JP2007187639A - Radio positioning system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a radio positioning system precisely detecting the position of a mobile terminal. <P>SOLUTION: In the radio positioning system performing positioning of the mobile terminal by communications with at least three base stations, the first base station transmits a signal radio wave to a second base station group two times or more, and the second base station group transmits a signal radio wave to the first base station one time or more. The time division (hereinafter scale) of the second base station group with respect to the first base station and shift in time (offset) are determined using the transmission time and the reception time of the signal radio wave in each base station. The time of the second base station group is converted into the time of the first base station using the scale and the offset. The positional coordinates of the mobile terminal are determined using the time when the signal radio wave transmitted from the mobile terminal is received by each base station or the converted time when the signal radio wave transmitted simultaneously or with a prescribed time difference from each base station to the mobile station is received by the mobile terminal and using the propagation delay time difference from the mobile terminal to the at least three prescribed base stations and the positional coordinates of the base stations. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a radio positioning system, and more particularly to a radio positioning system suitable for use in detecting the position of a mobile terminal.

As a positioning method for detecting the position of a mobile terminal, there is a method using a time difference of arrival (hereinafter referred to as TDOA) from a mobile terminal to a plurality of base stations. FIG. 1 shows a principle diagram of TDOA. In FIG. 1, 101 indicates a base station A, 102 indicates a base station B, 103 indicates a base station C, and 104 indicates a mobile terminal M. The respective distances from the mobile terminal M104 to the base station A101, base station B102, and base station C103 are _denoted by r _a , r _b , and rc. When the distance difference (r _a −r _b ) is obtained, a hyperbola 105 centered on the base station A 101 and the base station B 102 can be drawn. Similarly, when the distance difference (r _a −r _c ) is obtained, a hyperbola 106 with the base station A 101 and the base station C 103 as the focal points can be drawn. The intersection of the two hyperbolas 105 and 106 is the mobile terminal M104. Telecommunications the distance _{r a, r b, r c} is the radio waves transmitted simultaneously from the mobile terminal M104 has a base station A101, a base station B 102, using the time received at the base station C103, propagated through the distance The delay time is obtained. The distance difference (r _a −r _b ) is obtained by the difference in delay time from the mobile terminal M104 to the base station A101 and from the mobile terminal M104 to the base station B102, and from the mobile terminal M104 to the base station A101, the mobile terminal M104 The distance difference (r _a −r _c ) is obtained from the difference in the delay time from to the base station C103. In order to detect the position of the mobile terminal M104 by the TDOA method, it is necessary to set the clock (timer) of each base station with an accuracy equal to or higher than the time accuracy required for positioning. For example, in order to perform positioning with an accuracy of 30 cm, it is necessary to set the clock with an accuracy within 1 nsec.

  Further, as a method for adjusting the time between the base stations in order to detect the position of the mobile phone, each station receives a GPS signal and synchronizes with the GPS (see Patent Document 1).

  Moreover, the method of patent document 2 is shown in FIG.

  2, the same components as those in FIG. 1 are given the same numbers.

  In FIG. 2, <1> and <2> indicate transmission routes from the base station A101 to the base station B102 and the base station C103.

A radio wave is transmitted from the base station A101 through the transmission route <1>, and the radio waves are received by the other base stations B102 and C103 to set the clocks of the base stations. When the period (clock scale) is deviated, the base station A101 transmits radio waves a plurality of times through the transmission routes <1> and <2> to perform scale adjustment.
Special table 2003-513291 gazette JP 2004-101254 A

  As the clock adjustment in the TDOA described above, a method of operating each base station in synchronization with one master clock can be considered. In order to synchronize the clock of each base station by this method, a coaxial cable with a guaranteed delay can be used. Each base station needs to be connected, which is not preferable because the installation is complicated.

  Also, the method in which each base station receives the GPS signal and synchronizes with the GPS and sets the time of each base station cannot be used indoors where GPS cannot be received, and the accuracy of the GPS clock is several tens of nsec. When positioning with the following accuracy, the accuracy of time is insufficient.

  Further, problems of the method of Patent Document 2 shown in FIG. 2 will be described.

  Radio waves are transmitted from the base station A101 through the transmission routes <1> and <2>, and the radio waves are received by the base station B102 and the base station C103. When the clock cycle (clock scale) is deviated, scale adjustment is performed by transmitting radio waves from the base station A 101 a plurality of times. However, in this method, for example, the propagation delay time between the base station A 101 and the base station B 102 (the sum of the delay time for propagation of radio waves between A and B and the internal delay time of the apparatus) is measured in advance, and is used as base station information. Must be stored. Even if the change in the propagation delay time between the base stations A101 and B102 can be ignored, the delay time of the base station internal device may drift due to a temperature change or the like, and the delay time between the base stations A101 and B102 changes. It becomes a clock shift. The delay time between the base stations A102 and C103 may also change. As a result, in FIG. 2, an error from the true value occurs in the propagation delay time from the mobile terminal M104 to each base station, resulting in an error in position measurement by TDOA.

  Accordingly, one of the objects of the present invention is to provide a wireless positioning system that accurately detects the position of a mobile terminal.

  The present invention is not limited to the above-mentioned object, and is a result derived from each configuration shown in the best mode for carrying out the invention described later, and has an effect that cannot be obtained by conventional techniques. It can be positioned as one of the purposes.

(1) In the present invention, in the wireless positioning system that performs positioning of a mobile terminal by communication between a first base station and a second base station group including at least two base stations, the first base station Comprises means for transmitting at least one signal radio wave to the second base station group, and the second base station group transmits at least one signal radio wave to the first base station. Means for transmitting, the radio positioning system further using the transmission time and reception time of the signal radio wave measured at each base station, each time step of the second base station group and the Means for determining a time step ratio (hereinafter referred to as scale) of the first base station, a time difference between each time of the second base station group and the time of the first base station (hereinafter referred to as offset), and the determination The time of the second base station group using the scale and offset Means for determining a time converted to the time of the first base station, and converting the time of receiving the signal radio wave broadcast from the mobile terminal at each base station to the time of the first base station Or the time when the mobile terminal receives the signal radio wave transmitted from the base station to the mobile terminal at a predetermined time difference, or the time converted to the time of the first base station, or Means for determining a difference between a propagation delay time to the mobile terminal and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station, using the time received by the mobile terminal. Means for determining a position coordinate of the mobile terminal using the difference between the determined at least two delay times and the position coordinates of the first base station and the second base station group; Wireless positioning characterized by having Use the system.
(2) In the present invention, the wireless positioning system includes a first base station, a second base station group including at least two base stations, a mobile terminal, and a positioning server, and the first base station And the second base station group, respectively, a time for transmitting a signal radio wave, a means for holding a time for receiving the signal radio wave, a time for transmitting the held signal radio wave, and a time for receiving the signal radio wave And means for transmitting the signal radio wave to the second base station group at least twice within the first positioning period. The second base station group includes means for transmitting at least one signal radio wave to the first base station within the first positioning period. Means for transmitting at least one signal radio wave to the base station within the second positioning period The positioning server determines a scale and an offset using the transmission time and the reception time of each base station received from the first base station and the second base station group within the first positioning period. And a time obtained by converting the reception time of the signal radio wave from the mobile terminal into the time of the first base station using the determined scale and offset within the second positioning period. Means, a propagation delay time from the mobile terminal to a predetermined base station, and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station within the second positioning period. Using the means for determining the difference, the difference between the at least two delay times determined within the second positioning period, and the position coordinates of the first base station and the second base station group; And means for determining a position coordinate of the mobile terminal; The wireless positioning system according to claim 1, wherein the wireless positioning system is provided.

  Preferably, the wireless positioning system further includes means for transmitting the mobile terminal position coordinates determined by the positioning server to a user of the identified specific mobile terminal via at least one of the base stations, Alternatively, the wireless positioning system according to claim 2, further comprising means for transmitting to a user of the identified specific fixed terminal via a network connected to the positioning server.

  Preferably, the wireless positioning system further repeats the first positioning period at a first positioning period, sets the second positioning period as a second positioning period, and is independent of the first positioning period. The position coordinate determination of the mobile terminal and the notification of the determined mobile terminal position coordinate to the identified user are repeated in the second positioning cycle by repeating. Use a wireless positioning system.

  Preferably, there are a plurality of mobile terminals in the wireless positioning system, and each mobile terminal transmits a single signal radio wave synchronously or asynchronously, and each base station receives the signal radio wave so that the position of each mobile terminal is received. The wireless positioning system according to claim 2, wherein coordinates are determined.

  Preferably, the radio positioning system according to claim 2, wherein the signal radio waves transmitted by each of the base stations and the mobile terminal are impulsed ultra-wideband radio signals.

  Preferably, the impulse signal is a pulse position modulated by a predetermined pseudo-random digital signal by an arbitrary digital signal, and is impulse-generated at a specific position of the chip width of the pulse position-modulated pseudo-random digital signal. The wireless positioning system according to claim 2, wherein the wireless positioning system is a signal.

  Preferably, the wireless positioning system according to claim 2, wherein the predetermined pseudo-random digital signal is a signal whose pulse position is modulated by a Reed-Solomon code.

  Preferably, the radio positioning system according to claim 2, wherein the impulse signals transmitted from each base station and mobile terminal are band-limited by a predetermined band-pass filter and transmitted.

