JP2016118509A - Positioning device, positioning computation device and program - Google Patents

Positioning device, positioning computation device and program Download PDF

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JP2016118509A
JP2016118509A JP2014259519A JP2014259519A JP2016118509A JP 2016118509 A JP2016118509 A JP 2016118509A JP 2014259519 A JP2014259519 A JP 2014259519A JP 2014259519 A JP2014259519 A JP 2014259519A JP 2016118509 A JP2016118509 A JP 2016118509A
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正彦 牛江
Masahiko Ushie
正彦 牛江
河村　譲
Yuzuru Kawamura
譲 河村
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Alps Alpine Co Ltd
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Alps Electric Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide a positioning device, its computation device and program that allow a use of a radio signal to accurately measure a position of an object even in a multipath environment where the radio signal reflected by a reflection surface is received.SOLUTION: A positioning device is configured to: acquire functions that represent an estimated position of an object 20 on the basis of information on a reference position where transmitters (30A to 30C) are installed for each measurement value of three propagation distances obtained for a different propagation route and information about a reflection surface of a radio signal (position, shape and the like) even in an indoor generating a multipath; and allow a use of an intersection point of the functions to highly accurately calculate the position of the object 20.SELECTED DRAWING: Figure 1

Description

本発明は、無線信号を用いて対象物の位置を測定する測位装置とその演算装置及びプログラムに係り、特に屋内における対象物の位置を測定する測位装置に関するものである。   The present invention relates to a positioning device that measures the position of an object using a radio signal, and its operation device and program, and more particularly to a positioning device that measures the position of an object indoors.

移動体の位置を検出する方法として、衛星から送出される無線信号を用いる衛星測位システム（global navigation satellite system：GNSS）が一般に知られている。衛星測位システムでは、ビルなどの構造物によって反射された無線信号を用いて測位を行った場合に誤差を生じ易い。そのため、下記の特許文献１に記載される位置検出装置では、記憶手段に予め記憶された構造物の位置情報および高さ情報を参照することにより、衛星からの無線信号が構造物によって反射されたものであるかの判定が行われ、その判定結果に応じて補正された位置が算出される。   As a method for detecting the position of a mobile object, a global navigation satellite system (GNSS) using a radio signal transmitted from a satellite is generally known. In a satellite positioning system, an error is likely to occur when positioning is performed using a radio signal reflected by a structure such as a building. Therefore, in the position detection device described in Patent Document 1 below, the radio signal from the satellite is reflected by the structure by referring to the position information and height information of the structure stored in advance in the storage unit. It is determined whether or not it is a thing, and a corrected position is calculated according to the determination result.

特開２００５−１９５４９３号公報JP 2005-195493 A

上記の位置検出装置では、構造物による無線信号の反射（マルチパス）が生じていない通常状態において検出された現在位置の情報と、記憶手段に記憶された構造物の位置情報等とに基づいて、周囲の構造物による無線信号の反射状態が判定される。ところが、常にマルチパスが生じているような環境（例えば、床，天井，壁によって囲まれた屋内など）では、測位動作を開始した当初から現在位置を正しく検出できない。そのため、たとえ記憶手段に周囲の構造物の位置情報や高さ情報などを記憶していても、現在位置が不明のため、周囲の構造物の状態を把握できず、正しい位置を測定できないという問題がある。   In the above position detection device, based on the information on the current position detected in the normal state where no reflection (multipath) of the radio signal by the structure occurs, the position information on the structure stored in the storage means, and the like Then, the reflection state of the radio signal by the surrounding structure is determined. However, in an environment where multipath always occurs (for example, indoors surrounded by floors, ceilings, and walls), the current position cannot be detected correctly from the beginning of the positioning operation. For this reason, even if the location information and height information of surrounding structures are stored in the storage means, the current position is unknown, so the state of surrounding structures cannot be grasped and the correct position cannot be measured. There is.

本発明はかかる事情に鑑みてなされたものであり、その目的は、反射面により反射された無線信号が受信されるマルチパス環境においても、無線信号を用いて対象物の位置を正確に測定できる測位装置とその演算装置並びにプログラムを提供することにある。   The present invention has been made in view of such circumstances, and an object of the present invention is to accurately measure the position of an object using a radio signal even in a multipath environment where a radio signal reflected by a reflecting surface is received. The object is to provide a positioning device, an arithmetic device thereof, and a program.

本発明の第１の観点に係る測位装置は、少なくとも一つの基準位置又は測位の対象物に設けられ、無線信号を送信する少なくとも一つの送信機と、前記対象物又は前記基準位置に設けられ、前記基準位置と前記対象物との間を伝搬する前記無線信号を受信する少なくとも一つの受信機と、前記受信機において受信される前記無線信号に基づいて、前記基準位置と前記対象物との間における前記無線信号の３以上の伝搬経路に対応した３以上の伝搬距離を測定する測定部と、前記対象物の推定位置を表す関数を、前記測定された３以上の伝搬距離の各々について少なくとも一つ取得する関数取得部と、前記取得された複数の関数に基づいて、異なる前記伝搬距離について取得されたＫ個（Ｋは２以上の整数を示す。）の前記関数からなる前記関数の組み合わせを全て特定し、前記特定した関数の組み合わせ毎に、Ｋ個の前記関数により表された前記推定位置が重なる交点を算出する交点算出部と、前記算出された複数の交点に基づいて、前記交点の算出に用いられたＫ個の前記関数に対応するＫ個の前記伝搬距離の組み合わせが互いに異なるＬ個（Ｌは３以上の整数を示す。）の前記交点からなる前記交点の組み合わせを全て特定し、前記特定した交点の組み合わせ毎に、Ｌ個の前記交点の近接度合を示す評価値を算出する評価値算出部と、Ｌ個の前記交点が最も近接した前記交点の組み合わせを前記評価値に基づいて特定し、前記特定した交点の組み合わせに基づいて前記対象物の位置を算出する位置算出部とを有する。前記関数取得部は、一の前記伝搬距離に対応する少なくとも１つの前記関数を、前記基準位置の情報と、前記伝搬経路の途中で前記無線信号を反射し得る反射面に関する情報と、当該一の伝搬距離とに基づいて取得する。   The positioning device according to the first aspect of the present invention is provided in at least one reference position or an object for positioning, and is provided in at least one transmitter for transmitting a radio signal, and in the object or the reference position. Based on at least one receiver that receives the wireless signal propagating between the reference position and the object, and between the reference position and the object based on the wireless signal received at the receiver A measurement unit that measures three or more propagation distances corresponding to three or more propagation paths of the radio signal in the signal, and a function that represents an estimated position of the object is at least one for each of the measured three or more propagation distances. A function acquisition unit for acquiring two and the K functions (K represents an integer of 2 or more) acquired for the different propagation distances based on the plurality of acquired functions. And for each combination of the specified functions, an intersection calculation unit that calculates an intersection where the estimated positions represented by the K functions overlap, and based on the calculated plurality of intersections, A combination of the intersections consisting of the L intersections (L is an integer of 3 or more) with different combinations of the K propagation distances corresponding to the K functions used to calculate the intersections. For each combination of the specified intersections, an evaluation value calculation unit that calculates an evaluation value indicating the degree of proximity of the L intersections, and a combination of the intersections that are closest to the L intersections are evaluated. A position calculation unit that specifies the position based on the value and calculates the position of the object based on the combination of the specified intersections. The function acquisition unit includes at least one function corresponding to one propagation distance, information on the reference position, information on a reflection surface capable of reflecting the radio signal in the middle of the propagation path, and the one Acquired based on the propagation distance.

上記第１の観点に係る測位装置によれば、前記測定部において、前記基準位置と前記対象物との間における３以上の前記伝搬経路に対応した３以上の前記伝搬距離が測定される。
３以上の前記伝搬距離が測定されると、当該３以上の伝搬距離の各々について、前記対象物の推定位置を表す関数が少なくとも一つ取得される。この場合、一の前記伝搬距離に対応する少なくとも１つの前記関数は、前記基準位置の情報と、前記伝搬経路の途中で前記無線信号を反射し得る反射面に関する情報と、当該一の伝搬距離とに基づいて取得される。
当該３以上の伝搬距離の各々について前記関数が取得されると、取得された複数の関数に基づいて、異なる前記伝搬距離について取得されたＫ個（Ｋ≧２）の前記関数からなる前記関数の組み合わせが全て特定される。そして、当該特定された関数の組み合わせ毎に、Ｋ個の前記関数により表された前記推定位置が重なる交点が算出される。
前記関数の組み合わせ毎に前記交点が算出されると、算出された複数の交点に基づいて、Ｌ個（Ｌ≧３）の前記交点からなる前記交点の組み合わせが全て特定される。前記交点の組み合わせを構成するＬ個の前記交点は、前記交点の算出に用いられたＫ個の前記関数に対応するＫ個の前記伝搬距離の組み合わせが互いに異なる。そして、当該特定された交点の組み合わせ毎に、Ｌ個の前記交点の近接度合を示す前記評価値が算出される。
前記交点の組み合わせ毎に前記評価値が算出されると、Ｌ個の前記交点が最も近接した前記交点の組み合わせが、前記算出された評価値に基づいて特定される。そして、当該特定された交点の組み合わせに基づいて、前記対象物の位置が算出される。
従って、前記伝搬経路の途中で前記反射面により前記無線信号が反射される場合でも、前記対象物の正確な位置が算出される。 According to the positioning apparatus according to the first aspect, the measurement unit measures three or more propagation distances corresponding to the three or more propagation paths between the reference position and the object.
When three or more propagation distances are measured, at least one function representing the estimated position of the object is acquired for each of the three or more propagation distances. In this case, at least one of the functions corresponding to one propagation distance includes information on the reference position, information on a reflection surface that can reflect the radio signal in the middle of the propagation path, and the one propagation distance. Get based on.
When the function is acquired for each of the three or more propagation distances, the function consisting of the K functions (K ≧ 2) acquired for the different propagation distances based on the plurality of acquired functions. All combinations are identified. Then, for each combination of the specified functions, an intersection where the estimated positions represented by the K functions overlap is calculated.
When the intersection point is calculated for each combination of the functions, all combinations of the intersection points including L (L ≧ 3) intersection points are specified based on the plurality of calculated intersection points. The L number of intersection points constituting the combination of intersection points are different from each other in the combination of K propagation distances corresponding to the K functions used to calculate the intersection point. And the said evaluation value which shows the proximity degree of L said said intersection is calculated for every combination of the said specified intersection.
When the evaluation value is calculated for each combination of the intersection points, the combination of the intersection points where the L intersection points are closest is specified based on the calculated evaluation value. Then, the position of the object is calculated based on the specified combination of intersections.
Therefore, even when the radio signal is reflected by the reflecting surface in the middle of the propagation path, the exact position of the object is calculated.

