WO2020054624A1 - Position management system and position management method - Google Patents

Abstract

[Problem] To more efficiently evaluate the reliability of positioning results of respective points in an indoor positioning system. [Solution] According to the present invention, a management server: stores, in a storage unit, measuring location information on a mobile body, at each clock time, measured by an indoor positioning system; acquires evaluation location information about the location of an evaluation point where a transmitter is disposed; acquires evaluation period information about evaluation period during which the transmitter is disposed at the evaluation point; extracts, from the measuring location information of each clock time stored in the storage unit, measuring location information at a clock time included in the evaluation period as the measuring location information on the evaluation point, on the basis of the evaluation period information; acquires a measurement error through comparison of the measuring location information on the evaluation point with the evaluation location information; determines the abnormality of the measuring location information on the basis of the measurement error; calculates an abnormality emergence rate at the evaluation point on the basis of the determination result; determines whether the evaluation point is a failed positioning point on the basis of the abnormality emergence rate; and generates information as to whether the evaluation point is a failed positioning point, as the evaluation result information.

Description

Position management system and position management method

The present disclosure relates to a position management system and a position management method for managing position information measured by an indoor positioning system.

In recent years, a technology for measuring the current position of a moving object such as a person using a satellite positioning system such as a GPS (Global Positioning System) has become widespread. In addition, since the satellite positioning system can be used outdoors, but cannot be used indoors where satellite radio waves do not reach, indoor positioning systems based on various measurement principles have been proposed.

As a technology related to such an indoor positioning system, by transmitting and receiving positioning radio waves between a receiver possessed by a person and a transmitter installed in a positioning area, the current position of the person is measured, 2. Description of the Related Art A technology for displaying a current position of a person on a map in a terminal (smartphone) is known (see Patent Document 1).

International Publication No. WO 2017/154806

Now, when the position information of the person as the moving object is periodically acquired, the flow line of the person can be acquired based on the position information, and the analysis on the behavior of the person can be performed based on the flow line. . For example, when the flow of a person such as an employee, a worker, or a customer is acquired and the behavior of the person is analyzed, the analysis result can be used for business efficiency, marketing, and the like.

On the other hand, if obstacles such as walls, pillars, and shelves in the positioning area cause reflection or shielding of positioning radio waves, radio waves for positioning cannot be received properly and positioning results with sufficient accuracy can be obtained. Incorrect positioning may occur. In this case, since an accurate flow line cannot be obtained, an erroneous analysis result is obtained, which hinders the analysis. In particular, the state of reflection and shielding of the positioning radio wave differs for each point, and it is not known where the positioning failure has occurred. Therefore, there is a demand for a technology that can evaluate the reliability of the positioning result of each point and can grasp where the positioning failure has occurred.

However, in the conventional technique, no consideration is given to the reliability of the positioning result of the indoor positioning system, and there is a problem that the reliability of the positioning result of the indoor positioning system cannot be evaluated.

Therefore, it is a main object of the present disclosure to provide a position management system and a position management method capable of efficiently evaluating the reliability of a positioning result of each point by an indoor positioning system.

The position management system of the present disclosure is an indoor positioning system that measures the position of a mobile by transmitting and receiving positioning radio waves between a mobile device held by the mobile and a fixed device installed in a positioning area. A position management system that manages results, including a position management device, which stores measurement position information at each time measured by the indoor positioning system in a storage unit, wherein the mobile device is arranged. Obtain evaluation position information about the position of the evaluation point, obtain evaluation time information about the evaluation time at which the mobile device was located at the evaluation point, and, based on the evaluation time information, From the measurement position information of time, the measurement position information of the time included in the evaluation time is extracted as measurement position information of the evaluation point, and the measurement position information of the evaluation point and the evaluation position By comparing the distribution is configured to generate an evaluation result information about the reliability of the positioning results in the evaluation point.

In addition, the position management method of the present disclosure is an indoor positioning system that measures the position of a mobile by transmitting and receiving positioning radio waves between a mobile device held by the mobile and a fixed device installed in a positioning area. A position management method for managing the positioning result by storing the measured position information of each time measured by the indoor positioning system in a storage unit, and evaluating the evaluation position information regarding the position of the evaluation point where the mobile device is located. Acquiring, acquiring the evaluation time information on the evaluation time at which the mobile device was located at the evaluation point, based on the evaluation time information, from the measured position information of each time accumulated in the storage unit, the evaluation The measurement position information at the time included in the time is extracted as the measurement position information of the evaluation point, the measurement position information of the evaluation point is compared with the evaluation position information, and the positioning result at the evaluation point is obtained. A configuration for generating an evaluation result information about the reliability.

