WO2015040733A1

WO2015040733A1 - Positioning system, positioning method, and positioning program

Info

Publication number: WO2015040733A1
Application number: PCT/JP2013/075455
Authority: WO
Inventors: やえみ寺本; 淳一木村
Original assignee: 株式会社日立製作所
Priority date: 2013-09-20
Filing date: 2013-09-20
Publication date: 2015-03-26

Abstract

A positioning system for determining the position of a terminal within a positioning area using the electromagnetic wave intensity of radio waves transmitted from positioning devices disposed within the positioning area, wherein the system is provided with: a storage device for storing and associating, with a first positioning area, first environment information including the configuration of physical structures in the first positioning area and the arrangement of the positioning devices within the first positioning area and first positioning data including training data for the first positioning area and for storing and associating, with a second positioning area, second environment information including the configuration of physical structures in the second positioning area and the arrangement of the positioning devices within the second positioning area; a positioning data generation module for specifying a first positioning area associated with first environment information identical or similar to second environment information and associating the specified first positioning area with the second positioning area; and a positioning module for determining that the terminal is in the second positioning area, specifying the first positioning area associated with the second positioning area, and determining the position of the terminal from the electromagnetic wave intensity using the first positioning data as the positioning data for the second positioning area.

Description

Positioning system, positioning method, and positioning program

The present invention relates to a positioning system, a positioning method, and a positioning program using radio wave intensity.

In recent years, the development of map data and the development of a positioning system have progressed, and it has become possible to grasp the position of a person, particularly indoors, using a terminal such as a smartphone. Applications such as business management and navigation have begun to be put into practical use using this technology. GPS signals are mainly used for outdoor positioning, but GPS signals are often not received indoors, so positioning methods using wireless radio field strength such as WiFi have been developed.

One of the positioning technologies that use radio field strength is to measure the field strength in a positioning environment in advance and use this as training data (training data) to collate the current field strength with the teacher data to estimate the current position. . With regard to such a technique, Patent Document 1 creates a contour map (teacher data) of radio field intensity from each radio base station, and presents intersections of contour lines on which a plurality of contour maps are superimposed as positioning result candidates. Technology is disclosed. Patent Document 2 discloses a technique for superimposing a contour map of the radio field intensity of each base station, as in Patent Document 1, and presenting a region determined by the intersection of contour lines as a positioning result. Patent Document 3 discloses a technique in which radio wave intensities from a plurality of base stations are weighted and added and used as a feature amount for specifying a position. Patent Document 4 discloses a technique for managing the position of a sailor using a radio base station installed in a ship, and discloses a technique for improving positioning accuracy using teacher data. Non-Patent Document 1 discloses a technique relating to a distribution model of radio wave intensity.

JP 2011-071599 A Special table 2010-500604 gazette International Publication No. 2009/096358 JP 2010-236866 A

Teacher data is required to improve indoor positioning accuracy, and the above document discloses a technique for positioning using teacher data and a technique related to a distribution model of radio wave intensity. Prior measurement in the positioning environment is necessary, and the cost of the measurement is high.

Therefore, an object of the present invention is to reduce the measurement of teacher data and the measurement cost.

In order to achieve the above object, a positioning system according to the present invention is a positioning system that determines the position of a terminal in the positioning area using radio field intensity transmitted from a positioning device arranged in the positioning area. A first environment information including a configuration of a physical structure of the first positioning area and an arrangement of the positioning device in the first positioning area, and teacher data of the first positioning area. The first positioning data including the first positioning data is stored in association with the first positioning area, the configuration of the physical structure of the second positioning area, and the arrangement of the positioning device in the second positioning area Storage device that stores second environmental information including the second positioning information in association with the second positioning area, and the first positioning associated with the first environmental information that is the same as or similar to the second environmental information. Eli And determining that the terminal is present in the second positioning area, the positioning data generation module that associates the identified first positioning area with the second positioning area, and the second positioning area. The first positioning area associated with the positioning area is specified, and the position of the terminal is determined based on the radio field intensity using the first positioning data as the positioning data of the second positioning area. And a positioning module.

The positioning system according to the present invention stores the first environment information as a first identifier, the storage device that stores the second environment information as a second identifier, the first identifier, and the A positioning data generation module that identifies the first positioning area associated with the first environment information that is the same as or similar to the second environment information by matching the value with the second identifier; It is characterized by having.

