JP4415049B2 - Positioning system - Google Patents

Description

  According to the present invention, in a system for locating a direction, a distance, a position, or a combination thereof using a plurality of discretely arranged markers, the service area of the first marker is changed to the service area of the second marker. The present invention relates to a position location system having a function of controlling to perform a handover.

Conventionally, a position detection system disclosed in Patent Document 1 is known. In this system, the position of a terminal is detected based on radio signals transmitted from antennas provided in three radio stations. However, in this system, only one antenna is mounted on each radio station, and the positions of these radio stations are sufficiently separated, regardless of whether they are outdoors or indoors. Due to the influence of multipath or height pattern, there is a problem that the position cannot be detected when signals from a plurality of radio stations cannot be received simultaneously.
In addition, one of the present applicants has proposed a wireless marker as shown in FIG. 8 in Japanese Patent Application No. 2005-363171 (not disclosed at the time of filing this application). In FIG. 8, 1 is a wireless marker, 2 is a portable terminal, 11a to 11d are directional antennas, 61 is a direction of viewing the directional antennas 11a to 11b, and 62 is a receiver 2 viewed from directly below the antenna of the wireless marker. , 63 is the height of the antenna of the wireless marker 1, 64 is the height of the antenna of the mobile terminal 2, and 65 is the distance from directly below the antenna of the wireless marker 1.
The directional antennas 11a to 11d of the wireless marker 1 are installed with a horizontal plane or a constant inclination angle at intervals of one wavelength or less of a carrier signal, a subcarrier signal, a modulation signal, or a baseband signal of a high-frequency signal to be transmitted, It is assumed that a high-frequency signal is transmitted while being switched periodically.

If the portable terminal 2 is present in the direction of the angle 62 from directly below the directional antennas 11a to 11d, Δd (X) = (Hh) × Tan {ΔΦ (X)}, Δd (Y) = (Hh) × Tan {ΔΦ (Y)}. Here, Δd (X) and Δd (Y) are distances 65 from directly below the directional antennas 11 a to 11 d, H is the height 63 of the antennas 11 a to 11 d of the wireless marker 1, and h is the mobile terminal 2. The antenna height 64, ΔΦ (X), ΔΦ (Y) are angles 62 from directly below the directional antenna.
When the position directly below the directional antennas 11a to 11d of the wireless marker 1 is (X1, Y1), the antenna position (Xx, Yy) of the portable terminal 2 is Xx = X1 + Δd (X) Yy = Y1. The position can be detected from + Δd (Y).
JP 2004-170114 A

However, in the position detection system shown in FIG. 8, a high positioning accuracy is obtained within the service area of the wireless marker 1, but there is a problem that the positioning accuracy of the position decreases when the wireless marker 1 is out of the service area. there were.
In addition, the conventional location system does not consider the handover control procedure when the radio marker departs from the service area, or the conventional mobile phone base station does not consider the case where the handover is started from the base station In some cases, handover may be initiated from the terminal. In either case, radio signals from multiple base stations are received simultaneously or sequentially to measure the received input and / or signal-to-noise ratio and compare the measurement results. Since the base station to be handed over is selected, control takes time and the control procedure is complicated.

  In order to solve the problem that the positioning accuracy is lowered when the wireless marker is out of the wireless marker service area, the present invention can be handed over to the adjacent marker service area. It is an object of the present invention to provide a position location system having a function for making it happen.

  In the position locating system according to the present invention, a plurality of transmission means are provided for one marker, signals are transmitted while the plurality of transmission means are periodically switched, and the direction, distance or position from the plurality of transmission means is increased. By locating with accuracy, control is performed so that handover is performed from the service area of the first marker to the service area of the second marker.

  In the position locating system of the present invention, since the position where the mobile terminal is in the service area of the first marker can be accurately determined, immediately when it is found that the mobile terminal deviates from the service area of the first marker. In addition, since the service area of the second marker can be selected and the location of the position can be continuously performed using the selected second marker, the handover control is simple, and the time required for the handover is reduced. It can be shortened.

As shown in FIG. 1, the position locating system having a handover function according to an embodiment of the present invention locates the three-dimensional position 70 of the mobile terminal 2 from the three-dimensional positions 69a and 69b of the wireless markers 1a and 1b. In addition, since the distance 67a from the wireless marker 1a and the distance 67b from the wireless marker 1b can be simultaneously determined, it can be immediately determined that the wireless marker 1a moves to the wireless marker 1b service area. There is an advantage that the handover can be controlled in a short time by comparing the distances 67a and 67b.
As shown in FIGS. 3 and 4, a plurality of antennas 11a to 11e are connected to the wireless markers 1a and 1b or the wireless marker 1 shown in FIGS. 1 and 2, and the interval between arbitrary combinations of the antennas 1a to 1d is set. It is within one wavelength of the carrier wave of the high frequency signal transmitted from the wireless marker. Among these antennas, the antennas 11a to 11d are periodically switched to transmit a high-frequency signal, and / or an arbitrary number of antennas 1e are transmitted while hopping between a plurality of frequencies. On the other hand, one antenna is connected to the mobile terminal 2.

Since the radio markers 1a and 1b or the radio marker 1 and the antenna of the mobile terminal 2 are configured as described above, the high-frequency signal transmitted from the radio marker 1a reaches the antenna of the mobile terminal 2 through the path 68aa to 68ad. The high-frequency signal transmitted from the wireless marker 1b reaches the antenna of the portable terminal 2 through the path 68ba to 68bd, and the high-frequency signal transmitted from the antenna 1e of the wireless marker 1 passes through the path 68e. 2 antennas are reached.
In the portable terminal 2, the frequency difference and / or the phase difference of the carrier wave of the reached high frequency signal is measured every time the plurality of antennas are periodically switched or hopped between a plurality of frequencies. The direction, distance, position, or combination thereof can be determined with high accuracy.
As described above, since the direction, distance, position, or combination thereof of the mobile terminal 2 can be determined with high accuracy, handover from the service area of the first wireless marker to the service area of the second wireless marker can be performed in a short time. The advantage is that this can be done easily.

