JP2018100929A - POSITION ESTIMATION SYSTEM, POSITION ESTIMATION DEVICE, ITS DATA PROCESSING METHOD, AND PROGRAM - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position estimating system capable of highly accurately locating a radio wave emission source even in a region in which a radio wave environment is complex or in a mobile radio station, a position estimating device, a data processing method thereof, and a program.SOLUTION: A position estimating device 100 comprises: a radio wave information acquiring unit 102 which acquires observation information about the radio waves received by a plurality of sensors arranged in a plurality of positions; an estimating unit 104 which detects a position of the radio wave emission source and estimates an existence range of the emission source on the basis of observation information of the radio waves received by sensors of a first sensor node group and position information of the sensors; and a locating unit 106 which locates the position of the radio wave emission source on the basis of observation information of the plurality of sensors included in the existence range of the emission source estimated by the estimating unit 104 among sensors included in a second sensor node group arranged by the first sensor node group in a high density.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a position estimation system, a position estimation apparatus, a data processing method thereof, and a program, and more particularly, to a position estimation system, a position estimation apparatus, a data processing method thereof, and a program for estimating a position of a radio wave emission source.

  Along with the expansion of radio wave use, there is a problem of coexistence of interference avoidance and effective frequency use. In order to protect existing radio systems from interference, it is important to quickly detect illegal radio stations that use radio waves without obtaining a radio station license. An example of a radio wave monitoring system called DEURAS (DEtect Unlicensed RAdio Stations) is used to detect illegal radio stations.

  In particular, radio frequency monitoring is performed by a remote orientation measurement facility (DEURAS-D) for frequencies in the VHF (Very High Frequency) to UHF (Ultra High Frequency) band. In DURAS-D, a plurality of fixed installation type sensor stations equipped with array antennas are installed on a steel tower or building rooftop in a major city, and the arrival direction (AOA: Angle Of Arrival) of an illegal radio station is transmitting. ) To estimate the position of the illegal radio station. Furthermore, an illegal radio station search vehicle (DEURAS-M) equipped with a mobile azimuth measuring facility is installed in the estimated area, and the illegal radio station is identified in cooperation with the remote azimuth measuring facility.

Similar systems are also described in Patent Documents 1 to 3.
Patent Document 1 describes that a plurality of sensor stations are arranged at known points in order to perform radio wave monitoring in a monitoring area and determine a rough position of a radio wave emission source such as an illegal radio station. Yes. Then, the apparatus described in this document instructs to move the radiographic observation vehicle to the roughly determined location of the observation point. Then, the radiograph observation vehicle performs radio hologram observation to obtain a radio wave reproduction image and outputs it as a radiograph, thereby determining the exact position and intensity of the radio wave emission source.

  Patent Document 2 describes a system that specifies the position of a noise generation source such as jamming radio waves. In this system, the signal strength received by each base station is measured and transmitted to the management computer of the management system. Then, the management computer estimates whether an illegal radio station that is a noise source is in the vicinity of the base station or between the base stations based on the signal strength data of each base station. The management computer transmits the estimated noise source position data to the search vehicle, and the search vehicle measures radio waves while traveling around and detects illegal radio stations based on the estimated noise source position. .

  Patent Document 3 describes a radio wave monitoring system that performs eavesdropping and detection of illegal radio waves. In this system, a plurality of mobile terminals are caused to periodically measure electric field strength, and measurement data is transmitted to a monitoring center together with time information and position information. Then, the monitoring center analyzes information collected from a plurality of mobile terminals, determines whether there is an eavesdropping / illegal radio wave based on the analysis result, and displays the analysis result and the determination result on a map.

  In such a remote direction measurement facility represented by DEURAS-D, position estimation is performed based on the arrival direction, but an error occurs in the calculation of the arrival direction calculated by each sensor station. Therefore, the azimuth lines obtained from a plurality of sensor stations do not intersect at one point, and the estimated existence range of the emission source becomes wider as the distance from the sensor station increases. Here, in an urban area where the radio wave environment is complex, since the measurement error becomes large, the existence range to be estimated is greatly expanded, and there is a problem that it takes time to specify the emission source. When illegal radio stations are loaded on a moving body such as a vehicle, it is particularly difficult to specify the emission source, and it takes a lot of labor and time to eliminate the interference radio waves. In addition, since the apparatus scale is large, it is difficult to increase the number of sensor stations installed in order to improve estimation accuracy.

  Thus, as a system for estimating the position of a radio wave source using a number of sensors that are fixedly installed, there is one described in Patent Document 4. In Patent Document 4, a distributed sensor network is constructed by arranging small and inexpensive radio wave sensor nodes at a high density, and the radio wave environment is monitored with a higher resolution, so that changes in interference and radio wave usage conditions can be accelerated. It is described to detect.

Japanese Patent Laid-Open No. 11-326483 JP 2005-142750 A JP 2008-252255 A JP 2009-115457 A

  However, in the technique described in Patent Document 4 described above, the radio wave environment is visualized by mapping the radio wave intensity received by the sensor node on a map, but there is no mention until the radio wave emission source is specified. . Unless a huge number of sensor node groups are installed, it is difficult to specify a radio wave emission source with high accuracy from simple radio wave intensity mapping results.

  An object of the present invention is to provide a position estimation system, a position estimation apparatus, a data processing method thereof, and the like that solve the above-described problem that a radio wave emission source cannot be specified with high accuracy in a region where the radio wave environment is complex or in a mobile radio station And to provide a program.

  Each aspect of the present invention employs the following configurations in order to solve the above-described problems.

The first aspect relates to a position estimation device.
The position estimation apparatus according to the first aspect is
A position estimation device using a sensor node group including a plurality of sensors arranged at a plurality of positions and having a function of receiving radio waves,
The sensor node group includes a first sensor node group including a plurality of the sensors, and a second sensor node group including a plurality of the sensors arranged at a higher density than the first sensor node group,
Radio wave information acquisition means for acquiring observation information relating to radio waves received by each of the sensors;
Based on the observation information of the radio wave received by the sensor of the first sensor node group and the position information of the sensor, the estimation of detecting the position of the emission source of the radio wave and estimating the existence range of the emission source Means,
Among the sensors included in the second sensor node group, based on the observation information of the plurality of sensors included in the existence range of the emission sources estimated by the estimation unit, the emission sources of the radio waves And a specifying means for specifying the position.

The second aspect relates to a data processing method of a position estimation device executed by at least one computer.
The data processing method of the position estimation device according to the second aspect is
A data processing method of a position estimation device using a sensor node group including a plurality of sensors having a function of receiving radio waves arranged at a plurality of positions,
The sensor node group includes a first sensor node group including a plurality of the sensors, and a second sensor node group including a plurality of the sensors arranged at a higher density than the first sensor node group,
The position estimation device is
Obtaining observation information about radio waves received by the sensor nodes of the first sensor node group;
Based on the observation information of the radio wave received by the sensor node of the first sensor node group and the position information of the sensor node, the position of the emission source of the radio wave is detected, and the existence range of the emission source is estimated And
Of the sensors included in the second sensor node group, obtaining the observation information of a plurality of the sensor nodes included in the existence range of the launch source estimated by the estimation unit,
Specifying the position of the emission source of the radio wave based on the observation information of the sensor nodes of the second sensor node group.

The third aspect relates to a position estimation system.
The position estimation system according to the third aspect is
A first sensor node group including a plurality of sensors disposed at a plurality of positions and having a function of receiving radio waves;
A second sensor node group including a plurality of the sensors arranged at a higher density than the first sensor node group;
Radio wave information acquisition means for acquiring observation information relating to radio waves received by each of the sensors;
Based on the observation information of the radio wave received by the sensor of the first sensor node group and the position information of the sensor, the estimation of detecting the position of the emission source of the radio wave and estimating the existence range of the emission source Means,
The position of the emission source of the radio wave based on the observation information of a plurality of sensors included in the existence range of the emission source estimated by the estimation unit among the sensors included in the second sensor node group And specifying means for specifying.

As another aspect of the present invention, there may be a program for causing at least one computer to execute the method of the second aspect, or a computer-readable recording medium recording such a program. May be. This recording medium includes a non-transitory tangible medium.
The computer program includes computer program code that, when executed by a computer, causes the computer to perform the data processing method on the position estimation device.

