[go: up one dir, main page]

WO2018180461A1 - Système de positionnement, dispositif de positionnement, et programme informatique - Google Patents

Système de positionnement, dispositif de positionnement, et programme informatique Download PDF

Info

Publication number
WO2018180461A1
WO2018180461A1 PCT/JP2018/009702 JP2018009702W WO2018180461A1 WO 2018180461 A1 WO2018180461 A1 WO 2018180461A1 JP 2018009702 W JP2018009702 W JP 2018009702W WO 2018180461 A1 WO2018180461 A1 WO 2018180461A1
Authority
WO
WIPO (PCT)
Prior art keywords
receiver
distance
wave source
vector
square
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/009702
Other languages
English (en)
Japanese (ja)
Inventor
修一 吉川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kpnetworks
Kpnetworks Ltd
Nidec Corp
Original Assignee
Kpnetworks
Kpnetworks Ltd
Nidec Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kpnetworks, Kpnetworks Ltd, Nidec Corp filed Critical Kpnetworks
Priority to JP2019509207A priority Critical patent/JPWO2018180461A1/ja
Publication of WO2018180461A1 publication Critical patent/WO2018180461A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements

Definitions

  • the present disclosure relates to a positioning system, a positioning device, and a computer program.
  • Japanese Patent Application Laid-Open No. 2012-198066 and Japanese Patent Application Laid-Open No. 11-160409 disclose position detection devices that detect the position of an object.
  • BLE Bluetooth Low Energy
  • the BLE positioning systems employ measurement processing using a three-point positioning algorithm.
  • the measurement process by the three-point positioning algorithm uses coordinate information indicating the installation positions of the three receivers and information on the distances between the signal generator and each receiver.
  • the positioning system performs a predetermined calculation and outputs the absolute position coordinates of the signal generator as a solution of the ternary simultaneous nonlinear equation.
  • the three-point positioning algorithm needs to calculate the solution of the ternary nonlinear equation. However, it is difficult to solve the ternary nonlinear equations. For this reason, the Newton method is generally used that uses an inverse matrix operation of a partial differential matrix and its repeated operation.
  • One non-limiting exemplary embodiment of the present application provides a positioning system that uses a positioning algorithm different from the Newton method.
  • the positioning system is a plurality of five or more receivers, each receiving and receiving an incident signal wave including a signal wave output from a wave source.
  • the inverse matrix Q ⁇ 1 of at least a five-dimensional regular square matrix Q that satisfies the relational expression (vector) is calculated, and the calculated inverse matrix Q ⁇ 1 is applied to the vector s to be included in the vector p.
  • the wave source An arithmetic circuit for calculating each coordinate component; and a distance parameter of each receiver; a distance from a position of the wave source to a reference receiver of the plurality of receivers; and a plurality of receptions from the position of the wave source. And the sum of the squares of the difference between each coordinate component of each receiver position and each coordinate component of the wave source position is the difference between each receiver and the wave source.
  • the first relational expression that is equal to the square of the distance is given by the sum of the squares of the differences between the coordinate components at the positions of the receivers and the coordinate components at the positions of the wave sources.
  • the vector p is defined to further include a component obtained by replacing the difference between the quadratic term and the square term of the reference distance with a linear component, and a component of the reference distance term
  • the arithmetic circuit shifts the time waveform data output from each receiver along the time axis for each receiver, and correlates with the time waveform data output from the reference receiver. Calculating a time shift amount that maximizes the correlation, and calculating a product of the determined time shift amount and the propagation speed of the signal wave output from the wave source as a distance parameter of each receiver; Distance of each receiver An inverse matrix Q ⁇ 1 of the matrix Q is obtained that includes the separation parameter term as a row or column component to be multiplied by the component of the reference distance term.
  • the nonlinear term included in the calculation is linearized.
  • multiple solutions can be avoided, and it is not necessary to perform repeated calculations. Therefore, the load on hardware and software processing can be reduced.
  • FIG. 1 is a diagram schematically illustrating a configuration of a positioning system 1 according to an exemplary embodiment of the present disclosure.
  • FIG. 2 is a diagram illustrating a first example of an environment in which the positioning system 1 is introduced.
  • FIG. 3 is a diagram illustrating a second example of the environment in which the positioning system 1 is introduced.
  • FIG. 4 is a diagram showing four shelves including shelves 22 and 23 in FIGS. 2 and 3.
  • FIG. 5 is a view showing the signal generator 10 attached to the product 24 a placed on the shelf 25.
  • FIG. 6 is a diagram showing the signal generator 10 mounted on a self-propelled vehicle 24 b that travels between the shelves 22 and 23.
  • FIG. 7 is a diagram showing the signal generator 10 mounted on a smartphone 24c of a shopper walking between shelves 22 and 23.
  • FIG. 8 is a diagram illustrating a hardware configuration of the signal generator 10.
  • FIG. 9 is a diagram illustrating a hardware configuration of the positioning device 30.