FIG. 1 is a conceptual diagram showing an embodiment of the present invention. In FIG. 1, 1a and 1b are wireless markers, 11aa to 11ad, 11ba to 11bd are a plurality of antennas, 2 is a mobile terminal, 68aa to 68ad are high-frequency signal transmission paths between the antennas 11aa to 11ad and the mobile terminal 2, and 68ba. ˜68bd are high-frequency signal transmission paths between the antennas 11ba˜11bd and the portable terminal 2, 67a, 67b are distances from the radio markers 1a, 1b to the portable terminal 2, and 69a, 69b are three of the radio markers 1a, 1b. A dimension position 70 is a three-dimensional position of the mobile terminal 2.
The plurality of antennas 11aa to 11ad and 11ba to 11bd of the wireless markers 1a and 1b installed at the three-dimensional positions 69a and 69b are used for reporting information and a measurement signal mainly for locating the position while being periodically switched. Including high-frequency signals intermittently.
On the other hand, the mobile terminal 2 at the three-dimensional position 70 is equipped with one antenna, receives high-frequency signals transmitted from the wireless markers 1a and 1b, and transmits high-frequency signal transmission paths 68aa to 68ad or 68ba. The phase difference of the carrier wave signal of the high-frequency signal is obtained every .about.68bd, the own three-dimensional position 70 is determined, and the distances 67a and 67b from directly below the wireless markers 1a and 1b are obtained.

If the distance 67a from directly below the wireless marker 1a is within the service area of the wireless marker 1a, the portable terminal 2 receives the high-frequency signal transmitted from the wireless marker 1a, and thereby the three-dimensional of the portable terminal 2 is obtained. Can be located.
Similarly, if the distance 67b from directly below the wireless marker 1b is within the service area of the wireless marker 1b, the portable terminal 2 receives the high-frequency signal transmitted from the wireless marker 1b, thereby allowing the portable terminal 2 to The three-dimensional position 70 can be determined.
When the portable terminal 2 moves from the area of the wireless marker 1a to the area of the wireless marker 1b, it continues by switching from the high-frequency signal transmitted from the wireless marker 1a to the high-frequency signal from the wireless marker 1b. Thus, the portable terminal 2 can determine its own three-dimensional position.

Here, the area of the wireless marker 1a and the area of 1b are usually installed so as to overlap, but when the wireless markers 1a and 1b cannot be installed close to each other as in a pedestrian crossing or the like, There is a case where a gap is generated between them.
If the mobile terminal 2 is outside the area of the wireless marker 1a and at the same time outside the area of the wireless marker 1b, it cannot determine its own three-dimensional position 70, so a geomagnetic sensor, acceleration sensor, gravity sensor, or these It becomes necessary to measure and complement the distance and direction of movement using a combined inertial navigation sensor.
In the above description, the case where a high-frequency signal is transmitted while periodically switching the plurality of antennas 11aa to 11ad and 11ba to 11bd of the wireless markers 1a and 1b has been described. By hopping the frequency of the carrier signal, the subcarrier signal, the modulation signal, or the baseband signal, the distances 67a and 67b from directly below the wireless markers 1a and 1b can be directly measured.
In the above description, the wireless markers 1a and 1b are transmitters and the portable terminal 2 is a receiver. However, the same applies when the wireless markers 1a and 1b are receivers and the portable terminal 2 is a transmitter. Effects can be obtained. In the former case, the wireless markers 1a and 1b may be independent. In the latter case, the wireless markers 1a and 1b need to be connected via a communication network or the like.

FIG. 2 is a conceptual diagram showing another embodiment of the present invention. In FIG. 2, 1 is a wireless marker, 11a to 11e are a plurality of antennas, 2 is a portable terminal, 68a to 68e are high-frequency signal transmission paths between the antennas 11a to 11e and the portable terminal 2, and 67c is a large zone service area. 67d is the service area of the small zone, 69 is the three-dimensional position of the wireless marker 1, and 70 is the three-dimensional position of the portable terminal 2.
The plurality of antennas 11a to 11e of the wireless marker 1 installed at the three-dimensional position 69 are periodically switched, and include high-frequency information including measurement information for locating notification information and direction or distance or position or a combination thereof. The signal is transmitted intermittently.
The plurality of antennas 11a to 11d of the wireless marker 1 constitute a small-zone service area whose height is approximately the radius of the plurality of antennas, and are mainly used for locating the position, and an arbitrary number of antennas 11e. Is used to configure a large zone service area whose radius is the reach of the high-frequency signal from the antenna, and to mainly determine the direction and / or distance.
An arbitrary number of antennas 11e of the wireless marker 1 transmit a high-frequency signal while hopping between carrier signals, sub-carrier signals, modulation signals, baseband signals, or combinations thereof of a plurality of orthogonal or synchronized frequencies, It is used to determine the direction in which the mobile terminal 2 is facing and / or the distance between the wireless marker 1 and the mobile terminal 2.
On the other hand, the mobile terminal 2 at the three-dimensional position 70 is equipped with one antenna, receives a high-frequency signal transmitted from the wireless marker 1, and transmits the high-frequency signal for each of the high-frequency signal transmission paths 68a to 68e. The phase difference of the carrier signal of the signal is obtained, and the direction, distance, position, or a combination thereof is determined.