  It should be noted that any combination of the above-described constituent elements and a conversion of the expression of the present invention between a method, an apparatus, a system, a recording medium, a computer program, etc. are also effective as an aspect of the present invention.

  The various components of the present invention do not necessarily have to be independent of each other. A plurality of components are formed as a single member, and a single component is formed of a plurality of members. It may be that a certain component is a part of another component, a part of a certain component overlaps with a part of another component, or the like.

  Moreover, although the several procedure is described in order in the method and computer program of this invention, the order of the description does not limit the order which performs a several procedure. For this reason, when the method and computer program of the present invention are implemented, the order of the plurality of procedures can be changed within a range that does not hinder the contents.

  Furthermore, the plurality of procedures of the method and the computer program of the present invention are not limited to being executed at different timings. For this reason, another procedure may occur during the execution of a certain procedure, or some or all of the execution timing of a certain procedure and the execution timing of another procedure may overlap.

  According to each aspect described above, a position estimation system, a position estimation device, a data processing method, and a program for specifying a radio wave emission source with high accuracy even in a region where the radio wave environment is complex or a mobile radio station Can be provided.

It is a functional block diagram which shows logically the structure of the position estimation apparatus which concerns on embodiment of this invention. It is a figure which shows notionally the system configuration | structure of the position estimation system of this embodiment. It is a figure which shows the example of arrangement | positioning of the sensor node in the position estimation system of this embodiment. It is a figure which shows an example of the data structure of the sensor node information storage part of this embodiment. It is a figure which shows an example of the data structure of the observation information storage part of this embodiment. It is a functional block diagram which shows logically the example of a structure of the sensor node of this embodiment. It is a block diagram which shows an example of a structure of the computer which implement | achieves the position estimation apparatus and sensor node of this embodiment. It is a flowchart which shows an example of operation | movement of the position estimation apparatus of this embodiment. It is a flowchart which shows an example of the procedure of the position estimation process of the position estimation apparatus of this embodiment. It is a functional block diagram which shows logically the structure of the position estimation apparatus which concerns on other embodiment of this invention. It is a flowchart which shows an example of the procedure of the sensor selection process of the position estimation apparatus of this embodiment. It is a schematic diagram which shows the result of having performed Voronoi division | segmentation with respect to the position coordinate of the 2nd sensor node group by which this arrangement | positioning was distributed. It is a figure for demonstrating the area | region by the Voronoi division | segmentation of FIG. 12, and the area | region of an existing range. It is a flowchart which shows an example of the procedure of the position specific process of the position estimation apparatus of this embodiment. It is a schematic diagram for demonstrating the position specific process of the radio wave emission source by the specific part of this embodiment. It is a figure which shows the other example of arrangement | positioning of the sensor node in the position estimation system of this embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same reference numerals are given to the same components, and the description will be omitted as appropriate.

(First embodiment)
A first embodiment of the present invention will be described below.
The position estimation apparatus 100 according to the present embodiment detects an unauthorized radio wave emission source generated in the observation target region and estimates the position. In particular, a radio wave generated in an area where the radio wave environment is complex (such as an urban area) or a radio wave generated by a mobile radio station is detected and its position is estimated.

FIG. 1 is a functional block diagram logically showing the configuration of the position estimation apparatus 100 of the present embodiment. FIG. 2 is a diagram conceptually showing the system configuration of the position estimation system 1 of the present embodiment.
In each figure, the configuration of parts not related to the essence of the present invention is omitted and is not shown.

As shown in FIG. 2, the position estimation system 1 of the present embodiment has a plurality of sensor nodes (in the figure, indicated as a sensor 12 and a small sensor 22) arranged at a plurality of positions and having a function of receiving radio waves. , A sensor node or a sensor node group).
The sensor node group includes a first sensor node group 10 including a plurality of sensor nodes 12 and a second sensor node group 20 including a plurality of sensor nodes 22 arranged at a higher density than the first sensor node group 10. .

  As will be described later, the sensor nodes 12 of the first sensor node group 10 are higher in performance, more expensive, and less in number than the sensor nodes 22 of the second sensor node group 20. The sensor nodes 22 of the second sensor node group 20 are simpler and less expensive than the sensor nodes 12 of the first sensor node group 10 and are arranged in large numbers.

  Each sensor node (sensor nodes 12, 22) is connected to the network 3, and each sensor node is connected to the server device 32 configuring the position estimation device 100 via the network 3. The network 3 may be any of various communication networks such as the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), a mobile phone communication network, or a combination thereof. Further, the communication method may be either wireless communication or wired communication, or a combination thereof.

  Each sensor node constituting the first sensor node group 10 and the second sensor node group 20 may be connected to the network 3 by wire or may be connected wirelessly. Further, it is not necessarily fixed, and may be installed on a moving body such as a vehicle as long as there is a means capable of acquiring the position information of the sensor node itself.

  In the example of FIG. 2, the server device 32 is disposed in the sensor station 30. A storage device 34 is connected to the server device 32, and each piece of information used by the position estimation device 100 is stored in the storage device 34. As illustrated in FIG. 2, the storage device 34 may be an external device of the server device 32 (position estimation device 100) or a storage device inside the server device 32, and is not particularly limited. It only has to be accessible from.

  The sensor node 12 of the first sensor node group 10 includes a directional antenna such as a Yagi antenna, a parabolic antenna, or an array antenna, thereby measuring a radio wave arrival direction (AOA) as radio wave observation information. It is desirable to do. That is, the sensor node 12 includes an antenna having higher directivity than the sensor node 22.

  Regarding the method of calculating the direction of arrival, in addition to the interferometer method, existing direction-of-arrival estimation methods such as MUSIC (Multiple Signal Classification) method and ESPRIT (Estimation of Signal Parameters via Rotation Invariance Techniques) method, which are known as high resolution algorithms, are used. You can follow. The arrival direction can be calculated by the server device 32 (position estimation device 100) on the sensor station 30 side, but may be configured to be executed on the sensor node side by remote operation from the sensor station 30. . With such a configuration, the load on the network 3 can be reduced.

  The sensor node 22 of the second sensor node group 20 is preferably configured to measure a received signal strength indicator (RSSI) and a sampled time-series waveform as radio wave observation information. In these methods, the distance between the sensor node 22 and the emission source can be estimated from each radio wave observation information, and the emission source position can be calculated from the principle of three-point surveying.

  In the RSSI system, it is possible to estimate the distance to the emission source by considering the propagation loss with respect to the distance. As will be described in detail later, from the sampled time-series waveform, by measuring the arrival time difference (TDOA: Time Difference Of Arrival) between the sensor nodes 22 on the sensor station 30 side, Distance can be estimated.

  Note that the above-described position estimation method (AOA method, RSSI, TDOA method) provides necessary observation information in both the sensor node 12 of the first sensor node group 10 and the sensor node 22 of the second sensor node group 20. If an acquirable sensor can be used, it can be used similarly and is not limited to the example of this embodiment.

FIG. 3 is a schematic diagram illustrating an arrangement example of the sensor nodes 12 and 22 in the position estimation system 1.
As shown in FIG. 3, in the observation target region of the position estimation system 1, the first sensor node group 10 includes three sensor nodes 12 a, 12 b, and 12 c, and the second sensor node group 20 includes a plurality of sensor nodes 22. (In the figure, some symbols are omitted). The number of sensor nodes 12 and 22 in FIG. 3 is an example, and the present invention is not limited to this. The sensor nodes 12 and 22 of the sensor node groups 10 and 20 are mixed in the observation target area. The radio wave emission source 60 is indicated by hatching in the drawing.

FIG. 3 shows an example of the observation target region observed by the sensor nodes 12a, 12b, and 12c. An observation target region configured by a combination of the plurality of sensor nodes 12 of the other first sensor node group 10 is a region different from the observation target region of FIG.
In FIG. 3, the sensor node group 20 is arranged in the area inside the sensor nodes 12a, 12b, and 12c (first sensor node group 10), but the present invention is not limited to this. As shown in FIG. 16, even if there is a bias in the geographical distribution of the sensor node group 10 and the sensor node group 20, it can be similarly executed.

  In the present invention, the sensor nodes 12 and 22 of the sensor node groups 10 and 20 can use existing ones, but may include those newly installed. Information of sensor nodes corresponding to each sensor node group can be stored in the storage device 34 of the server device 32 and updated as needed.