Preferably, the wireless positioning system determines a transmission time of the signal radio wave at each base station based on a timer provided in each base station, and determines a reception time of the signal radio wave at each base station In the time comparison based on the correlation between the signal received and detected at each base station and the pseudo-random digital signal provided in each base station, means for performing time determination based on the timer provided in each base station, The wireless positioning system according to claim 2 is used.
(3) In the present invention, the wireless positioning system includes a first base station, a second base station group including at least two base stations, a mobile terminal, and a positioning server, and the first base station And the second base station group, respectively, a time for transmitting a signal radio wave, a means for holding a time for receiving the signal radio wave, a time for transmitting the held signal radio wave, and a time for receiving the signal radio wave For transmitting to the positioning server, the first base station performs at least two signal radio wave transmissions to the second base station group within the first positioning period, respectively. Each of the second base station groups includes means for transmitting at least one signal radio wave to the first base station within the first positioning period. Each of the base stations has at least a second positioning period within the second positioning period with respect to the second base station group. Means for performing broadcast transmission of the signal radio wave twice, and the mobile terminal transmits at least one signal radio wave to the first base station and the second base station group within a third positioning period. Means for broadcasting signal radio waves, wherein the positioning server receives and transmits the transmission time and reception of each base station received from the first base station and the second base station group within the second positioning period. Using the time, the scale of the second base station group, the means for determining the offset, the time of receiving the signal radio wave from the mobile terminal within the third positioning period, the determined scale, Means for determining a time converted to the time of the first base station using an offset, a propagation delay time from the mobile terminal to a predetermined base station within the third positioning period, and the mobile terminal Propagation delay to at least two base stations other than the predetermined base station Means for determining a difference between, a difference between the determined at least two delay times, and position coordinates of the first base station group and the second base station group within the third positioning period. The wireless positioning system according to claim 1, further comprising means for determining position coordinates of the mobile terminal.
Preferably, in the wireless positioning system, the scale and offset of the second base station group obtained by the positioning server in the second positioning period are the transmission times of the respective base stations within the first positioning period. And the reception time, and the transmission time and the reception time of each base station in the broadcast transmission more than twice performed by the first base station for the second base station group in the second positioning period. The wireless positioning system according to claim 1, further comprising means for determining by a least square method.

Preferably, there are a plurality of mobile terminals in the wireless positioning system, and each mobile terminal transmits a single signal radio wave synchronously or asynchronously, and each base station receives the signal radio wave so that the position of each mobile terminal is received. The wireless positioning system according to claim 1, wherein coordinates are determined.
Preferably, the wireless positioning system further transmits the mobile terminal position coordinates obtained by the positioning server to a user of the identified specific mobile terminal at least of the base station within a third positioning period. The wireless positioning system according to claim 1, further comprising means for transmitting via one or means for transmitting to a user of a specific identified fixed terminal via a network connected to the positioning server. Is used.

  Preferably, the wireless positioning system further repeats a sum of the first positioning period and the second positioning period as a first positioning period, and sets the third positioning period as a second positioning period. By repeating independently of the first positioning cycle, the determination of the position coordinates of the mobile terminal and the notification of the mobile terminal position coordinates to the identified user are repeated at the second positioning cycle. The wireless positioning system according to claim 1 is used.

  Preferably, the wireless positioning system further performs initial setting of the scale and offset of the second base station group in the first positioning period, and then sets the second positioning period to the first positioning period. It repeats in a cycle, the third positioning period is set as a second positioning cycle, and is repeated independently of the first positioning cycle, thereby determining the position coordinates of the mobile terminal and the movement to the identified user. 2. The wireless positioning system according to claim 1, wherein the notification of the terminal position coordinates is repeated at a second positioning cycle.

Preferably, the wireless positioning system further includes a third positioning cycle in which the first positioning period is inserted at the beginning of an integer multiple of the first positioning cycle, and the first positioning period is changed every third positioning cycle. 2. The scale and offset of each of the two base station groups are updated, and the position coordinate determination of the mobile terminal and the notification of the determined mobile terminal position coordinate to the identified user are repeated. 1 is used.
(4) In the present invention, the wireless positioning system includes a first base station, a second base station group including at least two base stations, a mobile terminal, and a positioning server, and the first base station And the second base station group, respectively, a time for transmitting a signal radio wave, a means for holding a time for receiving the signal radio wave, a time for transmitting the held signal radio wave, and a time for receiving the signal radio wave Means for transmitting to the positioning server, wherein the first base station transmits at least two signal radio waves to the second base station group within the first positioning period. Means for broadcasting at least one of the two transmissions of the signal radio wave, and each of the second base station groups includes the first base station within the first positioning period. Means for transmitting at least one signal radio wave for the mobile terminal. Means for broadcasting the station and the second base station group at least once in the second positioning period, the positioning server within the first positioning period, Means for determining the scale and offset of the second base station group using the transmission time and the reception time of each base station received from one base station and the second base station group; Means for determining a time in which a reception time of a signal radio wave from the mobile terminal is converted into a time of the first base station using the determined scale and an offset within a positioning period; Means for determining a difference between a propagation delay time to a predetermined base station and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station within the positioning period of The difference between at least two delay times determined within the positioning period of 2. The wireless positioning system according to claim 1, further comprising: means for determining a position coordinate of the mobile terminal using position coordinates of the first base station and the second base station group. Is used.
Preferably, in the wireless positioning system, the first base station further transmits at least one signal radio wave within the third positioning period to the second base station group. A scale and offset of the second base station group determined by the positioning server in the third positioning period, the transmission time and reception time of each base station in the first positioning period, The least square method using the transmission time and reception time of each base station in the broadcast transmission more than once performed by the first base station for the second base station group in the third positioning period. The wireless positioning system according to claim 1, further comprising means for determining according to claim 1.

Preferably, there are a plurality of mobile terminals in the wireless positioning system, and each mobile terminal transmits a single signal radio wave synchronously or asynchronously, and each base station receives the signal radio wave so that the position of each mobile terminal is received. The wireless positioning system according to claim 1, wherein coordinates are determined.
Preferably, the wireless positioning system further transmits the mobile terminal position coordinates obtained by the positioning server within a second positioning period to a user of the identified specific mobile terminal at least of the base station. The wireless positioning system according to claim 1, further comprising means for transmitting via one or means for transmitting to a user of a specific identified fixed terminal via a network connected to the positioning server. Is used.

  Preferably, the wireless positioning system further repeats the first positioning period at a first positioning period, sets the second positioning period as a second positioning period, and is independent of the first positioning period. 2. The wireless positioning system according to claim 1, wherein the position coordinate determination of the mobile terminal and the notification of the mobile terminal position coordinate to the identified user are repeated in a second positioning cycle by repeating. Is used.

  Preferably, the wireless positioning system performs initial setting of the scale and offset of the second base station group in the first positioning period, and then performs the third positioning period in the first positioning period. Repeatedly, the second positioning period is set as the second positioning period, and the position determination of the mobile terminal is determined and the mobile terminal position to the identified user is repeated independently of the third positioning period. 2. The wireless positioning system according to claim 1, wherein the coordinate notification is repeated at a second positioning cycle.

Preferably, the wireless positioning system includes a third positioning period in which the first positioning period is inserted at the beginning of an integer multiple of the first positioning period, and a second positioning period is provided for each third positioning period. The scale and offset of each base station group are updated, and the position coordinate determination of the mobile terminal and the notification of the determined mobile terminal position coordinate to the identified user are repeated. Using a wireless positioning system.
According to the present invention, the wireless positioning system includes a first base station, a second base station group including at least two base stations, a mobile terminal, and a positioning server. Each of the second base station groups measures the time at which the signal radio wave is transmitted, the means for holding the time at which the signal radio wave is received, the time at which the signal radio wave is transmitted, and the time at which the signal radio wave is received. Means for transmitting to the server, and the mobile terminal comprises means for holding the time of receiving the signal radio wave, and means for transmitting the time of receiving the held signal radio wave to the positioning server, The base station transmits at least two signal radio waves to the second base station group and the mobile terminal within the first positioning period, and each of the second base station group Within the first positioning period, for the first base station Means for transmitting at least one signal radio wave, and the positioning server received from the first base station, the second base station group, and the mobile terminal within a first positioning period, Using the transmission time and reception time of each base station and the reception time of the mobile terminal, the scale of the second base station group and the mobile terminal, means for determining an offset, each of the determined scale, and offset, Means for determining the time at which each base station transmits to a mobile terminal at the same time or with a known time difference and notifying each base station using a predetermined repetition time, and each base station Means for transmitting a signal radio wave to the mobile terminal at the time when each base station transmits to the mobile terminal simultaneously or with a known time difference notified from the positioning server within 2 positioning periods; The mobile terminal is in the second positioning period And means for notifying the positioning server of the reception time of each signal radio wave received from each base station via at least one base station, the positioning server within a second positioning period. Propagation delay from the mobile terminal to the predetermined base station using the time when the mobile terminal received the signal radio wave from each base station and the scale of the determined mobile terminal notified from the mobile terminal Means for determining a difference in propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station; a difference between the determined at least two delay times; The wireless positioning system according to claim 1, further comprising means for determining position coordinates of the mobile terminal by using position coordinates of the base station and the second base station group.
Preferably, in the wireless positioning system, the first base station further transmits at least one signal radio wave within the third positioning period to the second base station group and the mobile terminal. Means for transmitting a report, the positioning server received from the second base station group and the mobile terminal, the transmission time and the reception time obtained in the first positioning period, and the first base station Means for determining a scale and an offset by a least-squares method using a transmission time and a reception time in broadcast transmission more than once performed for the second base station group and the mobile terminal. The wireless positioning system according to claim 1 is used.