According to the present disclosure, it is possible to efficiently evaluate the reliability of the positioning result of each point by the indoor positioning system. By presenting the evaluation result information to the analyst, erroneous analysis can be avoided.

Overall configuration diagram of an indoor positioning system and its position management system according to the present embodiment Explanatory diagram showing the situation of the worker's evaluation condition input work Explanatory diagram showing the positioning principle of the indoor positioning system FIG. 2 is a block diagram illustrating a schematic configuration of the positioning server 3. The block diagram which shows the schematic structure of the tablet terminal 5. Explanatory diagram showing an evaluation condition input screen displayed on the tablet terminal 5 Flow chart showing the operation procedure of the tablet terminal 5 FIG. 2 is a block diagram illustrating a schematic configuration of the management server 6. Explanatory diagram showing various information processed by the management server 6 Explanatory drawing showing the evaluation result screen displayed on the administrator terminal 7 Flow chart showing the operation procedure of the management server 6

According to a first aspect of the present invention, a mobile station held by a mobile unit and a fixed unit installed in a positioning area transmit and receive positioning radio waves to thereby determine the position of the mobile unit. A position management system for managing a positioning result by an indoor positioning system to be measured, comprising a position management device, wherein the position management device stores measurement position information at each time measured by the indoor positioning system in a storage unit. Acquiring the evaluation position information about the position of the evaluation point where the mobile device is located, acquiring the evaluation time information about the evaluation time when the mobile device is located at the evaluation point, based on the evaluation time information, From the measurement position information of each time stored in the storage unit, the measurement position information of the time included in the evaluation time is extracted as measurement position information of the evaluation point, and the measurement position of the evaluation point is extracted. By comparing the distribution and the evaluation position information, a configuration for generating an evaluation result information about the reliability of the positioning results in the evaluation point.

According to this, the reliability of the positioning result of each point by the indoor positioning system can be efficiently evaluated. By presenting the evaluation result information to the analyst, erroneous analysis can be avoided.

Further, the second invention further comprises an evaluation condition input device possessed by the worker as the moving body, wherein the evaluation condition input device displays a map of the positioning area, and a position of the evaluation point on the map. The evaluation position information is acquired according to the operation of the operator who inputs the evaluation position information.

According to this, the evaluation position information can be obtained efficiently. In this case, the operator may carry out the operation of holding the evaluation condition input device together with the mobile device, stopping at the position of the evaluation point, and inputting the current position as the position of the evaluation point.

According to a third aspect of the present invention, the evaluation condition input device acquires the evaluation time information according to an operation of a worker who inputs the evaluation time for each evaluation point.

According to this, the evaluation time information can be obtained efficiently. In this case, the worker may perform an operation of inputting the current time as an evaluation time (for example, an evaluation start time and an evaluation end time) while stopping at the position of the evaluation point.

In a fourth aspect, the evaluation condition input device is a tablet terminal, and has a configuration in which an evaluation condition input application is installed.

According to this, necessary operations and information generation can be performed with a general-purpose tablet terminal.

In a fifth aspect, the position management device is configured to generate, as the evaluation result information, information on whether or not the evaluation point is a positioning failure point.

According to this, the administrator can grasp where the positioning failure has occurred.

In a sixth aspect, the position management device compares the measurement position information of the evaluation point with the evaluation position information to obtain a measurement error, and based on the measurement error, performs the measurement at each time. An abnormality in the position information is determined, an abnormality occurrence rate at the evaluation point is calculated based on the determination result, and based on the abnormality occurrence rate, it is determined whether the evaluation point is a positioning failure point.

According to this, it is possible to accurately determine whether or not the evaluation point is a positioning failure point.

In a seventh aspect, the position management device generates an evaluation result screen for displaying a positioning failure area on a map of the positioning area based on the evaluation result information, and displays the evaluation result screen on a display device. It is configured to be displayed.

According to this, the administrator can easily grasp where the positioning failure has occurred.

According to an eighth aspect of the present invention, there is provided a positioning system using an indoor positioning system for measuring the position of a mobile unit by transmitting and receiving positioning radio waves between a mobile unit held by the mobile unit and a fixed unit installed in a positioning area. A position management method for managing results, wherein measurement position information at each time measured by the indoor positioning system is stored in a storage unit, and evaluation position information regarding a position of an evaluation point where the mobile device is arranged is obtained. Acquiring the evaluation time information about the evaluation time at which the mobile device was located at the evaluation point, and based on the evaluation time information, from the measurement position information of each time accumulated in the storage unit, to the evaluation time The measurement position information at the included time is extracted as measurement position information of the evaluation point, and the measurement position information of the evaluation point is compared with the evaluation position information to improve the reliability of the positioning result at the evaluation point. Configured to generating the evaluation result information.