If the portable terminal 2 is within the service area of the small zone of the wireless marker 1, the portable terminal 2 receives a high-frequency signal transmitted from the wireless marker 1, so that the three-dimensional position 70 of the portable terminal 2 is received. Can be standardized.
Similarly, if the wireless marker 1 is in the service area of the large zone of the wireless marker 1, the mobile terminal 2 receives the high-frequency signal transmitted from the wireless marker 1, so that the mobile terminal 2 is directed. The direction and / or the distance between the portable terminal 2 and the wireless marker 1 can be determined.
When the portable terminal 2 moves from the service area in the small zone of the wireless marker 1 to the service area in the large zone of the wireless marker 1, the service in the large zone of the wireless marker 1 from the service area of the wireless marker 1 to the large zone By switching to the area and handing over, the mobile terminal 2 can continuously determine its direction, distance, position, or a combination thereof.

Here, although the service area of the large zone of the wireless marker 1 is usually installed so as to overlap the service area of the large zone of another adjacent wireless marker, the wireless marker 1 and another adjacent wireless marker are close to each other. If it cannot be installed, there may be a gap between both areas.
In addition, the service area of the small zone is mainly set for the purpose of positioning, and the service area of the large zone is set mainly for the purpose of setting the direction and / or distance.
Further, when a plurality of wireless markers are discretely arranged and the service areas of the large zones of the plurality of wireless markers are arranged so as to overlap, the direction or distance obtained by using the plurality of wireless markers or A position or a combination of the orientation results of these positions can be employed.

In addition, for the areas where the service areas of the small and / or large zones of each of the plurality of wireless markers do not overlap, the plurality of the plurality of wireless markers are detected by a geomagnetic sensor, an acceleration sensor, a gravity sensor, or an inertial navigation sensor combining them. The orientation accuracy can be improved by complementing the orientation results of the direction, distance, position or combination thereof using the wireless marker.
In addition, it is possible to improve the orientation accuracy by correcting or resetting the orientation results of the direction, distance, position, or combination thereof supplemented by the inertial navigation sensor in the service area of the small zone of the plurality of wireless markers. .
In the above description, the wireless marker 1 is a transmitter and the portable terminal 2 is a receiver. However, the same effect can be obtained when the wireless marker 1 is a receiver and the portable terminal 2 is a transmitter. It is done. In the former case, the wireless marker 1 may be independent, but in the latter case, the wireless marker 1 needs to be connected to a peripheral wireless marker through a communication network or the like.

FIG. 3 is a configuration diagram showing an embodiment of a wireless marker and a portable terminal according to the present invention, wherein 1 is a wireless marker, 11a, 11b, 11c, 11d, and 11e are a plurality of antennas, 12 is an antenna switch, and 13 is a transmitter. , 14 is a reference oscillator, 15 is a controller, 2 is a portable terminal, 21 is an antenna, 22 is a receiver, 23 is a signal detector, 24 is a reference oscillator, and 25 is a control / display.
A plurality of antennas 11 a to 11 d and an arbitrary number of antennas 11 e of the wireless marker 1 are connected to the antenna switch 12, and are switched periodically in synchronization with the reference oscillator 14 by the controller 15. A high-frequency signal including at least notification information and a measurement signal is transmitted in burst form from the transmitter 13, and is periodically switched by the antenna switch 12, and is radiated from the plurality of antennas 11a to 11d and 11e to the space.

The high frequency signals radiated to the space from the plurality of antennas 11a to 11d and 11e are received by the antenna 21 of the mobile terminal 2, and the carrier signal of the high frequency signal is converted into an intermediate frequency signal by the receiver 22, and signal detection is performed. The device 23 measures the phase of the intermediate frequency signal.
The phase of the intermediate frequency signal is measured for each of the plurality of antennas 11a to 11d and 11e of the wireless marker 1, and the direction, distance, position, or position of the portable terminal 2 viewed from the wireless marker 1 from each phase difference. These combinations can be standardized.
The oscillation frequency of the transmitter 13 of the wireless marker 1 is changed stepwise while synchronizing with the reference oscillator 14, so-called frequency hopping is performed, and the frequency of the local oscillator synchronized with the reference oscillator 24 at the receiver 22 of the portable terminal 2. The distance between the wireless marker 1 and the portable terminal 2 can be measured by converting the signal to an intermediate frequency while changing and measuring the phase difference of the intermediate frequency signal by the signal detector 23.

FIG. 4 is a cross-sectional view showing an embodiment of an antenna according to the present invention, in which 81 is an antenna portion in which a plurality of antennas 11a to 11d and 11e are assembled, 82 is a vertical distance between the antenna 11a and the antenna 11d, and 83 is an antenna. The distance between the left and right directions of 11c and 11d.
The intervals 82 and 83 of the antenna unit 81 are arranged at intervals of one wavelength or less of the carrier wave signal of the high frequency signal, and the antenna 11e is provided at a position where the antennas 11a to 11d do not interfere with these antennas, for example. And periodically switched by the antenna switch 12.
Further, the antenna unit 81 can be installed in a downward direction, an upward direction, or a lateral direction with respect to a horizontal plane, or provided with an inclination angle, or a combination thereof.
Also, a plurality of antennas 11a to 11d for covering the service area of the small zone form a directivity pattern in the vertical direction, and an arbitrary number of antennas 11e for covering the service area of the large zone are in the horizontal direction. By forming an omni-directional pattern, the positioning accuracy of the position can be increased.