  FIG. 4 is a diagram illustrating an example of a data structure of the sensor node information storage unit 110. The sensor node information storage unit 110 is included in the storage device 34, for example.

  The sensor node information storage unit 110 includes identification information of each sensor node (shown as “ID” in the figure) (for example, an IP (Internet Protocol) address) and position information (for example, GPS). Location information, address, area information, etc.). Further, the sensor node information storage unit 110 may include information such as the sensor type, model, and owner. Further, the position information of the sensor node may not necessarily be stored in the sensor node information storage unit 110, and may be configured to be acquired every time together with the observation information received from the sensor node.

  The first sensor node group 10 and the second sensor node group 20 may be configured to be stored in separate tables, or the information of the first sensor node group 10 and the second sensor node group 20 may be stored in one table. Information indicating whether each sensor node belongs to the first sensor node group 10 or the second sensor node group 20 may be stored in association with each other.

  As illustrated in FIG. 1, the position estimation apparatus 100 according to the present embodiment includes a radio wave information acquisition unit 102, an estimation unit 104, and a specification unit 106. This configuration is the minimum configuration of the position estimation apparatus of the present invention.

  The radio wave information acquisition unit 102 acquires observation information related to radio waves received by the sensor nodes 12 and 22.

  In this specification, “acquisition” means that the device itself obtains data or information stored in another device or storage medium (active acquisition), for example, requests or inquires of another device. Receiving data, accessing and reading out other devices and storage media, etc., and inputting data or information output from other devices into the device (passive acquisition), for example, distribution (or , Transmission, push notification, etc.) and / or receiving received data or information. It also includes selecting and acquiring from received data or information, or selecting and receiving distributed data or information.

  Observation information related to radio waves acquired by the radio wave information acquisition unit 102 varies depending on the type of sensor node. For example, the radio wave observation information acquired from the first sensor node group 10 includes the direction of arrival of radio waves. The radio wave observation information acquired from the second sensor node group 20 includes at least one of measurement data of radio wave reception signal intensity and time series waveform data of the radio wave sampled for a predetermined time.

The observation information acquired by the radio wave information acquisition unit 102 is stored in the observation information storage unit 112 shown in FIG. The observation information storage unit 112 is included in the storage device 34, for example.
As an example, the observation information storage unit 112 includes sensor node identification information (shown as “sensor node ID” in the figure) and observation information date / time (measurement (sampling) date / time, transmission date / time, reception date / time, and calculation date / time). At least one of them) and radio wave observation information.

  The data and table structure of the observation information storage unit 112 are not particularly limited, and may be configured to store all information in the order of acquisition, or for each sensor node group (first sensor node group 10 and second sensor node group 20). It is good also as a structure memorize | stored in another table, and it is good also as a structure which divides | segments suitably according to the date of observation information, an observation area, etc., and memorize | stores in another table.

  The estimation unit 104 detects the position of the emission source of the radio wave based on the observation information of the radio wave received by the sensor node 12 of the first sensor node group 10 and the position information of the sensor node 12, and Estimate the existence range.

  Based on the observation information of the plurality of sensor nodes 22 included in the existence range of the emission sources estimated by the estimation unit 104 among the sensor nodes 22 included in the second sensor node group 20, the specifying unit 106 emits radio waves. Identify the source location.

FIG. 6 is a functional block diagram logically showing the configuration of the sensor nodes 12 and 22 of the present embodiment.
Each sensor node 12, 22 receives a radio wave and outputs it as an electrical signal, a radio wave information acquisition unit 204 that extracts and outputs radio wave observation information from the output signal of the receiver 202, and a current time It includes a time information acquisition unit 206 that acquires and outputs information, a position information acquisition unit 208 that acquires and outputs information on the installed location, and a line connection unit 210 that connects the sensor node to the Internet line.

  The receiving unit 202 converts radio waves of communication signals including disturbances such as noise into data. At this time, an antenna corresponding to a desired frequency may be used as a reception interface, and a voltmeter, a field strength meter, a spectrum analyzer, or the like that can measure the amplitude for each frequency may be used. The reception unit 202 has a function of repeating sampling (measurement of frequency and amplitude value) for each measurement position over a predetermined time, and converts a waveform change with time of radio waves into measurement data with a digital time series. To do. The measured measurement data is sent to the radio wave information acquisition unit 204.

  The radio wave information acquisition unit 204 calculates and processes at least one radio wave observation information necessary for specifying the radio wave source from the sampled measurement data with time series.

  Specific examples of radio wave observation information include, as described above, information indicating the radio wave arrival direction (AOA), sampled time-series waveform data, and most simply received signal strength.

  The method using RSSI or TDOA has the advantage that the equipment can be configured in a small and simple manner because it does not require a directional antenna such as an array antenna as compared with the method using AOA. It is highly compatible as a position estimation method.

  The time information acquisition unit 206 acquires time information by connecting to an NTP (Network Time Protocol) server via the Internet (network 3), for example. In addition, the time information acquisition unit 206 includes a GPS (Global Positioning System) receiver (not shown), thereby acquiring and correcting time information from GPS satellites, thereby acquiring a more accurate time. It is good. In particular, in the TDOA method, since the synchronization accuracy between sensors greatly affects the position estimation accuracy, it is necessary to perform accurate time synchronization as compared with other methods.

  The position information acquisition unit 208 provides a function necessary for associating with the position where the radio wave observation information acquired by the radio wave information acquisition unit 204 is obtained. For example, position information is acquired by providing a GPS receiver. The position information may be acquired only when the sensor node is installed, and the position information may be stored in an internal memory (not shown) of the sensor node. Thereby, the sensor node configuration can be simplified.

  As described above, sensor node identification information (ID) and sensor node position information may be associated with each other and stored in the sensor node information storage unit 110. According to this configuration, each sensor node holds only the ID, and it is not necessary to store the position information, so that the configuration of the sensor node can be further simplified.

The line connection unit 210 has a function of connecting the sensor nodes 12 and 22 to the network 3.
The line connection unit 210 transmits the observation information to the server device 32 (position estimation device 100) via the network 3.

  The radio wave observation information transmitted from the sensor nodes 12 and 22 in this way is stored in the observation information storage unit 112 of the storage device 34 of the server device 32 via the network 3. The radio wave observation information may be received directly from the sensor nodes 12 and 22 by the radio wave information acquisition unit 102 of the position estimation apparatus 100 and stored in the observation information storage unit 112, or from the sensor nodes 12 and 232 to the server device. After being downloaded to the observation information storage unit 112 of the 32 storage devices 34, the radio wave information acquisition unit 102 may access the storage device 34 to read and acquire it.

FIG. 7 is a diagram illustrating an example of a configuration of a computer 80 that implements the position estimation apparatus 100 of FIG. 1 and the sensor nodes 12 and 22 of FIG. 6 according to the present embodiment.
The computer 80 of the present embodiment includes a CPU (Central Processing Unit) 82, a memory 84, a program 90 that implements the components of the position estimation device 100 of FIG. 1 and the sensor nodes 12 and 22 of FIG. A storage 85 for storing the program 90, an input / output (I / O) 86, and a network connection interface (communication I / F 87) are provided.

  The CPU 82, the memory 84, the storage 85, the I / O 86, and the communication I / F 87 are connected to each other via the bus 89, and the entire position estimation device 100 or the entire sensor nodes 12 and 22 are controlled by the CPU 82. However, the method of connecting the CPUs 82 and the like is not limited to bus connection.

  The memory 84 is a memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory). The storage 85 is a storage device such as a hard disk, an SSD (Solid State Drive), or a memory card.

  The storage 85 may be a memory such as a RAM or a ROM. The storage 85 may be provided inside the computer 80 or may be provided outside the computer 80 and connected to the computer 80 by wire or wireless as long as the computer 80 is accessible. Alternatively, the computer 80 may be detachably provided.

  The CPU 82 reads out the program 90 stored in the storage 85 to the memory 84 and executes it, thereby realizing each function of the position estimation device 100 in FIG. 1 or each unit of the sensor nodes 12 and 22 in FIG. .

  The I / O 86 performs input / output control of data and control signals between the computer 80 and other input / output devices. The other input / output devices include, for example, an input device (not shown) such as a keyboard, a touch panel, a mouse, and a microphone connected to the computer 80, and an output device (not shown) such as a display, a printer, and a speaker, These input / output devices and the interface of the computer 80 are included. Further, the I / O 86 may perform data input / output control with a reading or writing device (not shown) of another recording medium.