According to this, similarly to the first invention, the reliability of the positioning result of each point by the indoor positioning system can be efficiently evaluated.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

FIG. 1 is an overall configuration diagram of an indoor positioning system and its position management system according to the present embodiment.

The indoor positioning system measures the position of a mobile object (person or various devices) to be positioned, and includes a transmitter 1 (mobile device), a receiver 2 (fixed device), and a positioning server 3 (positioning). Device).

The transmitter 1 is held by a mobile body. The transmitter 1 transmits a positioning radio wave (beacon).

複数 A plurality of receivers 2 are installed at appropriate places in the positioning area. The receiver 2 receives positioning radio waves transmitted from the transmitter 1.

The positioning server 3 is constituted by a PC (information processing device). The positioning server 3 measures the position of the mobile unit (transmitter 1) based on the reception status of the positioning radio wave by the receiver 2.

The position management system includes a tablet terminal 5 (evaluation condition input device), a management server 6 (position management device), and an administrator terminal 7 (display device).

The tablet terminal 5 is carried by the worker (mobile body) together with the transmitter 1. The tablet terminal 5 is installed with an evaluation condition input application for inputting a current position as an evaluation position by an operator. Note that a smartphone or a notebook PC may be used instead of the tablet terminal 5.

The management server 6 is configured by a PC (information processing device). The management server 6 determines the reliability of the positioning result at each point in the positioning area based on the measured position information of the worker (mobile body) obtained from the positioning server 3 and the evaluation position information obtained from the tablet terminal 5. (Accuracy) is evaluated.

The administrator terminal 7 is operated by the administrator. In the administrator terminal 7, evaluation result information on the reliability of the positioning result is distributed from the management server 6, and the administrator can check the evaluation result. Note that the administrator terminal 7 may be a PC or a tablet terminal, but may display the evaluation result on a monitor connected to the management server 6.

Next, the evaluation condition input operation of the worker will be described with reference to FIG. FIG. 2 is an explanatory diagram showing a situation of an evaluation condition input work of a worker.

The worker has the transmitter 1 and the tablet terminal 5. On the tablet terminal 5, a map of the positioning area (site) is displayed. The worker moves within the measurement area with reference to the map displayed on the tablet terminal 5 and, when reaching the evaluation point, stops at that position and performs an operation of inputting the current position as the evaluation position on the tablet terminal 5. The operator performs an operation of inputting an evaluation time (evaluation start time and evaluation end time). At this time, the worker remains stationary at the evaluation point during the evaluation time. The operator repeats the operation of inputting the evaluation position and the evaluation time for each evaluation point while sequentially moving to a plurality of evaluation points. In the tablet terminal 5, the evaluation position information and the evaluation time information acquired by the input operation of the worker are transmitted to the management server 6.

評 価 The evaluation points may be set at predetermined intervals (for example, 1 m). Alternatively, a point where there are many obstacles and the radio wave condition is assumed to be bad may be set as the evaluation point.

受 信 The receiver 2 is installed in the positioning area. When the receiver 2 receives the positioning radio wave from the transmitter 1 owned by the worker, the receiver 2 transmits radio wave information (information on the reception status of the positioning radio wave) to the positioning server 3. The position information of the worker (transmitter 1) is acquired based on the information, and the position information is transmitted to the management server 6.

In the management server 6, based on the evaluation time information received from the tablet terminal 5, the position information (measured position information) of the transmitter 1 measured at the evaluation time, that is, in a state where the transmitter 1 is located at the evaluation point. The measured position information is extracted from the position information of the transmitter 1 acquired from the positioning server 3. Then, a measurement error is calculated by comparing the evaluation position information acquired from the tablet terminal 5 with the measurement position information, and the reliability of the positioning result at each evaluation point is evaluated based on the measurement error. It is determined whether the point is a positioning failure point.

Next, the positioning principle of the indoor positioning system will be described. FIG. 3 is an explanatory diagram illustrating the positioning principle of the indoor positioning system.

複数 A plurality of receivers 2 are installed in the positioning area, and each of the receivers 2 receives a radio wave transmitted by the transmitter 1 held by the moving body. At this time, each receiver 2 detects the radio wave arrival direction and calculates the radio wave arrival angles α and β between the radio wave arrival direction and the reference direction. Therefore, the position of the transmitter 1 can be estimated based on the radio wave arrival angles α and β and the position information of the receiver 2.

In such an indoor positioning system, when the receiver 2 receives a radio wave (reflected wave) directly reflected from a wall or a pillar, in addition to the radio wave (direct wave) directly coming from the transmitter 1 being received by the receiver 2 Since the receiver 2 cannot distinguish between the direct wave and the reflected wave, if the positioning is performed based on the reflected wave, an incorrect positioning result is obtained.