FIG. 5 is a flowchart of an example of a control program executed in the embodiment shown in FIG. In FIG. 5, reference numerals 101 to 111 denote control steps.
The program control procedure starts at step 101 and ends at step 111.
When started in step 101, execution of the position location program is started in step 102 around the current marker.
In step 103, it is determined whether or not the mobile terminal is within the current wireless marker service area. If it is within the area, the process proceeds to step 104, and if it is outside the area, the process proceeds to step 105.
If the mobile terminal is in the current wireless marker area, it is determined in step 104 whether it is in the adjacent wireless marker area in addition to the current wireless marker area, and only in the current wireless marker area. In this case, the position determination is executed using the data acquired from the current marker in step 107, the result of the position determination is input to the table in step 110, and the process ends in step 111.

On the other hand, when it is also within the area of the adjacent wireless marker in addition to the area of the current wireless marker, both the data obtained from the current wireless marker and the data obtained from the adjacent wireless marker are used in step 106. The position is determined, the position determination result is input to the table in step 110, and the process is terminated in step 111.
When it is outside the area of the current wireless marker, it is determined in step 105 whether or not it is within the area of the adjacent wireless marker, and when it is within the area of the adjacent wireless marker, the process proceeds to step 108 and handover is performed to the adjacent wireless marker. Subsequently, the position is determined, and the result of the position determination is input to the table at step 110, and the process ends at step 111.
Further, when it is not the area of the adjacent wireless marker, the process proceeds to step 109, where the position is determined using the inertial navigation sensor, the result of the position determination is input to the table at step 110, and the process ends at step 111. To do.

In addition, when it is determined that the orientation result of the direction, the distance, the position, or the combination thereof is deviating from the current wireless marker service area, an adjacent wireless marker existing in the deviating direction The combination or the adjacent wireless marker can be selected with priority.
In addition, when the service area of the wireless marker adjacent to the current wireless marker service area does not overlap, the non-overlapping area is detected by a geomagnetic sensor, an acceleration sensor, a gravity sensor, or an inertial navigation sensor that is a combination thereof. The orientation result of direction, distance, position, or a combination thereof can be complemented.
Further, the accuracy of the inertial navigation sensor can be maintained by calibrating or resetting the inertial navigation sensor using the position evaluation result obtained in the current wireless marker area.

FIG. 6 is a flowchart of an example of a control program executed in the embodiment shown in FIG. In FIG. 6, reference numerals 201 to 211 denote control steps.
The program control procedure starts control at step 201 and ends at step 211.
When started in step 201, execution of the position location program is started in step 202 for the large zone area and the small zone area.
In step 203, it is determined whether or not the mobile terminal is in the small zone area of the wireless marker (not shown). If it is in the small zone area, the process proceeds to step 204; Proceed to
If it is within the small zone area, it is determined in step 204 whether it is also within the small zone area of the adjacent wireless marker in addition to the small zone area of the current wireless marker, and only within the small zone area of the current wireless marker. If so, the position is determined using the data acquired from the current wireless marker in step 207, the result of the position determination is input to the table in step 210, and the process ends in step 211.

On the other hand, when it is also in the small zone area of the other wireless marker that is in the small zone area of the current wireless marker, the other wireless adjacent to the data obtained from the small zone area of the current wireless marker in step 206. The position is determined by using both of the data obtained from the small zone area of the marker, the result of the position determination is input to the table in step 210, and the process is ended in step 211.
In step 205, it is determined whether or not the wireless zone is within the large zone area of the plurality of wireless markers. When the wireless zone is within the large zone area of the plurality of wireless markers, the process proceeds to step 208 to move to the large zone area of the plurality of wireless markers. The direction, distance, position, or a combination thereof is determined using the data obtained from the above, and the result of the position determination is input to the table in step 210, and the process is terminated in step 211.

Further, if it is not within the large zone area of the plurality of wireless markers, the process proceeds to step 209, and if it is only within the large zone area of the current wireless marker, the data obtained from the current wireless marker and the inertial navigation sensor Are used to determine the direction, distance, position, or a combination thereof. In step 210, the result of position determination is input to the table. In step 211, the process ends.
If the wireless marker is not in the service area of the large zone, it is not shown in FIG. 6, but only the inertial navigation sensor is used to determine the direction, distance, position, or a combination thereof. It is also possible to do this.
In addition, it is possible to maintain the accuracy of the inertial navigation sensor by calibrating or resetting the inertial navigation sensor using the position evaluation result obtained in the small zone area of the current wireless marker. .

FIG. 7 is a flowchart showing another example of the control program executed in the embodiment of FIG. In FIG. 7, reference numerals 301 to 308 denote control steps.
The program control procedure starts at step 301 and ends at steps 309 to 308.
When started in step 301, execution of the location program is started in step 302 for all markers currently being received.
Subsequently, in step 303, the number of all markers currently being received is counted. If the number of markers currently being received is plural, the process proceeds to step 304, and position evaluation is performed using information on the plurality of markers currently being received. In step 307, the position location result is input to the table, and in step 308, the process ends.

On the other hand, if the number of markers currently being received is 1, the process proceeds to step 305, where position evaluation is performed using the information on the marker currently being received and the inertial navigation sensor, and the result of position determination is input to the table in step 307. In step 308, the process ends.
Further, when the number of markers currently being received is 0, the position is evaluated using an inertial navigation sensor, the result of position determination is input to the table in step 307, and the process is terminated in step 308.

In the above description, the direction and distance in which the mobile terminal is located are measured by periodically switching a plurality of antennas mounted on the wireless marker. However, in a system in which the antenna is sectorized, such as a mobile phone system, The direction of the position can be detected using the sector antenna.
In addition, an ultrasonic signal is transmitted from the wireless marker using an ultrasonic transducer or an ultrasonic transmitter, and an ultrasonic signal is received using an ultrasonic transducer or an ultrasonic receiver in the portable terminal, or A similar effect can be obtained by transmitting an optical signal using a light emitting diode or laser diode in a wireless marker and receiving an optical signal using a photodiode in the portable terminal.