  • FIG. 10 is a diagram illustrating a positional relationship between the wave source position P and each receiver.
  • FIG. 11 shows the time t k (k: a, b, c, d, when the signal wave output from the wave source position P reaches each receiver 20-K (K: A, B, C, D, E). It is a wave form diagram which shows e) typically.
  • FIG. 12 is a diagram schematically illustrating an example of a time waveform of a signal (output signal) output from each receiver 20-K.
  • FIG. 13 is a diagram illustrating a configuration of a processing block of the CPU 31.
  • FIG. 14 is a flowchart showing the processing procedure of the CPU 31.
  • a positioning system that uses Newton's method for a three-point positioning algorithm may not converge to an appropriate solution, and may have another problem. That is, it is a method for acquiring information on each distance between the signal generator and each receiver.
  • reception power value P_o it may be difficult in practice to obtain the reception power value P_o in advance.
  • a positioning system is used to estimate the position of a shopper who moves within a facility.
  • an electronic device for example, a smartphone
  • the received power value at the 1 m position described above can be obtained in advance.
  • the transmission output of the signal generator at the time of preliminary measurement may be different from the transmission output of the signal generator at the time of positioning due to the remaining amount of the battery.
  • the measurement status differs between prior measurement and positioning.
  • the inventor of the present application has repeatedly studied a positioning algorithm that can reduce a positioning error while reducing a load of calculation processing. As a result, a new positioning algorithm was constructed, and a positioning system that implemented the positioning algorithm was completed.
  • the signal wave output from the wave source is received by each of five or more receivers.
  • the wave source is a signal generator that outputs signal waves such as electromagnetic waves and sound waves.
  • FIG. 1 schematically illustrates a configuration of a positioning system 1 according to an exemplary embodiment of the present disclosure.
  • the positioning system 1 includes a signal generator 10, a plurality of receivers 20-A, 20-B,..., 20-N (N: 4 or an integer greater than or equal to 5), and a positioning device 30. .
  • the positioning device 30 of the positioning system 1 estimates the position of the signal generator 10 using the signal wave output from the signal generator 10.
  • the signal generator 10 is an electronic circuit that generates a signal using electric power supplied from an internal battery or externally and outputs it as a signal wave.
  • the signal generator 10 emits electromagnetic waves or sound waves as signal waves.
  • the signal generator 10 may be referred to as a “wave source”.
  • the signal generator 10 is described as outputting an electromagnetic wave in the 2.4 GHz band conforming to the BLE standard.
  • the signal generator 10 can be built in an electronic device owned by a person when the positioning target is a person. Alternatively, when the positioning target is an object, the signal generator 10 may be attached to the object, or may be incorporated in the object.
  • the positioning system 1 estimates the position of the signal generator 10 in the space where the positioning system 1 is installed.
  • the “space” mainly assumes a three-dimensional space in the present embodiment. In the figure, an X axis, a Y axis, and a Z axis are shown. However, the “space” may be a two-dimensional space. For example, when positioning a self-propelled vehicle traveling on the floor, the positioning system 1 may estimate the position of the signal generator 10 on a two-dimensional space that is the floor.
  • Each of the plurality of receivers 20-A, 20-B,..., 20-N includes an antenna device (not shown), and receives a signal wave output from a wave source using the antenna device. To do.
  • the antenna device can receive electromagnetic waves that conform to the BLE standard described above.
  • Each receiver outputs waveform data of the received signal wave.
  • the waveform data indicates the magnitude of the received intensity of the signal wave.
  • each receiver can be a device having a microphone.
  • the positioning device 30 has an arithmetic circuit (CPU) 31.
  • the arithmetic circuit 31 receives the waveform data of the signal wave from each of the plurality of receivers 20-A, 20-B,..., 20-N, performs a predetermined calculation, and obtains each coordinate component indicating the position of the wave source. calculate. Details of the calculation will be described later.
  • FIG. 2 shows a first example of an environment where the positioning system 1 is introduced.
  • the positioning system 1 is constructed in a factory, a bookstore, or the like having shelves 22 and 23 on which objects are placed.
  • the position of each of the plurality of receivers is indicated by “ ⁇ ”.
  • the plurality of receivers are generally distributed. Note that FIG. 2 is an XY plan view, and the relationship in the z-axis direction is not shown. However, in actuality, the position of each receiver can be expressed using coordinates in the height direction (z-axis direction).
  • the plurality of receivers are installed at predetermined positions.
  • a certain reference position O is set as an origin and three axes (X axis, Y axis, and Z axis) are defined
  • the position of each receiver can be represented by each value of the X axis, Y axis, and Z axis.
  • coordinates A receiver 20-A (x a, y a, z a) is expressed as such, x a, and each y a and z a "x-coordinate", "y coordinate,”"zcoordinates" Sometimes called.
  • the x coordinate is x J