と Also, if there is an obstacle between the transmitter 1 and the receiver 2, the receiver 2 cannot receive the radio wave of the transmitter 1, so that the positioning cannot be performed. In addition, even when the receiver 2 near the transmitter 1 cannot receive the radio wave of the transmitter 1, the receiver 2 far away from the transmitter 1 can receive the radio wave of the transmitter 1 to perform positioning. However, in this case, since the accuracy of the radio wave arrival angle is low, a highly accurate positioning result cannot be obtained.

In the present embodiment, in the indoor positioning system, positioning is performed based on the radio wave arrival angle when the receiver 2 receives the positioning radio wave transmitted from the transmitter 1. However, such a positioning principle The present invention is not limited to this, and a known positioning principle may be adopted. Further, in the present embodiment, the transmitter 1 (mobile device) is held by a mobile body (person, etc.), and the receivers 2 (fixed devices) are installed at a plurality of appropriate places in the positioning area. May be reversed. That is, there is a case where a plurality of transmitters are installed at appropriate places in the positioning area, and the receiver is held by the mobile body.

Next, a schematic configuration of the positioning server 3 will be described. FIG. 4 is a block diagram illustrating a schematic configuration of the positioning server 3.

The positioning server 3 includes an input / output unit 11, a communication unit 12, a storage unit 13, and a control unit 14.

The input / output unit 11 is connected to the receiver 2. In the present embodiment, radio wave information (radio wave arrival angle and the like) output from the receiver 2 is input.

The communication unit 12 performs communication with the management server 6. In the present embodiment, the measurement position information acquired by the control unit 14 is transmitted to the management server 6.

The storage unit 13 stores the position information of the receiver 2. The storage unit 13 stores a program executed by a processor constituting the control unit 14 and the like.

The control unit 14 includes a positioning unit 21. The control unit 14 is configured by a processor, and the positioning unit 21 is realized by executing a program stored in the storage unit 13 by the processor.

The positioning unit 21 estimates the position of the transmitter 1 based on the radio wave information (radio wave arrival angle and the like) acquired from the receiver 2 and the position information of the receiver 2 stored in the storage unit 13 and transmits the signal. The position information (measurement position information) of the device 1 is obtained.

Next, a schematic configuration of the tablet terminal 5 will be described. FIG. 5 is a block diagram illustrating a schematic configuration of the tablet terminal 5.

The tablet terminal 5 includes a communication unit 31, a display input unit 32, a storage unit 33, and a control unit 34.

The communication unit 31 performs communication with the management server 6. In the present embodiment, the evaluation position information (evaluation point position information) and the evaluation time information (evaluation start time and evaluation end time) acquired by the control unit 34 are transmitted to the management server 6.

The display input unit 32 is configured by a touch panel display in which a display panel 35 and a touch panel 36 are integrated.

The storage unit 33 stores map information and coordinate information of the positioning area. Further, the storage unit 33 stores a program executed by a processor constituting the control unit 34 and the like.

The control unit 34 includes a map registration unit 41, a display control unit 42, an input control unit 43, an evaluation position acquisition unit 44, and an evaluation time acquisition unit 45. The control unit 34 is configured by a processor, and each unit of the control unit 34 is realized by executing a program (evaluation condition input application) stored in the storage unit 33 by the processor.

(4) The map registration unit 41 registers the map information and the coordinate information of the measurement area in the evaluation condition input application. The map information is image information such as a layout diagram representing the layout of the measurement area. The coordinate information is information that associates coordinates representing a position on the map displayed on the display panel 35 with coordinates representing a position in the measurement area (site). This map registration process is performed in advance, and the map information and the coordinate information are stored in the storage unit 33.

The display control unit 42 displays an evaluation condition input screen (see FIG. 6) on the display panel 35. At this time, a map of the measurement area is displayed on the evaluation condition input screen based on the map information stored in the storage unit 33.

(4) The input control unit 43 detects a position (touch position) where the operator performs a touch operation on the touch panel 36, and detects a screen operation by the operator based on the touch position. In the present embodiment, an operation for inputting the position of the evaluation point and a button operation for inputting the evaluation time (evaluation start time and evaluation end time) are detected.

When the input position of the evaluation point is detected by the input control unit 43, the evaluation position acquisition unit 44 acquires position information (evaluation position information) of the evaluation point based on the touch position at that time. At this time, based on the coordinate information stored in the storage unit 33, the coordinates of the evaluation point in the measurement area (site) are acquired from the coordinates of the touch position on the screen.

When the input control unit 43 detects a button operation for inputting an evaluation time, the evaluation time obtaining unit 45 obtains evaluation time information (evaluation start time and evaluation end time) according to the button operation.