In the present application, the ultrasonic transducer or the ultrasonic transducer and the light emitting diode, the laser diode, or the photodiode are collectively referred to as a transducer. Even when only the transmitter or receiver of the transmitter / receiver is used, it is described as a transmitter / receiver.
In the above description, the case where a radio frequency signal is transmitted from a wireless marker and received by a mobile terminal has been described, but conversely, the direction of the mobile terminal or Distance or position or a combination of these can be determined.

  FIG. 9 shows a configuration example of the zone. In the figure, as service areas to which the position location system is applied, an area 1 (91) composed of a small zone 911 having a frequency F1 and a large zone 912 having a frequency F2, and a small zone 921 having a frequency F3 and a frequency F4 are provided. The area 2 (92) configured by the large zone 922 is illustrated.

  The small zone has a characteristic that the position can be determined with high accuracy although the cover area is narrower than that of the large zone. On the other hand, the large zone has a characteristic that the position determination accuracy is lower than that of the small zone, but the cover area is wide. By combining the small zone and the large zone to cover the area, it is possible to reduce the area (dead zone) where positioning is impossible without reaching the radio signal, and improve the positioning accuracy of the entire area. It becomes possible. The large zone and the small zone are set so that, for example, all the small zones are included in the large zone.

  In order to avoid radio signal interference, the frequency of the radio signal for position location used in the adjacent zone is set to a different frequency. As a movement mode of the portable terminal 2 performed across zones, when moving between small zones within the same area (for example, arrow 931 in FIG. 9), when moving from a small zone to a large zone within the same area ( For example, the arrow 932 in FIG. 9), when moving between large zones across the area (for example, arrow 933 in FIG. 9), or moving from the large zone to the small zone in the same area (for example, the arrow in FIG. 9) 934). Among these, when the mobile terminal 2 moves like the arrow line 932, the arrow line 933, and the arrow line 934, switching (handover) of the frequency used by the mobile terminal 2 is required.

  The frequency switching (handover) control method used by the mobile terminal 2 includes a control method that is actively performed by the mobile terminal 2 and a server device that is communicably connected to each base station provided with a wireless marker. There is a control method to be used.

  FIG. 10 is a flowchart showing an example of a control method actively performed by the mobile terminal 2 side. In this control method, first, the mobile terminal 2 executes a process (hereinafter referred to as an open search) for detecting base stations existing in the vicinity thereof at an appropriate timing such as intermittent / periodic (S1011). . A specific process of the open search will be described later. When the mobile terminal 2 detects the base station by the open search, the mobile terminal 2 measures the distance / direction from each base station using the detected radio signal transmitted from each base station (S1012).

  Next, the mobile terminal 2 determines whether only one base station or a plurality of base stations are detected by the open search (S1013). When only one base station is detected (S1013: one), the mobile terminal 2 switches the frequency used for position location to the frequency of the base station (S1014). However, switching is not performed when the frequency of the base station is already used in the mobile terminal 2. If a plurality of base stations are detected by the open search in S1013 (S1013: plural), the process proceeds to S1015.

  Next, the mobile terminal 2 determines whether or not both the large zone base station and the small zone base station are included in the plurality of base stations detected by the open search (S1015). . When base stations in both the large zone and the small zone are included (S1015: mixed), the mobile terminal 2 uses its current position among a plurality of base stations detected by the open search to determine the frequency used for positioning. Switching to the frequency of the radio signal of the base station in the small zone existing at the shortest distance from the position (S1016). As described above, by performing the position determination using the radio signal of the small zone base station existing at the shortest position from the mobile terminal 2, the accuracy of the position determination can be increased as much as possible.

  It should be noted that the base station detected by the open search is a zone of a small zone base station or a large zone base station. Information indicating whether the station constitutes a small zone or a large zone is added, and this information is referred to on the portable terminal 2 side. In addition, when the reception strength of the radio signal is less than the reception strength required for positioning (when the reception signal strength is equal to or lower than a predetermined threshold), for example, the frequency of the base station is not detected. You may make it handle.

  In S1015, when only one of the large zone base station or the small zone base station is included in the plurality of base stations detected by the open search (S1015: not mixed), the mobile terminal 2 Then, the frequency used for position determination is switched to the frequency of the radio signal of the base station existing at the shortest distance from its current position among the plurality of detected base stations (S1017).

  FIGS. 11A and 11B show an example of processing performed by the mobile terminal 2 during the open search. In the following description, time T is a time interval at which the mobile terminal 2 executes an open search. t1 is the signal transmission interval of the small zone base station. Further, k is the number of frequencies (number of channels) used in the small zone base station. l (English letter L) is the maximum number of small-zone base stations installed in one area. t2 is the signal transmission interval of the large zone base station. m is the number of frequencies (number of channels) used in the large zone base station. n is the maximum number of large zone base stations installed in one area. Further, a frequency band higher than that of the large zone is assigned to the small zone as the frequency of the radio signal transmitted from the base station. Therefore, although the small zone using a radio signal with a shorter wavelength has higher positioning accuracy than the large zone, diffraction is less likely to occur in the small zone and it is difficult to receive the radio signal.

  FIG. 11A shows processing related to the open search. In the figure, when the start time of the open search arrives (S1111: Y), the mobile terminal 2 sets 0 to the variable a and starts an open search for a base station in a small zone (S1112). Next, the portable terminal 2 selects the highest frequency among the frequencies (channels) allocated for the small zone (S1113).