好適に、前記関数取得部は、一の前記伝搬距離について前記関数を取得する場合、前記伝搬経路の長さが前記一の伝搬距離と等しくなる条件を満たす曲面と、前記対象物が位置する所定の平面との交線である曲線の関数を取得してよい。この場合、前記交点算出部は、２個の前記関数が表す２つの前記曲線の交点を算出してよい。
上記の構成によれば、前記関数が曲線であるため、比較的簡単に前記交点が算出される。 Preferably, when the function acquisition unit acquires the function for one propagation distance, the function object is located on a curved surface satisfying a condition that the length of the propagation path is equal to the one propagation distance. A function of a curve that is an intersection line with the plane may be obtained. In this case, the intersection calculation unit may calculate an intersection of the two curves represented by the two functions.
According to said structure, since the said function is a curve, the said intersection is calculated comparatively easily.

好適に、前記関数取得部は、一の前記伝搬距離について前記関数を取得する場合、前記伝搬経路の長さが前記一の伝搬距離と等しくなる条件を満たす曲面の関数を取得してもよい。この場合、前記交点算出部は、３個の前記関数が表す３つの前記曲面の交点を算出してよい。
上記の構成によれば、測位可能な前記対象物の位置が前記所定の平面上に限定されない。 Preferably, when the function is acquired for one propagation distance, the function acquisition unit may acquire a curved surface function that satisfies a condition in which a length of the propagation path is equal to the one propagation distance. In this case, the intersection calculation unit may calculate the intersections of the three curved surfaces represented by the three functions.
According to said structure, the position of the said target object which can be measured is not limited on the said predetermined plane.

好適に、前記評価値算出部は、前記対象物が位置し得る所定の領域から外れた前記交点を前記交点の組み合わせから除外してよい。
上記の構成によれば、前記交点の組み合わせの数が減るため、前記評価値算出部における演算量が少なくなる。 Suitably, the said evaluation value calculation part may exclude the said intersection from the predetermined area | region where the said target object may be located from the combination of the said intersection.
According to said structure, since the number of the combinations of the said intersection is reduced, the calculation amount in the said evaluation value calculation part decreases.

好適に、前記評価値算出部は、前記関数取得部において取得される各々の前記関数について、所定の障害物が存在するために前記無線信号が届かない無効範囲を特定し、一の関数について特定した前記無効範囲に当該一の関数と他の関数との交点が含まれる場合は、当該交点を前記交点の組み合わせから除外してよい。
上記の構成によれば、前記交点の組み合わせの数が減るため、前記評価値算出部における演算量が少なくなる。 Preferably, the evaluation value calculation unit specifies, for each of the functions acquired by the function acquisition unit, an invalid range where the wireless signal does not reach because a predetermined obstacle exists, and specifies one function. If the invalid range includes an intersection between the one function and another function, the intersection may be excluded from the combination of the intersections.
According to said structure, since the number of the combinations of the said intersection is reduced, the calculation amount in the said evaluation value calculation part decreases.

好適に、前記評価値算出部は、前記交点の組み合わせを構成するＬ個の前記交点における２個の交点のペアを全て特定し、前記特定した交点のペアの距離若しくは距離の２乗の平均値を前記評価値として算出してよい。   Preferably, the evaluation value calculation unit specifies all the pairs of two intersections in the L intersections constituting the combination of the intersections, and the distance of the identified intersection pairs or the average value of the squares of the distances May be calculated as the evaluation value.

好適に、前記位置算出部は、前記特定した交点の組み合わせを構成する３個の前記交点の重心を前記対象物の位置として算出してよい。   Preferably, the position calculation unit may calculate the center of gravity of the three intersections constituting the combination of the specified intersections as the position of the object.

好適に、前記送信機は３以上の前記基準位置にそれぞれ設けられてよく、前記受信機は、前記対象物に設けられてよい。この場合、前記測定部は、前記受信機において受信される３以上の前記送信機からの前記無線信号に基づいて、３以上の前記伝搬距離を測定してよい。   Preferably, the transmitter may be provided at each of the three or more reference positions, and the receiver may be provided at the object. In this case, the measurement unit may measure the three or more propagation distances based on the radio signals from the three or more transmitters received by the receiver.

好適に、前記送信機は前記対象物に設けられてもよく、前記受信機は３以上の前記基準位置にそれぞれ設けられてよい。この場合、前記測定部は、３以上の前記受信機においてそれぞれ受信される前記無線信号に基づいて、３以上の前記伝搬距離を測定してよい。   Preferably, the transmitter may be provided on the object, and the receiver may be provided at three or more of the reference positions. In this case, the measurement unit may measure the three or more propagation distances based on the radio signals respectively received by the three or more receivers.

好適に、前記測定部は、同一の前記送信機から異なる複数の前記伝搬経路を経て一の前記受信機に複数のタイミングで受信される前記無線信号に基づいて、複数の前記伝搬距離を測定してよい。   Preferably, the measurement unit measures a plurality of the propagation distances based on the radio signals received at a plurality of timings by the same receiver through the plurality of different propagation paths from the same transmitter. It's okay.

本発明の第２の観点は、少なくとも一つの基準位置と測位の対象物との間を伝搬する無線信号に基づいて測定された前記無線信号の伝搬距離を用いて前記対象物の位置を算出する測位演算装置に関する。この測位演算装置は、前記対象物の推定位置を表す関数を、前記基準位置と前記対象物との間における前記無線信号の３以上の伝搬経路に対応した３以上の前記伝搬距離の各々について少なくとも一つ取得する関数取得部と、前記取得された複数の関数に基づいて、異なる前記伝搬距離について取得されたＫ個（Ｋは２以上の整数を示す。）の前記関数からなる前記関数の組み合わせを全て特定し、前記特定した関数の組み合わせ毎に、Ｋ個の前記関数により表された前記推定位置が重なる交点を算出する交点算出部と、前記算出された複数の交点に基づいて、前記交点の算出に用いられたＫ個の前記関数に対応するＫ個の前記伝搬距離の組み合わせが互いに異なるＬ個（Ｌは３以上の整数を示す。）の前記交点からなる前記交点の組み合わせを全て特定し、前記特定した交点の組み合わせ毎に、Ｌ個の前記交点の近接度合を示す評価値を算出する評価値算出部と、Ｌ個の前記交点が最も近接した前記交点の組み合わせを前記評価値に基づいて特定し、前記特定した交点の組み合わせに基づいて前記対象物の位置を算出する位置算出部とを有する。前記関数取得部は、一の前記伝搬距離に対応する少なくとも１つの前記関数を、前記基準位置の情報と、前記伝搬経路の途中で前記無線信号を反射し得る反射面に関する情報と、当該一の伝搬距離とに基づいて取得する。   According to a second aspect of the present invention, the position of the object is calculated using a propagation distance of the radio signal measured based on a radio signal propagating between at least one reference position and the object to be measured. The present invention relates to a positioning calculation device. In this positioning calculation device, a function representing the estimated position of the object is set at least for each of the three or more propagation distances corresponding to the three or more propagation paths of the radio signal between the reference position and the object. A combination of the function comprising one function obtaining unit and K functions (K represents an integer of 2 or more) obtained for different propagation distances based on the plurality of obtained functions. And for each combination of the specified functions, an intersection calculation unit that calculates an intersection where the estimated positions represented by the K functions overlap, and the intersection based on the calculated plurality of intersections The combination of the intersections consisting of the L intersections (L represents an integer of 3 or more) with different combinations of the K propagation distances corresponding to the K functions used in the calculation of For each combination of the specified intersections, an evaluation value calculation unit that calculates an evaluation value indicating the degree of proximity of the L intersections, and a combination of the intersections where the L intersections are closest to each other. A position calculating unit that specifies the evaluation value and calculates the position of the object based on the specified combination of intersections. The function acquisition unit includes at least one function corresponding to one propagation distance, information on the reference position, information on a reflection surface capable of reflecting the radio signal in the middle of the propagation path, and the one Acquired based on the propagation distance.