Next, the evaluation condition input screen displayed on the tablet terminal 5 will be described. FIG. 6 is an explanatory diagram illustrating an evaluation condition input screen displayed on the tablet terminal 5.

In the tablet terminal 5, an evaluation condition input screen is displayed on the display panel 35. In this evaluation condition input screen, the operator inputs the position of the evaluation point and the evaluation time (evaluation start time and evaluation end time) as the evaluation conditions. , An evaluation start button 52, an evaluation end button 53, and an elapsed time display unit 54.

The map display section 51 displays a map of the measurement area (local map). When an arbitrary position on the map is touched, the position (touch position) is input as the position of the evaluation point, and a mark 55 representing the position of the evaluation point is displayed on the map. Further, a display frame 56 on which the coordinates of the evaluation point are described is displayed near the mark 55. Thus, the operator can confirm whether the position of the input evaluation point is correct.

When the evaluation start button 52 is operated, the current time is set as the evaluation start time, and the counting of the time elapsed from the evaluation start time is started. When the evaluation end button 53 is operated, the counting of the elapsed time ends, and the current time is set as the evaluation end time. When the elapsed time is started, the evaluation start button 52 is grayed out and becomes inoperable. When the elapsed time is ended, the evaluation end button 53 is grayed out and becomes inoperable.

The elapsed time display section 54 displays the elapsed time from when the evaluation start button 52 is operated (evaluation start time). When the time displayed on the elapsed time display section 54 reaches the evaluation time, the operator operates the evaluation end button 53. Thereby, the operator can input an evaluation time of an arbitrary length.

In this embodiment, the evaluation time (the time from the evaluation start time to the evaluation end time) can be adjusted by the timing of operating the evaluation end button 53. When the evaluation time is constant, the time when the evaluation time has elapsed from the time when the evaluation start button 52 is operated (evaluation start time) may be set as the evaluation end time. In this case, the evaluation end button 53 can be omitted. Further, the time when the position of the evaluation point is input on the map may be set as the evaluation start time. In this case, the evaluation start button 52 can be omitted.

Next, an operation procedure of the tablet terminal 5 will be described. FIG. 7 is a flowchart illustrating an operation procedure of the tablet terminal 5.

In the tablet terminal 5, first, when the operator performs an operation of activating the evaluation condition input application, the display control unit 42 displays an evaluation condition input screen (see FIG. 6) on the display panel 35 (ST101). At this time, a map of the positioning area is displayed on the evaluation condition input screen based on the map information stored in the storage unit 33. The worker refers to the map of the positioning area displayed on the evaluation condition input screen, moves to the evaluation point, and when arriving at the evaluation point, touches the position of the evaluation point on the map to perform the position of the evaluation point. Enter

Here, when the input control unit 43 detects an operation of inputting the position of the evaluation point by the worker (Yes in ST102), the evaluation position acquisition unit 44 causes the position information of the evaluation point input by the worker (evaluation position information). ) Is obtained (ST103).

Next, the display controller 42 displays a mark 55 indicating the position of the evaluation point on the evaluation condition input screen (ST104). Here, the operator checks whether there is an error in the evaluation position.

Next, when the input control unit 43 detects the operation of the evaluation start button 52 (see FIG. 6) by the worker (Yes in ST105), the evaluation time obtaining unit 45 obtains the current time as the evaluation start time (ST106). ). At this time, the evaluation time acquisition unit 45 starts measuring the elapsed time from when the evaluation start button 52 is operated (evaluation start time), and the display control unit 42 displays the elapsed time on the evaluation condition input screen. .

Next, when the input control unit 43 detects the operation of the evaluation end button 53 by the worker (Yes in ST107), the evaluation time obtaining unit 45 obtains the current time as the evaluation end time (ST108). At this time, the worker checks the elapsed time displayed on the evaluation condition input screen, and operates the evaluation end button 53 at the timing when the elapsed time reaches the evaluation time.

Next, the communication unit 31 transmits the evaluation position information acquired by the evaluation position acquisition unit 44 and the evaluation time information (evaluation start time and evaluation end time) acquired by the evaluation time acquisition unit 45 to the management server 6 ( ST109).

The above processing is repeated until the processing at all evaluation points is completed.

Next, the schematic configuration of the management server 6 will be described. FIG. 8 is a block diagram illustrating a schematic configuration of the management server 6. FIG. 9 is an explanatory diagram showing various types of information processed by the management server 6.

管理 As shown in FIG. 8, the management server 6 includes a communication unit 61, a storage unit 62, and a control unit 63.

