JP5676151B2 - Positioning device and positioning method - Google Patents

Description

  The present invention relates to a positioning device and a positioning method for positioning by wireless communication.

  An electric vehicle (EV) and a plug-in hybrid vehicle (PHV) have a low running sound, so that it may be difficult for a person to notice the approach of these vehicles. Thus, it has been proposed to generate a sound reminiscent of the running state of the vehicle from these vehicles (see Non-Patent Documents 1 and 2).

  However, even if a sound is generated from a vehicle or the like, the sound may not be heard in some cases. In addition, sound generated from a vehicle or the like may become noise in some cases.

  In addition, as a ranging method for performing ranging using wireless communication, there are a received signal strength (RSSI: Received Signal Strength Indicator) method and a round trip time (RTT) method. Further, an AOA (Angle of Arrival) method has been proposed as a method for detecting the arrival angle of radio waves using wireless communication (see Patent Document 1).

US Patent Application Publication No. 2004/0235497

"Countermeasures for quietness of hybrid vehicles, etc. (report)", Ministry of Land, Infrastructure, Transport and Tourism, January 29, 2010 "Guidelines for measures for noise reduction of hybrid vehicles," Ministry of Land, Infrastructure, Transport and Tourism, January 29, 2010

  When the positional relationship between the person carrying the positioning device and the vehicle equipped with the positioning device is measured using wireless communication, the RSSI method and the RTT method simply measure the distance between the person and the vehicle. Therefore, the positional relationship between the person and the vehicle in the plane direction could not be obtained.

  Also, in order to measure the positional relationship between a person and a vehicle in the planar direction, if the arrival angle of radio waves is detected using the AOA method, the antenna array must be arranged so as to cover a plurality of arrival angles of radio waves. I must.

  The present invention has been made in view of the above-described points, and provides a positioning apparatus and a positioning method for measuring a positional relationship in a planar direction and notifying the measured positional relationship without using an antenna array. Objective.

The present invention has been made to solve the above-described problem, and the device includes any one of the first antenna, the second antenna, and the third antenna, and the other two antennas. Two devices other than its own device are provided, the first distance between the first antenna and the second antenna, the second distance between the first antenna and the third antenna, and the mobile body respectively provided with the second distance Of the third distance between the second antenna and the third antenna, an acquisition unit that acquires the first distance and the second distance measured by wireless communication, and the first distance acquired by the acquisition unit And a first line connecting the first antenna and the second antenna, and a first line connecting the first antenna and the third antenna based on the second distance and the predetermined third distance. 2 lines, the second antenna and the A first line formed by the first line and the third line, and a second line and the third line among the inner angles of the triangle formed by the third line connecting the three antennas. By calculating a second interior angle formed by the positioning unit that measures the positional relationship between the first antenna, the second antenna, and the third antenna, and one of the first interior angle and the second interior angle is an obtuse angle. It is determined whether or not there is, and when neither the first interior angle nor the second interior angle is an obtuse angle, the positioning device includes a determination unit that notifies the positional relationship.

  Further, the present invention is the positioning device, wherein the positioning unit calculates the interior angle based on a cosine theorem.

  Further, the present invention is the positioning device, wherein the third distance is a width of the moving body.

  Further, in the present invention, the determination unit determines whether one of the first internal angle and the second internal angle is an obtuse angle, whereby the first antenna is placed on an extension of the moving direction of the moving body. It is a positioning device characterized by determining whether or not there is.

  Further, the present invention is the positioning device, wherein the acquisition unit acquires the first distance and the second distance measured based on an impulse signal.

The present invention provides a positioning method in a positioning device in which the device includes one of the first antenna, the second antenna, and the third antenna, and the other two devices include two other antennas. The acquisition unit includes a first distance between the first antenna and the second antenna, a second distance between the first antenna and the third antenna, and the second distance provided in the moving body . Of the third distance between the antenna and the third antenna, the process of acquiring the first distance and the second distance measured by wireless communication, and the positioning unit acquires the first acquired by the acquisition unit Based on the distance, the second distance, and the predetermined third distance, the first line connecting the first antenna and the second antenna, and the first antenna and the third antenna are connected. A second wire and the second antenna A first line formed by the first line and the third line, and a third line connecting the third antenna and the third line, and the second line and the third line. Calculating a second interior angle formed by the line to determine a positional relationship between the first antenna, the second antenna, and the third antenna; and a determination unit including the first interior angle and the second interior angle. And determining whether or not one of the two is an obtuse angle, and when neither the first inner angle nor the second inner angle is an obtuse angle, a process of notifying the positional relationship.

