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WO2018131168A1 - Dispositif d'aide au positionnement, système de positionnement, procédé d'aide au positionnement et support d'enregistrement lisible par ordinateur - Google Patents

Dispositif d'aide au positionnement, système de positionnement, procédé d'aide au positionnement et support d'enregistrement lisible par ordinateur Download PDF

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Publication number
WO2018131168A1
WO2018131168A1 PCT/JP2017/001277 JP2017001277W WO2018131168A1 WO 2018131168 A1 WO2018131168 A1 WO 2018131168A1 JP 2017001277 W JP2017001277 W JP 2017001277W WO 2018131168 A1 WO2018131168 A1 WO 2018131168A1
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WO
WIPO (PCT)
Prior art keywords
reliability
position information
positioning
specified
calculated
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Ceased
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PCT/JP2017/001277
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English (en)
Japanese (ja)
Inventor
康行 伊原
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NEC Solution Innovators Ltd
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NEC Solution Innovators Ltd
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Filing date
Publication date
Application filed by NEC Solution Innovators Ltd filed Critical NEC Solution Innovators Ltd
Priority to JP2018561779A priority Critical patent/JP6798711B2/ja
Priority to PCT/JP2017/001277 priority patent/WO2018131168A1/fr
Publication of WO2018131168A1 publication Critical patent/WO2018131168A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system

Definitions

  • the present invention relates to a positioning support device that supports positioning by a terminal device having a positioning function, a positioning system including the positioning support method, and a positioning support method, and further, a computer-readable record that records a program for realizing these. It relates to the medium.
  • positioning by other means is performed in addition to positioning by GPS (Global Positioning System) in order to improve positioning accuracy.
  • GPS Global Positioning System
  • Patent Document 1 discloses a portable navigation device using a plurality of sensors with different detection targets as positioning means.
  • This navigation device includes a GPS receiver, and further includes, for example, an atmospheric pressure sensor, an acceleration sensor, a geomagnetic sensor, and a gyro sensor as sensors.
  • the navigation device also includes a database in which errors that occur in each sensor are registered for each specific position.
  • the navigation apparatus disclosed by patent document 1 pinpoints the present position from the data from a GPS receiver, and performs each data from a sensor based on the identified present position and the information registered in the database. To set the reliability. After that, the navigation device specifies the final position of the user using the data for which the reliability is set.
  • the current position is also corrected using a signal from an active tag arranged in advance at the place. .
  • Patent Document 2 discloses a moving body equipped with a positioning function by GPS.
  • the moving body disclosed in Patent Document 2 has a function of recognizing an object around the moving body. When the moving body is recognized, the position of the recognized object on the map is specified, and the position of the identified object is further determined. Is estimated. And the mobile body disclosed by patent document 2 determines the position of mobile body itself from the estimated own position and the position measured by GPS.
  • JP 2012-208010 A International Publication No. 2016/059904
  • the reliability is set for the data of each sensor.
  • the current position is usually specified based on the GPS signal, and is corrected by information from the active tag in a place where the GPS signal is weak.
  • the set reliability is correct. There may not be. In such a case, it is difficult to accurately measure the position of the user.
  • the mobile body disclosed in Patent Document 2 if the object can be recognized, the accurate position can be measured even in a place where the GPS signal is weak, so the above problem can be solved.
  • the result of the processing performed by this moving body is not used for processing by another moving body.
  • the moving body disclosed in Patent Document 2 has a problem that it is difficult to improve positioning accuracy.
  • An example of an object of the present invention is a positioning support that solves the above-described problem, can use positioning results among a plurality of terminal devices, and can improve positioning accuracy even in a place where GPS signals are weak.
  • An apparatus, a positioning system, a positioning support method, and a computer-readable recording medium are provided.
  • a positioning support device acquires, for each positioning device, position information specifying a position measured by the positioning device from a terminal device including a plurality of positioning devices.
  • a reliability calculation unit that, for each acquired position information, compares the position specified by the position information with an electronic map, and calculates the reliability for the position specified by the position information based on the comparison result
  • Reliability information that generates reliability information by associating the calculated reliability with the type of the positioning device that output the position information of the calculation source and the position specified by the position information of the calculation source
  • a generator It is characterized by having.