  • the y coordinate is y J
  • the z coordinate is z J.
  • the positioning device 30 performs calculation using a plurality of receivers having at least one different x coordinate.
  • the y coordinate and the z coordinate are different, and at least one z coordinate of the plurality of receivers is also different.
  • FIG. 3 shows a second example of the environment where the positioning system 1 is introduced.
  • a plurality of receivers are provided together in some compartments R in the environment.
  • FIG. 3 is also an XY plan view, and the relationship in the z-axis direction is not shown, but in practice, the position of each receiver can be expressed using coordinates in the height direction (z-axis direction).
  • a plurality of receiver units whose positions are adjusted and integrated so as to satisfy the above-described position conditions are manufactured in advance and fixed to a ceiling portion of the introduction environment of the positioning system 1. Is easily realized.
  • the positioning process according to the present embodiment can be used in any of the modes shown in FIGS.
  • the signal generator 10 may be provided in an object installed at a fixed position, or may be provided in an object whose position can change, for example, a self-propelled vehicle or a portable electronic device.
  • Portable electronic devices are, for example, mobile phones, smartphones, and electronic tag devices.
  • FIG. 4 shows four shelves including shelves 22 and 23 in FIGS. Each shelf has a plurality of shelves 25 for placing objects. In the present embodiment, it is assumed that a plurality of shelves 25 may exist in the Y-axis direction and the Z-axis direction.
  • FIG. 5 shows the signal generator 10 attached to the product 24 a placed on the shelf 25.
  • the signal wave output from the signal generator 10 is received by five or more receivers.
  • FIG. 5 shows a state where the receivers 20-S and 20-T receive the signal waves output from the signal generator 10, respectively. According to the calculation described later, the positioning system 1 can estimate the position where the product 24a is placed.
  • FIG. 6 shows the signal generator 10 mounted on a self-propelled vehicle 24b traveling between the shelves 22 and 23. This example also shows a state in which the receivers 20-S and 20-T are receiving signal waves output from the signal generator 10, respectively.
  • the positioning system 1 can estimate the position of the self-propelled vehicle 24b in real time.
  • FIG. 7 shows the signal generator 10 mounted on a smartphone 24c of a shopper walking between shelves 22 and 23. This example also shows a state in which the receivers 20-S and 20-T are receiving signal waves output from the signal generator 10, respectively.
  • the positioning system 1 can estimate the position of the shopper in real time.
  • each signal generator 10 needs to radiate signal waves having different waveforms.
  • the positioning system 1 can estimate the position of each signal generator 10 from identification information that uniquely identifies each signal generator 10 included in the received signal wave by performing processing in parallel.
  • FIG. 8 shows a hardware configuration of the signal generator 10.
  • the signal generator 10 includes an IC 11 for generating a high frequency signal, a storage device 12, and an antenna 14.
  • the storage device 12 is a flash ROM, for example, and stores unique identification information 13 for each signal generator 10.
  • the IC 11 periodically transmits identification information using the antenna 14.
  • FIG. 9 shows the hardware configuration of the positioning device 30.
  • the positioning device 30 includes a CPU 31, a memory 32, and a communication circuit 33, which are connected by an internal bus.
  • the CPU 31 is an arithmetic circuit that estimates the position of each signal generator 10 and generates position information indicating the estimated position by processing described later.
  • the memory 32 is a DRAM, for example, and is a work memory used in connection with the processing of the CPU 31.
  • the communication circuit 33 is a communication circuit having one or more communication connectors, for example.
  • the communication connector includes an input interface 34a and an output interface 34b that outputs data of wave source coordinates.
  • the input interface 34a and the output interface 34b may be integrated and mounted as one communication connector.
  • the input interface 34a is an input terminal that receives high-frequency electrical signals from each of the receivers 20-A to 20-N.
  • the high-frequency electrical signal is a signal generated by converting electromagnetic waves (signal waves) received by each receiver.
  • the output interface 34b is a communication terminal that performs, for example, Ethernet (registered trademark) standard wired communication, and outputs data of the coordinates of the wave source. Instead of the data on the coordinates of the wave source, the output interface 34b may output a video signal obtained by imaging the coordinates of the wave source. At this time, the output interface 34b may be an image signal output terminal such as a DVI terminal.
  • FIG. 9 shows an output interface 34 b connected to the display device 35.
  • the position A of the receiver 20-A is represented as (x a , y a , z a ) or the like. Further, the distance from the wave source position P to the receiver 20-A represents the like r a.
  • the position P of the wave source (signal generator 10) to be measured is represented as (x, y, z).
  • FIG. 10 shows the positional relationship between the wave source position P and each receiver.
  • FIG. 10 shows a wave source position P and positions AE of each receiver.
  • the origin O is shown as the reference position.