  According to the present invention, the positioning device calculates a first interior angle and a second interior angle of a triangle formed by a line connecting each antenna included in each positioning device, and when each of the first interior angle and the second interior angle is not an obtuse angle, Notifies the positional relationship of the antenna. Thereby, the positioning device can measure the positional relationship in the plane direction without using the antenna array, and can notify the measured positional relationship.

It is a figure which shows the example of the positional relationship in the plane direction of each antenna. It is a lineblock diagram of a positioning device in one embodiment.

  Embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 shows an example of the positional relationship of each antenna in the plane direction. The positioning device 100-n (n is a code | symbol 1-3) is equipped with the antenna 140-n.

  The positioning device 100-1 is assumed to be carried by a person as an example. In addition, the positioning devices 100-2 and 100-3 are assumed to be provided in the moving body 200 as an example, separated from the moving body (for example, a vehicle) 200 in the width direction by the width b. Moreover, the moving body 200 shall be moving to the direction (arrow direction in FIG. 1) orthogonal to the width direction.

  FIG. 1A shows an example in which the position of the antenna 140-1 is not on the extension of the moving direction of the moving body 200. FIG. 1B shows an example in which the position of the antenna 140-1 is on the extension of the moving direction of the moving body 200.

  The positioning device 100-1 measures the distance a between the antenna 140-1 and the antenna 140-2 by wireless communication. In addition, the positioning device 100-1 measures the distance c between the antenna 140-1 and the antenna 140-3 by wireless communication. Here, the positioning device 100-1 is the time when the modulated impulse signal (spread signal) in the ultra wide band (UWB) is reciprocated between the antenna of the own device and the antenna of another positioning device. The distance between the antenna of its own device and the antenna of another positioning device is measured based on the above. In addition, the positioning device 100-1 receives information indicating the width b of the moving body 200 from the positioning device 100-2 or 100-3 by wireless communication.

  Positioning apparatus 100-1 has a first line connecting antenna 140-1 and antenna 140-2 and a second line connecting antenna 140-1 and antenna 140-3 based on distances a, b, and c. An internal angle β formed by the first line and the third line among the internal angles of the triangle formed by the line and the third line connecting the antenna 140-2 and the antenna 140-3, and the second line The interior angle γ formed by the third line is calculated by the cosine theorem. The positioning device 100-1 measures the positional relationship among the antenna 140-1, the antenna 140-2, and the antenna 140-3 by calculating the inner angle. For the interior angle β, the cosine theorem is expressed by equation (1).

  Here, if the cosine is greater than or equal to 0 (cos β ≧ 0), the inner angle β is in the range of 0 ≦ β ≦ (π / 2) and is an acute angle or a right angle. On the other hand, if the cosine is a negative value (cos β <0), the inner angle β is in the range of (π / 2) <β <π and is an obtuse angle. The same applies to the internal angles α and γ.

  The positioning device 100-1 determines whether one of the calculated inner angles β and γ is an obtuse angle. When either of the interior angles β and γ is an obtuse angle, the position of the antenna 140-1 is not on the extension of the moving direction of the moving body 200, as shown in FIG.

  On the other hand, when neither the internal angle β nor γ is an obtuse angle, the position of the antenna 140-1 is on the extension of the moving direction of the moving body 200, as shown in FIG. When neither of the internal angles β and γ is an obtuse angle, the positioning device 100-1 moves the information indicating the positional relationship between the antenna 140-1, the antenna 140-2, and the antenna 140-3, for example, the position of the antenna 140-1 The person carrying the positioning device 100-1 is notified that the body 200 is on the extension of the moving direction. Thereby, the person carrying the positioning device 100-1 can know that the person carrying the positioning device 100-1 is located on the extension of the moving direction of the moving body 200.