本発明の第３の観点は、上記測位演算装置として機能させるためのプログラムである。   The 3rd viewpoint of this invention is a program for functioning as said positioning calculating apparatus.

本発明によれば、反射面により反射された無線信号が受信されるマルチパス環境においても、無線信号を用いて対象物の位置を正確に測定できる。   According to the present invention, it is possible to accurately measure the position of an object using a radio signal even in a multipath environment where a radio signal reflected by a reflecting surface is received.

本発明の実施形態に係る測位装置の構成の一例を示す図である。図１Ａは、測位装置が設けられた部屋を天井側から見た図であり、図１Ｂは図１ＡのＸ１−Ｘ１線で示す断面を壁側から見た図である。It is a figure which shows an example of a structure of the positioning apparatus which concerns on embodiment of this invention. 1A is a view of a room provided with a positioning device as viewed from the ceiling side, and FIG. 1B is a view of a cross section taken along line X1-X1 of FIG. 1A as viewed from the wall side. 送信機、受信機及び測位演算装置の構成例を示す図である。図２Ａは送信機の構成例を示し、図２Ｂは受信機及び測位演算装置の構成例を示す図である。It is a figure which shows the structural example of a transmitter, a receiver, and a positioning calculating apparatus. FIG. 2A is a diagram illustrating a configuration example of a transmitter, and FIG. 2B is a diagram illustrating a configuration example of a receiver and a positioning calculation device. 第１の送信機からの無線信号に基づいて測定された伝搬距離の条件を満たす対象物の推定位置の曲線を表した図である。図３Ａは測位装置が設けられた部屋を天井側から見た図であり、図３Ｂは図３ＡのＸ２−Ｘ２線で示す断面を壁側から見た図である。It is a figure showing the curve of the estimated position of the target object which satisfy | fills the conditions of the propagation distance measured based on the radio signal from a 1st transmitter. 3A is a view of a room in which a positioning device is provided as viewed from the ceiling side, and FIG. 3B is a view of a cross section taken along line X2-X2 of FIG. 3A as viewed from the wall side. 第２の送信機からの無線信号に基づいて測定された伝搬距離の条件を満たす対象物の推定位置の曲線を表した図である。It is a figure showing the curve of the estimated position of the target object which satisfy | fills the conditions of the propagation distance measured based on the radio signal from a 2nd transmitter. 第３の送信機からの無線信号に基づいて測定された伝搬距離の条件を満たす対象物の推定位置の曲線を表した図である。It is a figure showing the curve of the estimated position of the target object which satisfy | fills the conditions of the propagation distance measured based on the radio signal from a 3rd transmitter. 図３に示す曲線と図４に示す曲線との交点を示す図である。It is a figure which shows the intersection of the curve shown in FIG. 3, and the curve shown in FIG. 図３に示す曲線と図５に示す曲線との交点を示す図である。It is a figure which shows the intersection of the curve shown in FIG. 3, and the curve shown in FIG. 図４に示す曲線と図５に示す曲線との交点を示す図である。It is a figure which shows the intersection of the curve shown in FIG. 4, and the curve shown in FIG. 対象物の位置の算出に用いられる交点の組み合わせを示す図である。It is a figure which shows the combination of the intersection used for calculation of the position of a target object.

図１は、本発明の実施形態に係る測位装置の構成の一例を示す図である。図１Ａは、測位装置が設けられた部屋を天井５側から見た図であり、図１Ｂは図１ＡのＸ１−Ｘ１線で示す断面を壁４側から見た図である。   FIG. 1 is a diagram illustrating an example of a configuration of a positioning device according to an embodiment of the present invention. 1A is a view of a room provided with a positioning device as viewed from the ceiling 5 side, and FIG. 1B is a view of a cross section taken along line X1-X1 of FIG. 1A as viewed from the wall 4 side.

本実施形態に係る測位装置は、部屋１０の内部における対象物２０の位置を無線信号によって測定するものである。部屋１０は壁１〜４と天井５及び床６によって囲まれているため、無線信号の反射を生じるマルチパス環境となっている。図１の例において、壁１〜４と天井５及び床６はそれぞれ平面であり、部屋１０は直方体の箱型の形状を有する。部屋１０の中央からややずれた位置には、無線信号の伝搬を妨げる柱状の障害物７が存在する。   The positioning device according to the present embodiment measures the position of the object 20 inside the room 10 using a radio signal. Since the room 10 is surrounded by the walls 1 to 4, the ceiling 5, and the floor 6, it is a multipath environment in which radio signals are reflected. In the example of FIG. 1, the walls 1 to 4, the ceiling 5, and the floor 6 are each flat, and the room 10 has a rectangular parallelepiped box shape. A columnar obstacle 7 that prevents radio signal propagation is present at a position slightly deviated from the center of the room 10.

測位装置は、それぞれ部屋１０の壁（１，３，４）の略中央付近に設けられた３つの送信機（３０Ａ，３０Ｂ，３０Ｃ）と、測位の対象物２０（スマートフォン等）に設けられた受信機４０と、測位演算装置５０を有する。   The positioning devices were provided on three transmitters (30A, 30B, 30C) provided near the center of the wall (1, 3, 4) of the room 10 and the positioning object 20 (smartphone or the like). It has a receiver 40 and a positioning calculation device 50.

図２は、送信機３０Ａ〜３０Ｃ，受信機４０及び測位演算装置５０の構成の一例を示す図である。図２Ａは送信機３０Ａ〜３０Ｃの構成例を示し、図２Ｂは受信機４０及び測位演算装置５０の構成例を示す。   FIG. 2 is a diagram illustrating an example of the configuration of the transmitters 30 </ b> A to 30 </ b> C, the receiver 40, and the positioning calculation device 50. 2A shows a configuration example of the transmitters 30A to 30C, and FIG. 2B shows a configuration example of the receiver 40 and the positioning calculation device 50.

送信機３０Ａ〜３０Ｃは、それぞれ部屋１０の固定された位置（基準位置）から無線信号を送信する。図２Ａの例に示す送信機３０Ａ〜３０Ｃは、アンテナ３１と、送信回路３２と、送信処理部３３を有する。送信処理部３３は、送信しようとするデータに所定の符号化処理や変調処理を施し、送信信号として送信回路３２に出力する。送信回路３２は、送信処理部３３から出力される送信信号に周波数変換等の信号処理を施して振幅を増幅し、アンテナ３１から無線信号として送信する。   Transmitters 30 </ b> A to 30 </ b> C each transmit a radio signal from a fixed position (reference position) of room 10. The transmitters 30 </ b> A to 30 </ b> C illustrated in the example of FIG. 2A include an antenna 31, a transmission circuit 32, and a transmission processing unit 33. The transmission processing unit 33 performs predetermined encoding processing and modulation processing on data to be transmitted, and outputs the data to the transmission circuit 32 as a transmission signal. The transmission circuit 32 performs signal processing such as frequency conversion on the transmission signal output from the transmission processing unit 33 to amplify the amplitude, and transmits the signal from the antenna 31 as a radio signal.

受信機４０は、対象物２０において送信機３０Ａ〜３０Ｃからの無線信号をそれぞれ受信する。図２Ｂに示す受信機４０は、アンテナ４１と、受信回路４２と、受信処理部４３を有する。受信回路４２は、アンテナ４１において受信した無線信号の振幅を増幅して周波数変換等の信号処理を施し、受信信号として受信処理部４３に出力する。受信処理部４３は、受信回路４２から出力される受信信号に所定の復調処理や復号化処理を施して、送信元のデータを再生する。また、受信処理部４３は、受信した無線信号の信号強度や伝搬遅延に関する情報を出力する。   The receiver 40 receives the radio signals from the transmitters 30A to 30C at the object 20, respectively. The receiver 40 illustrated in FIG. 2B includes an antenna 41, a reception circuit 42, and a reception processing unit 43. The reception circuit 42 amplifies the amplitude of the radio signal received by the antenna 41, performs signal processing such as frequency conversion, and outputs the signal as a reception signal to the reception processing unit 43. The reception processing unit 43 performs predetermined demodulation processing and decoding processing on the reception signal output from the reception circuit 42 to reproduce the transmission source data. In addition, the reception processing unit 43 outputs information related to the signal strength and propagation delay of the received radio signal.

なお、送信機３０Ａ〜３０Ｃには無線ＬＡＮのアクセスポイントを用いてよく、その場合、スマートフォン等の移動体端末における無線ＬＡＮ通信部を受信機４０として用いてよい。   In addition, you may use the access point of wireless LAN for transmitter 30A-30C, and may use the wireless LAN communication part in mobile terminals, such as a smart phone, as the receiver 40 in that case.