  • the origin O can be arbitrarily determined.
  • the position of each receiver is determined based on the position (0, 0, 0) of the origin O.
  • parameters ⁇ b to ⁇ e are introduced.
  • Parameter ⁇ b represents the difference between the distance r a distance from r b and the wave source position P from the wave source position P to the receiver 20-B to a receiver 20-A. Therefore, it is expressed as follows.
  • the parameters ⁇ b to ⁇ e may be referred to as “distance parameters”. (Equation 6)
  • ⁇ b r b -r a
  • Equation 9 the unknown number included in Equation 9 is replaced as follows.
  • variable replacement is an operation for changing the second-order term (nonlinear term) to the first-order term (linear term). That is, it corresponds to linearizing a nonlinear equation.
  • Equation 9 can be expressed as follows using a matrix.
  • the vector s is obtained by subtracting the squares of the parameters ⁇ b to ⁇ e from the square of the distance from the reference point origin O to each receiver.
  • the difference parameters .beta.a a distance r a from the wave source position P to the receiver 20-A
  • the distance r a from the wave source position P to the receiver 20-A Define the parameter ⁇ a.
  • ⁇ a 0. That is, it can be said that the first row of the vector s is obtained by subtracting the parameter ⁇ a 2 from the square of the distance from the origin O which is the reference position to the receiver A.
  • the vector s is obtained by subtracting the squares of the parameters ⁇ a to ⁇ e from the square of the distance from the origin O, which is the reference position, to each receiver.
  • the (1, 5) component of the matrix Q can be considered to be “2 ⁇ ⁇ a”.
  • Equation 13 is specifically expressed as follows.
  • each parameter is the difference between the distance r a from the wave source position P distance and from the wave source position P to the receiver 20-A to each receiver.
  • the difference in the distance is proportional to the difference in arrival time of the signal wave output from the wave source position P. Therefore, a method for obtaining the difference in arrival time will be described below.
  • FIG. 11 shows the time t k (k: a, b, c, d, when the signal wave output from the wave source position P reaches each receiver 20-K (K: A, B, C, D, E). It is a wave form diagram which shows e) typically.
  • the signal wave radiated in all directions from the wave source reaches each receiver 20-K while being attenuated according to the propagation distance.
  • Each receiver 20-K continuously receives a signal wave after each time t k .
  • the inventor of the present application paid attention to the fact that the waveform of the signal wave received after each time t k by each receiver 20-K has a strong correlation with each other.
  • the time waveform A of the signal wave received by the receiver 20-A after the time t a and the time waveform B of the signal wave received by the receiver 20-B after the time t b must consider the amplitude. For example, it can be said that they have substantially the same shape or the same phase.
  • each receiver 20-K can output a waveform as shown in FIG. 11, it is easy to specify each time t k .
  • each receiver 20-K cannot practically output the time waveform of the signal wave in the manner shown in FIG. The reason is that each receiver 20-K continuously receives signal waves (incident signal waves) radiated from various wave sources in addition to the signal waves from the signal generator 10, and time waveform data of the incident signal waves. Is output. Further, various noises can be superimposed on the finally obtained time waveform data.
  • FIG. 12 schematically shows an example of a time waveform of a signal (output signal) output from each receiver 20-K. It is difficult to extract the time waveform of the signal wave received from the signal generator 10 from each time waveform shown.
  • the inventors of the present application determine the time shift amount U at which the similarity between the two is strongest while shifting the other acquired time waveforms along the time axis with respect to the acquired one time waveform. Thought.
  • the time waveform B is shifted along the time axis with respect to the time waveform A will be described.
  • Equation 15 g a is a time function representing the output signal from the receiver 20-A
  • g b is a time function representing the output signal from the receiver 20-B.
  • the determined shift amount U represents the time difference (t b ⁇ t a ) between the time t a when the receiver 20-A receives the signal wave and the time t b when the receiver 20-A receives the signal wave.
  • f c (U) to f e (U) are g b , a time function g c representing the output signal from the receiver 20-C, and a time representing the output signal from the receiver 20-D.
  • the function g d is a correlation function obtained by replacing the function g d with the time function g e representing the output signal from the receiver 20-E.
  • the propagation velocity v is about 300,000 kilometers / second when the signal wave propagates through the atmosphere of 1 atm with electromagnetic waves. Alternatively, the propagation velocity v is about 331.5 meters / second when the signal wave is a sound wave and propagates through one atmosphere of dry air.
  • Equation 14 X k , y k , z k (k: a, b, c, d, e) included in the right side of Equation 14 are the receivers 20-K (K: A, B, C, D, E). Each coordinate value of the position is known. Therefore, the inverse matrix Q ⁇ 1 and the vector s on the right side of Equation 14 can all be obtained by calculation. Thereby, the components x, y, and z on the left side of Equation 14, that is, the position (x, y, z) of the wave source can be estimated.