Further, the positioning system according to the present invention includes first environmental information including a shape and material of a physically closed space of the first positioning area, and an arrangement of the positioning device in the first positioning area, First positioning data including teacher data of the first positioning area is stored in association with the first positioning area, and the shape and material of the physically closed space of the second positioning area and the first A storage device that stores second environment information including an arrangement of the positioning device in two positioning areas in association with the second positioning area, the first positioning area, and the second positioning area. A positioning data generation module that identifies the first positioning area associated with the first environment information that is the same as or similar to the second environment information due to the similarity in shape and material and the positioning device; Characterized by comprising a.

Further, the positioning system according to the present invention includes first environmental information including a shape and material of a physically closed space of the first positioning area, and an arrangement of the positioning device in the first positioning area, First positioning data including teacher data of the first positioning area is stored in association with the first positioning area, and the shape and material of the physically closed space of the second positioning area and the first A storage device that stores second environment information including an arrangement of the positioning device in two positioning areas in association with the second positioning area, the first positioning area, and the second positioning area. A positioning data generation module that identifies the first positioning area associated with the first environment information that is the same as or similar to the second environment information by matching the shape and material and the positioning device; Characterized by comprising a.

Furthermore, the present invention can be understood as a positioning method for determining the position of the terminal and a positioning program for determining the position of the terminal executed by a computer.

According to the present invention, when performing indoor positioning, teacher data measured in one area can be used in another area, and the measurement cost of teacher data can be reduced.

It is a figure which shows the example of a structure of a positioning apparatus. It is a figure which shows the example of a structure of a process of a positioning apparatus. It is a figure which shows the example of the flowchart of an area device information management program. It is a figure which shows the example of an area table. It is a figure which shows the example of a positioning device arrangement | positioning table. It is a figure which shows the example of an area-device table. It is a figure which shows the example of the flowchart of a device arrangement | positioning acquisition program. It is a figure which shows the example of the flowchart of the same environment area determination program. It is a figure which shows the example of the flowchart of the data generation program for positioning. It is a figure which shows the example of an input data table. It is a figure which shows the example of a measurement data table. It is a figure which shows the example of a teacher data table. It is a figure which shows the example of a parameter table. It is a figure which shows the example of the flowchart of the data selection program for positioning. It is a figure which shows the example of measurement data. It is a figure which shows the example of the flowchart of a positioning program. It is a figure which shows the example of a positioning result. It is a figure which shows the example of the flowchart of a radio wave intensity correction program. It is a figure which shows the example of the flowchart of a distance calculation correction program. It is a figure which shows the example of a structure of the terminal which has a positioning module. It is a figure which shows the example of a structure of a positioning environment.

Hereinafter, a first embodiment of a positioning apparatus according to the present invention will be described with reference to the drawings.

First, an example of the configuration of the positioning environment will be described with reference to FIG. In this positioning environment, positioning devices (such as WiFi access points) 2104 to 2107 that transmit radio waves are installed on the environment side. A person with a terminal (smartphone or the like) 2108 moves within the positioning area, and the terminal estimates the position of the terminal 2108 using the radio wave intensity received from the positioning devices 2104 to 2107. For this estimation, the terminal 2108 transmits radio wave intensity information to the positioning device 100, and the positioning device 100 performs estimation processing.

Furthermore, there are multiple areas with the same shape in the positioning environment, and the positioning devices are arranged at the same position in each area. In the example shown in FIG. 21, there are three areas 1 to 3 2101 to 2103, and positioning devices are installed at the four corners of each area, for example, the positioning devices 2104 to 2107 of area 1 2101. Such areas 1 to 3 2101 to 2103 can be regarded as the same positioning environment. It should be noted that the outline of the area may or may not be partitioned by an object (structure) such as a wall. Further, the number of areas is not limited to three, and the positioning devices are not limited to the four corners. Examples of such areas include hospital rooms in hospitals, classrooms in schools, rooms in apartment buildings, vehicles in trains, vehicle bodies such as trains, airplanes, and ships.

Next, an example of the configuration of the positioning device 100 will be described with reference to FIG. The positioning apparatus 100 includes a CPU 101, a memory 102, a communication device 103, a program storage device 104, and a data storage device 105, and includes a so-called computer configuration. The program storage device 104 includes a positioning data generation module 106, a positioning module 107, and a data input / output module 108. The positioning data generation module 106 includes an area / device information management program 110, a positioning device arrangement acquisition program 111, a same environment area determination program 112, and a positioning data generation program 113. The positioning module 107 includes a positioning data selection program 114, a positioning program 115, a radio wave intensity correction program 116, and a distance calculation correction program 117. The data storage device 105 has a positioning database 119.