測位演算装置５０は、受信機４０から出力される無線信号の信号強度や伝搬遅延に関する情報に基づいて、送信機３０Ａ〜３０Ｃと受信機４０との間における無線信号の伝搬距離（伝搬経路の長さ）をそれぞれ測定し、その測定結果を用いて対象物２０の位置を算出する。   The positioning calculation device 50 determines the propagation distance of the wireless signal (the length of the propagation path) between the transmitters 30 </ b> A to 30 </ b> C and the receiver 40 based on the signal strength and propagation delay information of the wireless signal output from the receiver 40. And the position of the object 20 is calculated using the measurement result.

測位演算装置５０は、例えばプログラムの命令コードに従って処理を実行するコンピュータを含んで構成される。このプログラムは、例えば不揮発性メモリやハードディスク、コンピュータ読み取り可能で非一時的な記録媒体（記録ディスク、ＵＳＢメモリ等）などの記憶装置に格納される。プログラムの実行時には、ＤＲＡＭ等の記憶装置にプログラムが適宜ロードされ、コンピュータのマイクロプロセッサによってプログラム中の命令コードが順次に読み出されて実行される。なお、測位演算装置５０の機能の少なくとも一部は、専用のロジック回路（ＡＳＩＣ等）によって実現することも可能である。   The positioning calculation device 50 is configured to include, for example, a computer that executes processing according to an instruction code of a program. This program is stored in a storage device such as a non-volatile memory, a hard disk, or a computer-readable non-transitory recording medium (such as a recording disk or a USB memory). When the program is executed, the program is appropriately loaded into a storage device such as a DRAM, and the instruction codes in the program are sequentially read and executed by the microprocessor of the computer. It should be noted that at least a part of the functions of the positioning calculation device 50 can be realized by a dedicated logic circuit (ASIC or the like).

測位演算装置５０は、対象物２０（スマートフォン等）に設けてもよいし、スマートフォン等の移動体端末の通信機能を通じて接続された他の上位装置（ホストコンピュータ等）に設けてもよい。   The positioning calculation device 50 may be provided on the object 20 (smart phone or the like), or may be provided on another host device (host computer or the like) connected through a communication function of a mobile terminal such as a smartphone.

図２Ｂの例において、測位演算装置５０は、測定部５１と、関数取得部５２と、交点算出部５３と、評価値算出部５４と、位置算出部５５を有する。   In the example of FIG. 2B, the positioning calculation device 50 includes a measurement unit 51, a function acquisition unit 52, an intersection calculation unit 53, an evaluation value calculation unit 54, and a position calculation unit 55.

測定部５１は、受信機４０から出力される無線信号の信号強度の情報や伝搬遅延に関する情報に基づいて、送信機３０Ａ〜３０Ｃと受信機４０との間における無線信号の伝搬距離をそれぞれ測定する。
例えば測定部５１は、無線信号の信号強度と伝搬距離との関係（伝搬距離が長くなるほど信号強度が低下する関係）を示す関数やデータテーブルを用いて、信号強度に対応した伝搬距離を取得する。
また、測定部５１は、任意の方法により送信機３０Ａ〜３０Ｃの送信時刻と同期されたタイマを用いて、送信機３０Ａ〜３０Ｃの送信時刻と受信機４０の受信時刻との差に相当する伝搬遅延時間を取得してもよい。この場合、伝搬距離は、伝搬遅延時間に一定の係数（電波の速度）を乗じた値となる。 The measuring unit 51 measures the propagation distance of the radio signal between the transmitters 30 </ b> A to 30 </ b> C and the receiver 40 based on the signal strength information of the radio signal output from the receiver 40 and the information on the propagation delay. .
For example, the measurement unit 51 acquires a propagation distance corresponding to the signal strength using a function or a data table indicating a relationship between the signal strength of the radio signal and the propagation distance (a relationship in which the signal strength decreases as the propagation distance increases). .
In addition, the measurement unit 51 uses a timer synchronized with the transmission time of the transmitters 30A to 30C by an arbitrary method, and propagates corresponding to the difference between the transmission time of the transmitters 30A to 30C and the reception time of the receiver 40. You may acquire delay time. In this case, the propagation distance is a value obtained by multiplying the propagation delay time by a certain coefficient (radio wave velocity).

関数取得部５２は、対象物２０の推定位置を表す関数を、測定部５１により測定された３つの伝搬距離（送信機３０Ａ〜３０Ｃと受信機４０との間の伝搬距離）の各々について少なくとも一つ取得する。具体的には、関数取得部５２は、測定部５１により測定された一の伝搬距離に対応する少なくとも１つの関数を、当該一の伝搬距離の起点となる送信機（３０Ａ〜３０Ｃ）の設置位置（基準位置）の情報と、伝搬経路の途中で無線信号を反射し得る反射面に関する情報（壁１〜４，天井５，床６の位置や方向などの情報）と、当該一の伝搬距離とに基づいて取得する。   The function acquisition unit 52 sets at least one function representing the estimated position of the object 20 for each of the three propagation distances (propagation distances between the transmitters 30A to 30C and the receiver 40) measured by the measurement unit 51. Get one. Specifically, the function acquisition unit 52 sets at least one function corresponding to one propagation distance measured by the measurement unit 51 as the installation position of the transmitters (30A to 30C) serving as the starting point of the one propagation distance. (Reference position) information, information on the reflection surface that can reflect a radio signal in the middle of the propagation path (information such as the positions and directions of the walls 1 to 4, the ceiling 5, and the floor 6), and the one propagation distance Get based on.

以下の説明では、送信機３０Ａと受信機４０との間における伝搬距離の測定値を「ＬＡ」、送信機３０Ｂと受信機４０との間における伝搬距離の測定値を「ＬＢ」、送信機３０Ｃと受信機４０との間における伝搬距離の測定値を「ＬＣ」とする。
図３は、送信機３０Ａからの無線信号に基づいて測定された伝搬距離ＬＡの条件を満たす対象物２０の推定位置の曲線を表した図である。図３Ａは部屋１０を天井５側から見た図であり、図３Ｂは図３ＡのＸ２−Ｘ２線で示す断面を壁４側から見た図である。 In the following description, the measurement value of the propagation distance between the transmitter 30A and the receiver 40 is “LA”, the measurement value of the propagation distance between the transmitter 30B and the receiver 40 is “LB”, and the transmitter 30C. The measured value of the propagation distance between the receiver and the receiver 40 is “LC”.
FIG. 3 is a diagram showing a curve of the estimated position of the object 20 that satisfies the condition of the propagation distance LA measured based on the radio signal from the transmitter 30A. 3A is a view of the room 10 as viewed from the ceiling 5 side, and FIG. 3B is a view of a cross section taken along line X2-X2 of FIG. 3A as viewed from the wall 4 side.

本実施形態では、一例として、対象物２０が床６から高さｈの位置にあると仮定される。すなわち対象物２０は、床６から高さｈだけ離れた仮想の平面上にあると仮定される。伝搬距離が測定値「ＬＡ」と等しくなる条件を満たす位置は、球面状の曲面として表されるが、上記の仮定があることにより、対象物２０の推定位置は曲面と平面との交わりである曲線（円弧）として表される。図３Ａにおける「Ａ０」，「Ａ２」，「Ａ４」，「Ａ５」，「Ａ６」，「Ａ５６」はこの曲線を示す。   In the present embodiment, as an example, it is assumed that the object 20 is at a height h from the floor 6. That is, it is assumed that the object 20 is on a virtual plane that is separated from the floor 6 by a height h. The position where the propagation distance is equal to the measurement value “LA” is expressed as a spherical curved surface. However, due to the above assumption, the estimated position of the object 20 is the intersection of the curved surface and the plane. Expressed as a curve (arc). “A0”, “A2”, “A4”, “A5”, “A6”, and “A56” in FIG. 3A indicate this curve.

曲線Ａ０は、反射面において反射されずに直接伝搬する場合の伝搬経路に対応した推定位置を表す。
曲線Ａ２は、壁２において１回反射される伝搬経路に対応した推定位置を示す。
曲線Ａ４は、壁４において１回反射される伝搬経路に対応した推定位置を示す。
曲線Ａ５は、天井５において１回反射される伝搬経路に対応した推定位置を示す。
曲線Ａ６は、床６において１回反射される伝搬経路に対応した推定位置を示す。
曲線Ａ５６は、天井５と床６において２回反射される伝搬経路に対応した推定位置を示す。 A curve A0 represents an estimated position corresponding to a propagation path in the case of direct propagation without being reflected on the reflecting surface.
A curve A2 indicates an estimated position corresponding to a propagation path that is reflected once on the wall 2.
A curve A4 indicates an estimated position corresponding to a propagation path that is reflected once on the wall 4.
A curve A5 indicates an estimated position corresponding to a propagation path that is reflected once on the ceiling 5.
A curve A6 indicates an estimated position corresponding to the propagation path reflected once on the floor 6.
A curve A56 indicates an estimated position corresponding to the propagation path reflected twice on the ceiling 5 and the floor 6.

図３Ａにおける「Ｐ０」，「Ｐ６」，「Ｐ５」，「Ｐ５６」は、それぞれ曲線Ａ０，Ａ６，Ａ５，Ａ５６に含まれるＸ２−Ｘ２線の断面上の点である。図３Ｂにおける矢印は、送信機３０Ａからこれらの点への伝搬経路を示す。この矢印で示す伝搬経路の長さは、すべて測定値ＬＡと等しい。   “P0”, “P6”, “P5”, and “P56” in FIG. 3A are points on the cross section of the X2-X2 line included in the curves A0, A6, A5, and A56, respectively. The arrows in FIG. 3B indicate the propagation path from the transmitter 30A to these points. The length of the propagation path indicated by this arrow is all equal to the measured value LA.