  • the CPU 31 (FIG. 9) of the positioning device 30 executes a calculation according to the above-described principle. Hereinafter, the operation of the CPU 31 will be described with reference to FIGS. 13 and 14.
  • FIG. 13 shows the configuration of the processing block of the CPU 31.
  • FIG. 14 is a flowchart showing the processing procedure of the CPU 31.
  • the CPU 31 functions as a parameter calculator 51, an inverse matrix calculator 52, and a vector multiplier 53.
  • FIG. 13 it is shown as if there are three components, but it actually means a unit of processing.
  • the CPU 31 operates according to a computer program that performs processing according to the flowchart shown in FIG.
  • the CPU 31 operates as a parameter calculator 51, operates as an inverse matrix calculator 52, and operates as a vector multiplier 53 depending on time according to instructions of the computer program.
  • An arrow from the processing block to the processing block means that the data is used for the next calculation.
  • At least one of the parameter calculator 51, the inverse matrix calculator 52, and the vector multiplier 53 may be realized by hardware.
  • the parameter calculator 51, the inverse matrix calculator 52, and the vector multiplier 53 can be mounted on one integrated circuit.
  • the parameter calculator 51 the inverse matrix calculator 52, and the vector multiplier 53 will be described as independent components.
  • the parameter calculator 51 receives the output signal data from each of the receivers 20-A to 20-E, and calculates the parameters ⁇ b to ⁇ e by performing the calculation shown in Equation 17 (step S1). Each calculated parameter is sent to the inverse matrix calculator 52.
  • the inverse matrix calculator 52 receives the parameters ⁇ b to ⁇ e from the parameter calculator 51. Further, the inverse matrix calculator 52 reads data indicating the position coordinates of each receiver stored in the memory 32 (step S2). Then, the inverse matrix calculator 52 calculates an inverse matrix of the matrix Q using the parameters ⁇ b to ⁇ e and data indicating the position coordinates of each receiver (step S3). Inverse matrix computation methods are known and can be calculated using, for example, a sweep out method. A library of computer programs that outputs the inverse matrix Q -1 when the matrix Q is input is also known and easily available. The CPU 31 may be operated as the inverse matrix calculator 52 using such a library program.
  • the vector multiplier 53 receives parameters ⁇ b to ⁇ e from the parameter calculator 51.
  • the vector multiplier 53 receives the inverse matrix Q ⁇ 1 calculated by the inverse matrix calculator 52 and data indicating the position coordinates of each receiver stored in the memory 32. The latter is used to obtain a vector s in which the squares of the distances from the origin position to each receiver are arranged.
  • the vector multiplier 53 Based on the received data, the vector multiplier 53 performs an operation Q ⁇ 1 ⁇ s (step S4). As a result, the vector p on the left side of Equation 14 can be obtained.
  • the vector multiplier 53 outputs x, y, z, which are the components of the obtained vector p, as the position of the wave source (step S5).
  • the position of the signal generator 10 that is a wave source can be estimated.
  • Equation 10 By the operation shown in Equation 10 above, the nonlinear terms were linearized and the unknowns increased. In addition, the introduction of unknowns r a to the elements of the vector p. As a result, the number of unknowns increased by two in addition to x, y, and z indicating the position of the wave source. In order to obtain five unknowns, five simultaneous equations are required. This is the reason why a matrix Q of 5 rows and 5 columns is required using signals from five receivers. In order to obtain the inverse matrix, the present inventor increased the number of receivers to compensate for the decrease in the rank of the matrix.
  • the BLE positioning system can be introduced relatively easily. Due to such characteristics, it is required to reduce the cost of introduction. Since the linear measurement process determines the output uniquely with respect to the input, it can be tabulated and contributes to the cost reduction of the system.
  • “Tableization” refers to preparing a table in which a set of ⁇ b, ⁇ c, ⁇ d, and ⁇ e measured in advance and a set of x, y, and z estimated from them are associated with each other.
  • the matching set is searched with reference to the table. If there is a matching set in the table, the associated x, y, z set is read and output. Since a matrix operation or the like is not necessary, the result can be output at a very high speed. Furthermore, the load on the CPU 31 can be greatly suppressed. As the number of entries in the table increases, there is a higher possibility that a set that matches the actually measured set of ⁇ b, ⁇ c, ⁇ d, ⁇ e exists on the table.
  • time waveform data of the output signals from the five receivers is used to estimate the position of the signal generator 10, but the output signals from the six or more receivers are used. Time waveform data may be used.
  • the matrix Q when the vectors p and s are column vectors has been described.
  • the matrix Q may be constructed using the vectors p and s as row vectors. It is clear that the transposition relation is mathematically the same.
  • the guidance system of the present disclosure can be used for estimating the position of a moving body that moves indoors or outdoors. Moreover, it can be used for control of the position of the moving body using the positioning result.
  • 1 positioning system 10 signal generator, 20-A, 20-B, ..., 20-N receiver, 30 positioning device, 31 CPU (arithmetic circuit), 32 memory, 33 communication circuit, 34a input interface, 34b Output interface, 51 parameter calculator, 52 inverse matrix calculator, 53 vector multiplier