  In S1114, the portable terminal 2 determines whether time has elapsed by t1 × l. When the time t1 × l has elapsed (S1114: Y), the process proceeds to S1117. If the time t1 × l has not elapsed (S1114: N), the process proceeds to S1115, and whether or not a radio signal having the frequency selected in S1113 (or S1119) can be received (with an intensity equal to or higher than a preset threshold). Whether it can be received). When a radio signal having the frequency selected in S1113 (or S1119) has been received (S1115: Y), the base station corresponding to the frequency selected in S1113 (or S1119) is managed in a table in which the results of open search are managed ( Hereinafter, it is registered in the open search table as being receivable (S1116). In S1117, the mobile terminal 2 adds 1 to the variable a. In S1115, when the radio signal having the frequency selected in S1113 (or S1119) cannot be received (S1115: N), the process returns to S1114.

  In S1118, it is determined whether or not the detection process has been completed for all frequencies (channels) used in the small zone base station (S1118). If there is a remaining frequency (S1118: N), the process proceeds to S1119, and if the detection process has been completed for all frequencies (S1118: Y), the process proceeds to S1120. In S1119, the next highest frequency is selected. After S1119, the process returns to S1114.

  FIG. 11B shows processing related to the open search of the large zone. This process is executed continuously, for example, in the flowchart shown in FIG. 11A. The mobile terminal 2 sets 0 to the variable b and starts an open search for the base station in the large zone (S1120). Next, the portable terminal 2 selects the highest frequency among the frequencies (channels) allocated for the large zone (S1121).

  In S1122, the mobile terminal 2 determines whether time has elapsed by t2 × n. If the time has elapsed (S1122: Y), the process proceeds to S1125. When the time of t2 × n has not elapsed (S1122: N), the process proceeds to S1123, and it is determined whether or not a radio signal having the frequency selected in S1121 can be received (whether or not it can be received with an intensity equal to or higher than a threshold). . When the radio signal having the frequency selected in S1121 can be received (S1123: Y), the base station corresponding to the frequency selected in S1121 is received in a table in which the results of the open search are managed (hereinafter referred to as open search table). Registration as possible (S1124).

  In S1125, the mobile terminal 2 adds 1 to the variable b. In S1123, when the radio signal having the frequency selected in S1121 (or S1127) cannot be received (S1123: N), the process returns to S1122. In S1126, it is determined whether or not the detection process has been completed for all frequencies (channels) used in the large zone base station. If there is a remaining frequency (S1126: N), the process proceeds to S1127, and if the detection process has been completed for all frequencies (S1126: Y), the process ends. In S1127, the next highest frequency is selected. After S1127, the process returns to S1122.

  Next, a control method performed using the server device will be described. FIG. 12 shows a schematic configuration of the position location system 1 including the server device. A base station 200 installed in various places such as a power pole and a server device 100 installed in a data center or the like are connected via a communication network 50 so as to communicate with each other.

  The server apparatus 100 is a computer (information processing apparatus) and includes a CPU, a memory, a hard disk, an input device, an output device, a communication interface for communicating with a base station, and the like. The server device 100 stores programs and data for realizing the functions of the server device 100. The server device 100 also stores information for specifying a range on the map expressed by latitude / longitude information or the like.

  FIG. 13 is a flowchart for explaining a handover control method performed using the server device 100. The server apparatus 100 receives and stores the location determination result by the mobile terminal 2 from the base station 200 at any time, such as intermittently / periodically (S1311). The server device 100 obtains the moving direction (movement vector) of the mobile terminal 2 as needed based on the stored location determination result (S1312). Then, the destination zone of the mobile terminal 2 when the location determination result is received from the next mobile terminal 2 (next sampling timing) is predicted from the obtained moving direction (S1313). In addition, the server apparatus 100 predicts the zone of the movement destination of the portable terminal 2 by extrapolating the movement history of the portable terminal 2 linearly, for example.

  Next, the server device 100 transmits the predicted identifier of the zone ahead of the latitude and the frequency of the radio signal transmitted from the base station 200 of the zone to the mobile terminal 2 via the communication network 50 and the base station 200 (S1314). The portable terminal 2 receives this (S1315).

  Next, the portable terminal 2 switches to the received frequency and performs position location, and obtains the distance from the base station 200 to the portable terminal 2 (S1316). When the distance to the base station 200 is closer to the base station 200 used for the current location determination (S1317: YES), the mobile terminal 2 sets the frequency used for the location determination to the server device 100. (S1318).

  As described above, the handover control method performed using the server apparatus 100 is performed. Note that the handover control method is not limited to these. For example, the handover control method performed on the mobile terminal 2 side and the handover control method performed using the server device 100 may be combined to perform the handover control. Good.

  The handover control method described above is based on the distance between the mobile terminal 2 and the base station 200, which is obtained by location determination, rather than the radio field strength and signal-to-noise ratio. Switching (handover) is performed. For this reason, handover can be performed smoothly. Further, since the handover is performed based on the absolute distance, the handover (frequency switching) can be performed with high accuracy with little positional error.

  Since the present invention is configured as described above, a plurality of antennas or transmitters / receivers are mounted on the marker and the direction or distance or position of the mobile terminal or a combination thereof is determined while periodically switching, The orientation can be continued by handing over from the first marker area to the second marker service area.