The communication unit 61 communicates with the positioning server 3, the tablet terminal 5, and the administrator terminal 7. In the present embodiment, the measurement position information at each time, which is regularly transmitted from the positioning server 3 at all times, is received (see FIG. 9A). Further, it receives the evaluation position information and the evaluation time information (evaluation start time and evaluation end time) transmitted from the tablet terminal 5 (see FIG. 9B). The display information of the evaluation result screen (see FIG. 10) generated by the control unit 63 is transmitted to the administrator terminal 7.

The storage unit 62 sequentially accumulates the measured position information received from the positioning server 3. Further, the storage unit 62 stores the evaluation position information and the evaluation time information (evaluation start time and evaluation end time) received from the tablet terminal 5. Further, the storage unit 62 stores a program executed by a processor constituting the control unit 63 and the like.

The control unit 63 includes a measurement position information extraction unit 71, a reliability evaluation unit 72, and an evaluation result presentation unit 73. The control unit 63 is configured by a processor, and each unit of the control unit 63 is realized by executing a program stored in the storage unit 62 by the processor.

Based on the evaluation time information, the measurement position information extraction unit 71 converts the measurement position information of the time included in the evaluation time from the measurement position information of each time stored in the storage unit 62 into the measurement position information of the evaluation point. Extract as The measurement position information of the evaluation point is position information of the transmitter 1 measured in a state where the transmitter 1 is arranged at the evaluation point.

The reliability evaluation unit 72 evaluates the reliability of the positioning result for each evaluation point, and includes a measurement error acquisition unit 81, a measurement abnormality determination unit 82, a statistical processing unit 83, a positioning failure point determination unit 84, , Is provided.

The measurement error acquiring unit 81 acquires a measurement error of the measurement position information at each time based on the measurement position information of the evaluation point acquired by the measurement position information extraction unit 71 and the evaluation position information acquired from the tablet terminal 5. . Specifically, a measurement error ε, that is, a shift amount between the measurement position (X _M , Y _M ) and the evaluation position (X _E , Y _E ) is calculated as in the following equation. Thereby, as shown in FIG. 9C, a measurement error of the measurement position information at each time is obtained.

The measurement abnormality determination unit 82 determines whether the measurement position information at each time is abnormal based on the measurement error of the measurement position information at each time acquired by the measurement error acquisition unit 81. Specifically, the measurement error is compared with a predetermined threshold value, and if the measurement error is equal to or greater than the threshold value, it is determined that there is an abnormality. As a result, as shown in FIG. 9C, a result of determining whether or not the measurement position information at each time is abnormal is obtained.

The threshold value used as a criterion for determining an abnormality in the measurement position information may be set as appropriate. For example, if the threshold value is set to four times the normal error, and the normal error is 0.5 m, Is set to a threshold of 2 m.

Based on the determination result of the measurement abnormality determination unit 82, the statistical processing unit 83 calculates the ratio (abnormal occurrence rate) of the measurement position information determined to be abnormal to the measurement position information at all times included in the evaluation time. Calculate for each evaluation point. As a result, as shown in FIG. 9D, an abnormal appearance rate for each evaluation point is obtained. This abnormal appearance rate serves as an evaluation criterion for evaluating the reliability of the positioning result of the evaluation point.

不良 The positioning failure point determination unit 84 evaluates the reliability of the positioning result of the evaluation point based on the abnormal appearance rate for each evaluation point acquired by the statistical processing unit 83. In the present embodiment, as the evaluation regarding the reliability of the positioning result, each evaluation point is a point where a reliable positioning result is obtained (positioning good point) or a point where a reliable positioning result is not obtained (positioning failure). Location). Specifically, the abnormal occurrence rate is compared with a predetermined threshold value, and if the abnormal occurrence rate is equal to or more than the threshold value, it is determined that the location is a positioning failure point. Thereby, as shown in FIG. 9D, an evaluation result for each evaluation point is obtained.

し き い 値 The threshold value used as a criterion for determining a positioning failure point may be appropriately set, but is set to, for example, 30%. Here, for example, if the evaluation time is 1 minute and the measurement interval is 1 second, the measurement is performed 60 times within the evaluation time, and 60 pieces of measurement position information are obtained. If the position information is abnormal, the abnormal occurrence rate becomes 33.3%, which is 30% or more of the threshold value, so that it is determined that the position is a positioning failure point.

In the present embodiment, the reliability of the positioning result is evaluated for each evaluation unit area (see FIG. 10) obtained by dividing the positioning area into a grid. That is, it is determined whether each evaluation unit area is an area where a reliable positioning result is obtained (positioning good area) or an area where a reliable positioning result is not obtained (positioning poor area). Thereby, as shown in FIG. 9E, an evaluation result for each evaluation unit area is obtained.