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne un système de positionnement (1) qui est pourvu d'une pluralité de récepteurs (20-A à 20-N, N étant 4 ou un nombre entier supérieur ou égal à 5) et d'un circuit de calcul (31). Le circuit de calcul calcule la matrice inverse d'une matrice carrée régulière Q satisfaisant l'expression relationnelle Q∙p = s (dans laquelle p est un vecteur comprenant, en tant que composants, chaque composant des coordonnées d'une position de source d'ondes à partir d'une position de référence et s est un vecteur obtenu par listage des différences entre les carrés des distances allant de la position de référence à chaque récepteur et les carrés de paramètres de distance pour les récepteurs), à partir de données indiquant les formes d'ondes temporelles des ondes de signal incidentes provenant des récepteurs, et calcule chaque composant de coordonnées de source d'ondes dans le vecteur p, en amenant la matrice inverse à agir sur le vecteur s., Q et p comprenant des variables obtenues par remplacement d'un ensemble données non linéaire par un un ensemble données linéaire. Le circuit de calcul détermine la matrice inverse de la matrice Q, qui comprend, en tant que composant de rangée ou de colonne à multiplier par un composant de l'ensemble données de la distance de référence, des ensembles données de paramètres de distance pour chaque récepteur qui sont les produits de la vitesse de propagation de l'onde de signal et des quantités de décalage temporel pour chaque récepteur qui maximisent la corrélation des formes d'ondes temporelles de sortie de chaque récepteur et d'un récepteur de référence (20-A).
PCT/JP2018/009702 2017-03-28 2018-03-13 Système de positionnement, dispositif de positionnement, et programme informatique Ceased WO2018180461A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2019509207A JPWO2018180461A1 (ja) 2017-03-28 2018-03-13 測位システム、測位装置およびコンピュータプログラム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-062259 2017-03-28
JP2017062259 2017-03-28