  The communication I / F 87 is a network connection interface for performing communication between the computer 80 and an external device. The communication I / F 87 may be a network interface for connecting to a wired line or a network interface for connecting to a wireless line. For example, the computer 80 that implements the position estimation device 100 and the sensor nodes 12 and 22 is connected to each other via the network 3 by the communication I / F 87 and communicates.

  Each component of the position estimation apparatus 100 of this embodiment of FIG. 1 or the sensor nodes 12 and 22 of FIG. 6 is realized by any combination of hardware and software of the computer 80 of FIG. It will be understood by those skilled in the art that there are various modifications to the implementation method and apparatus. The functional block diagram showing each device of each embodiment described below shows a logical functional unit block, not a hardware unit configuration.

  The position estimation apparatus 100 may be configured by a plurality of computers 80 or may be realized by a virtual server.

  The computer program 90 of the present embodiment is a procedure for acquiring observation information relating to radio waves received by the plurality of sensor nodes 12 of the first sensor node group 10 in the computer 80 for realizing the position estimation device 100, the first sensor node A procedure of detecting the position of the emission source 60 of the radio wave based on the observation information of the radio wave received by the sensor node 12 of the group 10 and the position information of the sensor node 12 and estimating the existence range 62 of the emission source; A procedure for obtaining observation information of a plurality of sensor nodes 22 included in the existence range 62 of the estimated launch source 60 among the sensor nodes 22 included in the second sensor node group 20, and the sensor nodes of the second sensor node group 20 The procedure for specifying the position of the radio wave emission source 60 based on the 22 observation information is described.

  The computer program 90 of this embodiment may be recorded on a recording medium that can be read by the computer 80. The recording medium is not particularly limited, and various forms can be considered. The program 90 may be loaded from a recording medium into the memory 84 of the computer 80, or may be downloaded to the computer 80 through a network and loaded into the memory 84.

  The recording medium for recording the computer program 90 includes a medium that can be used by a non-transitory tangible computer 80, and a program code that can be read by the computer 80 is embedded in the medium. When the computer program 90 is executed on the computer 80, the computer 80 is caused to execute the following data processing method for realizing the position estimation apparatus 100.

A data processing method of the position estimation apparatus 100 of the present embodiment configured as described above will be described below.
FIG. 8 is a flowchart showing an example of the operation of the position estimation apparatus 100 of the present embodiment.
The data processing method according to the embodiment of the present invention is a data processing method of the position estimation device 100, and is a data processing method executed by the computer 80 that implements the position estimation device 100.
In the data processing method of the present embodiment, the position estimation device 100 acquires observation information related to radio waves received by the sensor nodes 12 and 22 (step S101) and is received by the sensor nodes 12 of the first sensor node group 10. Based on the radio wave observation information and the position information of the sensor, the position of the radio wave emission source is detected and the existence range of the emission source is estimated (step S103), and is included in the second sensor node group 20 Among the sensor nodes 22, the observation information of the plurality of sensor nodes 22 included in the existence range of the emission source estimated in step S103 is acquired (step S105), and based on the acquired observation information of the plurality of sensor nodes 22, Specifying the position of the radio wave emission source (step S107).

  Hereinafter, the sensor node arrangement of the position estimation system 1 shown in FIG. As described above, in the example of FIG. 3, the sensor nodes 12 a, 12 b, 12 c constituting the first sensor node group 10 and the many constituting the second sensor node group 20 are included in the observation target region of the position estimation system 1. The sensor node 22 (partially omitted in the figure) is arranged, and it is assumed that the position of the radio wave emission source 60 (indicated by hatching in the figure) is estimated.

First, the radio wave information acquisition unit 102 operates the sensor nodes 12a, 12b, and 12c of the first sensor node group 10 in the observation target region, and acquires radio wave observation information.
The radio wave information acquisition unit 102 may have a function of setting conditions such as the type, frequency, and band of radio wave observation information acquired at each sensor node. Furthermore, the radio wave information acquisition unit 102 may have a function of remotely starting each sensor node and controlling the operation according to the setting conditions. In addition, each sensor node may have a function of instructing observation at a designated time.

  In addition, the radio wave information acquisition unit 102 may be able to select the sensor node 12 that acquires observation information from the plurality of sensor nodes 12 of the first sensor node group 10. The method for selecting the sensor node 12 that acquires the observation information is not particularly limited. For example, when the number of sensor nodes 12 is small as in the present embodiment, the selection may be made manually by an operator. Alternatively, information on the sensor node 12 selected in advance for each divided observation target area is stored, and the radio wave information acquisition unit 102 automatically acquires information on the selected sensor node 12 based on the information. It is good also as composition to do.

Since the sensor nodes 12 of the first sensor node group 10 have a wide installation interval (for example, 10 to 20 km), according to prior information on radio wave emission sources such as areas where illegal radio wave generation has been reported, or operator experience, Manual selection is also possible.
Note that the number of nodes required for position estimation is a minimum of 2 points in the AOA system and a minimum of 3 points in the RSSI and TDOA systems.

  The information acquisition from the sensor node may be configured such that the radio wave information acquisition unit 102 requests the sensor node to provide information each time, or the sensor node operates according to a time-designated schedule and transmits information to the position estimation device 100. It is good also as composition to do.

  In the present embodiment, the radio wave arrival direction is assumed as radio wave observation information acquired from the sensor node 12. Information on the arrival direction of the radio wave acquired by each sensor node 12 is acquired by the radio wave information acquisition unit 102 via the network 3 and stored in the observation information storage unit 112 (step S101).

  Next, from the acquired radio wave observation information, the estimation unit 104 executes position estimation processing (step S103) of the existence range of the emission source. The detailed flow of the position estimation process by the estimation part 104 is shown in FIG.

  First, in advance, the operator inputs conditions such as an estimation method (the above-described MUSIC method, ESPRIT method, etc.) and desired accuracy as position estimation conditions. Here, information on the sensor nodes 12a, 12b, 12c selected for position estimation (installation position, sensor node specifications, calibration date, etc.) is displayed on a screen (not shown). Furthermore, conditions such as the frequency and band of the radio wave to be observed can be set on the screen.

  The estimation unit 104 receives these input conditions (step S111). The accepted conditions may be stored in a condition information storage unit (not shown) and held and used until changed by a change operation by an operator, or a setting may be received each time.

  Next, the estimation unit 104 detects the position of the emission source of the radio wave based on the radio wave arrival direction measured by each sensor node 12 and the position information of each sensor node 12 according to the condition (step S113). In FIG. 3, azimuth lines 70a, 70b, and 70c indicated by broken lines indicate the arrival directions acquired by the sensor nodes 12a, 12b, and 12c, respectively.

  The estimation unit 104 performs correction processing and the like in consideration of the measurement error of each sensor node 12, and calculates the existence range 62 of the radio wave emission source 60 (step S115).

Since the radio wave observation information of the sensor node 12 includes an error, as shown in FIG. 3, the three azimuth lines 70a, 70b, and 70c do not intersect at one point. Therefore, the estimated position of the radio wave emission source 60 is not obtained in one place, but is obtained as an existence range 62 indicating the presence of the radio wave emission source 60. Specifically, in consideration of probability distribution information and the like due to measurement errors in the observation results of the sensor nodes 12, an area where the existence probabilities estimated from the three sensor nodes 12 are greater than or equal to a predetermined value can be obtained as the existence range 62. it can. The size of the area can be adjusted according to a predetermined value designated in advance.
In an urban environment, the measurement error becomes large due to the influence of multipath, so that the accuracy is particularly deteriorated and the area of the estimated existence range 62 tends to be widened.

  Thus, in the position estimation process by the estimation unit 104, the approximate position (existing range 62) of the radio wave emission source 60 is estimated using information of the sensor node 12 in a wide range. In the example of FIG. 3, the existence range 62 is indicated by a dashed-dotted ellipse.

The information of the existence range 62 estimated by the estimation unit 104 is stored in the emission source position information storage unit 114 (not shown) in association with the date / time information. The launch source position information storage unit 114 is included in the storage device 34, for example.
When the position estimation process by the estimation unit 104 of this flow is completed, the flow returns to the flow of FIG.