At this time, if there is one evaluation point in one evaluation unit area, the abnormal appearance rate of that evaluation point is adopted as the abnormal appearance rate of the evaluation unit area. On the other hand, when there are a plurality of evaluation points in one evaluation unit area, the abnormal appearance rate of each evaluation point may be averaged to obtain the abnormal appearance rate of the evaluation unit area. Further, the maximum value of the abnormal occurrence rates for each evaluation point may be adopted as the abnormal appearance rate of the evaluation unit area.

The evaluation result presentation unit 73 generates an evaluation result screen (see FIG. 10) based on the evaluation result of the reliability evaluation unit 72, and transmits display information of the evaluation result screen from the communication unit 61 to the administrator terminal 7. I do. Thereby, the evaluation result screen is displayed on the administrator terminal 7, and the administrator can confirm the evaluation result.

Next, the evaluation result screen displayed on the manager terminal 7 will be described. FIG. 10 is an explanatory diagram showing an evaluation result screen displayed on the administrator terminal 7.

(4) On the administrator terminal 7, an evaluation result screen distributed from the management server 6 is displayed. On this evaluation result screen, the evaluation result for each evaluation unit area is displayed on the map of the positioning area. In the example illustrated in FIG. 10, an area in which a highly reliable positioning result is obtained (a good positioning area) and an area in which a highly reliable positioning result is not obtained (a poor positioning area) are displayed in different colors. Thus, the administrator can immediately determine the good positioning area and the poor positioning area.

In the present embodiment, the evaluation result for each evaluation unit area is displayed on the map of the positioning area, but a list of evaluation results (see FIG. 9E) may be displayed.

Next, the operation procedure of the management server 6 will be described. FIG. 11 is a flowchart showing the operation procedure of the management server 6.

In the management server 6, as shown in FIG. 11A, when the communication section 61 receives the measured position information transmitted from the positioning server 3 (ST201), the measured position information is stored in the storage section 62 (ST202). ). At this time, the positioning server 3 constantly performs the positioning of the transmitter 1 at predetermined time intervals and transmits the measured position information at each time sequentially, and the management server 6 transmits the measured position information at each time. Receive sequentially.

In the management server 6, as shown in FIG. 11 (B), the communication section 61 stores the evaluation position information and the evaluation time information (evaluation start time and evaluation end time) of each evaluation point transmitted from the tablet terminal 5. Upon reception (ST211), the evaluation position information and the evaluation time information are stored in the storage unit 62.

In addition, the evaluation position information and the evaluation time information of each evaluation point may be sequentially transmitted from the tablet terminal 5 to the management server 6 according to the input operation of the operator at each evaluation point. After the input operation of the worker at the point is completed, the evaluation position information and the evaluation time information of all the evaluation points may be transmitted together. Further, the evaluation position information and the evaluation time information may be transferred from the tablet terminal 5 to the management server 6 via an appropriate storage medium.

Next, based on the evaluation time information, the measurement position information extraction unit 71 extracts the measurement position information of the time included in the evaluation time from the measurement position information of each time stored in the storage unit 62, based on the evaluation time. It is extracted as measurement position information (ST212).

Next, the measurement error acquiring unit 81 acquires the measurement error of the measurement position information at each time based on the measurement position information and the evaluation position information at each time for each evaluation point (ST213).

Next, the measurement abnormality determination unit 82 determines, for each evaluation point, whether or not the measurement position information at each time is abnormal based on the measurement error of the measurement position information at each time (ST214).

Next, the statistical processing unit 83 calculates, for each evaluation point, the rate at which abnormal measurement position information appears (abnormal occurrence rate) (ST215). The abnormal appearance rate is a ratio of the measured position information determined to be abnormal to the measured position information at all times included in the evaluation time.

Next, based on the abnormal appearance rate for each evaluation point, the poor positioning point determination unit 84 determines whether each evaluation point is a poor positioning point (ST216). At this time, when presenting the evaluation result for each evaluation unit area obtained by dividing the positioning area into a grid, each evaluation unit area is determined to have poor positioning based on the abnormal appearance rate for each evaluation point included in each evaluation unit area. It is determined whether or not it is an area.

Next, the evaluation result presentation unit 73 generates an evaluation result screen (see FIG. 10) for displaying the evaluation result for each evaluation point (evaluation unit area), and manages the display information of the evaluation result screen from the communication unit 61. Is transmitted to the user terminal 7 (ST217). Thereby, the evaluation result screen is displayed on the administrator terminal 7, and the administrator can confirm the evaluation result.

As described above, in the present embodiment, the evaluation result regarding the reliability of the positioning result of the indoor positioning system can be presented to the manager or the analyst. For this reason, it is possible to avoid erroneous analysis by performing analysis in consideration of the evaluation result, for example, excluding the positioning result of the positioning error point from the analysis target. In addition, when the indoor positioning system is introduced and its operation is started, the reliability of the positioning result at each point is evaluated, so that the indoor positioning system such as the addition of the receiver 2 or the change of the installation position can be reviewed. This makes it possible to construct an indoor positioning system with few positioning failure points.