The modules 106 to 108 stored in the program storage device 104 are copied as programs to the memory 102 and executed by the CPU 101 to process data. The communication device 103 communicates with a device outside the positioning device 100 (not shown in FIG. 1) in accordance with the execution of the input / output program 118 of the data input / output module 108 by the CPU 101. The modules 106 to 108 or the programs 110 to 118 may be provided with hardware corresponding to the CPU 101, and the modules 106 to 108 or the programs 110 to 118 may be independent hardware.

Fig. 2 shows the data flow between the modules 106 to 108 of the positioning device 100. The processing of the positioning device 100 includes the positioning data generation module 201, the positioning module 107, and the data input / output module 108 executed by the CPU 101. It consists of input / output processing 203.

In the positioning data generation process 201, the radio wave intensity data is acquired through the data input / output process 203, and the positioning data is generated and stored in the positioning database 119. Further, the information of the area and the positioning device is acquired through the data input / output process 203, and stored in the positioning database 119 for management. In the positioning processing 202, positioning data is acquired from the positioning database 119, and using this, positioning processing is performed on the radio wave intensity data acquired through the data input / output processing 203, and the positioning result is output. In the data input / output processing 203, data input / output is performed between the data file 205 in which information of the terminal 2108, the area and the positioning device is recorded, the positioning data generation processing 201, the positioning processing 202, and the positioning database 119. Manage.

Hereinafter, the processing of the positioning device 100 will be described in detail with reference to FIGS.

FIG. 3 is a diagram showing an example of a flowchart of the area / device information management program 110. First, the area table 400 shown in FIG. 4 is generated by area table generation step S301. In the area table 400, area ID 401, positioning device arrangement pattern 402 in the area, and information indicating the positioning environment characteristics of the area are held. Information representing the positioning environment characteristics of the area is information representing the structure of the area and information that affects radio wave propagation in the area. For example, area shape 403, wall material 404, ID of the structure having the area (building ID, etc.) 405, aircraft / vehicle / ship model number, etc. not. The area group ID 406 will be described in the description of the same environment area determination program 112 using FIG. Basically, the area group ID 406 is not set by the area / device information management program 110 but is set by the same environment area determination program 112, but may be set by the area / device information management program 110. Will also be described in the description of the same environment area determination program 112.

In positioning device arrangement table generation step S302, a positioning device arrangement table 500 shown in FIG. 5 is generated. The positioning device arrangement table 500 holds a set of positioning device arrangement patterns 501 and positioning device installation positions. The installation position of the positioning device is a set of an installation position ID 502 and installation position details 503. The installation position ID 502 is a unique ID in one positioning device arrangement pattern 501. For example, when the positioning device arrangement pattern 501 is different between A and B, the installation position ID 502 may include 1 which is the same value as the installation position ID 502. The installation position details 503 may be a coordinate value or an explanatory description that specifies a position such as “the height of the south corner of the room is 1 m”.

In area-device table generation step S303, an area-device table 600 shown in FIG. 6 is generated. The area-device table 600 manages an area ID 601, a positioning device ID 602, and a device installation position ID 603 in the area. Area ID 601 is an ID that corresponds to area ID 401 of area table 400. As the positioning device ID 602, for example, if the positioning device is a WiFi access point, an SSID or a MAC address can be used. The installation position ID 603 corresponds to the corresponding arrangement pattern in the installation position ID の 502 of the positioning device arrangement table 500. That is, when the area table 400 is viewed from the area table 400, the area ID 601 of 1 in the area-device table 600 of the area ID 601 is 1 and the positioning device arrangement pattern 402 is A. Therefore, the positioning device arrangement table 500 Corresponds to 1 of the installation position ID 502 of A in the positioning device arrangement pattern 501 of FIG.

Suppose that the information necessary for table generation in steps S301 to S303 is input from the outside by a file or the like. What is determined at the time of design may be input from a blueprint file or may be input manually. By the processing of the area / device information management program 110, it is possible to manage the area, positioning device, and positioning environment characteristics and device arrangement information in the positioning database 119.

FIG. 7 is a diagram showing an example of a flowchart of the device arrangement acquisition program 111. In the above explanation, the information necessary for table generation is input from the outside by a file etc., but positioning device ID 602 is SSID, MAC address, etc. and it is electrical setting, so other physical arrangement information etc. Unlike setting, it is possible to set even after the area is assembled, and it is difficult to visually check the setting contents. On the other hand, the device arrangement acquisition program 111 is a program for acquiring the correspondence between the positioning device ID 602 and the installation position ID の 603 in the area-device table 600 from the actually measured radio field intensity measurement data.