  • a positioning support system includes a terminal device having a plurality of positioning devices, and a positioning support device that supports positioning in the terminal device,
  • the positioning support device includes: A position information acquisition unit that acquires position information for specifying a position measured by the positioning device for each positioning device from the terminal device; A reliability calculation unit that, for each acquired position information, compares the position specified by the position information with an electronic map, and calculates the reliability for the position specified by the position information based on the comparison result
  • Reliability information that generates reliability information by associating the calculated reliability with the type of the positioning device that output the position information of the calculation source and the position specified by the position information of the calculation source A generator
  • the terminal device A position calculation unit that calculates the position of the terminal device using the position measured by each of the plurality of positioning devices and the reliability information; It is characterized by that.
  • a positioning support method includes: (A) from a terminal device including a plurality of positioning devices, for each positioning device, obtaining position information specifying a position measured by the positioning device; and (B) For each acquired position information, the position specified by the position information is checked against an electronic map, and the reliability is calculated for the position specified by the position information based on the check result, When, (C) The reliability is calculated by associating the calculated reliability with the type of the positioning device that outputs the position information of the calculation source and the position specified by the position information of the calculation source. Steps, It is characterized by having.
  • a computer-readable recording medium is provided.
  • On the computer (A) from a terminal device including a plurality of positioning devices, for each positioning device, obtaining position information specifying a position measured by the positioning device; and (B) For each acquired position information, the position specified by the position information is checked against an electronic map, and the reliability is calculated for the position specified by the position information based on the check result, When, (C) The reliability is calculated by associating the calculated reliability with the type of the positioning device that outputs the position information of the calculation source and the position specified by the position information of the calculation source. Steps, The program is recorded including the instruction
  • positioning results can be used among a plurality of terminal devices, and positioning accuracy can be improved even in a place where GPS signals are weak.
  • FIG. 1 is a block diagram illustrating a schematic configuration of a positioning support apparatus and a positioning system according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing a specific configuration of the positioning support apparatus and the positioning system in the embodiment of the present invention.
  • FIG. 3 is a diagram for explaining reliability calculation processing according to the embodiment of the present invention.
  • FIG. 4 is a flowchart showing the operation of the positioning support apparatus according to the embodiment of the present invention.
  • FIG. 5 is a flowchart showing the operation of the terminal device in the embodiment of the present invention.
  • FIG. 6 is a block diagram illustrating an example of a computer that implements the positioning support apparatus according to the embodiment of the present invention.
  • FIG. 1 is a block diagram illustrating a schematic configuration of a positioning support apparatus and a positioning system according to an embodiment of the present invention.
  • the positioning system 100 includes a terminal device 10 having a plurality of positioning devices 11 and a positioning support device 20 that supports positioning in the terminal device 10.
  • the terminal device 10 and the positioning support device 20 are connected by wire or wireless so that data communication is possible.
  • the positioning support device 20 includes a position information acquisition unit 21, a reliability calculation unit 22, and a reliability information generation unit 23.
  • the position value information acquisition unit 21 acquires, for each positioning device 11, position information that specifies the position measured by each positioning device from the terminal device 10.
  • the reliability calculation unit 22 For each acquired position information, the reliability calculation unit 22 compares the position specified by each position information with the electronic map, and based on the comparison result, the reliability calculation unit 22 determines the reliability for the position specified by each position information. calculate.
  • the reliability information generation unit 23 associates the calculated reliability with the type of the positioning device 11 that has output the position information of the calculation source and the position specified by the position information of the calculation source, and sets the reliability information. Generate.
  • the terminal device 10 includes a position calculation unit 12 in addition to the plurality of positioning devices 11.
  • the position calculation unit 12 calculates the position of the terminal device 10 itself using the position measured by each positioning device 11 and the reliability information generated by the reliability information generation unit 23.
  • the reliability is calculated for the position measured by the terminal device.
  • the reliability is associated with the position of the calculation source and the type of the positioning device that performed the positioning, and is used as reliability information. For this reason, the terminal device can determine whether the measured position is reliable based on the reliability information when the positioning is performed by the positioning device included in the terminal device.