図４は、送信機３０Ｂからの無線信号に基づいて測定された伝搬距離ＬＢの条件を満たす対象物２０の推定位置の曲線を表した図である。
図４において、曲線Ｂ０は、反射面において反射されずに直接伝搬する場合の伝搬経路に対応した推定位置を表す。
曲線Ｂ２は、壁２において１回反射される伝搬経路に対応した推定位置を示す。
曲線Ｂ４は、壁４において１回反射される伝搬経路に対応した推定位置を示す。
曲線Ｂ６は、床６において１回反射される伝搬経路に対応した推定位置を示す。 FIG. 4 is a diagram showing a curve of the estimated position of the target object 20 that satisfies the condition of the propagation distance LB measured based on the radio signal from the transmitter 30B.
In FIG. 4, a curve B0 represents an estimated position corresponding to a propagation path in the case of direct propagation without being reflected on the reflecting surface.
A curve B2 indicates an estimated position corresponding to a propagation path that is reflected once on the wall 2.
A curve B4 indicates an estimated position corresponding to a propagation path that is reflected once on the wall 4.
A curve B6 indicates an estimated position corresponding to the propagation path reflected once on the floor 6.

図５は、送信機３０Ｃからの無線信号に基づいて測定された伝搬距離ＬＣの条件を満たす対象物２０の推定位置の曲線を表した図である。
図５において、曲線Ｃ０は、反射面において反射されずに直接伝搬する場合の伝搬経路に対応した推定位置を表す。
曲線Ｃ１は、壁１において１回反射される伝搬経路に対応した推定位置を示す。
曲線Ｃ３は、壁３において１回反射される伝搬経路に対応した推定位置を示す。
曲線Ｃ５は、天井５において１回反射される伝搬経路に対応した推定位置を示す。
曲線Ｃ６は、床６において１回反射される伝搬経路に対応した推定位置を示す。 FIG. 5 is a diagram showing a curve of the estimated position of the object 20 that satisfies the condition of the propagation distance LC measured based on the radio signal from the transmitter 30C.
In FIG. 5, a curve C0 represents an estimated position corresponding to a propagation path when directly propagating without being reflected on the reflecting surface.
A curve C1 indicates an estimated position corresponding to a propagation path that is reflected once on the wall 1.
A curve C3 indicates an estimated position corresponding to the propagation path reflected once on the wall 3.
A curve C5 indicates an estimated position corresponding to a propagation path that is reflected once on the ceiling 5.
A curve C6 indicates an estimated position corresponding to a propagation path reflected once on the floor 6.

送信機（３０Ａ〜３０Ｃ）の基準位置と反射面（壁１〜４，天井５，床６）の位置・形状は定まっているため、送信機から送信される無線信号の伝搬経路は既知である。従って、関数取得部５２は、関数取得部５２により与えられた測定値ＬＡ，ＬＢ，ＬＣと伝送距離が等しくなるような対象物２０の推定位置を、図３〜図５に示すような曲線の関数として取得できる。   Since the reference positions of the transmitters (30A to 30C) and the positions and shapes of the reflecting surfaces (walls 1 to 4, ceiling 5, floor 6) are fixed, the propagation path of the radio signal transmitted from the transmitter is known. . Therefore, the function acquisition unit 52 calculates the estimated position of the object 20 such that the transmission distance is equal to the measured values LA, LB, and LC given by the function acquisition unit 52 in a curve as shown in FIGS. It can be acquired as a function.

なお、図３〜図５において示すように、関数取得部５２によって取得された関数の曲線上であっても、伝搬経路上に障害物７が存在することにより無線信号が届かない範囲（無効範囲）については、対象物２０の推定位置に含まれない。後述する交点算出部５３において算出される交点がこの無効範囲にある場合、当該交点は対象物２０の位置の算出に用いられない。   As shown in FIGS. 3 to 5, even on the curve of the function acquired by the function acquisition unit 52, the range where the radio signal does not reach due to the presence of the obstacle 7 on the propagation path (invalid range). ) Is not included in the estimated position of the object 20. When an intersection calculated by an intersection calculation unit 53 described later is within this invalid range, the intersection is not used for calculating the position of the object 20.

交点算出部５３は、関数取得部５２において取得された複数の曲線の関数に基づいて、異なる伝搬距離について取得された２個の曲線の関数からなる「関数の組み合わせ（ペア）」を全て特定する。
例えば図３〜図５の例において、関数取得部５２は、測定値ＬＡについて取得された６個の曲線の関数（Ａ０，Ａ２，Ａ４，Ａ５，Ａ６，Ａ５６）と、測定値ＬＢについて取得された４個の曲線の関数（Ｂ０，Ｂ２，Ｂ４，Ｂ６）との組み合わせを全て特定する。また、関数取得部５２は、測定値ＬＡについて取得された６個の曲線の関数と、測定値ＬＣについて取得された５個の曲線の関数（Ｃ０，Ｃ１，Ｃ３，Ｃ５，Ｃ６）との組み合わせを全て特定する。更に、関数取得部５２は、測定値ＬＢについて取得された４個の曲線の関数と、測定値ＬＣについて取得された５個の曲線の関数との組み合わせを全て特定する。
そして、交点算出部５３は、特定した「関数の組み合わせ（ペア）」毎に、２個の曲線の関数により表された推定位置が重なる交点（曲線の交点）を算出する。 The intersection calculation unit 53 identifies all “function combinations (pairs)” that are functions of two curves acquired for different propagation distances based on the functions of a plurality of curves acquired by the function acquisition unit 52. .
For example, in the example of FIGS. 3 to 5, the function acquisition unit 52 acquires the functions of six curves (A0, A2, A4, A5, A6, A56) acquired for the measurement value LA and the measurement value LB. All the combinations with the functions (B0, B2, B4, B6) of the four curves are specified. The function acquisition unit 52 is a combination of the six curve functions acquired for the measurement value LA and the five curve functions (C0, C1, C3, C5, C6) acquired for the measurement value LC. Are all specified. Furthermore, the function acquisition unit 52 specifies all the combinations of the four curve functions acquired for the measurement value LB and the five curve functions acquired for the measurement value LC.
Then, for each identified “function combination (pair)”, the intersection calculation unit 53 calculates an intersection (curve intersection) where the estimated positions represented by the functions of the two curves overlap.

図６は、図３に示す曲線と図４に示す曲線との交点を示す図である。図６の例では、曲線Ａ０，Ａ２，Ａ４，Ａ５，Ａ６，Ａ５６と曲線Ｂ０，Ｂ２，Ｂ４，Ｂ６との組み合わせにおいて、障害物７により無線信号が届かない無効範囲に含まれていない交点は１１個（Ｑ１〜Ｑ１１）である。   FIG. 6 is a diagram illustrating intersections between the curve illustrated in FIG. 3 and the curve illustrated in FIG. 4. In the example of FIG. 6, in the combination of the curves A0, A2, A4, A5, A6, A56 and the curves B0, B2, B4, B6, the intersections that are not included in the invalid range where the radio signal does not reach due to the obstacle 7 are 11 (Q1 to Q11).

図７は、図３に示す曲線と図５に示す曲線との交点を示す図である。図７の例では、曲線Ａ０，Ａ２，Ａ４，Ａ５，Ａ６，Ａ５６と曲線Ｃ０，Ｃ１，Ｃ３，Ｃ５，Ｃ６との組み合わせにおいて、障害物７により無線信号が届かない無効範囲に含まれていない交点は１０個（Ｒ１〜Ｒ１０）である。   FIG. 7 is a diagram showing the intersection of the curve shown in FIG. 3 and the curve shown in FIG. In the example of FIG. 7, the combination of the curves A0, A2, A4, A5, A6, A56 and the curves C0, C1, C3, C5, C6 is not included in the invalid range where the radio signal does not reach due to the obstacle 7. There are 10 intersections (R1 to R10).

図８は、図４に示す曲線と図５に示す曲線との交点を示す図である。図８の例では、曲線Ｂ０，Ｂ２，Ｂ４，Ｂ６と曲線Ｃ０，Ｃ１，Ｃ３，Ｃ５，Ｃ６との組み合わせにおいて、障害物７により無線信号が届かない無効範囲に含まれていない交点は８個（Ｓ１〜Ｓ８）である。   FIG. 8 is a diagram showing the intersections of the curves shown in FIG. 4 and the curves shown in FIG. In the example of FIG. 8, in the combination of the curves B0, B2, B4, and B6 and the curves C0, C1, C3, C5, and C6, there are eight intersections that are not included in the invalid range where the radio signal does not reach due to the obstacle 7. (S1-S8).