Preferably, there are a plurality of mobile terminals in the wireless positioning system, and each base station transmits at least one signal to each mobile terminal individually for each mobile terminal or broadcasts signal radio waves, 2. The wireless positioning system according to claim 1, wherein the positioning server determines the position coordinates of a plurality of mobile terminals using the time received by each mobile terminal and the position coordinates of each base station.
Preferably, in the second positioning period, the wireless positioning system further transmits the position coordinates of the mobile terminal obtained by the positioning server to a user of the identified specific mobile terminal so that the number of the base stations is small. 2. The wireless positioning system according to claim 1, further comprising means for transmitting via a network or means for transmitting to a user of a specific identified fixed terminal via a network connected to the positioning server. Is used.

  Preferably, the wireless positioning system further repeats the first positioning period as a first positioning period, sets the second positioning period as a second positioning period, and is independent of the first positioning period. 2. The wireless positioning system according to claim 1, wherein the position coordinate determination of the mobile terminal and the notification of the mobile terminal position coordinate to the identified user are repeated in a second positioning cycle by repeating. Is used.

  Preferably, the wireless positioning system performs initial setting of the scale and offset of the second base station group and the mobile terminal in the first positioning period, and then sets the third positioning period to the first positioning period. The positioning period of the mobile terminal is determined as a second positioning period, and the positioning period is determined independently of the first positioning period. The wireless positioning system according to claim 1, wherein the notification of the mobile terminal position coordinates is repeated at a second positioning cycle.

  Preferably, the wireless positioning system includes a third positioning period in which the first positioning period is inserted at the beginning of an integer multiple of the first positioning period, and a second positioning period is provided for each third positioning period. The scale and offset of each of the base station group and the mobile terminal are updated, and the position coordinate determination of the mobile terminal and the notification of the determined mobile terminal position coordinate to the identified user are repeated. The wireless positioning system according to claim 1 is used.

(5) In the present invention, a wireless positioning system includes a first base station, a second base station group including at least two base stations, a mobile terminal, and a positioning server, and the first base station And the second base station group, respectively, the time when the signal radio wave is transmitted, the means for holding the time when the signal radio wave is received, the time when the held signal radio wave is transmitted, and the time when the signal radio wave is received Means for transmitting to the positioning server, and the mobile terminal comprises means for holding a time when the signal radio wave is received and a transmission time of the first base station transmitted from the first base station, One base station transmits at least two signal radio waves to the second base station group and the mobile terminal within the first positioning period, and each of the second base station group , At least once for the first base station within the first positioning period. Means for transmitting a signal radio wave, and the positioning server receives a transmission time and a reception time of each base station received from the first base station and the second base station group within a first positioning period. Each base station simultaneously with respect to the mobile terminal using the scale of the second base station group, means for determining the offset, each determined scale, offset, and a predetermined repetition time, Alternatively, the mobile terminal comprises a means for determining a time for transmission with a known time difference and notifying each base station, and the mobile terminal transmits the transmission time of the first base station and the movement within the first positioning period. Means for determining the scale of the mobile terminal using the reception time of the terminal, and each base station is notified from the positioning server to the mobile terminal during the second positioning period. Send at the same time or with a known time difference Means for transmitting a signal radio wave to the mobile terminal at a time at which the mobile terminal receives the signal radio wave received from each base station within the second positioning period, and the determined mobile terminal Means for determining a difference between a propagation delay time from the mobile terminal to a predetermined base station and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station; Means for determining the position coordinates of the mobile terminal using the difference between the determined at least two delay times and the position coordinates of the first base station and the second base station group; The wireless positioning system according to claim 1 is used.
Preferably, in the wireless positioning system, the first base station further transmits at least one signal radio wave within the third positioning period to the second base station group and the mobile terminal. Means for transmitting a report, wherein the positioning server receives from the second base station group the transmission time and the reception time obtained in the first positioning period, and the second positioning station within the third positioning period. Means for determining a scale and an offset by a least-squares method using a transmission time and a reception time in more than one broadcast transmission performed by one base station to the second base station group; Means for the terminal to determine a scale by a least-squares method using the first positioning period, the transmission time of the first base station obtained at the third positioning time, and the reception time of the mobile terminal; The method according to claim 1, further comprising: Using the line positioning system.

  Preferably, there are a plurality of mobile terminals in the wireless positioning system, and each base station transmits a signal radio wave to each mobile terminal individually or in a broadcast manner to each mobile terminal, The radio positioning system according to claim 1, wherein each mobile terminal determines each position coordinate using the time received by each mobile terminal and the position coordinates of each base station.

  Preferably, the wireless positioning system further includes, within a second positioning period, each mobile terminal obtains each position coordinate obtained by at least one of the base stations to the identified specific mobile terminal user. Means for transmitting via a network, or means for transmitting to a user of a specific identified fixed terminal via a network connected to a positioning server, and repeating the first positioning period as a first positioning period, The positioning period of 2 is set as the second positioning period and is repeated independently of the first positioning period, thereby determining the position coordinates of the mobile terminal and notifying the identified user of the position coordinates of the mobile terminal, The wireless positioning system according to claim 1, further comprising means for repeating the operation at a second positioning cycle.

Preferably, the wireless positioning system performs initial setting of the scale and offset of the second base station group and initial setting of the scale of the mobile terminal in the first positioning period, and then performs the third setting. The positioning period of the mobile terminal is determined and the identification is repeated by repeating the positioning period at a first positioning period, setting the second positioning period as a second positioning period, and repeating independently of the first positioning period. Means for repeating the notification of the mobile terminal position coordinates to the user in the second positioning cycle, and the third positioning period inserted at the beginning of an integral multiple of the first positioning cycle. A positioning cycle is provided, and the scale and offset of the second base station group and the scale of the mobile terminal are updated for each of the third positioning cycles, the position coordinates of the mobile terminal are determined, and the identified user Determined mobile terminal location Using radio positioning system according to claim 1, further comprising a means for repeating the target of notification.
Preferably, in the wireless positioning system, each base station transmits a signal radio wave to the mobile terminal at a broadcast time notified from the positioning server or a predetermined time difference within a second positioning period. The mobile terminal uses the reception time of each signal radio wave received from each base station within the second positioning period as it is without converting it to the time of the first base station, and from the mobile terminal. Means for determining a difference between a propagation delay time to a predetermined base station and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station; and the determined at least two delays The means for determining the position coordinate of the said mobile terminal using the time difference and the position coordinate of the said 1st base station and the said 2nd base station group is provided. Use the wireless positioning system Yes.

  According to the present invention, it is possible to accurately detect the position of a mobile terminal by accurately adjusting the time of a plurality of base stations.

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

  In this embodiment, two transmissions are performed from one base station serving as a reference to the other two base station groups, and one signal is transmitted from each of the other two base station groups to the reference base station. By transmitting, the time of three base stations is adjusted, and the position of the mobile terminal is detected using the time received by each base station from the mobile terminal.

・ "Configuration of Wireless Positioning System of Example 1"
The configuration of the wireless positioning system in the present embodiment is shown in FIG.

  In FIG. 3, reference numeral 301 is a base station A serving as a reference, 302 is a base station B, 303 is a base station C, 304 is a mobile terminal M, <1> and <3> are transmission routes from the base station A301 to the base station B302. , <2> is a transmission route from the base station B302 to the base station A301, <4> and <6> are transmission routes from the base station A301 to the base station C303, and <6> is a transmission route from the base station C303 to the base station A301. A transmission route <7> indicates a simultaneous transmission route from the mobile terminal M304 to the base station A, base station B, and base station C, respectively.

  FIG. 4 shows in detail the relationship among the base station A301, base station B302, and mobile terminal M304 in FIG. 3, and shows each delay time. 4, the same components as those in FIG. 3 are given the same numbers.

In FIG. 4, 411 is a transmission antenna of the base station A, 412 is a reception antenna of the base station A301, 413 is a reception antenna of the base station B302, 414 is a transmission antenna of the base station B302, 415 is a transmission antenna of the mobile terminal M304, T _{ta, T ra} is the internal timer at the base station A301, the delay time until the delay time and the receive antenna 412 to the transmission antenna _411, T _tb, the internal timer in the _{T rb} is the base station B302, a delay time to the transmission antennas 414 And T _tm is the delay time from the internal timer in the mobile terminal M304 to the transmission antenna 415, and T _pab is the propagation delay time from the transmission antenna of the base station A301 to the reception antenna 413 of the base station B302. , _{T pma} the transmission of the mobile terminal M304 Propagation delay time from the antenna 415 to the reception antenna 412 of the base station _{A301, T pmb} denotes a propagation delay time to the reception antenna 413 of base station B302 from the transmission antenna 415 of the mobile terminal M304.

・ "Method of determining arrival time difference from mobile terminal to each base station in embodiment 1"
With reference to FIG. 4, a method will be described in which time adjustment is performed at each base station and the arrival time difference from the mobile terminal M304 to each base station is obtained.

  Each of the base station A301, the base station B302, and the mobile terminal M304 has a timer therein, and can measure the time when the signal is transmitted and the time when the signal is received. However, since the three timers cannot indicate the exact same time, the timer times of the base station B302 and the mobile terminal M304 are calibrated with reference to the timer of the base station A301.

Assuming that the time (same time) when an event occurs is measured as T _{b by} the timer of the base station A 301 and T _b ′ is measured by the timer of the base station B 302, the relationship of equation (1) is established.

However, S _b scale (time step) ratio to the base station A timer of the base station B timer, T _ob denotes a offset (difference between the absolute time) for the base station A timer of the base station B timer. That is, the time measured at the base station B302 is converted into the time of the base station A301 (hereinafter referred to as the reference time) by the equation (1).