  Next, among the sensor nodes 22 included in the second sensor node group 20, the radio wave information acquisition unit 102 obtains observation information of a plurality of sensor nodes 22 included in the existence range 62 estimated in step S103 by the estimation unit 104. Obtain (step S105). The observation information of the sensor node 22 acquired by the radio wave information acquisition unit 102 is stored in the observation information storage unit 112.

And the process (step S107) which specifies the position of the radio wave emission source 60 by the specific | specification part 106 is performed.
The operation of the identification unit 106 is basically the same as that of the estimation unit 104. However, as for sensor nodes that acquire radio wave observation information, the estimation unit 104 is used from the first sensor node group 10, and the specifying unit 106 is used from the second sensor node group 20. Also, it is assumed that there are differences in methods and conditions between the wide-area position estimation by the estimation unit 104 and the narrow-area position estimation by the specifying unit 106. However, since the operation flow itself is the same, it is possible to consolidate the estimation unit 104 and the identification unit 106 into one functional block.

  The process of specifying the radio wave emission source 60 by the specifying unit 106 will be described in detail in an embodiment described later.

The position estimation apparatus 100 further outputs information indicating the existence range 62 of the radio wave emission source 60 estimated by the estimation unit 104 and information indicating the position of the radio wave emission source 60 specified by the specification unit 106. An output unit (not shown) may be provided.
The output unit is, for example, an output device such as a display or a printer, or various recording media.

  The output unit displays the map screen on the display, and displays the existence range 62, the azimuth lines 70a, 70b, and 70c calculated by the estimation unit 104 as shown in FIG. 3 and the positions of the sensor nodes on the map. May be.

  In this example, the sensor node 12 may be selected by an operator operation on the map screen. The radio wave information acquisition unit 102 operates the selected sensor nodes 12a, 12b, and 12c, and acquires radio wave observation information.

  As described above, in the position estimation system 1 of the present embodiment, the position estimation processing by the estimation unit 104 using the first sensor node group 10 covering a wide area and the second sensor node group 20 arranged at a higher density. The radio wave emission source 60 is specified by linking the position estimation processing by the specifying unit 106 that operates only the sensor node 22 included in the existence range 62 estimated by the estimating unit 104.

  According to this configuration, since the position estimation process is performed using the sensor nodes 22 included in the existence range 62 narrowed down by the estimation unit 104, the radio wave emission source can be identified with high accuracy by controlling the optimal number of sensor nodes. Can do.

  Furthermore, particularly when the sensor node is driven by a battery, it is necessary to suppress power consumption as much as possible, and it is desirable that data can be acquired only for the sensor node necessary for position estimation. In the position estimation system 1 of the present invention, it is possible to perform highly accurate position estimation processing by operating only the minimum necessary sensor nodes, so that it is possible to reduce the processing load and the power consumption of the sensor nodes.

  Further, even in high-density radio wave monitoring by a small sensor node described in Patent Document 1, not only simple radio wave intensity measurement, but also emission source estimation processing is performed using radio wave observation information acquired by a sensor node group. It is desirable. In the radio wave monitoring system covering a wide area, since the number of sensor stations is limited, an operator manually selects a sensor station to be used for estimating the emission source. On the other hand, it is not realistic to perform processing for selecting sensor nodes from a group of sensor nodes arranged in a large amount in the same procedure.

  In addition, in the estimation of the location of radio wave emission sources, the processing load increases exponentially as the number of sensor nodes that acquire data increases, but it is known that the accuracy improvement is small, and an unnecessarily large number of sensor nodes It is not desirable to perform processing using data. In particular, when tracking the position of an illegal radio station mounted on a mobile object such as a vehicle, it is necessary to complete the process in several seconds.

  According to the position estimation system 1 of the present invention, since the radio wave emission source 60 can be specified with high accuracy using an appropriate number of sensor nodes, the above problem can be solved.

(Second Embodiment)
Next, a second embodiment of the present invention will be described below.
FIG. 10 is a functional block diagram showing a logical configuration of the position estimation apparatus 300 of the present embodiment.
The position estimation apparatus 300 of this embodiment includes a radio wave information acquisition unit 102, an estimation unit 104, a specifying unit 106, and a selection unit 302. The radio wave information acquisition unit 102, the estimation unit 104, and the specification unit 106 are the same as the position estimation device 100 of the above-described embodiment in FIG.

The selection unit 302 selects at least one sensor node 22 from the second sensor node group 20 based on the existence range 62 of the radio wave emission source 60 estimated by the estimation unit 104.
The specifying unit 106 specifies the position of the radio wave emission source 60 based on the observation information of the sensor node 22 selected by the selection unit 302.

  The position estimation apparatus 300 of the present embodiment performs a sensor selection process by the selection unit 302 before the sensor position specifying process of step S105 in the flowchart of FIG. 8 of the above embodiment.

FIG. 11 is a flowchart showing a detailed flow of sensor selection processing by the selection unit 302 of the present embodiment.
This flow starts after step S103 of the flowchart of FIG. First, the selection unit 302 acquires the existence range 62 of the radio wave emission source 60 calculated by the estimation unit 104 (step S201). Next, the operator selects a sensor selection method on an operation screen (not shown) in consideration of the arrangement of the second sensor node group 20 near the existence range 62 and the radio wave environment (step S203). For example, sensor selection methods include manual selection by an operator operation and automatic selection by the position estimation apparatus 300. Details of each sensor selection method will be described later.

  Then, the selection unit 302 receives the selection method, and the sensor node 22 is selected according to the received selection method (step S205). Then, this flow is finished, and the process returns to step S105 in the flowchart of FIG.

  In the present embodiment, the reason why the operator can select the sensor selection method in step S203 is that the optimum method may differ depending on the type of estimation method, the arrangement of sensor nodes, and the like.

  For example, a position estimation method in which the number of sensor nodes 22 in the second sensor node group 20 located inside the existence range 62 estimated by the estimation unit 104 is small or the number of necessary sensor nodes such as three-point surveying is small. When performing, you may select manually. In the case of manual selection, the output unit displays a map screen as shown in FIG. 3 and allows the operator to select the sensor node 22.

  Also in the present embodiment, the position estimation apparatus 300 is similar to the above-described embodiment in that the information indicating the existence range 62 of the radio wave emission source 60 estimated by the estimation unit 104 and the radio wave emission source 60 specified by the specifying unit 106 are used. An output unit (not shown) that outputs the information together with the information indicating the position of the image may be provided.

  In this embodiment, the operator can select the sensor node 12 using this map screen as in the above embodiment, and can further select the sensor node 22 by an operator operation on the map screen.

Furthermore, the selection unit 302 may be configured to automatically select a sensor.
When the second sensor node group 20 is not arranged in the vicinity of the estimated existence range 62, the selection unit 302 cannot select the sensor node 22 for further narrowing down the existence range. Therefore, as a precondition, it is necessary to install in advance the second sensor node group 20 by grasping in advance the area, frequency band, time zone, etc. that cannot be monitored by existing monitoring systems. Here, the description will be continued assuming that the second sensor node group 20 is installed in the vicinity of the existence range 62 estimated by the estimation unit 104.

  Hereinafter, a method for automatically selecting the sensor node 22 from the second sensor node group 20 based on the existence range 62 will be described.

  At this time, the selection unit 302 includes, in the existence range 62 estimated by the estimation unit 104, a sensor included in an area including an adjacent divided area, with respect to a divided area including a sensor having the highest received signal strength. The second sensor node group 20 can be selected.

Voronoi division can be used as an effective division method. First, sensor selection processing by Voronoi division will be described.
Voronoi division is a nearest-neighbor search method that divides a plurality of generating points arranged at an arbitrary position in a certain distance space according to which generating point is close to other generating points in the same distance space. is there. By performing Voronoi division using the point where the sensor node is arranged as a mother point, the area near each sensor node 22 can be visualized.

  FIG. 12 is a schematic diagram showing the result of Voronoi division performed on the position coordinates of the second sensor node group 20 that is distributed. The point in the figure indicates the position of each sensor node 22, and the nearest neighbor region of the sensor node 22 is divided by Voronoi division. In the figure, the radio wave emission source 60 is indicated by a cross. Here, in the example of FIG. 12, the sensor nodes 22 are randomly arranged. However, in order to reduce the number of installed sensor nodes 22, it is added that the sensor nodes 22 are separated from each other to some extent. .