評価値算出部５４は、交点算出部５３において算出された複数の交点に基づいて、交点の算出に用いられた２個の関数に対応する２個の伝搬距離の測定値の組み合わせが互いに異なる３個の交点からなる「交点の組み合わせ」を全て特定する。
例えば図６〜図８の例では、測定値ＬＡに対応する関数及び測定値ＬＢに対応する関数を用いて算出された交点（Ｑ１〜Ｑ１１）のうちの１つと、測定値ＬＡに対応する関数及び測定値ＬＣに対応する関数を用いて算出された交点（Ｒ１〜Ｒ１０）のうちの１つと、測定値ＬＢに対応する関数及び測定値ＬＣに対応する関数を用いて算出された交点（Ｓ１〜Ｓ８）のうちの１つとを合わせた３つの交点が、上述した「交点の組み合わせ」である。
評価値算出部５４は、特定した「交点の組み合わせ」毎に、３個の交点の近接度合を示す評価値を算出する。例えば評価値算出部５４は、「交点の組み合わせ」を構成する３個の交点における２個の交点のペア（３組）を全て特定し、特定した交点ペアの距離の２乗を平均した値を評価値として算出する。 Based on the plurality of intersections calculated by the intersection calculation unit 53, the evaluation value calculation unit 54 differs in the combination of two propagation distance measurement values corresponding to the two functions used to calculate the intersection 3 All “intersection combinations” consisting of individual intersections are specified.
For example, in the examples of FIGS. 6 to 8, one of the intersection points (Q1 to Q11) calculated using the function corresponding to the measurement value LA and the function corresponding to the measurement value LB and the function corresponding to the measurement value LA. And one of the intersection points (R1 to R10) calculated using the function corresponding to the measurement value LC, and the intersection point (S1 calculated using the function corresponding to the measurement value LB and the function corresponding to the measurement value LC). The three intersections combined with one of -S8) are the above-mentioned "combination of intersections".
The evaluation value calculation unit 54 calculates an evaluation value indicating the degree of proximity of the three intersections for each identified “intersection combination”. For example, the evaluation value calculation unit 54 specifies all the pairs (three sets) of two intersections at three intersections constituting the “intersection combination”, and calculates a value obtained by averaging the squares of the distances of the specified intersection pairs. Calculated as an evaluation value.

ただし、評価値算出部５４は、対象物２０が位置し得る領域（部屋１０の内部）から外れた交点を、上述した「交点の組み合わせ」から除外する。
また、評価値算出部５４は、関数取得部５２において取得される各々の関数について、障害物７が存在するために無線信号が届かない無効範囲を特定する。一の関数について特定した無効範囲に当該一の関数と他の関数との交点が含まれる場合、評価値算出部５４は、この交点を「交点の組み合わせ」から除外する。
このように、対象物２０の推定位置に含まれない交点を「交点の組み合わせ」から除外することにより、評価値の算出数を減らすことができる。 However, the evaluation value calculation unit 54 excludes the intersections deviated from the region where the object 20 can be located (inside the room 10) from the “intersection combination” described above.
In addition, the evaluation value calculation unit 54 specifies an invalid range in which the radio signal does not reach for each function acquired by the function acquisition unit 52 because the obstacle 7 exists. When the invalid range specified for one function includes an intersection between the one function and another function, the evaluation value calculation unit 54 excludes the intersection from the “intersection combination”.
In this way, by excluding intersections that are not included in the estimated position of the object 20 from the “intersection combination”, the number of evaluation values calculated can be reduced.

位置算出部５５は、３個の交点が最も近接した「交点の組み合わせ」を評価値算出部５４の評価値に基づいて特定し、特定した「交点の組み合わせ」に基づいて対象物２０の位置を算出する。例えば、位置算出部５５は、評価値として算出された交点間距離の２乗の平均値が最も小さい「交点の組み合わせ」を特定し、特定した「交点の組み合わせ」を構成する３個の交点の重心を対象物２０の位置として算出する。   The position calculation unit 55 identifies the “combination of intersections” in which the three intersections are closest to each other based on the evaluation value of the evaluation value calculation unit 54, and determines the position of the object 20 based on the identified “combination of intersections”. calculate. For example, the position calculation unit 55 identifies the “intersection combination” having the smallest average value of the squares of the distances between the intersections calculated as the evaluation values, and sets the three intersections constituting the identified “intersection combination”. The center of gravity is calculated as the position of the object 20.

図９は、対象物２０の位置の算出に用いられる「交点の組み合わせ」を示す図である。図９の例では、交点Ｑ１，Ｒ１，Ｓ１の組み合わせにおいて評価値が最も小さくなる（交点間の距離が最も短くなる）ため、この組み合わせが位置の算出に用いられる。この場合、位置算出部５５は、交点Ｑ１，Ｒ１，Ｓ１の重心を対象物２０の位置として算出する。   FIG. 9 is a diagram illustrating “intersection combinations” used for calculating the position of the object 20. In the example of FIG. 9, since the evaluation value is the smallest in the combination of the intersection points Q1, R1, and S1 (the distance between the intersection points is the shortest), this combination is used for calculating the position. In this case, the position calculation unit 55 calculates the center of gravity of the intersections Q1, R1, and S1 as the position of the target object 20.

ここで、上述した構成を有する本実施形態に係る測位装置の動作について説明する。   Here, the operation of the positioning apparatus according to the present embodiment having the above-described configuration will be described.

部屋１０の３つの基準位置に設置された送信機３０Ａ〜３０Ｃは、それぞれ無線信号を送信する。対象物２０に設けられた受信機４０は、送信機３０Ａ〜３０Ｃからの無線信号をそれぞれ受信する。測定部５１は、送信機３０Ａ〜３０Ｃから受信した無線信号の信号強度や伝搬遅延時間に基づいて、送信機３０Ａ，３０Ｂ，３０Ｃ（部屋１０の３つの基準位置）と受信機４０（対象物２０）との間における無線信号の伝搬距離ＬＡ，ＬＢ，ＬＣをそれぞれ測定する。   Transmitters 30 </ b> A to 30 </ b> C installed at three reference positions in room 10 each transmit a radio signal. The receiver 40 provided in the target 20 receives the radio signals from the transmitters 30A to 30C, respectively. The measurement unit 51 includes the transmitters 30A, 30B, and 30C (three reference positions of the room 10) and the receiver 40 (the object 20) based on the signal strength and propagation delay time of the radio signals received from the transmitters 30A to 30C. ), The propagation distances LA, LB, and LC of the wireless signal are measured.

測定部５１において３つの伝搬距離の測定値ＬＡ，ＬＢ，ＬＣが得られると、関数取得部５２は、伝搬距離の測定値ＬＡ，ＬＢ，ＬＣの各々について、対象物２０の推定位置を表す少なくとも一つの関数を取得する（図３〜図５）。このとき、関数取得部５２は、一の伝搬距離の測定値（ＬＡ〜ＬＣ）に対応する少なくとも１つの関数を、当該一の伝搬距離の起点となる送信機（３０Ａ〜３０Ｃ）が設置された基準位置の情報と、伝搬経路の途中で無線信号を反射し得る反射面（壁１〜４，天井５，床６）に関する情報と、当該一の伝搬距離の測定値とに基づいて取得する。   When the measurement values 51 of the three propagation distances are obtained in the measurement unit 51, the function acquisition unit 52 represents at least the estimated position of the object 20 for each of the measurement values LA, LB, and LC of the propagation distance. One function is acquired (FIGS. 3 to 5). At this time, in the function acquisition unit 52, at least one function corresponding to the measured values (LA to LC) of one propagation distance is set, and transmitters (30A to 30C) that are the starting points of the one propagation distance are installed. It is acquired based on information on the reference position, information on the reflective surfaces (walls 1 to 4, ceiling 5, floor 6) that can reflect the radio signal in the middle of the propagation path, and the measured value of the one propagation distance.

伝搬距離の測定値ＬＡ，ＬＢ，ＬＣの各々について関数が取得されると、交点算出部５３は、取得された複数の関数に基づいて、異なる伝搬距離の測定値について取得された２個の関数からなる「関数の組み合わせ（ペア）」を全て特定する。そして、関数取得部５２は、特定した「関数の組み合わせ（ペア）」毎に、２個の関数により表された推定位置が重なる交点を算出する（図６〜図８）。   When a function is acquired for each of the measured values LA, LB, and LC of the propagation distance, the intersection calculation unit 53 uses the two functions acquired for the measured values of the different propagation distances based on the acquired functions. All “function combinations (pairs)” consisting of Then, the function acquisition unit 52 calculates the intersection where the estimated positions represented by the two functions overlap for each identified “function combination (pair)” (FIGS. 6 to 8).

交点算出部５３において交点が算出されると、評価値算出部５４は、交点算出部５３において算出された複数の交点に基づいて、交点の算出に用いられた２個の関数に対応する２個の伝搬距離の測定値の組み合わせが互いに異なる３個の交点からなる「交点の組み合わせ」を全て特定する。この場合、評価値算出部５４は、対象物２０が位置し得る領域（部屋１０の内部）から外れた交点や、障害物７による無効範囲に含まれる交点は、「交点の組み合わせ」から除外する。そして、評価値算出部５４は、特定した「交点の組み合わせ」毎に、３個の交点の近接度合を示す評価値を算出する。   When the intersection is calculated by the intersection calculation unit 53, the evaluation value calculation unit 54, based on the plurality of intersections calculated by the intersection calculation unit 53, corresponds to the two functions used for calculating the intersection. All “combination of intersections” consisting of three intersections with different combinations of measured values of the propagation distance are identified. In this case, the evaluation value calculation unit 54 excludes from the “intersection combination” intersections deviating from an area where the object 20 can be located (inside the room 10) or intersections included in the invalid range due to the obstacle 7. . Then, the evaluation value calculation unit 54 calculates an evaluation value indicating the proximity of the three intersections for each identified “intersection combination”.