  • the positioning accuracy can be improved even in a place where the GPS signal is weak.
  • the reliability information is not information generated by a specific terminal device, and can be shared between terminal devices when there are a plurality of terminal devices. For this reason, according to the present embodiment, it is possible not only to improve positioning accuracy in a single terminal device, but also to improve positioning accuracy in a plurality of terminal devices.
  • FIG. 2 is a block diagram showing a specific configuration of the positioning support apparatus and the positioning system in the embodiment of the present invention.
  • the positioning support device 20 is connected to a plurality of terminal devices 10 via a network 40 such as the Internet.
  • the positioning support device 20 is also connected to a map database 30 in which an electronic map is stored via the network 40, and acquires the electronic map by accessing the map database 30.
  • a structure is shown only about one of these.
  • the terminal device 10 includes a GPS (Global Positioning System) receiver 11 a and an IMES (Indoor Messaging System) receiver 11 b as the positioning device 11.
  • GPS Global Positioning System
  • IMES Indoor Messaging System
  • the GPS receiver 11a receives a radio wave from the GPS satellite 50, obtains a distance from each GPS satellite 50 based on the intensity of each received radio wave, and determines the current terminal device 10 from each obtained distance. Identify the location.
  • the IMES receiver 11b receives a radio wave transmitted from the IMES transmitter 60 installed indoors and extracts data carried by the received radio wave. Since the carried data includes the latitude, longitude, altitude, and the like of the position where the IMES transmitter 60 is installed, the IMES receiver 11b determines the position of the terminal device 10 based on this data. Identify.
  • the position information acquisition unit 21 in the present embodiment the position information (hereinafter referred to as “first position information”) specifying the position measured by the GPS receiver 11 a from the terminal device 10. And position information (hereinafter referred to as “second position information”) that specifies the position measured by the IMES receiver 11b.
  • the reliability calculation unit 22 first acquires an electronic map of an area including a position specified by each position information from the map database 30. Subsequently, the reliability calculation unit 22 collates, for each position information, the position specified by each position information with a road, a building, or a non-animal existing in an area including the position on the electronic map. Then, the reliability calculation unit 22 calculates the distance between the position specified by the position information and the road, building, or inanimate to be compared from the comparison result, and calculates the reliability from the calculated distance.
  • FIG. 3 is a diagram for explaining reliability calculation processing according to the embodiment of the present invention.
  • a position 41 specified by the first position information and a position 42 specified by the second position information exist on the electronic map. Further, it is assumed that the position 41 and the position 42 move in the direction of the arrow in FIG. 3 with the passage of time.
  • the reliability calculation unit 22 calculates the shortest distance to the road parallel to the moving direction for each of the position 41 and the position 42. In the example of FIG. 3, the reliability calculation unit 22 calculates the shortest distance D1 from the position 41 to the road 43 and the shortest distance D2 from the position 42 to the road 43.
  • the reliability calculation unit 22 calculates the reliability using the calculated shortest distance for each position information.
  • the reliability calculation unit 22 calculates the reliability C using, for example, the following Equation 1.
  • the reliability calculation formula is not limited to the following formula 1.
  • the reliability calculation unit 22 calculates the distance between the position specified by the position information and the specific building or the inanimate object, and calculates the reliability using the above formula 1.
  • the reliability calculation unit 22 can calculate the reliability C for each of the first position information and the second position information for each specific area set on the map data. In this case, when the position information is newly acquired, the reliability calculation unit 22 determines whether or not the position specified by each position information is in an area where the reliability C has already been calculated. Then, as a result of the determination, if the position specified by the newly acquired position information is within the area where the reliability C has already been calculated, the reliability calculation unit 22 obtains the newly acquired position information. Update the reliability already calculated using the position specified in
  • the reliability calculation unit 22 uses the following formula 2 for each position information to calculate the reliability C already calculated. Update m ⁇ 1 to calculate the latest reliability C m .
  • the reliability information generation unit 23 for the reliability C calculated from the first position information, an identifier indicating the GPS receiver 11a and a position (latitude, longitude, Height information) to obtain reliability information. Further, the reliability information generation unit 23, for the reliability C calculated from the second position information, an identifier indicating the IMES receiver 11b and a position (latitude, longitude, height) specified from the second position information, To be used as reliability information.