  Similarly, when neither the internal angle β nor γ is an obtuse angle, at least one of the positioning devices 100-2 and 100-3 is information indicating the positional relationship between the antenna 140-1, the antenna 140-2, and the antenna 140-3, For example, the operator who operates the moving body 200 is notified that the position of the person carrying the positioning device 100-1 is on the extension of the moving direction of the moving body 200.

  Here, the positioning devices 100-2 and 100-3 may calculate the positional relationship between the antenna 140-1, the antenna 140-2, and the antenna 140-3 by themselves, or the positioning that calculates the positional relationship of each antenna. Information (data) indicating the positional relationship of each antenna may be received from the device 100-1 by wireless communication.

Next, the configuration of the positioning device 100 will be described.
FIG. 2 is a configuration diagram of a positioning device in one embodiment. The positioning device 100 includes a communication unit 110, a distance measuring unit 120, and an antenna 140. Here, the communication unit 110 includes a signal processing unit 111 and a high-frequency circuit unit 130. The distance measurement unit 120 includes a distance measurement processing unit 121 and a high frequency circuit unit 130.

  The antenna 140 receives a modulated impulse signal (spread signal) in ultra-wideband radio (UWB) from another positioning device by radio communication, and outputs the received impulse signal to the high-frequency circuit unit 130. In addition, a modulated impulse signal is input from the high-frequency circuit unit 130 to the antenna 140. The antenna 140 transmits the modulated impulse signal input from the high-frequency circuit unit 130 to another positioning device by wireless communication.

  A modulated impulse signal received by the antenna 140 from another positioning device through wireless communication is input from the antenna 140 to the high-frequency circuit unit 130. The high-frequency circuit unit 130 demodulates the modulated impulse signal input from the antenna 140 and outputs the demodulated impulse signal to the signal processing unit 111 and the distance measurement processing unit 121.

  Further, an impulse signal is input to the high-frequency circuit unit 130 from the signal processing unit 111 and the distance measurement processing unit 121. The high frequency circuit unit 130 modulates the impulse signal input from the signal processing unit 111 and the distance measurement processing unit 121 and outputs the modulated impulse signal to the antenna 140.

  The distance measurement processing unit 121 outputs an impulse signal to the high frequency circuit unit 130. Further, an impulse signal demodulated by the high frequency circuit unit 130 is input from the high frequency circuit unit 130 to the distance measurement processing unit 121. The distance measurement processing unit 121 measures the distance between the antenna of its own device and the antenna of another positioning device by, for example, ultra-wideband wireless (impulse type UWB) using an impulse signal, the RSSI method, or the RTT method. For example, in the case of the impulse type UWB, the distance measurement processing unit 121 determines whether the distance measurement processing unit 121 and the antenna of its own device are based on the impulse signal output to the high frequency circuit unit 130 and the demodulated impulse signal input from the high frequency circuit unit 130. The time for which the impulse signal reciprocates between the antenna of the positioning device is calculated. In addition, the distance measurement processing unit 121 measures the distance between the antenna of its own device and the antenna of the other positioning device based on the time when the impulse signal reciprocates between the antenna of its own device and the antenna of the other positioning device. Distance. The distance measurement processing unit 121 detects a change in the distance between the antennas of the positioning device by repeatedly performing positioning.

  In addition, the distance measurement processing unit 121 outputs the distance measured to the signal processing unit 111 for each positioning device. Here, the distance measurement processing unit 121 may place identification information (own device ID) for identifying the own device on the impulse signal, and transmit and receive between the own device and another positioning device by wireless communication. As a result, the distance measurement processing unit 121 can cause another positioning device to identify itself. In addition, the distance measurement processing unit 121 can identify other positioning devices.

  The signal processing unit 111 includes an acquisition unit 112, a positioning unit 113, and a determination unit 114. The acquisition unit 112 acquires the distance measured by wireless communication from the distance measurement processing unit 121 for each positioning device, and transfers the distance to the positioning unit 113. Further, the signal processing unit 111 carries data on the impulse signal and communicates with other devices. This data may be, for example, data indicating the distance between the antennas measured by wireless communication, or may be information (data) indicating the positional relationship between the antennas.