It is a conceptual diagram which shows one Example of this invention. It is a conceptual diagram which shows the other Example of this invention. It is a block diagram which shows the Example of the wireless marker and portable terminal of this invention. It is an external view which shows the Example of the antenna of this invention. It is a flowchart of the control program of this invention. It is a flowchart of the other control program of this invention. It is a flowchart of the other control program of this invention. It is a conceptual diagram which shows the conventional Example. It is a figure which shows the structural example of a zone. It is a flowchart which shows an example of the control system performed by the portable terminal 2 side. It is a flowchart which shows an example of the process which the portable terminal 2 performs in the case of an open search. It is a flowchart which shows an example of the process which the portable terminal 2 performs in the case of an open search, and is a flowchart explaining the process regarding the open search of a large zone especially. It is a figure which shows the schematic structure of the position location system 1 comprised including a server apparatus. 4 is a flowchart illustrating a handover control method performed using server device 100.

Explanation of symbols

1, 1a, 1b Wireless marker 2 Portable terminal 11a-e Antenna 11aa-ad Antenna 11ba-bd of wireless marker A Antenna 12 of wireless marker B Antenna switch 13 Transmitter 14 Reference oscillator 15 Controller 21 Antenna 22 Receiver 23 Signal detection 24 Reference oscillator 25 Control / display unit 61 Direction of antenna 11a → antenna 11b 62 Angle of wireless marker 1 from vertical plane of antenna 63 Height of antenna of wireless marker 1 64 Height of antenna of portable terminal 2 65 Wireless marker Distance 66 directly below the antenna 1 Distance 67a between the wireless marker 1a and the wireless marker 1b Distance 67b from the wireless marker 1a to the portable terminal 67b Distance 67c from the wireless marker 1b to the portable terminal 67c The large zone of the wireless marker 1 Service area 67d Wireless marker 1 small zone service Rear 68aa to ad Transmission path 68ba to bd from the antennas 11aa to 11ad to the portable terminal 2 Transmission path 68a to e from the antennas 11ba to 11bd to the portable terminal 2 Antenna 11a to 11d, and a transmission path 69a from 11e to the portable terminal 2 Three-dimensional position 69b of the wireless marker 1a Three-dimensional position 70 of the wireless marker 1b Three-dimensional position 81 of the mobile terminal 2 Wireless marker antennas 82, 83 Distances 101-111, 201-211 of the wireless marker antenna elements Control program Control steps 301 to 308 Control program control steps

Claims (17)