位置算出部５５は、３個の交点が最も近接した「交点の組み合わせ」を評価値算出部５４の評価値に基づいて特定し、特定した「交点の組み合わせ」に基づいて対象物２０の位置を算出する。例えば位置算出部５５は、特定した「交点の組み合わせ」を構成する３個の交点の重心を対象物２０の位置として算出する。   The position calculation unit 55 identifies the “combination of intersections” in which the three intersections are closest to each other based on the evaluation value of the evaluation value calculation unit 54, and determines the position of the object 20 based on the identified “combination of intersections”. calculate. For example, the position calculation unit 55 calculates the center of gravity of three intersections constituting the specified “intersection combination” as the position of the object 20.

以上説明したように、本実施形態に係る測位装置によれば、マルチパスを生じる室内であっても、異なる伝搬経路について得られた３つの伝搬距離の測定値毎に、送信機（３０Ａ〜３０Ｃ）が設置される基準位置の情報と、無線信号の反射面に関する情報（位置・形状など）とに基づいて、対象物２０の推定位置を表す関数を取得し、これらの関数の交点を用いて対象物２０の位置を精度よく算出することができる。   As described above, according to the positioning apparatus according to the present embodiment, the transmitter (30A to 30C) is provided for each measurement value of the three propagation distances obtained for different propagation paths, even in a room where multipath occurs. ) Is acquired based on the information on the reference position where the) is installed and the information (position, shape, etc.) on the reflection surface of the radio signal, and a function representing the estimated position of the object 20 is acquired and the intersection of these functions is used. The position of the object 20 can be calculated with high accuracy.

なお、本発明は上述した実施形態にのみ限定されるものではなく、種々のバリエーションを含んでいる。   In addition, this invention is not limited only to embodiment mentioned above, Various modifications are included.

上述した実施形態では、対象物２０が仮想的な平面上（床６から高さｈの位置）にあることが仮定されているが、本発明の他の実施形態では、このような仮定をしなくてもよい。例えば、関数取得部は、一の伝搬距離の測定値について関数を取得する場合、伝搬経路の長さが当該一の測定値と等しくなる条件を満たす曲面の関数（例えば球面の関数）を取得してもよい。この場合、交点算出部は、特定する関数の組み合わせ数を「３」とし、３個の関数が表す３つの曲面の交点を算出すればよい。   In the above-described embodiment, it is assumed that the object 20 is on a virtual plane (a position at a height h from the floor 6). In other embodiments of the present invention, such an assumption is made. It does not have to be. For example, when acquiring a function for a measurement value of one propagation distance, the function acquisition unit acquires a curved surface function (for example, a spherical function) that satisfies the condition that the length of the propagation path is equal to the one measurement value. May be. In this case, the intersection calculation unit may calculate the intersection of the three curved surfaces represented by the three functions with the number of combinations of functions to be specified being “3”.

上述した実施形態では送信機の数が３個の例を挙げているが、本発明の他の実施形態では４以上の送信機を用いてもよい。   In the embodiment described above, an example is given in which the number of transmitters is three, but in other embodiments of the present invention, four or more transmitters may be used.

上述した実施形態では、測位の対象物に受信機を設けているが、本発明の他の実施形態では、測位の対象物に送信機を設けてもよい。この場合、３以上の基準位置に受信機をそれぞれ設けておき、測定部においては、３以上の受信機においてそれぞれ受信される無線信号に基づいて３以上の伝搬距離を測定すればよい。   In the above-described embodiment, the receiver is provided for the positioning object. However, in another embodiment of the present invention, the transmitter may be provided for the positioning object. In this case, receivers may be provided at three or more reference positions, and the measurement unit may measure three or more propagation distances based on radio signals respectively received by the three or more receivers.

また、本発明の更に他の実施形態において、測定部は、同一の送信機から異なる複数の伝搬経路を経て一の受信機に複数のタイミングで受信される無線信号に基づいて、複数の伝搬距離を測定してもよい。例えば、測定部は、同一の送信機から送信される無線信号の第１波と第２波に基づいて、２つの伝搬距離を測定してもよい。これにより、送信機や受信機の数を減らすことができる。   In still another embodiment of the present invention, the measurement unit may have a plurality of propagation distances based on radio signals received at a plurality of timings by a single receiver via a plurality of different propagation paths from the same transmitter. May be measured. For example, the measurement unit may measure two propagation distances based on a first wave and a second wave of a radio signal transmitted from the same transmitter. Thereby, the number of transmitters and receivers can be reduced.

上述した実施形態において、評価値算出部は交点間距離の２乗の平均を評価値として算出しているが、本発明の他の実施形態では、交点間距離の平均を評価値として算出してもよいし、「交点の組み合わせ」がなす三角形の面積を評価値として算出してもよい。また、評価値算出部において評価の算出に用いる「交点の組み合わせ」は４以上の交点でもよい。   In the above-described embodiment, the evaluation value calculation unit calculates the average of the squares of the distances between the intersections as the evaluation value. However, in another embodiment of the present invention, the average of the distances between the intersections is calculated as the evaluation value. Alternatively, the area of the triangle formed by the “intersection point combination” may be calculated as the evaluation value. Further, the “combination of intersections” used for calculation of evaluation in the evaluation value calculation unit may be four or more intersections.

上述した実施形態において、無線信号の反射面は平面状（壁１〜４，天井５，床６）であるが、反射面は平面以外の形状でもよい。この場合、反射面の形状に関する情報（反射面の位置と向き等）は、例えばプリミティブ（基本立体）の組み合わせによりＣＳＧ(constructive solid geometry)として記憶してもよい。   In the embodiment described above, the reflection surface of the radio signal is planar (walls 1 to 4, ceiling 5, floor 6), but the reflection surface may have a shape other than a plane. In this case, information on the shape of the reflective surface (position and orientation of the reflective surface, etc.) may be stored as a CSG (constructive solid geometry) by combining, for example, primitives (basic solids).

１〜４…壁、５…天井、６…床、７…障害物、１０…部屋、２０…対象物、３０Ａ，３０Ｂ，３０Ｃ…送信機、４０…受信機、５０…測位演算装置、５１…測定部、５２…関数取得部、５３…交点算出部、５４…評価値算出部、５５…位置算出部。   1-4: Wall, 5: Ceiling, 6 ... Floor, 7 ... Obstacle, 10 ... Room, 20 ... Object, 30A, 30B, 30C ... Transmitter, 40 ... Receiver, 50 ... Positioning calculation device, 51 ... Measurement unit 52... Function acquisition unit 53. Intersection calculation unit 54. Evaluation value calculation unit 55.

Claims (14)