Publications (1)

Publication Number Publication Date
WO2018180461A1 true WO2018180461A1 (fr) 2018-10-04

Family

ID=63675437

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/009702 Ceased WO2018180461A1 (fr) 2017-03-28 2018-03-13 Système de positionnement, dispositif de positionnement, et programme informatique

Country Status (2)

Country Link
JP (1) JPWO2018180461A1 (fr)
WO (1) WO2018180461A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6826284B1 (en) * 2000-02-04 2004-11-30 Agere Systems Inc. Method and apparatus for passive acoustic source localization for video camera steering applications
JP2007248217A (ja) * 2006-02-16 2007-09-27 Mitsubishi Electric Corp 測位装置
US9319787B1 (en) * 2013-12-19 2016-04-19 Amazon Technologies, Inc. Estimation of time delay of arrival for microphone arrays
WO2018062435A1 (fr) * 2016-09-30 2018-04-05 日本電産株式会社 Système de positionnement, dispositif de positionnement et programme informatique
WO2018062434A1 (fr) * 2016-09-30 2018-04-05 日本電産株式会社 Système de positionnement, dispositif de positionnement et programme informatique
WO2018062433A1 (fr) * 2016-09-30 2018-04-05 日本電産株式会社 Système de positionnement, dispositif de positionnement, et programme informatique