In the present embodiment, the worker stops at the evaluation point and inputs the current position to the tablet terminal 5 as the evaluation position. However, the tablet terminal 5 instructs the worker to stop at the evaluation position. It may be. More specifically, the order of the evaluation positions is set in advance, and the evaluation positions are designated by the tablet terminal 5 in accordance with the order. Time). Even in this way, it is possible to acquire information on the evaluation time for each evaluation position.

Alternatively, the operator may be instructed by the tablet terminal 5 to stop at the evaluation position at a preset evaluation time (between the evaluation start time and the evaluation end time). In this case, the evaluation time (evaluation start time and evaluation end time) is displayed on the tablet terminal 5 and the current time is displayed on the tablet terminal 5, and the operator stops at the specified evaluation position and looks at the current time. , And remain at that position for the designated evaluation time.

As described above, the embodiments have been described as examples of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can be applied to embodiments in which changes, replacements, additions, omissions, and the like are made. Also, a new embodiment can be made by combining the components described in the above embodiment.

The position management system and the position management method according to the present disclosure have an effect of efficiently evaluating the reliability of the positioning result of each point by the indoor positioning system, and manage the position information measured by the indoor positioning system. It is useful as a position management system and a position management method.

1 transmitter (mobile)
2 Receiver (fixed machine)
3 positioning server (positioning device)
5 Tablet terminal (evaluation condition input device)
6. Management server (location management device)
7 Administrator terminal (display device)
Reference Signs List 11 input / output unit 12 communication unit 13 storage unit 14 control unit 21 positioning unit 31 communication unit 32 display input unit 33 storage unit 34 control unit 61 communication unit 62 storage unit 63 control unit

Claims (8)

A position management system that manages positioning results by an indoor positioning system that measures the position of the mobile by transmitting and receiving positioning radio waves between the mobile device held by the mobile and the fixed device installed in the positioning area So,
Equipped with a position management device,
This location management device
Store the measured position information of each time measured by the indoor positioning system in the storage unit,
Acquiring evaluation position information on the position of the evaluation point where the mobile device is located,
The mobile device obtains evaluation time information on an evaluation time that was arranged at an evaluation point,
Based on the evaluation time information, from the measurement position information of each time stored in the storage unit, extract the measurement position information of the time included in the evaluation time as measurement position information of the evaluation point,
A position management system comprising: comparing the measured position information of the evaluation point with the evaluated position information to generate evaluation result information on the reliability of the positioning result at the evaluation point. Further, an evaluation condition input device possessed by an operator as the moving body is provided,
The evaluation condition input device,
Display the map of the positioning area,
The position management system according to claim 1, wherein the evaluation position information is acquired in response to an operation of a worker who inputs a position of an evaluation point on the map. The evaluation condition input device,
The position management system according to claim 2, wherein the evaluation time information is acquired according to an operation of a worker who inputs the evaluation time for each evaluation point. The evaluation condition input device,
The location management system according to claim 2, wherein the location management system is a tablet terminal, and an evaluation condition input application is installed therein. The position management device,
The position management system according to claim 1, wherein information as to whether or not the evaluation point is a positioning failure point is generated as the evaluation result information. The position management device,
By comparing the measurement position information and the evaluation position information of the evaluation point, to obtain a measurement error,
Based on the measurement error, determine the abnormality of the measurement position information at each time,
Based on the determination result, calculate the abnormal appearance rate at the evaluation point,
The position management system according to claim 5, wherein it is determined whether or not the evaluation point is a positioning failure point based on the abnormal occurrence rate. The position management device,
The position according to claim 1, wherein an evaluation result screen for displaying a positioning error area on a map of the positioning area is generated based on the evaluation result information, and the evaluation result screen is displayed on a display device. Management system. A position management method that manages positioning results by an indoor positioning system that measures the position of the mobile by transmitting and receiving positioning radio waves between the mobile device held by the mobile and the fixed device installed in the positioning area So,
Store the measured position information of each time measured by the indoor positioning system in the storage unit,
Acquiring evaluation position information on the position of the evaluation point where the mobile device is located,
The mobile device obtains evaluation time information on an evaluation time that was arranged at an evaluation point,
Based on the evaluation time information, from the measurement position information of each time stored in the storage unit, extract the measurement position information of the time included in the evaluation time as measurement position information of the evaluation point,
A position management method, comprising: comparing measured position information of the evaluation point with the evaluated position information to generate evaluation result information on reliability of a positioning result at the evaluation point.

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