少なくとも一つの基準位置又は測位の対象物に設けられ、無線信号を送信する少なくとも一つの送信機と、
前記対象物又は前記基準位置に設けられ、前記基準位置と前記対象物との間を伝搬する前記無線信号を受信する少なくとも一つの受信機と、
前記受信機において受信される前記無線信号に基づいて、前記基準位置と前記対象物との間における前記無線信号の３以上の伝搬経路に対応した３以上の伝搬距離を測定する測定部と、
前記対象物の推定位置を表す関数を、前記測定された３以上の伝搬距離の各々について少なくとも一つ取得する関数取得部と、
前記取得された複数の関数に基づいて、異なる前記伝搬距離について取得されたＫ個（Ｋは２以上の整数を示す。）の前記関数からなる前記関数の組み合わせを全て特定し、前記特定した関数の組み合わせ毎に、Ｋ個の前記関数により表された前記推定位置が重なる交点を算出する交点算出部と、
前記算出された複数の交点に基づいて、前記交点の算出に用いられたＫ個の前記関数に対応するＫ個の前記伝搬距離の組み合わせが互いに異なるＬ個（Ｌは３以上の整数を示す。）の前記交点からなる前記交点の組み合わせを全て特定し、前記特定した交点の組み合わせ毎に、Ｌ個の前記交点の近接度合を示す評価値を算出する評価値算出部と、
Ｌ個の前記交点が最も近接した前記交点の組み合わせを前記評価値に基づいて特定し、前記特定した交点の組み合わせに基づいて前記対象物の位置を算出する位置算出部と
を有し、
前記関数取得部は、一の前記伝搬距離に対応する少なくとも１つの前記関数を、前記基準位置の情報と、前記伝搬経路の途中で前記無線信号を反射し得る反射面に関する情報と、当該一の伝搬距離とに基づいて取得する
ことを特徴とする測位装置。 At least one transmitter provided on at least one reference position or positioning object and transmitting a radio signal;
At least one receiver provided at the object or the reference position and receiving the radio signal propagating between the reference position and the object;
A measurement unit that measures three or more propagation distances corresponding to three or more propagation paths of the wireless signal between the reference position and the object based on the wireless signal received by the receiver;
A function acquisition unit that acquires at least one function representing the estimated position of the object for each of the three or more measured propagation distances;
Based on the plurality of acquired functions, all combinations of the functions including K functions (K represents an integer of 2 or more) acquired for different propagation distances are specified, and the specified functions An intersection calculation unit that calculates an intersection where the estimated positions represented by the K functions are overlapped for each combination of
Based on the plurality of calculated intersections, L combinations (L is an integer of 3 or more) are different in the combination of K propagation distances corresponding to the K functions used to calculate the intersection. ) To identify all combinations of the intersections, and for each combination of the identified intersections, an evaluation value calculation unit that calculates an evaluation value indicating the degree of proximity of the L intersections;
A position calculation unit that identifies a combination of the intersections that are closest to the L intersections based on the evaluation value, and calculates a position of the object based on the combination of the identified intersections;
The function acquisition unit includes at least one function corresponding to one propagation distance, information on the reference position, information on a reflection surface capable of reflecting the radio signal in the middle of the propagation path, and the one A positioning device that is acquired based on a propagation distance. 前記関数取得部は、一の前記伝搬距離について前記関数を取得する場合、前記伝搬経路の長さが前記一の伝搬距離と等しくなる条件を満たす曲面と、前記対象物が位置する所定の平面との交線である曲線の関数を取得する
ことを特徴とする請求項１に記載の測位装置。 The function acquisition unit, when acquiring the function for one propagation distance, a curved surface that satisfies the condition that the length of the propagation path is equal to the one propagation distance, a predetermined plane on which the object is located, The positioning device according to claim 1, wherein a function of a curve that is an intersection of the two is acquired. 前記交点算出部は、２個の前記関数が表す２つの前記曲線の交点を算出する
ことを特徴とする請求項２に記載の測位装置。 The positioning device according to claim 2, wherein the intersection calculation unit calculates an intersection of the two curves represented by the two functions. 前記関数取得部は、一の前記伝搬距離について前記関数を取得する場合、前記伝搬経路の長さが前記一の伝搬距離と等しくなる条件を満たす曲面の関数を取得する
ことを特徴とする請求項１に記載の測位装置。 The function acquisition unit, when acquiring the function for one propagation distance, acquires a curved surface function that satisfies a condition in which a length of the propagation path is equal to the one propagation distance. The positioning device according to 1. 前記交点算出部は、３個の前記関数が表す３つの前記曲面の交点を算出する
ことを特徴とする請求項４に記載の測位装置。 The positioning device according to claim 4, wherein the intersection calculation unit calculates the intersection of the three curved surfaces represented by the three functions. 前記評価値算出部は、前記対象物が位置し得る所定の領域から外れた前記交点を前記交点の組み合わせから除外する
ことを特徴とする請求項１乃至５の何れか一項に記載の測位装置。 The positioning device according to any one of claims 1 to 5, wherein the evaluation value calculation unit excludes the intersection that deviates from a predetermined region where the object can be located from the combination of the intersections. . 前記評価値算出部は、前記関数取得部において取得される各々の前記関数について、所定の障害物が存在するために前記無線信号が届かない無効範囲を特定し、一の関数について特定した前記無効範囲に当該一の関数と他の関数との交点が含まれる場合は、当該交点を前記交点の組み合わせから除外する
ことを特徴とする請求項６に記載の測位装置。 The evaluation value calculation unit specifies an invalid range in which the wireless signal does not reach because a predetermined obstacle exists for each of the functions acquired by the function acquisition unit, and the invalidity specified for one function The positioning device according to claim 6, wherein when the range includes an intersection of the one function and another function, the intersection is excluded from the combination of the intersections. 前記評価値算出部は、前記交点の組み合わせを構成するＬ個の前記交点における２個の交点のペアを全て特定し、前記特定した交点のペアの距離若しくは距離の２乗の平均値を前記評価値として算出する
ことを特徴とする請求項１乃至７の何れか一項に記載の測位装置。 The evaluation value calculation unit identifies all pairs of two intersections at the L intersections constituting the combination of intersections, and calculates the distance of the identified intersection pairs or the average value of the squares of the distances. It calculates as a value. The positioning apparatus as described in any one of Claims 1 thru | or 7 characterized by the above-mentioned. 前記位置算出部は、前記特定した交点の組み合わせを構成する３個の前記交点の重心を前記対象物の位置として算出する
ことを特徴とする請求項１乃至７の何れか一項に記載の測位装置。 The positioning according to any one of claims 1 to 7, wherein the position calculation unit calculates, as the position of the object, the center of gravity of the three intersections that constitute the combination of the identified intersections. apparatus. 前記送信機は、３以上の前記基準位置にそれぞれ設けられ、
前記受信機は、前記対象物に設けられ、
前記測定部は、前記受信機において受信される３以上の前記送信機からの前記無線信号に基づいて、３以上の前記伝搬距離を測定する
ことを特徴とする請求項１乃至９の何れか一項に記載の測位装置。 The transmitter is provided at each of the three or more reference positions,
The receiver is provided on the object;
10. The measurement unit according to claim 1, wherein the measurement unit measures the three or more propagation distances based on the radio signals from the three or more transmitters received by the receiver. The positioning device according to item. 前記送信機は、前記対象物に設けられ、
前記受信機は、３以上の前記基準位置にそれぞれ設けられ、
前記測定部は、３以上の前記受信機においてそれぞれ受信される前記無線信号に基づいて、３以上の前記伝搬距離を測定する
ことを特徴とする請求項１乃至９の何れか一項に記載の測位装置。 The transmitter is provided on the object;
The receiver is provided at each of the three or more reference positions,
10. The measurement unit according to claim 1, wherein the measurement unit measures the three or more propagation distances based on the radio signals respectively received by the three or more receivers. 11. Positioning device. 前記測定部は、同一の前記送信機から異なる複数の前記伝搬経路を経て一の前記受信機に複数のタイミングで受信される前記無線信号に基づいて、複数の前記伝搬距離を測定する
ことを特徴とする請求項１乃至１１の何れか一項に記載の測位装置。 The measuring unit measures a plurality of the propagation distances based on the radio signals received at a plurality of timings by a single receiver through a plurality of different propagation paths from the same transmitter. The positioning device according to any one of claims 1 to 11. 少なくとも一つの基準位置と測位の対象物との間を伝搬する無線信号に基づいて測定された前記無線信号の伝搬距離を用いて前記対象物の位置を算出する測位演算装置であって、
前記対象物の推定位置を表す関数を、前記基準位置と前記対象物との間における前記無線信号の３以上の伝搬経路に対応した３以上の前記伝搬距離の各々について少なくとも一つ取得する関数取得部と、
前記取得された複数の関数に基づいて、異なる前記伝搬距離について取得されたＫ個（Ｋは２以上の整数を示す。）の前記関数からなる前記関数の組み合わせを全て特定し、前記特定した関数の組み合わせ毎に、Ｋ個の前記関数により表された前記推定位置が重なる交点を算出する交点算出部と、
前記算出された複数の交点に基づいて、前記交点の算出に用いられたＫ個の前記関数に対応するＫ個の前記伝搬距離の組み合わせが互いに異なるＬ個（Ｌは３以上の整数を示す。）の前記交点からなる前記交点の組み合わせを全て特定し、前記特定した交点の組み合わせ毎に、Ｌ個の前記交点の近接度合を示す評価値を算出する評価値算出部と、
Ｌ個の前記交点が最も近接した前記交点の組み合わせを前記評価値に基づいて特定し、前記特定した交点の組み合わせに基づいて前記対象物の位置を算出する位置算出部と
を有し、
前記関数取得部は、一の前記伝搬距離に対応する少なくとも１つの前記関数を、前記基準位置の情報と、前記伝搬経路の途中で前記無線信号を反射し得る反射面に関する情報と、当該一の伝搬距離とに基づいて取得する
ことを特徴とする測位演算装置。 A positioning calculation device that calculates a position of the object using a propagation distance of the radio signal measured based on a radio signal propagating between at least one reference position and the object to be measured,
Function acquisition for acquiring at least one function representing the estimated position of the object for each of the three or more propagation distances corresponding to the three or more propagation paths of the radio signal between the reference position and the object And
Based on the plurality of acquired functions, all combinations of the functions including K functions (K represents an integer of 2 or more) acquired for different propagation distances are specified, and the specified functions An intersection calculation unit that calculates an intersection where the estimated positions represented by the K functions are overlapped for each combination of
Based on the plurality of calculated intersections, L combinations (L is an integer of 3 or more) are different in the combination of K propagation distances corresponding to the K functions used to calculate the intersection. ) To identify all combinations of the intersections, and for each combination of the identified intersections, an evaluation value calculation unit that calculates an evaluation value indicating the degree of proximity of the L intersections;
A position calculation unit that identifies a combination of the intersections that are closest to the L intersections based on the evaluation value, and calculates a position of the object based on the combination of the identified intersections;
The function acquisition unit includes at least one function corresponding to one propagation distance, information on the reference position, information on a reflection surface capable of reflecting the radio signal in the middle of the propagation path, and the one A positioning operation device that is acquired based on a propagation distance. コンピュータを請求項１３に記載の測位演算装置として機能させるためのプログラム。   A program for causing a computer to function as the positioning calculation device according to claim 13.
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