The input of the device location acquisition program 111 is the radio field strength data acquired while moving between positioning devices according to the order of the specific device installation location ID 603, that is, the radio field strength and the SSID or MAC address that generates the radio field strength. is there. In addition, when moving between positioning devices along a path | route, it is desirable to set the path | route so that it may not pass through the vicinity of another positioning device. Further, it is not necessary to always record the radio field intensity while moving along the route, and the radio field intensity data may be recorded only in the vicinity of the positioning device. The output of the device arrangement acquisition program 111 is the area-device table 600 shown in FIG.

In step S701, the peak time of the radio field intensity of each positioning device is specified for the input measurement data. The peak time of the radio wave intensity is the time when the highest intensity is recorded in the time zone when the radio wave intensity has changed from increasing to decreasing. When data is recorded only in the vicinity of the positioning device, the positioning device that recorded the highest intensity and the recording time are specified. In step S702, positioning device IDs such as SSID and MAC address are arranged in the order of the peak times specified in step S701. In step S703, the arrangement order of the installation position IDs 603 along the movement path at the time of measurement is associated with the arrangement order of the positioning device IDs output in step S702. Since the peak of the radio field intensity of the positioning device installed at each position appears in the order of the installation position ID 603, obtain the correspondence between the installation position ID 603 and the positioning device ID 602 of the positioning device installed at the position. Is possible. By the processing of the device arrangement acquisition program 111, the area-device table 600 can be acquired even when the correspondence between the positioning device ID 602 and the positioning device installation position ID 603 is unknown.

FIG. 8 is a diagram showing an example of a flowchart of the same environment area determination program 112. In step S801, one area ID to which no area group ID 406 is assigned is selected from the area IDs 401 of the area table 400 shown in FIG. In step S802, the area of the area ID selected in step S801 and the other areas are checked for coincidence between the positioning environment characteristics of the area and the arrangement pattern of the positioning device, and the same area group ID 406 is given to those that match. In step S803, steps S801 and S802 are repeated for areas that have not yet been given an area group ID. The determination of the matching of the positioning environment characteristics in step S802 can be determined as the same environment when all or specific positioning environment characteristics held in the area table 400 match. Moreover, you may determine the coincidence of identifiers manufactured from the same design drawing, for example, identifiers, such as a model name of a vehicle body or a vehicle. Further, the matching of characteristics may satisfy a certain criterion instead of a perfect matching. For example, materials having different dielectric constants and electrical conductivity (not shown) that differ within a predetermined range, or dimensions having different shapes within a predetermined range may be determined as matching. Positioning device arrangement patterns may be determined to match if the installation position details 503 are different within a predetermined range.

The same environment area determination program 112 outputs the area group ID 406 of the area table 400. By the processing of the same environment area determination program 112, it is possible to specify the same area as the positioning environment. The same environment area may be given (for example, when all the hospital rooms are designed in the same shape and the positioning device is installed at the same position). In this case, the processing of the same environment area determination program 112 is not necessary, and the area group ID 406 can be input in the area table generation step S301 of the area / device information management program 110 shown in FIG.

FIG. 9 is a diagram showing an example of a flowchart of the positioning data generation program 113. Here, the positioning data is teacher data created from radio wave intensity data measured in a positioning environment, or positioning parameters created using the teacher data. The teacher data is a set of measurement position and radio wave intensity in a specific area group. In step S901, the positioning device 100 inputs measurement data. FIG. 10 is a diagram showing an example of an input data table 1000 that summarizes input measurement data. The input measurement data is a set of positioning device ID 1001, measurement position 1002, and radio wave intensity 1003. The measurement data may be transmitted from the terminal 2108 to the positioning device 100 via the communication network, or the terminal 2108 It may be input to the positioning device 100 in the form of a file once output. The positioning device ID 1001 and the radio wave intensity 1003 corresponding to the positioning device ID are measured by the terminal 2108, and the measurement position 1002 is input by the operator of the terminal 2108 in the measured position in the area. The measurement position 1002 may be divided into a plurality of areas and assigned numbers or the like, or coordinates within the area. An operator having the terminal 2108 may move within the area at a predetermined interval to set the measurement position 1002, or a place having a high probability of existence of the operator having the terminal 2108 such as a chair may be set as the measurement position 1002.