  • Each reliability C may be associated with the above-mentioned specific area including the position, not the position specified from the position information.
  • the reliability information generation unit 23 stores the generated reliability information in a storage device (not shown in FIG. 2).
  • the reliability information generation unit 23 transmits the reliability information to the requested terminal device 10 via the network 40.
  • the position calculation unit 12 first compares the measured position with the reliability information for each of the GPS receiver 11a and the IMES receiver 11b. The reliability corresponding to the position measured by the positioning device is specified. And the position calculation part 12 calculates the position of the terminal device 10 provided with it based on the position measured by each positioning apparatus and the reliability corresponding to each position.
  • the coordinate of the position measured by the GPS receiver is x 1
  • the corresponding reliability is C (x 1).
  • the coordinates of the position measured by the IMES receiver 11b are x 2 and the corresponding reliability is C (x 2 ).
  • the coordinates of the position of the terminal device 10 calculated from these are assumed to be X.
  • the position calculation unit 12 calculates the coordinate X using the following formula 3.
  • the coefficient ⁇ can be calculated using the following equation 4.
  • V (x) in the following equation 4 can be calculated using the following equation 5.
  • the position calculation unit 12 calculates the coordinate X using the following Equation 6.
  • ⁇ 1 , ⁇ 2 ,... ⁇ n ⁇ 1 in the above equation 6 can be obtained as a solution of the equation shown in the following equation 7 that minimizes the dispersion of X.
  • FIGS. 1 to 3 are referred to as appropriate.
  • the positioning support method is implemented by operating the positioning support device 20 and the positioning system 100. Therefore, the description of the positioning support method in the present embodiment is replaced with the following description of the operations of the positioning support apparatus 20 and the positioning support system 100.
  • FIG. 4 is a flowchart showing the operation of the positioning support apparatus according to the embodiment of the present invention.
  • the position information acquisition unit 21 uses the IMES receiver 11 b and the first position information that specifies the position measured by the GPS receiver 11 a from the terminal device 10 via the network 40. Second position information specifying the position that has been measured is acquired (step A1).
  • the reliability calculation unit 22 determines whether or not the position specified by each piece of position information acquired in step A1 is within the area where the reliability C has already been calculated (step A2).
  • step A3 As a result of the determination in step A2, when the position specified by each piece of position information is not within the area where the reliability C has already been calculated, the reliability calculation unit 22 performs the following for each position information acquired in step A1. The reliability is calculated (step A3).
  • the reliability calculation unit 22 first acquires an electronic map of an area including the position specified by each position information from the map database 30. Subsequently, the reliability calculation unit 22 collates, for each position information, the position specified by each position information with a road, a building, or a non-animal existing in an area including the position on the electronic map. Then, the reliability calculation unit 22 calculates the distance between the position specified by the position information and the road, building, or inanimate to be compared from the comparison result, and calculates the reliability from the calculated distance.
  • the reliability information generation unit 23 associates each reliability calculated from the first position information and the second position information with an identifier indicating each receiver and a position specified from each position information. Then, reliability information is generated (step A4). Further, the reliability information generating unit 23 stores the generated reliability information in a storage device (not shown in FIG. 2).
  • step A2 if the position specified by each piece of position information is within the area where the reliability C has already been calculated, the reliability calculation unit 22 uses the position information acquired in step A1. The reliability already calculated is updated using the specified position (step A5).
  • the reliability calculation unit 22 first acquires an electronic map of an area including the position specified by each position information from the map database 30. Subsequently, the reliability calculation unit 22 calculates the distance between the position specified by the position information and the road, building, or inanimate to be verified for each position information, and the reliability is calculated using the calculated distance. Update.
  • FIG. 5 is a flowchart showing the operation of the terminal device in the embodiment of the present invention.
  • the position calculation unit 12 causes the GPS receiver 11a and the IMES receiver 11b to perform positioning, and acquires the position obtained by each positioning (step B1).
  • the position calculation unit 12 acquires the reliability information from the positioning support device 20, and collates the measured position with the acquired reliability information for each of the receiver 11a and the IMES receiver 11b.