The arrival time difference from the mobile terminal M304 to the base station A301 and the base station B302 is obtained. From the mobile terminal M304 by sending route 3 <7>, and transmits a radio signal at a time T _m of a reference time, when received at the base station A301 and base station B302, equal to the the (reference time measured by the base station A301 ) The reception time _Tam is given by equation (2).

In the base station B302 and received at virtual time T _bm by standard time, expressed in (1) was actually measured at the base station B302 by formula (different from the reference time) reception time T _bm '(3) formula It becomes.

(2) Subtracting (3) the right two sides from equation delay time T _pma from the mobile terminal M304 to the base station A301, Motomari the difference in delay time _{T pmb} from the mobile terminal M304 to the base station B302, Assuming that T _ra = T _rb , (4) is obtained.

From equation (4), the required arrival time difference (T _pma −T _pmb ) is _related to the reception time T _am measured at the base station A 301, the reception time T _bm ′ measured at the base station B 302, and the timer of the base station B 302. constant _{S b,} obtained by _{T ob.}

Similarly, the arrival time difference (T _pma −T _pmc ) from the mobile terminal M304 to the base station A301 and the base station C303 is determined by the transmission route <7>.

However, shows S _c is scaled (time step) ratio to the base station A timer of the base station C timer, T _oc is the offset for the base station A timer of the base station C timer (the difference in absolute time) respectively.
From the equation (5), the required arrival time difference (T _pma −T _pmc ) relates to the reception time T _am measured at the base station A301, the reception time T _cm ′ measured at the base station C303, and the timer of the base station C303. It is obtained by the constants S _c and T _oc .

Then, the constant _S b of base station _{B302, T ob} and constants _S c of the base station _C303, a method for determining the _{T oc} is described.

First, the constant _S b of base station _B302, Request _{T ob.} In the transmission route <1> of FIG. 3, when a radio signal is transmitted from the base station A301 at the reference time T _a1 and received at the base station B 302 at the time T _b1 ′ of the base station B,

Where T _dab = T _ta + T _pab + T _rb and the total propagation delay time from the base station A timer to the base station B timer.
Next, the transmitting route <2> in FIG. 3, the base station B302, transmits a radio signal at time _{T b2} 'of the reference time, the base station A301, When received at time _{T a2} of the base station A,

Furthermore, transmission routes with <3> in FIG. 3, the base station A301, transmits a radio signal at a time _{T a3} reference time, the base station B302, assuming that received at time _{T b3} 'of the base station B,

In the equations (6), (7), and (8), there are three unknowns, S _b , T _ob , and T _dab , and the rest are times measured at the time of each base station, so S _b , _Tob is obtained,
(9) and (10).

T _dab can be determined by substituting the determined S _b and T _ob into the equation (6).

Thus, one round trip half of the communication between the base station A301 and base station B302 (transmission route 3 <1>, <2>, <3>) by a constant, the scale _{S b} relates timer of the base station B302, An offset _Tob can be determined. Using the determined _{S b} and _{T ob,} equation (4), the mobile terminal M304, arrival time difference to the base station B302 to the base station A301 _(T pma _{-T pmb)} were measured at each base station Can be calculated using time.

Next, the constants S _c and T _{oc of} the base station C303 are obtained by the same analysis as that for the base station B302. As a result, one reciprocation half between the base station A301 and base station C303 (transmission route 3 <4>, <5>, <6>) by communication, a timer related constants, the scale _{S c} of the base station C303, The offset T _oc can be determined and is expressed by equations (11) and (12).

  However, the time suffix indicates the measurement of the transmission routes <4>, <5>, and <6> in each base station A and base station B as described above.

Thus, the communication of one reciprocation half between the base station A301 and base station C303 (transmission route <4> in FIG. 3, <5>, <6>) by a constant, the scale _{S c} relates timer of the base station C303, An offset _Toc can be determined. Using the determined S _c and T _oc , the arrival time difference (T _pma −T _pmc ) from the mobile terminal M304 to the base station A301 and the base station C303 was measured at each base station using Equation (5). Can be calculated using time.

・ "Mobile terminal location determination method according to the first embodiment"
A method for determining the position of the mobile terminal M304 will be described with reference to FIG.

In FIG. 5, the same components as those in FIG. The position coordinates of the base station A301, the base station B302, the base station C303, and the mobile terminal M304 are respectively represented by (x _a , y _a ), (x _b , y _b ), (x _c , y _c ), (x _m , y _m ), and the distances from the mobile terminal M304 to the base station A301, the base station B302, and the base station C303 are _denoted by r _a , r _b , and rc, respectively.

  The relationship between each coordinate and distance is

Further, the distance difference d _ab = r _a −r _b from the mobile terminal M304 to the base station A301 and the base station B302 is d _ab = c (T _pma −T _pmb ), where c is the speed of light. , _Rb is given by equation (16).

Similarly, the mobile terminal M304, the distance difference _d ac ₌ r a -r _c to the base station C303 to the base station _A301, since a _{d ac = c (T pma -T} pmc), r c is (17 ).

(16), the _r b, _{r c} by equation (17), (14), by substituting in (15),
(13), (14), from (15), the unknowns x _m, y _m, expression of matrix representing simultaneous equations containing _{r a} (18) is obtained.

However, A is a matrix of 2 rows and 2 columns, and each element is
_{a 11 = 2 (x b -x} a) a 12 = 2 (y b -y a)
_{a 21 = 2 (x c -x} a) a 22 = 2 (y c -y a)
B is a matrix with 2 rows and 1 column.
b ₁ = 2c (T _pma −T _pmb )
b ₂ = 2c (T _pma −T _pmc )
C is a matrix with 2 rows and 1 column.
c ₁ = −x _a ² + x _b ² −y _a ² + y _b ² −c ² (T _pma −T _pmb ) ²
c ₂ = −x _a ² + x _c ² −y _a ² + y _c ² −c ² (T _pma −T _pmc ) ²
If x _{m and} y _m are obtained from the equation (18) under the condition detA ≠ 0, the equation (19) is obtained by using the inverse matrix A ⁻¹ of A.

(19) _x m by equation respectively _{y m,} are substituted into (13),
Unknowns x _m, does not contain y _m, are the secondary equation for unknowns ra, r _a is the coordinates of each base station, as a solution expressed by the signal arrival time difference from the mobile station M304 measured at each base station I want. The resulting solution r _a, (19) By substituting the equation, coordinate values x _m and y _m of the mobile station M is determined respectively for determining the position of the mobile station M is determined.

・ "Operation of Wireless Positioning System of Example 1"
A detailed configuration of the wireless positioning system in the present embodiment is shown in FIG. 6 and the operation of the system will be described.

  6, the same components as those in FIG. 3 are given the same numbers. Reference numeral 601 denotes a transmission / reception antenna of the base station A301, 602 denotes a transmission / reception antenna of the base station B302, 603 denotes a transmission / reception antenna of the base station C303, 604 denotes a transmission / reception antenna of the mobile terminal M304, 605 denotes a transmission unit of the base station A301, and 606 denotes a base station A301. 607 is the receiving unit of the base station A301, 608 is the receiving time holding unit of the base station A301, 609 is the positioning server, 610A is the time holding unit of the base station A in the positioning server, and 610B is in the positioning server 610C is a time holding unit of the base station C in the positioning server, 611B is a base station B time correcting unit, 611C is a base station C time correcting unit, 612B is a base station B scale, and offset calculation. 612C is a base station C scale, an offset calculator, and 613 is a positioning calculator.

The transmission routes <1> shown in FIG. 3, the time the time T _a1 that has transmitted the radio signal from a base station A301, held at the transmission time holding unit 606 of FIG. 6, the base station B302, which receives the radio signal T _b1 ′ is held in a reception time holding unit (not shown) of the base station B. Next, in the transmission route <2> shown in FIG. 3, the time T _b2 ′ at which the radio signal is transmitted from the base station B302 is held in a transmission time holding unit (not shown) of the base station B, and the base station A301. Then, the time Ta2 at which the radio signal is received is held in the reception time holding unit 608 of the base station A. Further, the transmission route <3> shown in FIG. 3, the time _{T a3} that transmitted the radio signal from a base station A301, held at the transmission time holding unit 606 of FIG. In the base station B302, the time _Tb3 ′ when the radio signal is received is held in a reception time holding unit (not shown) of the base station B. Similarly, the transmission time and reception time of the base station A301 for the transmission routes <4>, <5>, <6> between the base station A301 and the base station C303 shown in FIG. Holding unit 606 and reception time holding unit 608 hold the transmission time and reception time of base station C303 in the transmission time holding unit and reception time holding unit (not shown) of base station C303.

  The arrival time from the mobile terminal M304 is held in the reception time holding unit 608 of the base station A301 and the reception time holding units (not shown) of the base station B302 and the base station C303.

  The time held in each base station is sent to the positioning server 609.

  In the positioning server 609, the time data from the base station A301 is held by the base station A time holding unit 610A, the time data from the base station B302 is held by the base station B time holding unit 610B, and the time data from the base station C303 is stored. Is held by the base station C time holding unit 610C.

For the time data of the transmission routes <1>, <2>, <3>, the base station B scale and offset calculation unit 612B includes the time data from the base station A time holding unit 610A and the base station B time holding unit. using time data from 610B, (9), the equation (10), obtaining the scale _{S b} and offset _{T ob} base station B. Obtained _{S b,} using a _{T ob,} the base station B time correcting unit 611B corrects the (4) of the time _{T bm} base station B302 in the calculation executed '.

