 Worker 5 Work vehicle 6 Server computer 7 for position calculation 7 Display 8 Transmitter 9 Receiving part 10 Control part 11 Storage part 12 Input part

Claims (11)

A transmitter having a plurality of known locations for transmitting radio waves, and a receiver for receiving radio waves transmitted from the transmitters having a plurality of known locations, using a radio field intensity value of the transmitted radio waves. It is a wireless positioning system that measures the distance from each transmitter to the receiver and measures the position of the receiver from each measured distance.
When measuring the distance from each transmitter to the receiver using the radio field intensity value, taking into account the change characteristics of the radio field strength with respect to the change in the distance from each transmitter to the receiver,
Measure the position of the receiver using the measured value considering the change characteristics of the radio field intensity,
A wireless positioning system using a high-precision analysis method.
A transmitter having a plurality of known locations for transmitting radio waves, and a receiver for receiving radio waves transmitted from the transmitters having a plurality of known locations, using a radio field intensity value of the transmitted radio waves. It is a wireless positioning system that measures the distance from each transmitter to the receiver and measures the position of the receiver from each measured distance.
When measuring the distance from each transmitter to the receiver using the radio field intensity value, the degree of change in radio field intensity is large when the distance from each transmitter to the receiver is short, and from each transmitter to the receiver. Measure using a numerical value that takes into account the change characteristics of the radio field strength when the distance is long, and measure the position of the receiver using the measured value.
A wireless positioning system using a high-precision analysis method.
A transmitter having a plurality of known locations for transmitting radio waves, and a receiver for receiving radio waves transmitted from the transmitters having a plurality of known locations, using a radio field intensity value of the transmitted radio waves. It is a wireless positioning system that measures the distance from each transmitter to the receiver and measures the position of the receiver from each measured distance.
When measuring the distance from each transmitter to the receiver using the radio field intensity value, the degree of change in radio field intensity is large when the distance from each transmitter to the receiver is short, and from each transmitter to the receiver. Forming a calculation formula that takes into account the change characteristics of radio field strength that the degree of change in radio field strength is small when the distance of is long, and using the numerical values calculated by the formula, perform measurements,
Measure the position of the receiver using the measured value,
A wireless positioning system using a high-precision analysis method.
A transmitter having a plurality of known locations for transmitting radio waves, and a receiver for receiving radio waves transmitted from the transmitters having a plurality of known locations, using a radio field intensity value of the transmitted radio waves. It is a wireless positioning system that measures the distance from each transmitter to the receiver and measures the position of the receiver from each measured distance.
When measuring the distance from each transmitter to the receiver using the radio field intensity value, the degree of change in radio field intensity is large when the distance from each transmitter to the receiver is short, and from each transmitter to the receiver. The calculation formula that considers the change characteristics of the radio field strength when the distance of the radio wave is small, the calculation formula that calculates the radio field strength value, and the calculation that calculates the distance from each transmitter to the receiver Forming from the equation, measuring using the numerical value calculated by the formed formula, and measuring the position of the receiver using the measured value,
A wireless positioning system using a high-precision analysis method.
The calculation formula for calculating the radio wave intensity value is:

And
The formula to calculate the distance from each transmitter to the receiver is

And
The calculation formula considering the radio wave intensity characteristics is

Is,
The radio wave positioning system by the high-precision analysis method according to claim 1, 2, 3, or 4.
In addition,

And In addition, when the target is considered to be three-dimensional, the equation is obtained by adding the Z term to the above equation.
ss _i is the field strength value, P _tx is the transmission power, f is the frequency, r _i is the distance, and n is the parameter

There are a plurality of receivers for measuring the position.
A radio positioning system using a high-precision analysis method according to claim 1, 2, 3, 4, 4 or 5.
The receiver for measuring the position moves,
A wireless positioning system using a high-precision analysis method according to claim 1, claim 2, claim 3, claim 4, claim 5 or claim 6.
Each transmitter is a wireless LAN access point, and the receiver is a terminal device that receives a signal from the wireless LAN access point.
A wireless positioning system using the high-precision analysis method according to claim 1, claim 2, claim 3, claim 4, claim 5, claim 6 or claim 7.
The transmitter with the known location is replaced with a receiver with a known location, and the receiver is replaced with a transmitter with an unknown location to perform wireless positioning of the receiver.
A wireless positioning system using the high-precision analysis method according to claim 1, claim 2, claim 3, claim 4, claim 5, claim 6 or claim 7.
The receiver is attached to an operator and a work vehicle in a work area, and the radio positioning system according to the high-precision analysis method according to any one of claims 1 to 8 is operated to perform reception in the work area. In addition to measuring the position information of the machine, the position information is transmitted to a computer to be acquired, and the computer can grasp the worker in the work area from the acquired position information, and from the position information to the worker of the work vehicle. A system that can issue a warning for the approach of
A work management system characterized by that.
The receiver is carried by a person in an underground shopping center and a commercial facility, and the wireless positioning system based on the high-precision analysis method according to any one of claims 1 to 8 is operated to obtain position information of the receiver. A system capable of measuring and transmitting the position information to a computer so that the computer can grasp personnel in the underground shopping center and the commercial facility from the acquired position information and can form an emergency evacuation guideway from time to time. Can be built,
A management system for commercial facilities.

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