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6826284B1 (en) * 2000-02-04 2004-11-30 Agere Systems Inc. Method and apparatus for passive acoustic source localization for video camera steering applications
JP2007248217A (ja) * 2006-02-16 2007-09-27 Mitsubishi Electric Corp 測位装置
US9319787B1 (en) * 2013-12-19 2016-04-19 Amazon Technologies, Inc. Estimation of time delay of arrival for microphone arrays
WO2018062435A1 (fr) * 2016-09-30 2018-04-05 日本電産株式会社 Système de positionnement, dispositif de positionnement et programme informatique
WO2018062434A1 (fr) * 2016-09-30 2018-04-05 日本電産株式会社 Système de positionnement, dispositif de positionnement et programme informatique
WO2018062433A1 (fr) * 2016-09-30 2018-04-05 日本電産株式会社 Système de positionnement, dispositif de positionnement, et programme informatique

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PARVIAINEN, M.: "Robust self-localization solution for meeting room environments", THE 13TH IEEE INTERNATIONAL SYMPOSIUM ON CONSUMER ELECTRONICS (ISCE2009, 25 May 2009 (2009-05-25) - 28 May 2009 (2009-05-28), pages 237 - 240, XP055556686, [retrieved on 20180502] *

Also Published As

Publication number Publication date
JPWO2018180461A1 (ja) 2020-02-06

Similar Documents

Publication Publication Date Title
KR102469310B1 (ko) 무선 전력 송신 장치, 무선으로 전력을 수신하는 전자 장치 및 그 동작 방법
US9128186B2 (en) Target tracking device and target tracking method
US9660740B2 (en) Signal strength distribution establishing method and wireless positioning system
CN107861164B (zh) 三维探地雷达的数据处理的方法及装置、三维探地雷达
US10784706B2 (en) Wireless power transmitter and method for controlling the same
US20150177361A1 (en) Determining method, computer product, determining apparatus, and determining system
JP2011089947A (ja) 位置検知システムおよび方法
WO2018062435A1 (fr) Système de positionnement, dispositif de positionnement et programme informatique
US9578433B2 (en) Method for self-calibration of a set of sensors, in particular microphones, and corresponding system
US20140225780A1 (en) Using time-difference-of-arrival to detect a position of a target transmitter
JP2019184407A (ja) 測位システムおよび測位装置
WO2018180461A1 (fr) Système de positionnement, dispositif de positionnement, et programme informatique
JP2019184408A (ja) 測位システムおよび測位装置
JPWO2018062433A1 (ja) 測位システム、測位装置およびコンピュータプログラム
JP2020051921A (ja) 測位システムおよび測位装置
JP2015125001A (ja) 測位装置及び測位方法
CN116010753B (zh) 一种运动模拟器位姿误差的评估方法、系统、设备及介质
JPWO2018062434A1 (ja) 測位システム、測位装置およびコンピュータプログラム
JP6375956B2 (ja) 等価電界強度推定方法および放射妨害波測定装置
CN114390537B (zh) 用于超高速移动物体的基站通信覆盖方法及相关设备
WO2019107237A1 (fr) Appareil d'estimation d'emplacement, procédé d'estimation d'emplacement et support d'enregistrement stockant un programme, et système d'estimation d'emplacement
US9529073B2 (en) Determining method, computer product, determining apparatus, and determining system
CN105182289A (zh) 一种定位方法和设备
CN109813968A (zh) 一种阵列天线方向图的测量方法、设备、系统以及计算机可读存储介质
JP2009175096A (ja) 信号源位置推定装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18777387

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2019509207

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18777387

Country of ref document: EP

Kind code of ref document: A1