Similarly, for the time data of the transmission routes <4>, <5>, <6>, the base station C scale / offset calculation unit 612C includes the time data from the base station A time holding unit 610A, and the base station C using time data from the time holding unit 610C, (11), the equation (12) obtains the scale _{S c} and offset _{T oc} base station C. Using the determined S _c and T _oc , the base station C time correction unit 611C corrects the time T _mc ′ of the base station C in the equation (5).

The times T _ma , T _mb ′, and T _mc ′ when the radio signal from the mobile terminal M304 arrives at the base station A301, the base station B302, and the base station C303 are sent from each base station to the positioning server 609, respectively. It is held in the station A time holding unit 610A, the base station B time holding unit 610B, and the base station C time holding unit 610C. T _mb ′ is corrected in the base station B time correction unit 611B by the equation (4) by S _b and T _ob provided from the base station B scale and offset calculation unit 612B. T _mc ′ is corrected by Equation (5) in the base station C time correction unit 611C by S _c and T _oc provided from the base station C scale and offset calculation unit 612C.

In the positioning calculation unit 613, the corrected time data from the base station A time holding unit 610A, the base station B time correction unit 611B, and the base station C time correction unit 611C, and the previously stored base station A301, base station B302, base The position coordinates (x _m , y _m ) of the mobile terminal M304 are determined by calculating the equations (13) to (19) using the position coordinate data of the station C303.

When the position coordinates (x _m , y _m ) of the mobile terminal M304 are determined, each base station and the mobile terminal M304 again communicate with each other through the transmission routes <1> to <7> in FIG. The process of transmitting data to the server 609 and determining the position coordinates (x _m , y _m ) of the mobile terminal M is repeated.

  Note that the time adjustment and the position coordinate determination of the mobile terminal M may be performed asynchronously. In this case, the time adjustment of <1> to <6> and the position coordinate determination of <7> are necessarily performed collectively. Do not mean. For example, the time adjustment of <1> to <6> may be repeatedly performed at a constant cycle, and the position coordinates of the mobile terminal M may be determined only when necessary, and communication <7> may be performed at that time.

  The position of the mobile terminal M304 determined by the positioning server 609 can be provided to the identified specific user. The user of the mobile terminal is notified via at least one of the plurality of base stations in FIG. 3, and the user of the fixed terminal is notified via a network connected to the positioning server 609 (not shown). .

・ "Measurement method of transmission / reception time of Example 1"
A highly accurate transmission / reception time measurement method using an impulse radio wave, which is a kind of ultra-wideband (UWB) in this embodiment, will be described with reference to FIGS. FIG. 7 shows a block diagram of the base station, and FIG. 8 shows a transmission data format.

  In FIG. 7, 701 is an MPU (microprocessor unit), 702 is transmission data, 703 is a PPM (pulse position modulation) data modulation unit, 704 is a PN sequence generation unit, 705 is a transmission time holding unit, 706 is a timer, and 707 is Impulse generator, 708 is a transmission BPF (bandpass filter), 709 is a PA (power amplifier), 710 is a transmission antenna, 711 is a reception antenna, 712 is a reception BPF (bandpass filter), and 713 is an LNA (low noise amplifier) , 714 indicates a pulse detection unit, 715 indicates a correlator, 716 indicates a reception time holding unit, 717 indicates a PPM data demodulation unit, and 718 indicates reception data.

  In FIG. 8, D801 indicates a preamble part (no modulation), D802 indicates a data part (PPM modulation), 811 indicates position hopping for one chip, and 812 indicates position hopping for one chip.

  As shown in FIG. 8, the first part of the data is a section of preamble D801, and the transmission data 702 sent from the MPU 701 is a pulse of 1 μsec. However, in the preamble D801, the section of 7 pulses of 7 μsec is all 0. is there.

  In FIG. 7, the PPM data modulation unit 703 does not change the time position of the pulse chip input from the PN sequence generation unit 704 when the transmission data 702 sent from the MPU 701 is 0, and changes by 1 chip when the transmission data 702 is 1. Performs (hopping) pulse position modulation.

  The PN sequence generation unit 704 generates an 8-level RS (Reed-Solomon) sequence code sequence, which is a kind of PN sequence, and generates a 1-chip 100 nsec pulse for each 1 μsec period corresponding to the generated code. Generate a pulse waveform placed in For example, corresponding to the code of 576421, a pulse of 100 nsec is positioned at 500 nsec in the first 1 μs interval for the first 5 and 700 nsec in the next 1 μsec interval for the next 7; This is a waveform arranged at a position corresponding to.

  Also, the transmission data 702 sent from the MPU 701 shown in FIG. 8 is a 1 μsec pulse combination code, and is composed of a preamble portion D801 at the beginning of the transmission data and a data portion D802 following this.

  In the preamble part D801, the transmission data 702 is all zero in one cycle of 7 μsec. At this time, in the PPM data modulation unit 703, since the modulation inputs are all 0, the pulse position of the pattern waveform from the PN sequence generation unit 704 is output as it is, and the pulse shown in the preamble portion D801 of FIG. It becomes a signal waveform.

  A data part D802 follows the preamble part D801.

  In the data part D802, the transmission data has an arbitrary code within a predetermined period. For example, when the transmission data is 0110..., The PPM data modulation unit 703 causes the pulse position of the chip to be 0110 due to the pattern waveform 5763421 (more than 7 signs of the normal preamble part) from the PN sequence generation unit 704. .. Corresponding to... Hopping by 1 chip (indicated by 811, 812 in FIG. 8), modulated as 5873..., And hopped to positions of 500 nsec, 800 nsec, 700 nsec, 300 nsec. , The pulse signal waveform shown in the data portion D802 of FIG.

  The PPM-modulated pulse signal is sent to the impulse generator 707, and a very thin impulse is generated at the rising edge of the pulse by the step recovery diode. The generated impulse has a very wide frequency band spectrum, but it is allowed to pass through a BPF 708 (a band-pass filter, for example, a pass band of 3.1 GHz to 10.6 GHz). Outside (for example, 3.1 GHz or less and 10.6 GHz or more) spectral components can be removed. After passing through the BPF, it is amplified by a PA 709 (power amplifier), and a radio wave is radiated from the transmitting antenna 710. When transmitting the transmission data 702, the time when the first data portion pulse after the preamble is generated is determined based on the time of the timer 706 and stored in the transmission time holding unit 705.

  On the other hand, on the reception side, the impulse radio wave received from the reception antenna 711 is amplified by the LNA 713 (low noise amplifier) after removing unnecessary frequency components that cause interference noise by the reception BPF 712, and the pulse signal waveform is outputted by the pulse detection unit 714. Is detected. The pulse detection unit 714 is realized by an envelope detection circuit using a high-frequency diode, a comparator, and the like. The detected pulse signal is compared with the RS sequence code string generated by the PN sequence generation unit 704 by a correlator 715 using a digital matched filter. If the correlator 715 detects the preamble part D801, it is assumed that synchronization has been established, and the detection time of the first pulse of the data part D802 is determined based on the time of the timer 706 and is held in the reception time holding part 716. Further, the PPM data demodulating unit 717 demodulates the received PPM signal of the next data part D802 to reproduce the transmission data 702, and sends it to the MPU 701 as received data 718.

In this embodiment, after one round trip of signal waves is first transmitted from one base station serving as a reference to two or more other base stations, one base station serving as a reference is used. By repeatedly transmitting signals from a station to two or more other base stations, multiple base stations are timed, and the position of the mobile terminal is detected from the time received by the base station from the mobile terminal To do.
・ "Configuration of Wireless Positioning System of Example 2"
FIG. 9 shows the configuration of the wireless positioning system in the second embodiment.

  The second embodiment is different from the first embodiment in that there are four base stations and the configuration of the transmission route between the base stations.

  In FIG. 9, 901 is a base station A serving as a reference, 902 is a base station B, 903 is a base station C, 904 is a base station D, 905 is a mobile terminal M, <1> and <3> are base stations from the base station A 901. <2> is a transmission route from the base station B902 to the base station A901, <4> and <6> are transmission routes from the base station A901 to the base station C903, and <5> is a base station C903. Is a transmission route from the base station A 901 to the base station A 901, <8> is a transmission route from the base station D 904 to the base station A 901, <10>, <9> 11>, <12> are broadcast transmission routes from base station A901 to base station B902, base station C903, and base station D904, and <13> is base station A901, base station B902, base station C903 from mobile terminal M905. Indicating broadcast transmission route to the base station D904, respectively.

  In two-dimensional positioning by TDOA, at least three base stations are sufficient. However, base stations that cannot receive radio waves from mobile terminals may be generated due to radio wave shielding, etc., so take a redundant configuration of 4 base stations or more. Is realistic. In that case, in addition to the base station B902, the base stations C903, D904,... And a large number of base stations need to be time aligned with the base station A901, but while receiving signals from the mobile terminal M905, the base station It may take too much time to transmit and receive one and a half rounds of radio waves between A901 and base station B902, between base station A901 and base station C903, between base station A901 and base station D904,. In the second embodiment, transmission / reception of one round and a half of radio waves is initially performed, and thereafter, the base station A 901 can broadcast and transmit to other base stations to quickly update the time adjustment of each base station and perform positioning.

  In the second embodiment, there are four base stations as shown in FIG.

・ "Method of determining arrival time difference from mobile terminal to base station in embodiment 2"
As an initial setting of each base station time, first, a fixed delay is obtained by performing one and a half round trips between the base station A 901 and another base station by the method shown in the first embodiment. Thereafter, the fixed delay amount does not change with the passage of time, but the timer scale (clock transmission frequency) and offset change. Therefore, when the mobile terminal M905 performs positioning, the base station A 901 continuously broadcasts and others. The base station B 902, base station C 903, and base station D 904 received the synchronous radio wave, the base station B 901, the base station C 903, and the base station D 904 received the synchronous radio wave to A method for adjusting the time of the base station B902, the base station C903, and the base station D904 from the time will be described.