  The positioning unit 113 calculates the internal angles β and γ (see FIG. 1) by the cosine theorem based on the distance for each positioning device transferred by the acquisition unit 112 and the predetermined distance. Here, the predetermined distance is a distance between the antennas provided in the moving body. For example, these antennas may be provided in the width direction of the moving body so as to be separated by the width. The information indicating the predetermined distance may be stored in advance in a storage unit (not shown) included in the own device, or the positioning unit 113 or the signal processing unit 111 receives wireless communication from another positioning device. May be.

  Further, the information indicating the predetermined distance may be information indicating the type (for example, large size, small size) of the moving body (for example, vehicle). In this case, the positioning unit 113 may determine a predetermined distance used when calculating the interior angle according to the information indicating the type of the moving object. For example, when the information indicating the type of the moving body received from another positioning device indicates “vehicle, large size”, the positioning unit 113 sets the predetermined distance (vehicle width) to 2.5 [m]. May be.

  The positioning unit 113 measures the positional relationship between the antennas by calculating inner angles β and γ (see FIG. 1) of a triangle formed by a line connecting the antennas included in the positioning devices by the cosine theorem. In addition, the positioning unit 113 outputs the calculated inner angles β and γ to the determination unit 114.

 The determination unit 114 determines whether one of the inner angles β and γ is an obtuse angle, and if neither of the inner angles β and γ is an obtuse angle, notifies the information indicating the positional relationship of each antenna. For example, the determination unit 114 may notify information indicating the positional relationship using a light source (not shown) provided in the positioning device 100-n. For example, the determination unit 114 blinks the light source to determine that the position of the positioning device 100-1 is on the extension of the moving direction of the moving body 200 and that the person carrying the positioning device 100-1 and the movement The operator who controls the body 200 is notified.

  As described above, the positioning device 100 includes the antenna 140-1, the antenna 140-2, and the antenna 140-3, the distance a between the antenna 140-1 and the antenna 140-2, the antenna An acquisition unit 112 that acquires the distances a and c measured by wireless communication among the distance c between the antenna 140-1 and the antenna 140-3 and the distance b between the antenna 140-2 and the antenna 140-3; Based on the distances a and c acquired by the acquisition unit 112 and the predetermined distance b, the first line connecting the antenna 140-1 and the antenna 140-2, the antenna 140-1 and the antenna 140-3, Among the internal angles of the triangle formed by the second line connecting the first line and the third line connecting the antenna 140-2 and the antenna 140-3, and the internal angle β formed by the first line and the third line, and Second line and second By calculating the internal angle γ formed by the line, and the positioning unit 113 for positioning the positional relationship between the antenna 140-1, the antenna 140-2, and the antenna 140-3, and whether one of the internal angles β and γ is an obtuse angle And a determination unit 114 that notifies the positional relationship when neither of the interior angles β and γ is an obtuse angle.

  Thereby, the positioning device can measure the positional relationship in the plane direction without using the antenna array, and can notify the measured positional relationship. In addition, since the positioning device repeatedly executes positioning to detect a change in the distance between the antennas of the positioning device, it can notify whether or not another positioning device is approaching. The positioning device can not only measure the positional relationship but also communicate data between the positioning devices by wireless communication.

  In addition, the positioning unit 113 calculates inner angles α, β, and γ based on the cosine theorem. Thereby, the positioning apparatus can measure the positional relationship in the plane direction based on the distance measured and the predetermined distance.

  The acquisition unit 112 acquires distances a and c measured based on the impulse signal. Thereby, the positioning apparatus can measure the positional relationship in the plane direction based on the distance measured by wireless communication.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes designs and the like that do not depart from the gist of the present invention.

  For example, the positioning device is provided for each of a person, a moving body, and an object whose position is fixed, and not only the positional relationship between the person and the moving body described above but also the positional relationship between the person and another person. The positional relationship between the person and the object whose position is fixed, the positional relationship between the moving body and another moving body, and the positional relationship between the moving body and the object whose position is fixed may be measured.