  FIG. 13 shows the area where the sensor node 22 is divided by Voronoi and the area where the existence range 62 overlaps in a shaded display. The sensor nodes 22 included in these areas are candidates for the sensor nodes 22 whose observation information is used for position estimation in the specifying unit 106.

  In addition, it is known that the accuracy of position estimation based on the three-point survey is greatly deteriorated when the emission source exists outside the triangle connecting the sensor nodes 22. Therefore, when selecting a sensor node by three-point surveying, it is desirable to select the sensor node by estimating that the radio wave emission source 60 is included as much as possible.

  12 and 13 can be displayed as a map screen on the display by the output unit.

  Assuming free space propagation, the area divided by Voronoi division is the area closest to each sensor node. Therefore, when the launch source 60 is located at the position shown in FIG. The highest RSSI. In an actual propagation environment, a sensor node at a position where the distance from the radio wave emission source is not the shortest may exhibit a high RSSI. However, if the sensor nodes are arranged at regular intervals to some extent, the sensor having the highest RSSI is used. There is a high probability that the node is closest to the radio emission source.

  Therefore, when a sensor node in an area adjacent to the Voronoi division area formed by the sensor node having the highest RSSI among the sensor nodes existing in the existence range 62 is selected, the radio wave emission source exists in the inside with high probability. Can be predicted.

  In position estimation based on three-point surveying, the accuracy decreases as the angle connecting the sensor nodes approaches 180 degrees. It is also known that the accuracy does not improve much even if the number of survey points is increased by five or more. For this reason, processing such as omitting corner sensor nodes that are close to straight lines among the polygons connecting the selected sensor nodes may be performed. In FIG. 13, the sensor nodes are randomly arranged. However, for example, the sensor nodes may be arranged in a lattice shape. When sensor nodes are arranged in a lattice shape, Voronoi division also becomes a lattice shape, and cutting sensor nodes whose corners are close to straight lines effectively contributes to a reduction in the amount of calculation.

  It is also conceivable to use a statistical position estimation method using a least square method or a maximum likelihood estimation method as the position estimation method in the specifying unit 106. In this case, as described above, RSSI may be used as observation information to select a sensor node close to the Voronoi division region of a sensor node having a high RSSI, and the number of sensors must be enormous with respect to the processing speed. For example, the estimation result may be calculated using all sensor nodes included in the Voronoi division area overlapping with the existence range 62.

  Furthermore, as a position estimation method in the specifying unit 106, a fingerprint in which the intensity of the radio wave is associated with the position of the generation source may be used. This is a method of specifying the position by storing the RSSI when the emission source is present at each position in the storage medium 34 as a database and comparing the newly measured RSSI with the database. Such an approach has the advantage of having high specific accuracy even in a radio wave environment where a statistical model is not applicable, while a prior database construction is required.

In this case, the selection unit 302 performs Voronoi division based on the position coordinates where the second sensor node group 20 is arranged, divides the region for each sensor node 22, and within the existence range 62 estimated by the estimation unit 104. The sensor node 22 of the second sensor node group 20 included in the divided area is selected.
That is, the selection unit 302 selects the sensor node 22 of the second sensor node group 20 included in the region where the existence range 62 estimated by the estimation unit 104 overlaps the divided area.

  In addition, as a division method, Delaunay triangulation that is dually related to Voronoi division may be used. In Delaunay triangulation, a region connecting sensor nodes is divided into triangles. At this time, the same effect can be obtained by selecting sensor nodes that form overlapping regions as in the Voronoi division.

  Moreover, you may perform the Voronoi division weighted for every sensor node. For example, when the reception sensitivity of the sensor nodes included in the second sensor node group 20 is different, the information on the performance of each sensor node is stored in the observation information storage unit 112 in association with the position information, and the sensitivity A good sensor may be configured to perform a dividing process so that a divided area is widened.

  As described above, based on Voronoi division or Delaunay triangulation, the sensor node 22 used for narrow area position estimation of the specifying unit 106 is automatically selected.

FIG. 14 shows a detailed flow of the position specifying process for specifying the position using the sensor node 22 selected in this way.
First, among the sensor nodes 22 of the second sensor node group 20, observation information (for example, a plurality of sensor nodes 22 (for example, 22a, 22b, and 22c in FIG. 3) included in the existence range 62 estimated by the estimation unit 104). , Time-series waveform data, RSSI, and the like) are acquired by the radio wave information acquisition unit 102 as information used for the position specifying process by the specifying unit 106 (step S121).

  Then, the operator inputs conditions such as an estimation method and desired accuracy in advance as conditions for position estimation. A method for performing position estimation is executed based on AOA, RSSI, TDOA, or a combination thereof. The specifying unit 106 receives the input condition (step S123). The accepted conditions are stored in a condition information storage unit (not shown), held and used until changed by a change operation by an operator.

  Next, the specifying unit 106 specifies the position of the radio wave emission source 60 based on the observation information measured by the sensor nodes 22a, 22b, and 22c in accordance with the conditions. In the present embodiment, the specifying unit 106 uses the time series waveform data of the three sensor nodes 22a, 22b, and 22c of the second sensor node group 20 to measure the arrival time difference of the radio waves of each sensor node 22 to obtain three points. The distance from each sensor node 22a, 22b, 22c to the radio wave emission source 60 is estimated using the principle of measurement, and the position of the radio wave emission source 60 is calculated.

FIG. 15 is a schematic diagram for explaining the position specifying process of the radio wave emission source 60 using the three sensor nodes 22a, 22b, and 22c in the existence range 62 selected by the selection unit 302.
When three-point surveying based on TDOA is performed on the selected three sensor nodes 22a, 22b, and 22c, equal arrival time difference lines 72a, 72b, 72b, and 72b shown in FIG. 72c is drawn, and it can be estimated that the radio wave emission source 60 exists at the intersection. Actually, a measurement error occurs in the same manner as the estimation result of the estimation unit 104, so that the equal arrival time difference line does not intersect at one point, and the existence range 74 of the radio wave emission source is indicated.

In this way, the existence range 62 that is the estimation result of the estimation unit 104 is narrowed down to the existence range 74 that is the estimation result of the specifying unit 106, and the radio wave emission source 60 can be specified with high accuracy.
The information of the existence range 74 specified by the specifying unit 106 is stored in the emission source position information storage unit 114 (not shown) in association with the date / time information.
When the position specifying process of this flow is completed, the flow returns to the flow of FIG.

As described above, in the present embodiment, the selection unit 302 can select an appropriate sensor node 22.
According to this configuration, the same effects as those of the above-described embodiment can be obtained, and furthermore, the position of the radio wave emission source 60 can be accurately estimated using the appropriate sensor node 22.
That is, it is possible to quickly control illegal radio stations that move in cities with complex radio wave environments. In addition, since only the minimum necessary sensor nodes can be operated, the processing load and the power consumption of the sensor nodes can be reduced.

  According to the present invention, it is possible to obtain desired accuracy by effectively using existing remote orientation measuring equipment and placing small sensors in an area where accuracy is required. In addition to illegal radio waves, it can be used for estimation of emission sources such as interference radio waves and rescue signals, and systems that support the design of radio station arrangements to promote safer and fairer use of radio waves. Is also applicable.

As mentioned above, although embodiment of this invention was described with reference to drawings, these are the illustrations of this invention, Various structures other than the above are also employable.
For example, considering the case where there are a plurality of radio wave emission sources, it is difficult to distinguish each emission source depending on the method. When an illegal radio wave is generated at the same time as the regular radio, it is necessary to identify the illegal radio station and estimate the position. When the position of the regular radio is not known in advance, it is difficult to cope with such a situation by a sensor network alone using the conventional RSSI and TDOA methods.

  Remote direction measurement equipment using arrival directions such as DURAS-D can measure multiple directions at the same time, and if it has an interference separation function, it does not know the position of the regular radio emission source in advance. In both cases, it is possible to distinguish between regular radio and illegal radio.

  Therefore, the estimation unit 104 limits the existence range of illegal radio stations, and the narrow area position estimation unit takes steps for narrowing the range with respect to the existence range, so that even if the regular radio and the illegal radio exist simultaneously, the illegal radio station exists. To identify the location of the firing source.