In the same manner as in Example 1, <1> in FIG. 9, <2>, when one reciprocation half between the base station A901- base station B902 by sending route of <3>, the scale _{S b} of base station B902, offset T _ob is (9), obtained in (10), total _{T dab} propagation delay time from the base station A901 to the base station B902 is determined.

Further, <4> in FIG. 9, <5>, when one reciprocation half between the base station A901- base station C903 by sending route <6>, the scale S _c of the base station C903, offset _{T oc} is (11), The total propagation delay time T _dac from the base station A 901 to the base station C 903 is obtained by the equation (12).

Furthermore, in exactly the same for the base station D 904 did in Example 1, 1 when reciprocating halfway between the base station A901- base station D 904, the scale _{S d} of the base station D 904, offset _{T od} and from the base station A901 total _{T dad} of propagation delay time of up to a base station D904 is required.

The propagation delay times T _dab , T _dac , and T _dad between the base station A 901 and the other base stations obtained as described above are set as initial setting values. Since the scales S _b , S _c , S _d , offsets T _ob , T _oc , T _od of each base station change, they are continuously updated by the method described below.

    A synchronized radio wave is continuously transmitted from the base station A 901 to each base station.

First, transmission from the base station A 901 to the base station B 902 will be described. The time at which the base station A 901 transmits the signal radio wave is T _a10 , T _a11 , T _a12 corresponding to the transmission routes <10>, <11>, and <12> in FIG. 9, and the base station B 902 transmits the radio wave. When the received times are times T _b10 ′, T _b11 ′, T _b12 ′ according to the time of the base station B 902,

Since T _dab is obtained by initial setting, it is obtained for S _b and _Tob . Since there are two unknowns, S _b and _Tob, the two equations can be obtained, but in order to increase the measurement accuracy, calculation is performed by the least square method using the three equations (20), (21), and (22). , S _b , _Tob are obtained.

In FIG. 9, the transmission of the synchronization signal radio wave for broadcast is shown three times, <10>, <11>, and <12>. However, it is performed appropriately many times to increase the update accuracy of S _b and _Tob. I can do it.

For the other base stations C 903 and D 904, the same synchronization signal radio waves received by the base station B are received through the transmission routes <10>, <11>, and <12>, and the reception time is set. Since measurement is performed, the base station C 903 can update S _c and T _oc and the base station D 904 can update S _d and T _od with high accuracy.

Next, when each base station broadcasts a signal radio wave from the mobile terminal M905 via the transmission route <13>, using the updated S _b , T _ob , S _c , and T _oc , the equations (4) and (5) ) The arrival time differences T _pma -T _pmb and T _pma -T _pmc are _{obtained from} the equation (1). The updated _{S d,} using the _{T od,} the and can be determined the arrival time difference _T pma _{-T pmd} to the base station D904 in the same manner.

As described in the first embodiment, the arrival at the other two base stations from the mobile end M905 with respect to the position coordinates of the reference base station A901 and other base stations and the signal radio wave arrival time from the mobile end M905 to the base station A901. If the time difference is obtained, the position coordinates (x _m , y _m ) of the mobile terminal M905 can be determined using equations (13) to (19). Therefore, for example, if a signal radio wave from the mobile terminal M905 is received by the base station A901 and received by at least two of the other base stations B902, C903, and D904, the position of the mobile terminal M905 is Can be determined.

  The configuration of the positioning system of the second embodiment, the block diagram of the base station, and the transmission data format are the same as those of the first embodiment, and are shown in FIGS. 6, 7, and 8, respectively.

The position coordinates (x _m , y _m ) of the mobile terminal M are determined as described above. However, the time adjustment and the position coordinate determination of the mobile terminal M905 may be performed asynchronously. In this case, the time adjustment is constant. It is performed continuously in a cycle. For example, the same broadcast transmission route <14> (not shown) as <10> is communicated, and the latest three broadcast transmission signals <11>, <12>, <14> are used ( 20), (21), and (22) may be calculated by the method of least squares using the same equation as the three equations, S _b and T _ob may be updated, and this may be repeated. During this time, if there is a broadcast transmission signal of <13> from the mobile terminal M905, _S b at that _{time, T ob} position coordinates of the mobile terminal M905 with _(x m, _{y m)} to determine.

Further, the propagation delay times T _dab , T _dac , and T _dad between the base station A 901 and each other base station have been described as not changing after the initial setting, but may actually change due to a temperature change or the like. is there. In that case, transmission of signal waves of one and a half rounds performed between the base station A 901 and each other base station, which was performed in the initial setting, is periodically performed, and propagation delay times T _dab , T _dac , T _dad may be updated.

  The position of the mobile terminal M905 determined by the positioning server 609 can be provided to the identified specific user. The user of the mobile terminal is notified via at least one of the plurality of base stations in FIG. 9, and the user of the fixed terminal is notified via a network (not shown) connected to the positioning server 609. .

In this embodiment, part or all of the transmission of signal radio waves from the reference base station to the other two or more base stations is performed in a broadcast manner, and from the other two or more base stations. Transmission to the base station serving as a reference is performed individually to time-match the plurality of base stations, and the position of the mobile terminal is detected from the time received by the plurality of base stations from the mobile terminal.
・ "Configuration of wireless positioning system of Example 3"
FIG. 10, FIG. 11, and FIG. 12 show configuration examples of this embodiment.

  In the third embodiment, the configurations of a plurality of base stations and mobile terminals are the same as those of the second embodiment, but the configuration of the transmission route between each base station is different from that of the second embodiment.

  10, FIG. 11, and FIG. 12, the same components as those in FIG.

"Determination method of arrival time difference from mobile terminal to each base station in FIG. 10 of Embodiment 3"
10, <1> is a transmission route from the base station A901 to the base station B902, <2> is a transmission route from the base station B902 to the base station A901, and <3> is a base station A902 to the base station B902. Broadcast transmission route to C903, <4> is a transmission route from base station C903 to base station A901, <5> is a broadcast transmission route from base station A901 to base station C903, base station D904, and <6> is A transmission route from the base station D904 to the base station A901, <7> is a transmission route from the base station A901 to the base station D904, <8> is a base station A901, base station B902, base station C903, base station from the mobile terminal M905 Broadcast transmission routes to station D904 are shown.

  In FIG. 10, the second transmission to each base station in one round-trip communication with the other three base stations from the base station A 901 is shared with the first transmission with the next base station. As a result, the base station A 901 can be quickly timed with each other base station.

In the method shown in FIG. 10, one round-trip communication is performed from the base station A 901 to the base station B 902, the base station C 903, and the base station D 904, and (9), (10 ) To determine the scale S _b and offset T _ob of the base station B, and to determine the scale S _c and offset T _oc of the base station C from equations (11) and (12). A scale S _d and an offset _Tod are obtained.

Then, the transmission route <8> from the mobile terminal M905, when each base station broadcasts receives radio waves, the base station B 902, for base station C903, obtained _{S b, T ob, S c} , T oc _{Are used} to find arrival time differences T _pma -T _pmb and T _pma -T _{pmc according} to equations (4) and (5). The obtained _{S d,} using the _{T od,} it is possible to determine the arrival time difference _T pma _{-T pmd} is the base station D904 in the same manner as described above.

As described in the first embodiment, the arrival at the other two base stations from the mobile end M905 with respect to the position coordinates of the reference base station A901 and other base stations and the signal radio wave arrival time from the mobile end M905 to the base station A901. If the time difference is obtained, the positioning server 609 can determine the position coordinates (x _m , y _m ) of the mobile terminal M905 using the equations (13) to (19).

  Therefore, for example, if the signal radio wave from the mobile terminal M905 is received by the base station A901 and received by at least two of the other base stations B902, C903, and D904, the positioning server of FIG. By transmitting data to 609, the position of the mobile terminal M905 can be determined.

When the position coordinates (x _m , y _m ) of the mobile terminal M are determined, each base station and the mobile terminal M 905 then communicate with each other through the transmission routes <1> to <8> in FIG. It repeats transmitting data to the positioning server 609 of 6 and determining the position coordinates (x _m , y _m ) of the mobile terminal M905.

  Note that the time adjustment and the position coordinate determination of the mobile terminal M may be performed asynchronously. In this case, the time adjustment of <1> to <7> and the position coordinate determination of <8> are necessarily performed collectively. Do not mean. For example, the time adjustment of <1> to <7> may be repeatedly performed at a constant cycle, and the position coordinates of the mobile terminal M may be determined only when necessary, and communication <8> may be performed at that time.

“Determination method of arrival time difference from mobile terminal to each base station in FIG. 11 of Embodiment 3”
In FIG. 11, <1>, <3>, <5> are broadcast transmission routes from the base station A901 to the base station B902, base station C903, and base station D904, and <2> is from the base station B902 to the base station A901. <4> is a transmission route from the base station C903 to the base station A901, <6> is a transmission route from the base station D904 to the base station A901, and <7> is a base station A901 from the mobile terminal M905 to the base station A901. Broadcast transmission routes to B902, base station C903, and base station D904 are shown.

  In FIG. 11, in one round-trip communication from the base station A 901 to the other three base stations, two transmission routes <1> and <3> to each base station and the next one transmission route < 5> is shared and transmitted. Transmission from the other three base stations to the base station A 901 is performed through transmission routes <2>, <4>, and <6>, respectively. The one round trip communication determines the scale and offset of each base station and the propagation delay time from the base station A 901 to each base station. In the same manner as in Example 2, the scale and offset can be determined with high accuracy using the least square method or the like with respect to the scale and offset of each base station obtained by the one and a half rounds.