  For example, the positioning device may include a plurality of antennas in one positioning device. For example, the positioning device 100-2 may include the antennas 140-2 and 3 and identify the antennas 140-2 and 3. In this case, the mobile body 200 only needs to include the positioning device 100-2.

  Further, for example, the positioning device may measure not only the planar direction but also the positional relationship in the solid direction. In this case, the number of antennas may be larger than in the case described above.

  Further, for example, the ranging method executed by the positioning device is not limited to the ultra-wideband wireless (impulse type UWB) using the impulse signal, the RSSI method, and the RTT method. In the impulse type UWB, distance measurement is possible with an accuracy of 30 [cm] or less.

  Further, for example, the positioning device may reduce the error and increase the distance measurement accuracy by increasing the number of samples of the distance measured. Further, for example, the positioning device may reduce the error and increase the distance measurement accuracy by taking a moving average of the distance measured.

  Note that a program for realizing the positioning device described above may be recorded on a computer-readable recording medium, and the program may be read into a computer system and executed. Here, the “computer system” includes an OS and hardware such as peripheral devices. The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Further, the “computer-readable recording medium” refers to a volatile memory (RAM) in a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those holding programs for a certain period of time are also included. The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, what is called a difference file (difference program) may be sufficient.

DESCRIPTION OF SYMBOLS 100 ... Positioning device 110 ... Communication part 111 ... Signal processing part 112 ... Acquisition part 113 ... Positioning part 114 ... Determination part 120 ... Distance measuring part 121 ... Distance measuring part 130 ... High frequency circuit part 140 ... antenna, 200 ... moving body

Claims (6)

In the case where the own device includes any one of the first antenna, the second antenna, and the third antenna, and two devices other than the own device include the other two antennas,
A first distance between the first antenna and the second antenna; a second distance between the first antenna and the third antenna; and the second antenna and the third antenna respectively provided in a moving body . An acquisition unit that acquires the first distance and the second distance measured by wireless communication among the third distance;
Based on the first distance and the second distance acquired by the acquisition unit, and the predetermined third distance, a first line connecting the first antenna and the second antenna, and the first Of the interior angles of the triangle formed by the second line connecting the antenna and the third antenna and the third line connecting the second antenna and the third antenna, the first line and the third By calculating the first interior angle formed by the second line and the second interior angle formed by the second line and the third line, the positions of the first antenna, the second antenna, and the third antenna are calculated. A positioning unit for positioning the relationship;
It is determined whether one of the first interior angle and the second interior angle is an obtuse angle, and when neither the first interior angle nor the second interior angle is an obtuse angle, a determination unit that notifies the positional relationship;
A positioning device comprising:   The positioning device according to claim 1, wherein the positioning unit calculates the interior angle based on a cosine theorem.   The positioning device according to claim 1, wherein the third distance is a width of the moving body.   The determining unit determines whether one of the first interior angle and the second interior angle is an obtuse angle, thereby determining whether the first antenna is on an extension of the moving direction of the moving body. The positioning device according to claim 3, wherein:   The positioning device according to any one of claims 1 to 4, wherein the acquisition unit acquires the first distance and the second distance measured based on an impulse signal. A positioning method in a positioning device in which one of the first antenna, the second antenna, and the third antenna is provided in the own device and the other two antennas are provided in two devices other than the own device,
The acquisition unit includes a first distance between the first antenna and the second antenna, a second distance between the first antenna and the third antenna, and the second antenna and the second antenna respectively provided in a moving body . A process of acquiring the first distance and the second distance measured by wireless communication among the third distances with three antennas;
A positioning unit, based on the first distance and the second distance acquired by the acquisition unit, and the predetermined third distance; and a first line connecting the first antenna and the second antenna; The first line out of the interior angle of a triangle composed of a second line connecting the first antenna and the third antenna and a third line connecting the second antenna and the third antenna. And the third interior line, and the second interior angle formed by the second line and the third line, thereby calculating the first antenna, the second antenna, and the third line. The process of positioning the positional relationship with the antenna,
A determination unit that determines whether one of the first interior angle and the second interior angle is an obtuse angle, and when neither the first interior angle nor the second interior angle is an obtuse angle, a process of notifying the positional relationship; ,
A positioning method characterized by comprising:

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