  • the reliability corresponding to the position measured by each positioning device is specified (step B2).
  • the position calculation unit 12 calculates the position of the terminal device 10 based on each position acquired in step B1 and the reliability of each position acquired in step B2 (step B3).
  • reliability information including the reliability for each positioning device is generated, and from the position measured by each positioning device provided in the terminal device 10 and the reliability information, The position of the terminal device 10 is determined. For this reason, even if it is a place where the accuracy of any positioning device is low, accurate positioning is possible. Moreover, since the reliability information produced
  • the program in the present embodiment may be a program that causes a computer to execute steps A1 to A5 shown in FIG. By installing this program in a computer and executing it, the positioning support apparatus 20 and the positioning support method in the present embodiment can be realized.
  • a CPU Central Processing Unit
  • the computer functions as the position information acquisition unit 21, the reliability calculation unit 22, and the reliability information generation unit 23 to perform processing.
  • each computer may function as any one of the position information acquisition unit 21, the reliability calculation unit 22, and the reliability information generation unit 23.
  • FIG. 6 is a block diagram illustrating an example of a computer that implements the positioning support apparatus according to the embodiment of the present invention.
  • the computer 110 includes a CPU 111, a main memory 112, a storage device 113, an input interface 114, a display controller 115, a data reader / writer 116, and a communication interface 117. These units are connected to each other via a bus 121 so that data communication is possible.
  • the CPU 111 performs various operations by developing the program (code) in the present embodiment stored in the storage device 113 in the main memory 112 and executing them in a predetermined order.
  • the main memory 112 is typically a volatile storage device such as a DRAM (Dynamic Random Access Memory).
  • the program in the present embodiment is provided in a state of being stored in a computer-readable recording medium 120. Note that the program in the present embodiment may be distributed on the Internet connected via the communication interface 117.
  • the storage device 113 includes a hard disk drive and a semiconductor storage device such as a flash memory.
  • the input interface 114 mediates data transmission between the CPU 111 and an input device 118 such as a keyboard and a mouse.
  • the display controller 115 is connected to the display device 119 and controls display on the display device 119.
  • the data reader / writer 116 mediates data transmission between the CPU 111 and the recording medium 120, and reads a program from the recording medium 120 and writes a processing result in the computer 110 to the recording medium 120.
  • the communication interface 117 mediates data transmission between the CPU 111 and another computer.
  • the recording medium 120 include general-purpose semiconductor storage devices such as CF (Compact Flash (registered trademark)) and SD (Secure Digital), magnetic recording media such as a flexible disk, or CD- Optical recording media such as ROM (Compact Disk Read Only Memory) are listed.
  • CF Compact Flash
  • SD Secure Digital
  • magnetic recording media such as a flexible disk
  • CD- Optical recording media such as ROM (Compact Disk Read Only Memory) are listed.
  • the positioning support apparatus 20 in the present embodiment can be realized not by using a computer in which a program is installed but also by using hardware corresponding to each unit. Furthermore, part of the positioning support device 20 may be realized by a program, and the remaining part may be realized by hardware.
  • a position information acquisition unit that acquires position information specifying a position measured by the positioning device for each positioning device from a terminal device including a plurality of positioning devices;
  • a reliability calculation unit that, for each acquired position information, compares the position specified by the position information with an electronic map, and calculates the reliability for the position specified by the position information based on the comparison result
  • Reliability information that generates reliability information by associating the calculated reliability with the type of the positioning device that output the position information of the calculation source and the position specified by the position information of the calculation source
  • a generator A positioning support apparatus characterized by comprising:
  • the reliability calculation unit calculates the reliability for each of the position information for each specific area, and the reliability specified for the position specified by the acquired position information has already been calculated. If within the region, update the reliability already calculated using the position specified by the acquired position information, The positioning support apparatus according to appendix 1 or 2.