Step S901 uses the measurement data of the input data table 1000 shown in FIG. 10, the area table 400, and the area-device table 600 to determine the positioning device area group ID 406 and the installation position from the positioning device ID 1001 of the measurement data. ID 603 is identified and reflected in area group ID 1101 and installation position ID 1102 to create a measurement data table 1100 shown in FIG. When a certain positioning device corresponds to the installation position IDs of a plurality of area groups, the measurement data table 1100 has data corresponding to each area group. Further, even if the measurement data is in different areas, if the ID of the area group ID is the same, the same ID is assigned in the area group ID 1101 in the measurement data table 1100. In step S902, teacher data is generated. The teacher data is a combination of the measurement position and the radio field intensity of all the positioning devices in the area including the measurement position. The radio wave intensity of the teacher data may average the measurement results for each combination of the measurement position and the positioning device, or may hold the measurement results as they are.

Step S902 outputs, for example, a teacher data table 1200 shown in FIG. The teacher data table 1200 holds the correspondence between the area group ID 1201, the measurement position 1202, and the teacher data 1203. The teacher data 1203 is a feature amount in which the values of the radio wave intensity are arranged in a specific arrangement order (for example, ascending order of the positioning device installation position ID 602 in the area-device table 600). In this way, the feature quantity in which the radio wave intensity is arranged in a specific arrangement order is referred to as a radio wave intensity feature quantity here.

In step S903, positioning parameters are generated for each area group using the teacher data table 1200 shown in FIG. 12, and the parameter table 1300 shown in FIG. 13 is output. The positioning parameters are parameters of a radio wave intensity distribution model determined using teacher data. The parameter estimation method of the radio wave intensity distribution model uses a method of interpolating between measurement positions using radio wave intensity at a plurality of measurement positions as described in Non-Patent Document 1, for example. be able to. Alternatively, the radio wave propagation equation in which the radio wave intensity attenuates in inverse proportion to the square of the distance can be used as a radio wave intensity distribution model, and parameters of the propagation equation can be determined based on actually measured data.

The parameter table 1300 shown in FIG. 13 holds a set of area group ID 1301, model ID 1302, and parameter 1303. The model ID ID 1302 is an ID for identifying the radio wave intensity distribution model, and one ID of the model ID 1302 represents the radio wave intensity distribution model for the output of one positioning device. There is also a positioning method in which a position is identified with reference to teacher data without generating a radio wave intensity distribution model. For example, the distance between the teacher data and the measurement data is calculated, and the position of the teacher data with the closest distance is used as the position estimation result. When this method is used, the processing in step S903 is not necessary. Furthermore, in the method described in Non-Patent Document 1, after the radio wave intensity distribution model is generated, the radio wave intensity at an arbitrary point in the positioning area (for example, the intersection of mesh division) is estimated using the model. This is held as teacher data. In this method, after the parameter table 1300 is generated, a teacher data table including estimated radio wave intensity is generated. By the processing of the positioning data generation program 113, it is possible to hold teacher data or positioning parameters necessary for positioning in association with the

area group IDs

1201 and 1301.

FIG. 14 is a diagram showing an example of a flowchart of the positioning data selection program 114. The area group is specified, and positioning data applicable to the specified area group is selected. In step S1401, measurement data to be positioned is input. A measurement data table 1500 is shown in FIG. The measurement data table 1500 holds time 1501, terminal ID 1502, positioning device ID 1503, and radio wave intensity 1504. Time 1501 is the time when the radio wave intensity 1504 was measured. The terminal ID 1502 is an identifier of the measured terminal 2108. Note that the time 1501 and the terminal ID 1502 may be omitted.
In step S1402, using the input measurement data, the area-device table 600, and the area table 400, the area ID and area group ID from which the measurement data is collected are determined. Most simply, the ID of the area ID 601 including the positioning device ID 602 that is the same ID as the positioning device ID 1503 of the measurement data and the ID of the area group ID 406 having the ID as the area ID 401 are acquired. Alternatively, for a plurality of positioning devices whose radio field intensity has been measured at a terminal at a certain time, the area ID and area group ID of the area containing the most positioning devices may be acquired, or measured as a positioning device. The radio field intensity may be narrowed down to a predetermined value or more. In this way, even if the radio waves of positioning devices such as adjacent areas are received, it can be limited to only the positioning devices in the area including the terminal 2108.
In step S1403, positioning data corresponding to the area group ID determined in step S1402 is selected from the teacher data table 1200 or the parameter table 1300. When the type of positioning data to be selected (teacher data or parameters) and the type is a parameter, the ID of the model ID 1302 is given in advance. Note that if the area where the terminal 2108 to be positioned is located in advance, the processing of steps S1401 and S1402 is not necessary.