  As a result, the base station A 901 can be quickly timed with each other base station.

In the method of FIG. 11, one round-trip communication is performed from the base station A 901 to the base station B 902, the base station C 903, and the base station D 904, and the equations (9) and (10) are performed in the same manner as in the first embodiment. by obtains the scale _{S b} and offset _{T ob} base station B, (11), (12 ) the equation, the scale S of scale _{S c} and the offset _{T oc} look, also in the same manner base station D of the base station C _d and offset _Tod are obtained.

Then, the transmission route <7> from the mobile terminal M905, when each base station broadcasts receives radio waves, the base station B 902, for base station C903, obtained _{S b, T ob, S c} , T oc _{Are used} to find arrival time differences T _pma -T _pmb and T _pma -T _{pmc according} to equations (4) and (5). The obtained _{S d,} using the _{T od,} it is possible to determine the arrival time difference _T pma _{-T pmd} is the base station D904 in the same manner as described above.

As described in the first embodiment, the arrival at the other two base stations from the mobile terminal M905 with respect to the position coordinates of the reference base station A and the other base stations and the signal radio wave arrival time from the mobile terminal M905 to the base station A901. If the time difference is obtained, the positioning server 609 can determine the position coordinates (x _m , y _m ) of the mobile terminal M905 using the equations (13) to (19).

  Therefore, for example, if the signal radio wave from the mobile terminal M905 is received by the base station A901 and received by at least two of the other base stations B902, C903, and D904, the positioning server of FIG. By transmitting data to 609, the position of the mobile terminal M905 can be determined.

When the position coordinates (x _m , y _m ) of the mobile terminal M are determined, each base station and the mobile terminal then perform communication on the transmission routes <1> to <7> in FIG. Repeatedly transmitting data to the positioning server 609 to determine the position coordinates (x _m , y _m ) of the mobile terminal M.

  Note that the time adjustment and the position coordinate determination of the mobile terminal M may be performed asynchronously. In this case, the time adjustment of <1> to <6> and the position coordinate determination of <7> are necessarily performed collectively. It is not the same as others.

“Determination method of arrival time difference from mobile terminal to each base station in FIG. 12 of Embodiment 3”
In FIG. 12, <1> and <5> are broadcast transmission routes from the base station A901 to the base station B902, base station C903, and base station D904, <2> is a transmission route from the base station B902 to the base station A901, <3> is a transmission route from the base station C903 to the base station A901, <4> is a transmission route from the base station D904 to the base station A901, and <6> is a mobile station M905 to the base station A901, base station B902, base station Broadcast transmission routes to C903 and base station D904 are shown.

  In FIG. 12, two transmissions <1> and <5> to each base station are shared and transmitted by broadcast in one round-trip communication from the base station A 901 to the other three base stations. The transmission routes <2>, <3>, and <4> from each base station to the base station A901 are performed simultaneously by frequency division or code division or by time division so as not to be congested in the receiving base station A901. I can do it.

  By one round-trip communication, the scale and offset of each base station and the propagation delay time from the base station A 901 to each base station are obtained. As a result, the base station A 901 can be quickly timed with each other base station.

In the method of FIG. 12, one round-trip communication is performed from the base station A 901 to the base station B 902, base station C 903, and base station D 904, and the equations (9) and (10) are performed in the same manner as in the first embodiment. by obtains the scale _{S b} and offset _{T ob} base station b 902, (11), by (12), the scale _{S c} and the offset _{T oc} look, also the scale S of the base station D904 in the same base station C903 _d and offset _Tod are obtained.

Then, the transmission route <6> from the mobile terminal M905, when each base station broadcasts receives radio waves, the base station B 902, for base station C903, obtained _{S b, T ob, S c} , T oc _{Are used} to find arrival time differences T _pma -T _pmb and T _pma -T _{pmc according} to equations (4) and (5). The obtained _{S d,} using the _{T od,} it is possible to determine the arrival time difference _T pma _{-T pmd} is the base station D904 in the same manner as described above.

As described in the first embodiment, the arrival at the other two base stations from the mobile end M905 with respect to the position coordinates of the reference base station A901 and other base stations and the signal radio wave arrival time from the mobile end M905 to the base station A901. If the time difference is obtained, the positioning server 609 can determine the position coordinates (x _m , y _m ) of the mobile terminal M905 using the equations (13) to (19).

  Therefore, for example, if the signal radio wave from the mobile terminal M905 is received by the base station A901 and received by at least two of the other base stations B902, C903, and D904, the positioning server of FIG. By transmitting data to 609, the position of the mobile terminal M905 can be determined.

When the position coordinates (x _m , y _m ) of the mobile terminal M are determined, each base station and the mobile terminal again perform communication of transmission routes <1> to <6> in FIG. Repeatedly transmitting data to the positioning server 609 to determine the position coordinates (x _m , y _m ) of the mobile terminal M905.

  Note that the time adjustment and the position coordinate determination of the mobile terminal M may be performed asynchronously. In this case, the time adjustment of <1> to <5> and the position coordinate determination of <6> are necessarily performed collectively. It is not the same as others.

As described above, in the third embodiment, the position of the mobile terminal M905 determined by the positioning server 609 by the method according to FIGS. 10, 11, and 12 can be provided to the identified specific user. The user of the mobile terminal is notified via at least one of the plurality of base stations in FIGS. 10, 11, and 12, and the user of the fixed terminal is notified of a network (not shown) connected to the positioning server 609. Be notified through.

In this embodiment, after performing time adjustment of a plurality of base stations by transmitting a signal wave of one and a half round trips from the reference base station to another base station, at the same time according to the time adjustment result, each base station A signal radio wave is transmitted from the station to the mobile terminal, and the position of the mobile terminal is detected based on a difference in time at which the mobile terminal receives the signal radio wave from each base station.
"Configuration of wireless positioning system of Example 4"
FIG. 13 shows a configuration example of this embodiment.

  In FIG. 13, the same components as those in FIG. In FIG. 12, <1> and <5> are broadcast transmission routes from the base station A901 to the base station B902, base station C903, base station D904, and mobile terminal M905, and <2> is from the base station B902 to the base station A901. <3> is a transmission route from the base station C903 to the base station A901, <4> is a transmission route from the base station D904 to the base station A901, <6>, <7>, <8>, <9 > Indicates transmission routes from the base station A 901, base station B 902, base station C 904, and base station D 903 to the mobile terminal M 905, respectively.

・ "Method of determining arrival time difference from mobile terminal to each base station in embodiment 4"
As in the third embodiment, the time adjustment of each base station is performed by one round trip communication <1> to <5> between the base station A and another base station.

In the fourth embodiment, transmission from the base station A 901 to the other base stations and the mobile terminal M 905 by broadcast using the transmission routes <1> and <5> and transmission from each base station to the base station A 901 <2 >, <3>, <4> are transmitted separately. As in the case of the first embodiment, the scale S _b and the offset T _ob of the base station B 902 are calculated by the equations (9) and (10) by one round-trip communication between the base station A 901 and each base station. The scale S _c and offset T _oc of the base station C 903 are obtained from the equations (11) and (12), and the scale S _d and offset To _{od of the} base station D 904 are obtained in the same manner.

In the fourth embodiment, since the scale S _m of the mobile terminal M905 is required and the offset T _om is not required, a transmission route for positioning from the mobile terminal M905 to the base station A 901 is not required. Transmission from the base station A901 to the mobile terminal M905 <1>, the <5>, (9) In the same formula, obtained scale _{S m} of the mobile terminal M905 are.

Then, from each base station, at time _{T 0} in the standard time (time of the base station A901 as a reference), towards the mobile terminal M905, simultaneously transmits route signal waves <6> is transmitted by ~ <9>.

The time T ₀ is notified to each base station from the positioning server 609 (shown in FIG. 6).

The same time T ₀ for transmitting the signal radio wave from each base station to the mobile terminal M905 is naturally T ₀ in the base station A, but in the base station B 902, the base station B showing the same time as the time T ₀ The transmission time T _b ′ by the timer is _expressed by equation (23) from the conversion equation of equation (1) using the time T ₀ notified from the positioning server 609 (shown in FIG. 6).

Similarly, in the base station C 903, the transmission time T _c ′ by the timer of the base station C indicating the same time as the time T ₀ is expressed by equation (24).

Similarly, at the base station D 904, the transmission time T _d according to the timer of the base station D that indicates the same time as the time T ₀ 'is (25).

In the equations (23), (24), and (25), the scales S _b , S _c , S _d and the offsets T _ob , T _oc , _Tod are obtained, so that at the transmission time T ₀ from the base station A 901 On the other hand, the time T _b ′ T _c ′ T _d ′ at which each base station transmits simultaneously can be determined.

A signal radio wave transmitted at time T ₀ from the base station A 901 and from the other base stations at the times represented by the equations (23), (24), and (25) is transmitted from each base station at the mobile terminal M 905. Are received at different times according to the distance. These reception times are expressed by the time of the timer of the mobile terminal M905, and the reception times of signal radio waves from the base station A901, base station B902, base station C903, and base station D904 are indicated by T _ma ′, T _mb ′, and T _mc ′, respectively. , T _md '

However, T _pma , T _pmb , T _pmc , and T _pmd indicate propagation delay times from the base station A 901, base station B 902, base station C 903, and base station D 904 to the mobile terminal M 905, respectively.