  Thus, by linking the first sensor node group 10 having a small number of installations and high functionality and the second sensor node group 20 having a large number of installations and a simple configuration, the advantage of the position estimation system 1 of the present invention is achieved. Can be maximized.

  The second sensor node group 20 may be configured not only to cooperate with the estimation unit 104 but also to perform position estimation by controlling alone. For example, when the area is limited as the prior information of the radio wave emission source and the number of sensor nodes 22 of the second sensor node group 20 arranged in the area does not matter with respect to the processing speed, the above You may perform the process by the sensor node round robin. Therefore, it is desirable that each sensor node holds identification information in the area where the sensor node is installed and that the selection unit 302 can select a sensor for each specific area. The selection method by the selection unit 302 may be manual selection by an operator, or may be automatically selected based on area information of the radio wave emission source 60.

While the present invention has been described with reference to the embodiments and examples, the present invention is not limited to the above embodiments and examples. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.
In addition, when acquiring and using the information regarding a user in this invention, this shall be done legally.

A part or all of the above embodiments can be described as in the following supplementary notes, but is not limited thereto.
1. A position estimation device using a sensor node group including a plurality of sensors arranged at a plurality of positions and having a function of receiving radio waves,
The sensor node group includes a first sensor node group including a plurality of the sensors, and a second sensor node group including a plurality of the sensors arranged at a higher density than the first sensor node group,
Radio wave information acquisition means for acquiring observation information relating to radio waves received by each of the sensors;
Based on the observation information of the radio wave received by the sensor of the first sensor node group and the position information of the sensor, the estimation of detecting the position of the emission source of the radio wave and estimating the existence range of the emission source Means,
Among the sensors included in the second sensor node group, based on the observation information of the plurality of sensors included in the existence range of the emission sources estimated by the estimation unit, the emission sources of the radio waves A specifying means for specifying the position;
A position estimation apparatus comprising:
2. 1. In the position estimation apparatus described in
The sensor of the first sensor node group includes an antenna having higher directivity than the sensor of the second sensor node group,
The radio wave information acquiring unit is a position estimation device that acquires, as the observation information, observation data indicating an arrival direction of the radio waves received by the sensors of the first sensor node group.
3. 1. Or 2. In the position estimation apparatus described in
Further comprising selection means for selecting at least one sensor from the second sensor node group based on the existence range of the emission source estimated by the estimation means;
The position estimation device, wherein the specifying unit specifies a position of the emission source of the radio wave based on the observation information of the sensors included in the second sensor node group selected by the selection unit.
4). 3. In the position estimation apparatus described in
The selection means includes
Perform Voronoi division or Delaunay triangulation based on the position coordinates where the second sensor node group is arranged, divide the area for each sensor, and include the division area within the existence range estimated by the estimation means A position estimation device that selects a sensor of the second sensor node group in a region.
5. 3. Or 4. In the position estimation apparatus described in
The selection means includes
Performing Voronoi division or Delaunay triangulation based on the position coordinates where the second sensor node group is arranged, dividing the region for each sensor, and the second sensor within the existence range estimated by the estimation means A position estimation device that selects a sensor in an area including an adjacent divided area, from among a group of nodes, for a divided area including a sensor having the highest received signal strength.
6). 1. To 5. In the position estimation device according to any one of the above,
The radio wave information acquisition means receives at least one of the measurement data of the received signal strength of the radio wave received by the sensors of the second sensor node group and the time series waveform data of the radio wave sampled for a predetermined time. A position estimation device acquired as the observation information.

7). A first sensor node group including a plurality of sensors disposed at a plurality of positions and having a function of receiving radio waves;
A second sensor node group including a plurality of the sensors arranged at a higher density than the first sensor node group;
Radio wave information acquisition means for acquiring observation information relating to radio waves received by each of the sensors;
Based on the observation information of the radio wave received by the sensor of the first sensor node group and the position information of the sensor, the estimation of detecting the position of the emission source of the radio wave and estimating the existence range of the emission source Means,
The position of the emission source of the radio wave based on the observation information of a plurality of sensors included in the existence range of the emission source estimated by the estimation unit among the sensors included in the second sensor node group Identifying means for identifying
A position estimation system comprising:
8). 7). In the position estimation system described in
The sensor of the first sensor node group includes an antenna having higher directivity than the sensor of the second sensor node group,
The radio wave information acquisition unit acquires observation data indicating an arrival direction of the radio wave received by the sensors of the first sensor node group as the observation information.
9. 7). Or 8. In the position estimation system described in
Further comprising selection means for selecting at least one sensor from the second sensor node group based on the existence range of the emission source estimated by the estimation means;
The position estimation system, wherein the specifying unit specifies a position of the emission source of the radio wave based on the observation information of the sensors included in the second sensor node group selected by the selection unit.
10. 9. In the position estimation system described in
The selection means includes
Perform Voronoi division or Delaunay triangulation based on the position coordinates where the second sensor node group is arranged, divide the area for each sensor, and include the division area within the existence range estimated by the estimation means A position estimation system for selecting a sensor of the second sensor node group in a region.
11. 9. Or 10. In the position estimation system described in
The selection means includes
Performing Voronoi division or Delaunay triangulation based on the position coordinates where the second sensor node group is arranged, dividing the region for each sensor, and the second sensor within the existence range estimated by the estimation means The position estimation system which selects the sensor in the area | region containing an adjacent division area with respect to the division area where the sensor with the highest received signal strength is contained from a node group.
12 7). To 11. In the position estimation system according to any one of the above,
The radio wave information acquisition means receives at least one of the measurement data of the received signal strength of the radio wave received by the sensors of the second sensor node group and the time series waveform data of the radio wave sampled for a predetermined time. A position estimation system acquired as the observation information.

13. A data processing method of a position estimation device using a sensor node group including a plurality of sensors having a function of receiving radio waves arranged at a plurality of positions,
The sensor node group includes a first sensor node group including a plurality of the sensors, and a second sensor node group including a plurality of the sensors arranged at a higher density than the first sensor node group,
The position estimation device is
Obtaining observation information about radio waves received by the sensor nodes of the first sensor node group;
Based on the observation information of the radio wave received by the sensor node of the first sensor node group and the position information of the sensor node, the position of the emission source of the radio wave is detected, and the existence range of the emission source is estimated And
Of the sensors included in the second sensor node group, obtaining the observation information of a plurality of the sensor nodes included in the estimated range of the emission source,
A data processing method of a position estimation device, wherein the position of the emission source of the radio wave is specified based on the observation information of the sensor nodes of the second sensor node group.
14 13. In the data processing method of the position estimation device according to claim 1,
The sensor of the first sensor node group includes an antenna having higher directivity than the sensor of the second sensor node group,
The position estimation device is
A data processing method for a position estimation device, wherein observation data indicating an arrival direction of the radio wave received by the sensors of the first sensor node group is acquired as the observation information.
15. 13. Or 14. In the data processing method of the position estimation device according to claim 1,
The position estimation device is
Selecting at least one of the sensors from the second sensor node group based on the estimated presence range of the launch source;
A data processing method of a position estimation device, wherein the position of the emission source of the radio wave is specified based on the observation information of the sensors included in the selected second sensor node group.
16. 15. In the data processing method of the position estimation device according to claim 1,
The position estimation device is
Perform Voronoi division or Delaunay triangulation based on the position coordinates where the second sensor node group is arranged, divide the region for each sensor, and the region within the region including the estimated divided area A data processing method of a position estimation device for selecting a sensor of a second sensor node group.
17. 15. Or 16. In the data processing method of the position estimation device according to claim 1,
The position estimation device is
A Voronoi division or a Delaunay triangulation is performed based on the position coordinates where the second sensor node group is arranged, a region is divided for each sensor, and the second sensor node group within the estimated existence range is determined. A data processing method for a position estimation apparatus that selects a sensor in a region including an adjacent divided area for a divided area including a sensor having the highest received signal strength.
18. 13. To 17. In the data processing method of the position estimation device according to any one of the above,
The position estimation device is
Obtaining at least one of the measurement data of the received signal strength of the radio wave received by the sensor of the second sensor node group and the time-series waveform data of the radio wave sampled for a predetermined time as the observation information; A data processing method for a position estimation apparatus.