FIG. 16 is a diagram illustrating an example of a flowchart of the positioning program 115. In step S1601, measurement data is input. The measurement data is the same as that shown in FIG. Note that the measurement data is read in batches with the same time. In step S1602, the positioning data corresponding to the area group ID determined from the measurement data input in step S1601, that is, the positioning data selected in step S1403 is read. Here, the positioning data may be read again every time measurement data is input, or may be read and stored in the memory 102 when positioning is started. Alternatively, it may be read again only when the area group ID determined by the area where the terminal 2108 is located changes.
In step S1603, the position corresponding to the measurement data is estimated using the positioning data. For the position estimation, there is a known method, for example, a method of calculating the distance between the teacher data and the measurement data and using the position of the teacher data closest to the distance as the position estimation result. In order to use this method, a radio wave intensity feature amount is generated by arranging radio wave intensity measurement data from a plurality of devices at the same time in the same order as the teacher data (for example, ascending order of positioning device installation position ID). . Then, the distance between the measurement data and the teacher data is measured. In addition to this method, there is a method called trilateral survey that calculates a distance from a radio wave intensity using a radio wave propagation model formula to obtain a position. Further, there is a method of generating a probability distribution model of a position when the radio wave intensity is observed from the radio wave intensity distribution model and estimating the position probabilistically.
Any of these methods can be applied, and other methods may be applied. When an area is divided into a plurality of regions and an ID is given by a technique, the position may be expressed by an ID or a coordinate value. FIG. 17 shows a positioning result 1700 that is an output example of step S1603. The time 1701 and the terminal ID 1702 correspond to the time 1501 and the terminal ID 1502, respectively, and the coordinates of the terminal 2108 are output at the position 1703. The positioning program 115 makes it possible to estimate the position from the radio wave intensity using the positioning data corresponding to the measurement data.

FIG. 18 is a diagram showing an example of a flowchart of the radio wave intensity correction program 116, which can be corrected when the radio wave intensity in the area changes as a whole. In step S1801, the radio wave intensity data shown in FIG. 15 is input. In step S1802, the highest and lowest radio field intensities of a plurality of devices measured at the same time are acquired. Note that either or both of the maximum value and the minimum value of the radio field intensity may be predetermined values instead of the measurement data values. In step S1803, the radio field strength is normalized between the maximum and minimum radio field strengths acquired in step S1802. For example, scaling is performed with the maximum radio wave intensity being 1 and the minimum radio wave intensity being 0. The processing of the radio wave intensity correction program 116 is applied to both teacher data and measurement data. By this process, for example, even if the radio field intensity is observed as a whole low due to crowding of the area with people and shielding radio waves, the teacher data and the measurement data to be measured are appropriately compared. It becomes possible.

FIG. 19 is a diagram illustrating an example of a flowchart of the distance calculation correction program 117. The radio wave intensity attenuates in inverse proportion to the square of the distance, and the distance greatly changes when the radio wave intensity is small. The influence of the low intensity range can be corrected. In the distance calculation correction program 117, weighting is performed according to the radio field intensity of the measurement data in the distance calculation when the radio field intensity feature values of the measurement data and the teacher data are collated. Specifically, the measured radio field intensity of n positioning devices is regarded as an n-dimensional vector value, and the dimension weight corresponding to the high radio field intensity value is increased to increase the influence on the distance calculation.

In step S1901, the radio wave strength feature quantity for positioning is input. The radio wave intensity feature amount is a vector in which the radio wave intensity is arranged according to the order of positioning devices, as in the teacher data shown in FIG. In step S1902, the radio field strength feature amount of the teacher data to be compared is input. In step S1903, the difference of the radio field intensity of each dimension is calculated for the two input radio field intensity feature quantities. In step S1904, the difference between the radio field intensities in each dimension is added with a weight according to the radio field intensity of the positioning target. The weight according to the radio wave intensity may be a weight proportional to the value of the radio wave intensity, or may be a weight having a shape like a sigmoid function in which the weight rapidly decreases when the radio wave intensity falls below a certain value. By the processing of the distance calculation correction program 116, it is possible to perform distance calculation that places importance on stable feature dimensions with high intensity among the radio field intensity feature quantities of the measurement data.