A positioning system using radio signals,
A plurality of transmission means discretely spaced to transmit the radio signal;
Receiving means for receiving the radio signals transmitted from the plurality of transmitting means while moving and locating the direction, distance, position, or a combination thereof in three dimensions;
Wherein each of the plurality of transmission means, provides coverage of a plurality of large zone, and a service area of the narrow plurality of small zones than large zone,
The transmitting means for providing the service area of the small zone includes a plurality of antennas arranged at intervals of one wavelength or less of a carrier wave signal, a subcarrier signal, a modulation signal, or a baseband signal of the radio signal, or a plurality of antennas The transmitter / receiver is periodically switched, and / or the transmitting means transmits a carrier signal, a subcarrier signal, a modulated signal of the radio signal from any number of antennas or any number of transducers, Alternatively, baseband signals are hopped between multiple frequencies, and multiple signals are synchronized or transmitted while being orthogonalized,
Said receiving means, before Symbol small zone, said plurality of receiving the radio signal transmitted from the transmitting means, and orientation direction of the receiving means, the distance, position, or combinations thereof in three dimensions,
The receiving means includes
At an appropriate timing such as intermittent or periodic, the transmission means present around itself is detected,
When the transmitting means is detected, the distance or direction from each of the transmitting means is measured using the wireless signal transmitted from each of the detected transmitting means,
When only one transmitting means is detected, the orientation is performed using the detected transmitting means,
A plurality of the transmission means are detected, and among the detected plurality of transmission means, both the transmission means for providing the service area of the large zone and the transmission means for providing the service area of the small zone are If included, perform the orientation using the transmission means that provides the service area of the small zone that is present in the shortest distance from its current position among the plurality of transmission means that are detected,
A plurality of the transmission means are detected, and the plurality of detected transmission means are only one of the transmission means for providing the service area of the large zone or the transmission means for providing the service area of the small zone. If it is, the positioning is performed using the transmission means that is detected. A positioning system using radio signals,
One or more transmission means for transmitting the wireless signal while moving;
In order to receive the wireless signal transmitted from the transmitting means, a plurality of discretely arranged, receiving the wireless signal and locating the direction, distance, position, or these in three dimensions Receiving means;
A communication network connecting the plurality of receiving means,
Wherein each of the plurality of receiving means, provides coverage of a plurality of large zone, and a service area of the narrow plurality of small zones than large zone,
The receiving means for providing the service area of the small zone includes a plurality of antennas arranged at intervals of one wavelength or less of a carrier wave signal, a subcarrier signal, a modulation signal, or a baseband signal of the radio signal, or a plurality of antennas Switch the transmitter and receiver periodically,
The transmitting means hops the carrier signal, subcarrier signal, modulation signal, or baseband signal of the radio signal between a plurality of frequencies from any number of antennas or any number of transducers. , Send multiple signals synchronized or orthogonal ,
The receiving means receives the wireless signal transmitted from the transmitting means, and determines the direction, distance, position of the transmitting means, or these three-dimensionally,
The plurality of receiving means detect the sending means existing around each of the receiving means,
When the transmitting means is detected, each receiving means that detects the transmitting means uses the wireless signal to measure the distance or direction from the transmitting means,
When the detected receiving means is only one, the orientation is performed using the receiving means that detects the transmitting means,
A plurality of the reception means detected by the plurality of reception means include both the reception means for providing the large zone service area and the reception means for providing the small zone service area. The plurality of receiving means that detected the transmitting means, the orientation is determined using the receiving means that provides the service area of the small zone that is present at the shortest distance from the position of the transmitting means. Done
The plurality of receiving means detect and the plurality of detected receiving means are only one of the receiving means for providing the service area of the large zone or the receiving means for providing the service area of the small zone. In this case, the positioning is performed using the receiving unit that is present at the shortest distance from the position of the transmitting unit among the plurality of receiving units that have detected the transmitting unit. The discretely arranged transmitting means has a plurality of antennas or a plurality of transducers for covering the service area of the small zone and any number of antennas for covering the service area of the large zone or any Have a number of transducers,
When it is determined that the direction, distance, position, or combination thereof of the moving receiving means is within the service area of the small zone of the discretely arranged transmitting means, the small Adopt zone orientation results individually or weighted,
When it is determined that the discretely arranged transmission means are outside the service area of the small zone and within the service area of the large zone, the orientation results within the service area of the large zone are individually or weighted. The position locating system according to claim 1, wherein the position locating system is used. The discretely arranged receiving means has a plurality of antennas or a plurality of transducers for covering the service area of the small zone and any number of antennas for covering the service area of the large zone or any Have a number of transducers,
When it is determined that the direction, distance, position, or combination thereof of the transmitting means moving is within the service area of the small zone of the discretely arranged receiving means, the small Adopt zone orientation results individually or weighted,
When it is determined that the discretely arranged receiving means are outside the service area of the small zone and within the service area of the large zone, the orientation results within the service area of the large zone are individually or weighted. The position locating system according to claim 2, wherein the position locating system is used. A plurality of antennas or a plurality of transducers for covering the service area of the small zone mainly form a directivity pattern in the vertical direction, and any number of antennas or any of the antennas for covering the service area of the large zone The number of transmitters / receivers mainly forms an omnidirectional pattern in the horizontal direction, or forms a directional pattern with an inclination angle of an arbitrary angle in the horizontal direction, or is sectorized at an arbitrary angle in the horizontal direction. The position locating system according to claim 3 or 4, wherein a sex pattern is formed. The service area of the small zone is mainly installed for the purpose of location determination, and the service area of the large zone is mainly for the purpose of orientation of direction and / or distance. 6. The location system according to any one of items 5. The service area of the small zone is configured with a plurality of antennas or transmitter / receiver heights as approximately the radius, and the service area of the large zone is configured with a reach range of the ultrasonic signal, high frequency signal, or optical signal as approximately a radius. The position locating system according to any one of claims 3 to 6, wherein: When it is determined that the orientation, distance, position, or combination thereof of the receiving means that is moving is within the first service area of the plurality of discretely arranged transmitting means, the orientation Adopt the result,
When it is determined that the first service area and the second service area overlap each other, the orientation result obtained using the first service area and the second service area are used. Adopt a combination of orientation results,
The location system according to claim 1, wherein when it is determined that the vehicle has moved into the second service area, the location determination result obtained using the second service area is used. When it is determined that the direction, distance, position, or combination thereof of the transmitting means that is moving is within the first service area of the plurality of discretely arranged receiving means, the orientation Adopt the result,
When it is determined that the first service area and the second service area overlap each other, the orientation result obtained using the first service area and the second service area are used. Adopt a combination of orientation results,
The location system according to claim 2, wherein when it is determined that the vehicle has moved into the second service area, the location determination result obtained by using the second service area is used. When it is determined that the orientation result of the direction, the distance, the position, or the combination thereof is deviating from the first service area, the combination with the second service area existing in the deviating direction or the first The location system according to claim 8 or 9, wherein two service areas are selected by weighting. In an area where service areas of the plurality of transmitting means arranged discretely do not overlap, information obtained by an inertial navigation sensor combining a geomagnetic sensor, an acceleration sensor, a gravity sensor, or a combination thereof is used. The position locating system according to claim 3 or 8, wherein a result obtained by locating a direction, a distance, a position, or a combination thereof is complemented. In an area where service areas of the plurality of receiving means arranged discretely do not overlap, information obtained by an inertial navigation sensor combining a geomagnetic sensor, an acceleration sensor, a gravity sensor, or the like is used. The position locating system according to claim 4 or 9, wherein a result obtained by locating a direction, a distance, a position, or a combination thereof is complemented. In the case where the inertial navigation sensor is used, the direction, distance, position, or a combination thereof using information obtained by the inertial navigation sensor in the service area of the small zone of the plurality of discretely arranged transmission means The position locating system according to claim 11, wherein the result of locating is calibrated or reset. When using the inertial navigation sensor, in the service area of the small zone of the plurality of receiving means arranged discretely, using the information obtained by the inertial navigation sensor, the direction, distance, position, or a combination thereof The position locating system according to claim 12, wherein the result of locating is calibrated or reset. The direction, the distance, the position, or a combination thereof is determined by hyperbolic navigation when the service areas of the large zone of the plurality of transmitting means arranged discretely are overlapped. 4. The location system according to item 3. The direction, the distance, the position, or a combination thereof is determined by hyperbolic navigation when the service areas of the large zone of the plurality of receiving means arranged discretely are arranged to overlap each other. 5. The location system according to item 4. When an ultrasonic signal, a high-frequency signal, or an optical signal is transmitted from the plurality of discretely arranged transmitting means and received from two or more transmitting means among the plurality of transmitting means, the two or more When using the transmitting means or receiving from one of the plurality of transmitting means, the one transmitting means and the inertial navigation sensor are used in combination, or any of the plurality of transmitting means is transmitted. The position locating system according to claim 1, wherein if the position cannot be received from the means, the direction, distance, position, or combination thereof is determined using an inertial navigation sensor.