  • a terminal device having a plurality of positioning devices, and a positioning support device that supports positioning in the terminal device
  • the positioning support device includes: A position information acquisition unit that acquires position information for specifying a position measured by the positioning device for each positioning device from the terminal device; A reliability calculation unit that, for each acquired position information, compares the position specified by the position information with an electronic map, and calculates the reliability for the position specified by the position information based on the comparison result
  • Reliability information that generates reliability information by associating the calculated reliability with the type of the positioning device that output the position information of the calculation source and the position specified by the position information of the calculation source
  • the terminal device A position calculation unit that calculates the position of the terminal device using the position measured by each of the plurality of positioning devices and the reliability information; A positioning system characterized by that.
  • the position calculation unit includes: For each of the plurality of positioning devices, the position measured by the positioning device is collated with the reliability information, the reliability corresponding to the position measured by the positioning device is specified, and the plurality of positioning devices Calculating the position of the terminal device based on the position measured by each and the reliability corresponding to each position;
  • the positioning system according to appendix 4.
  • the reliability calculation unit collates the position specified by the position information with a road, a building, or an animal present in the region including the position on the electronic map, and the position Calculating the distance between the position specified by the information and the road, the building or the inanimate object, and calculating the reliability from the calculated distance;
  • the positioning system according to appendix 4 or 5.
  • the reliability calculation unit calculates the reliability for each of the position information for each specific area, and the position specified by the acquired position information is already the reliability. If the degree is within the calculated area, update the reliability already calculated using the position specified by the acquired position information, The positioning system according to any one of appendices 4 to 6.
  • a positioning support method characterized by comprising:
  • step (b) the position specified by the position information is compared with the road, building, or non-animal existing in the region including the position on the electronic map, and is specified by the position information. Calculating the distance between the position and the road, the building or the inanimate animal, and calculating the reliability from the calculated distance;
  • step (b) the position specified by the position information is compared with the road, building, or non-animal existing in the region including the position on the electronic map, and is specified by the position information. Calculating the distance between the position and the road, the building or the inanimate animal, and calculating the reliability from the calculated distance;
  • positioning results can be used among a plurality of terminal devices, and positioning accuracy can be improved even in a place where GPS signals are weak.
  • the present invention is useful for devices on which positioning devices are mounted, such as smartphones, tablet terminals, wristwatch terminals, robots, and moving objects.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne un dispositif d'aide au positionnement (10) qui comprend : une unité d'acquisition d'informations de position (21) destinée à acquérir, d'un dispositif terminal (10) pourvu d'une pluralité de dispositifs de positionnement (11), des éléments d'information de position spécifiant les positions mesurées par chaque dispositif de positionnement (11) ; une unité de calcul de fiabilité (22) destinée à comparer la position spécifiée par chaque élément acquis d'information de position par rapport à une carte électronique et à calculer les fiabilités des positions spécifiées par les éléments d'information de position sur la base des résultats de la comparaison ; et une unité de génération d'informations de fiabilité (23) destinée à générer des informations de fiabilité en associant chacune des fiabilités au type de dispositif de positionnement qui transmettent l'élément d'information de position utilisé pour le calcul et la position spécifiée par l'élément d'information de position utilisé pour le calcul.
PCT/JP2017/001277 2017-01-16 2017-01-16 Dispositif d'aide au positionnement, système de positionnement, procédé d'aide au positionnement et support d'enregistrement lisible par ordinateur Ceased WO2018131168A1 (fr)

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JP2018561779A JP6798711B2 (ja) 2017-01-16 2017-01-16 測位支援装置、測位システム、測位支援方法、及びプログラム
PCT/JP2017/001277 WO2018131168A1 (fr) 2017-01-16 2017-01-16 Dispositif d'aide au positionnement, système de positionnement, procédé d'aide au positionnement et support d'enregistrement lisible par ordinateur

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JP2020041919A (ja) * 2018-09-11 2020-03-19 パナソニックＩｐマネジメント株式会社 位置管理システムおよび位置管理方法

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JP2020041919A (ja) * 2018-09-11 2020-03-19 パナソニックＩｐマネジメント株式会社 位置管理システムおよび位置管理方法
WO2020054624A1 (fr) * 2018-09-11 2020-03-19 パナソニックＩｐマネジメント株式会社 Système de gestion de position et procédé de gestion de position
JP7236670B2 (ja) 2018-09-11 2023-03-10 パナソニックＩｐマネジメント株式会社 位置管理システムおよび位置管理方法

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