19. In a computer that realizes a position estimation device using a sensor node group including a plurality of sensors having a function of receiving radio waves arranged at a plurality of positions,
The sensor node group includes a first sensor node group including a plurality of the sensors, and a second sensor node group including a plurality of the sensors arranged at a higher density than the first sensor node group,
A procedure for acquiring observation information relating to radio waves received by a plurality of sensor nodes of a first sensor node group included in the sensor node group;
Based on the observation information of the radio wave received by the sensor node of the first sensor node group and the position information of the sensor node, the position of the emission source of the radio wave is detected, and the existence range of the emission source is estimated The steps to
Among the sensor nodes included in the second sensor node group in which a plurality of sensor nodes are arranged with higher density than the first sensor node group included in the sensor node group, the estimated range of the emission source A procedure for obtaining the observation information of the plurality of sensor nodes included;
A program for executing a procedure for specifying a position of the emission source of the radio wave based on the observation information of the sensor node of the second sensor node group.
20. 19. In the program described in
The sensor of the first sensor node group includes an antenna having higher directivity than the sensor of the second sensor node group,
The program for making a computer perform the procedure which acquires the observation data which shows the arrival direction of the said radio wave which the said sensor of the said 1st sensor node group received in the procedure which acquires the said observation information as said observation information.
21. 19. Or 20. In the program described in
Causing the computer to further execute a procedure of selecting at least one of the sensors from the second sensor node group based on the presence range of the emission source estimated by the estimating procedure;
In the specifying procedure, the computer is caused to execute a procedure for specifying the position of the emission source of the radio wave based on the observation information of the sensors included in the second sensor node group selected by the selecting procedure. Program for.
22. 21. In the program described in
In the step of selecting,
A Voronoi division or Delaunay triangulation is performed based on the position coordinates where the second sensor node group is arranged, a region is divided for each sensor, and a divided area in the existence range estimated by the estimating procedure is determined. The program for making a computer perform the procedure which selects the sensor of the said 2nd sensor node group in the area | region to include.
23. 21. Or 22. In the program described in
In the step of selecting,
The Voronoi division or Delaunay triangulation is performed based on the position coordinates where the second sensor node group is arranged, the region is divided for each sensor, and the second within the existence range estimated by the estimation procedure A program for causing a computer to execute a procedure for selecting a sensor in an area including an adjacent divided area for a divided area including a sensor having the highest received signal intensity from among sensor node groups.
24. 19. To 23. In the program described in any one of the above,
In the procedure of acquiring the observation information, at least one of the measurement data of the received signal intensity of the radio wave received by the sensors of the second sensor node group and the time-series waveform data of the radio wave sampled for a predetermined time. A program for causing a computer to execute a procedure for acquiring one as the observation information.

DESCRIPTION OF SYMBOLS 1 Position estimation system 3 Network 10 1st sensor node group 12, 12a, 12b, 12c Sensor 20 2nd sensor node group 22, 22a, 22b, 22c Sensor node 30 Sensor station 32 Server apparatus 34 Storage apparatus 60 Radio wave emission source 62 Existence Range 70a, 70b, 70c Direction lines 72a, 72b, 72c, etc. Arrival time difference line 74 Existence range 80 Computer 82 CPU
84 Memory 86 I / O
85 Storage 87 Communication I / F
89 Bus 90 Program 100 Position estimation device 102 Radio wave information acquisition unit 104 Estimation unit 106 Identification unit 110 Sensor node information storage unit 112 Observation information storage unit 114 Launch source position information storage unit 202 Reception unit 204 Radio wave information acquisition unit 206 Time information acquisition unit 208 position information acquisition unit 210 line connection unit 300 position estimation device 302 selection unit

Claims (9)

A position estimation device using a sensor node group including a plurality of sensors arranged at a plurality of positions and having a function of receiving radio waves,
The sensor node group includes a first sensor node group including a plurality of the sensors, and a second sensor node group including a plurality of the sensors arranged at a higher density than the first sensor node group,
Radio wave information acquisition means for acquiring observation information relating to radio waves received by each of the sensors;
Based on the observation information of the radio wave received by the sensor of the first sensor node group and the position information of the sensor, the estimation of detecting the position of the emission source of the radio wave and estimating the existence range of the emission source Means,
Among the sensors included in the second sensor node group, based on the observation information of the plurality of sensors included in the existence range of the emission sources estimated by the estimation unit, the emission sources of the radio waves A specifying means for specifying the position;
A position estimation apparatus comprising: The position estimation apparatus according to claim 1,
The sensor of the first sensor node group includes an antenna having higher directivity than the sensor of the second sensor node group,
The radio wave information acquiring unit is a position estimation device that acquires, as the observation information, observation data indicating an arrival direction of the radio waves received by the sensors of the first sensor node group. The position estimation apparatus according to claim 1 or 2,
Further comprising selection means for selecting at least one sensor from the second sensor node group based on the existence range of the emission source estimated by the estimation means;
The position estimation device, wherein the specifying unit specifies a position of the emission source of the radio wave based on the observation information of the sensors included in the second sensor node group selected by the selection unit. The position estimation apparatus according to claim 3,
The selection means includes
Perform Voronoi division or Delaunay triangulation based on the position coordinates where the second sensor node group is arranged, divide the area for each sensor, and include the division area within the existence range estimated by the estimation means A position estimation device that selects a sensor of the second sensor node group in a region. In the position estimation apparatus according to claim 3 or 4,
The selection means includes
Performing Voronoi division or Delaunay triangulation based on the position coordinates where the second sensor node group is arranged, dividing the region for each sensor, and the second sensor within the existence range estimated by the estimation means A position estimation device that selects a sensor in an area including an adjacent divided area, from among a group of nodes, for a divided area including a sensor having the highest received signal strength. In the position estimation device according to any one of claims 1 to 5,
The radio wave information acquisition means receives at least one of the measurement data of the received signal strength of the radio wave received by the sensors of the second sensor node group and the time series waveform data of the radio wave sampled for a predetermined time. A position estimation device acquired as the observation information. A first sensor node group including a plurality of sensors disposed at a plurality of positions and having a function of receiving radio waves;
A second sensor node group including a plurality of the sensors arranged at a higher density than the first sensor node group;
Radio wave information acquisition means for acquiring observation information relating to radio waves received by each of the sensors;
Based on the observation information of the radio wave received by the sensor of the first sensor node group and the position information of the sensor, the estimation of detecting the position of the emission source of the radio wave and estimating the existence range of the emission source Means,
The position of the emission source of the radio wave based on the observation information of a plurality of sensors included in the existence range of the emission source estimated by the estimation unit among the sensors included in the second sensor node group Identifying means for identifying
A position estimation system comprising: A data processing method of a position estimation device using a sensor node group including a plurality of sensors having a function of receiving radio waves arranged at a plurality of positions,
The sensor node group includes a first sensor node group including a plurality of the sensors, and a second sensor node group including a plurality of the sensors arranged at a higher density than the first sensor node group,
The position estimation device is
Obtaining observation information about radio waves received by the sensor nodes of the first sensor node group;
Based on the observation information of the radio wave received by the sensor node of the first sensor node group and the position information of the sensor node, the position of the emission source of the radio wave is detected, and the existence range of the emission source is estimated And
Of the sensors included in the second sensor node group, obtaining the observation information of a plurality of the sensor nodes included in the estimated range of the emission source,
A data processing method of a position estimation device, wherein the position of the emission source of the radio wave is specified based on the observation information of the sensor nodes of the second sensor node group. In a computer that realizes a position estimation device using a sensor node group including a plurality of sensors having a function of receiving radio waves arranged at a plurality of positions,
The sensor node group includes a first sensor node group including a plurality of the sensors, and a second sensor node group including a plurality of the sensors arranged at a higher density than the first sensor node group,
A procedure for acquiring observation information relating to radio waves received by a plurality of sensor nodes of a first sensor node group included in the sensor node group;
Based on the observation information of the radio wave received by the sensor node of the first sensor node group and the position information of the sensor node, the position of the emission source of the radio wave is detected, and the existence range of the emission source is estimated The steps to
Among the sensor nodes included in the second sensor node group in which a plurality of sensor nodes are arranged with higher density than the first sensor node group included in the sensor node group, the estimated range of the emission source A procedure for obtaining the observation information of the plurality of sensor nodes included;
A program for executing a procedure for specifying a position of the emission source of the radio wave based on the observation information of the sensor node of the second sensor node group.

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