When positioning data generated from data measured in an area is applied to other areas with the same positioning environment, the positioning data may be slightly different from the characteristics of the application area. At that time, by adding the processing of the radio wave intensity correction program 116 and the distance calculation correction program 117, it is possible to suppress the influence of the shift and improve the positioning accuracy. The processing of the radio wave intensity correction program and the distance calculation correction program is not essential and should be performed as necessary.

The input / output program 118 inputs external data to each program. Data input from the outside includes measurement data received from the terminal 2108 via the communication device 103, and information such as area ID and positioning device input input as an external data file. The input / output program 118 transmits the data output by each program of the positioning device 100 to the terminal 2108 or an external system (not shown) via the communication device 102. In the first embodiment, the data transmitted to the outside is a positioning result output by the positioning program 115. In the second embodiment described below, the positioning data output by the positioning data selection program 114 is also included.

As described above, the areas to which the same positioning data can be applied are managed as the same area group, so even if the data for generating the positioning data is not measured, other areas in the same area group The positioning data generated from the data measured in can be used. And since it is only necessary to generate data for positioning by measuring data in only one area for a plurality of areas in the same area group, the measurement cost can be reduced.

In the first embodiment, the configuration has been described in which the terminal 2108 only measures, the measured radio wave intensity data is input to the positioning device 100, and all the positioning processing is performed in the positioning device 100. In the second embodiment, a configuration in which the positioning process is performed by the positioning terminal 2000 will be described.

FIG. 20 shows a diagram of a configuration example of the terminal 2000 in the second embodiment. The terminal 2000 includes a CPU 2001, a memory 2002, a communication device 2003, and a program storage device 2004. The CPU 2001, the memory 2002, and the communication device 2003 have basically the same functions as the CPU 101, the memory 102, and the communication device 103 shown in FIG. For example, since the terminal 2000 is carried and moved, the CPU 消費 2001 with low power consumption may be used. The program storage device 2004 includes a radio wave intensity acquisition module 2005 and a positioning module 2006. The positioning module 2006 includes a positioning program 115, a radio wave intensity correction program 116, and a distance calculation correction program 117. On the other hand, the positioning module 107 of the positioning device 100 has a positioning data selection program 114. The processing of each program of the positioning module 2006 of the terminal 2000 is the same as the processing of the programs 115 to 117 of the positioning module 107 of the positioning device 100 described in the first embodiment with reference to FIG.

In the second embodiment, the positioning data output in step S1403 of the positioning data selection program 114 is transmitted to the terminal 2000 via the communication device 103. The terminal 2000 executes the processing of the positioning program 115 with the received positioning data and the radio wave intensity data acquired by the radio wave intensity acquisition module 2005 as inputs. Further, the radio field intensity correction program 116 and the distance calculation correction program 117 are executed as necessary. The positioning result may be transmitted to the positioning device 100 or an external system (not shown). The positioning result to be transmitted is the same as the terminal ID of the positioning result 1700 shown in FIG.

As described above, it is possible to perform positioning in the terminal 2000 by the configuration of the second embodiment. Thereby, if positioning data is stored in the terminal 2000, the terminal 2000 can identify its own position without performing communication.

101 CPU
102 memory
103 Communication equipment
104 program storage
105 data storage
106 Data generation module for positioning
107 Positioning module
108 Data input / output module
110 Area / device information management program
111 Positioning device location acquisition program
112 Same Environment Area Judgment Program
113 Positioning data generation program
114 Positioning data selection program
115 Positioning program
116 Field strength correction program
117 Distance calculation correction program
118 I / O program
119 Positioning database

Claims

A positioning system that determines a position of a terminal in the positioning area using wireless radio wave intensity transmitted from a positioning device arranged in the positioning area,
A first environment information including a configuration of a physical structure of the first positioning area and an arrangement of the positioning device in the first positioning area, and a first data including teacher data of the first positioning area Second positioning data is stored in association with the first positioning area, and includes a configuration of a physical structure of the second positioning area and an arrangement of the positioning device in the second positioning area. A storage device that stores the environmental information of 2 in association with the second positioning area;
Positioning that identifies the first positioning area associated with the first environment information that is the same as or similar to the second environment information, and associates the identified first positioning area with the second positioning area Data generation module for
Determining that the terminal exists in the second positioning area, identifying the first positioning area associated with the second positioning area;
A positioning module that determines the position of the terminal based on the radio field intensity using the first positioning data as the positioning data in the second positioning area;
A positioning system characterized by comprising.
A storage device that stores the first environment information as a first identifier and stores the second environment information as a second identifier;
Positioning that identifies the first positioning area associated with the first environment information that is the same as or similar to the second environment information by matching the values of the first identifier and the second identifier Data generation module for
The positioning system according to claim 1, further comprising:
A first environment information including a shape and material of a physically closed space of the first positioning area and an arrangement of the positioning device in the first positioning area; and teacher data of the first positioning area. The first positioning data is stored in association with the first positioning area, and the shape and material of the physical closed space of the second positioning area and the positioning device in the second positioning area are stored. A storage device that stores second environment information including arrangement in association with the second positioning area;
Due to the similarity of the shape and material of the first positioning area and the second positioning area and the arrangement of the positioning device, the first positioning information is associated with the first environment information that is the same as or similar to the second environment information. A positioning data generation module for specifying the first positioning area;
The positioning system according to claim 1, further comprising:
A first environment information including a shape and material of a physically closed space of the first positioning area and an arrangement of the positioning device in the first positioning area; and teacher data of the first positioning area. The first positioning data is stored in association with the first positioning area, and the shape and material of the physical closed space of the second positioning area and the positioning device in the second positioning area are stored. A storage device that stores second environment information including arrangement in association with the second positioning area;
Corresponding to the first environment information that is the same as or similar to the second environment information by matching the shape and material of the first positioning area and the second positioning area and the positioning device positioning. A positioning data generation module for specifying the first positioning area;
The positioning system according to claim 1, further comprising:
A positioning module that normalizes the radio field intensity of the radio received by the terminal between the maximum radio field intensity and the minimum radio field intensity and corrects the radio field intensity. 5. The positioning system according to any one of 4 above.
In a distance calculation using a difference between the radio wave intensity for determining the position of the terminal and the teacher data, a positioning module is provided that calculates a distance by weighting a high value of the radio wave intensity. The positioning system according to any one of claims 1 to 5.
Associating the identifier of the positioning device having the highest radio field intensity when measured in the vicinity of each of the positioning devices with the positioning device;
Measuring the second radio field intensity of a radio wave including an identifier of the positioning device in the positioning area for generating the teacher data;
7. A positioning data generation module that generates the teacher data by associating the identifier of the positioning device with the second radio wave intensity for each positioning device. The positioning system according to item 1.
The positioning system includes a positioning device and the terminal,
The positioning system according to any one of claims 1 to 7, wherein the positioning device includes the storage device, the positioning data generation module, and the positioning module.
The positioning system includes a positioning device and the terminal,
The positioning device includes the storage device and the positioning data generation module,
The positioning system according to any one of claims 1 to 7, wherein the terminal includes a positioning module.
A positioning method for determining a position of a terminal in the positioning area using wireless radio field intensity transmitted from a positioning device arranged in the positioning area,
Storing the first environmental information including the configuration of the physical structure of the first positioning area and the location of the positioning device in the first positioning area in association with the first positioning area; ,
Storing the second environment information including the configuration of the physical structure of the second positioning area and the location of the positioning device in the second positioning area in association with the second positioning area; ,
The first positioning area associated with the first environment information that is the same as or similar to the second environment information is specified, and the specified first positioning area is associated with the second positioning area. Steps,
Storing first positioning data including teacher data of the first positioning area in association with the first positioning area;
Determining that the terminal is in the second positioning area, and identifying the first positioning area associated with the second positioning area;
And determining the position of the terminal based on the radio wave intensity using the first positioning data as the positioning data in the second positioning area.
A positioning program executed by a computer that determines a position of a terminal in the positioning area using wireless radio field intensity transmitted from a positioning device arranged in the positioning area,
Storing the first environmental information including the configuration of the physical structure of the first positioning area and the location of the positioning device in the first positioning area in association with the first positioning area; ,
Storing the second environment information including the configuration of the physical structure of the second positioning area and the location of the positioning device in the second positioning area in association with the second positioning area; ,
The first positioning area associated with the first environment information that is the same as or similar to the second environment information is specified, and the specified first positioning area is associated with the second positioning area. Steps,
Storing first positioning data including teacher data of the first positioning area in association with the first positioning area;
Determining that the terminal is in the second positioning area, and identifying the first positioning area associated with the second positioning area;
And determining the position of the terminal based on the radio wave intensity using the first positioning data as the positioning data in the second positioning area.