  From (26)-(27),

  From (26)-(28),

(30), (31), and (32), the signal radio wave delay time between the mobile terminal M905 and another base station with respect to the signal radio wave delay time between the mobile terminal M905 and the reference base station A901. Is determined using the scale S _m of the mobile end M905 and the signal radio wave arrival time (reception time) of the signal radio wave from each base station measured at the mobile end M905.

As described in the first embodiment, the mobile terminal M905 and at least two other bases with respect to the position coordinates of the reference base station A901 and another base station and the signal radio wave arrival times of the mobile terminal M905 and the base station A901. If the difference in arrival time at the station is obtained by the equations (30), (31), (32), the positioning server 609 uses the equations (13)-(19) to determine the position coordinates (x _m , y _m ) can be determined.

  Therefore, for example, if the mobile terminal M905 receives signal radio waves from the base station A901 and signal radio waves from at least two of the other base stations B902, C903, and D904, the mobile terminal M905 Can transmit data to the positioning server 609 in FIG. 6 via the base station A901 to determine the position of the mobile terminal M905.

  Also, signal radio waves transmitted from each base station to the mobile terminal M905 through the transmission routes <6> to <9> in FIG. 13 are pulse positions with different pseudo-random codes so as not to interfere with each other upon reception by the mobile terminal. Modulated and transmitted.

The position coordinates (x _m , y _m ) <1> to <9> of the mobile terminal M905 are communicated, and the data is transmitted to the positioning server 609 in FIG. 6 to obtain the position coordinates (x _m , y _m ) of the mobile terminal M905. Repeat the decision.

  The time adjustment and the position coordinate determination of the mobile terminal M may be performed asynchronously. In this case, the time adjustment of <1> to <5> and the position coordinate determination of <6> to <9> are not necessarily performed. It is the same as the others that are not performed together.

Also, transmissions <6> to <9> from each base station to mobile terminal M905 do not necessarily have to be simultaneous, and there may be a known time difference. In that case, the reception time at the mobile terminal M905 may be corrected according to the difference in transmission time.
In addition, the same time transmission notification to the mobile terminal M905 using the scale and offset for each base station is performed by the positioning server 609 in FIG. 6, and the mobile terminal M905 receives from each base station. The scale S _m of the mobile terminal M905 is obtained from the received time, the position coordinates of each base station, and the time when the two signals transmitted from the base station A901 are received, and the position coordinates of the mobile terminal M905 are determined. I can do it. In this case, it is necessary to communicate the base station coordinates to the mobile terminal by communicating in advance.

Further, while the time by timer mobile terminal M905 are built, obtains the propagation delay time difference from said arrival time from each base station in a mobile terminal M905, without correction using the scale S _m, the mobile terminal M905 The position coordinates may be determined. (30), (31), (32) was the propagation delay time difference that is represented by the formula, the offset is not included, a timer by the delay time difference of the mobile terminal M905 which is a value obtained by dividing the scale S _m. Since S _m is the ratio of the time step between the timer of mobile terminal M 905 and the timer of base station A 901, if the timer of mobile terminal M 905 is as good as the timer of base station 901, this method will reduce the scale S _m without the correction using, as high accuracy is obtained as when the position coordinates of the mobile terminal M905 using the scale S _m. Furthermore, when transmissions <6> to <9> from each base station to the mobile terminal M905 are simultaneous or when the time difference is short, the time difference to arrive at the mobile terminal M905 is also short, so the error of the scale S _m can be ignored. Therefore, also in this case, it is not necessary to the correction using the scale S _m. In these cases, the mobile terminal M905 are broadcast transmission signal waves transmitted route from the base station A 901 <1>, it is not necessary to determine _{S m} receives the <5>, simplifying processing in mobile terminal M905 has it can.

  In the fourth embodiment, a distance error occurs due to the movement of the mobile terminal M905 during the propagation delay time differences indicated by (30), (31), and (32). Can be ignored. For example, when the difference in the distance between the mobile terminal M905 and another base station with respect to the distance between the mobile terminal M905 and the base station A is 100 m (delay time difference = 0.33 μsec), the moving distance of the mobile terminal M at 60 km / h is About 0.0055 mm, the error is negligibly small.

The position of the mobile terminal M905 determined in the fourth embodiment can be provided to itself or a specific identified user. When the positioning server 609 is used, the user of the mobile terminal other than itself is notified via the plurality of base stations in FIG. 13, and the user of the fixed terminal is notified via the network connected to the positioning server 609 ( Not shown) The user of the fixed terminal is notified by a network (not shown) via the positioning server 609.
(Appendix 1)
In a wireless positioning system that performs positioning of a mobile terminal by communication between a first base station and a second base station group including at least two base stations,
The first base station comprises means for transmitting at least two signal radio waves to the second base station group,
The second base station group includes means for transmitting at least one signal radio wave to the first base station,
The wireless positioning system further includes:
Using the transmission time and reception time of the signal radio wave measured at each base station, the ratio of each time step of the second base station group to the time step of the first base station (hereinafter referred to as scale) And means for determining a time lag (hereinafter referred to as offset) between each time of the second base station group and the time of the first base station,
Means for determining a time obtained by converting the time of the second base station group into the time of the first base station using the determined scale and offset;
Time when the signal radio wave broadcast from the mobile terminal is received at each base station is converted to the time of the first base station, or
A signal radio wave transmitted from each base station to the mobile terminal or transmitted at a predetermined time difference is received at a time converted from the time at the mobile terminal to the time at the first base station, or received at the mobile terminal Use time as is,
Means for determining a difference between a propagation delay time to the mobile terminal and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station;
Means for determining the position coordinates of the mobile terminal using the determined difference between the at least two delay times and the position coordinates of the first base station and the second base station group;
A wireless positioning system comprising:
(Appendix 2)
The wireless positioning system according to attachment 1 includes a first base station, a second base station group including at least two base stations, a mobile terminal, and a positioning server,
The first base station and the second base station group each have a time for transmitting a signal radio wave and a means for holding a time for receiving the signal radio wave,
Means for transmitting a time when the held signal radio wave is transmitted and a time when the signal radio wave is received to a positioning server;
With
The first base station includes means for transmitting signal radio waves to the second base station group at least twice within a first positioning period,
The second base station group includes means for transmitting at least one signal radio wave to the first base station within the first positioning period,
The mobile terminal includes means for transmitting at least one signal radio wave to the first base station within the second positioning period,
The positioning server determines a scale and an offset using a transmission time and a reception time of each base station received from the first base station and the second base station group within the first positioning period. When,
Means for determining a time in which the reception time of the signal radio wave from the mobile terminal is converted into the time of the first base station using the determined scale and offset within the second positioning period;
During the second positioning period, a difference between a propagation delay time from the mobile terminal to a predetermined base station and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station is determined. Means to
Within the second positioning period, using the determined difference between the two delay times and the position coordinates of the first base station and the second base station group, the position coordinates of the mobile terminal Means for determining
The wireless positioning system according to supplementary note 1, comprising:
(Appendix 3)
The wireless positioning system described in Appendix 2 further includes:
Means for conveying the mobile terminal position coordinates determined by the positioning server to a user of the identified specific mobile terminal via at least one of the base stations, or
Means to communicate to the identified fixed terminal user via a network connected to the positioning server;
The wireless positioning system according to appendix 2, characterized by comprising:
(Appendix 4)
The wireless positioning system according to attachment 2 further repeats the first positioning period at a first positioning period, sets the second positioning period as a second positioning period, and is independent of the first positioning period. By repeating
The wireless positioning system according to claim 2, wherein the determination of the position coordinates of the mobile terminal and the notification of the determined mobile terminal position coordinates to the identified user are repeated in the second positioning cycle.
(Appendix 5)
There are a plurality of mobile terminals in the radio positioning system described in Appendix 2, and each mobile terminal transmits a signal radio wave once synchronously or asynchronously, and each base station receives the signal radio wave. The wireless positioning system according to supplementary note 2, wherein coordinates are determined.
(Appendix 6)
The radio positioning system according to claim 2, wherein the signal radio wave transmitted by each base station and mobile terminal is an impulsed ultra-wideband radio signal.
(Appendix 7)
The impulse signal is a signal in which a predetermined pseudo-random digital signal is subjected to pulse position modulation by an arbitrary digital signal, and is impulse-generated at a specific position of the chip width of the pulse position-modulated pseudo-random digital signal. The wireless positioning system according to supplementary note 2, wherein
(Appendix 8)
The wireless positioning system according to claim 2, wherein the predetermined pseudo-random digital signal is a signal that is pulse position modulated by a Reed-Solomon code.
(Appendix 9)
The wireless positioning system according to claim 2, wherein the impulse signals transmitted from the respective base stations and mobile terminals are band-limited by a predetermined band-pass filter and transmitted.

(Appendix 10)
The wireless positioning system described in Appendix 2 is
Means for determining the transmission time of the signal radio wave at each base station with reference to a timer provided in each base station
The determination of the reception time of the signal radio wave at each base station is provided in each base station in a time comparison based on the correlation between the signal received and detected at each base station and the pseudo-random digital signal provided in each base station. Means for performing time determination based on a timer;
The wireless positioning system according to appendix 2, characterized by comprising:
(Appendix 11)
The wireless positioning system according to attachment 1 includes a first base station, a second base station group including at least two base stations, a mobile terminal, and a positioning server,
The first base station and the second base station group each have a time for transmitting a signal radio wave and a means for holding a time for receiving the signal radio wave,
Means for transmitting a time when the held signal radio wave is transmitted and a time when the signal radio wave is received to a positioning server;
With
The first base station comprises means for performing signal radio wave transmission at least twice for each of the second base station groups within the first positioning period,
Each of the second base station group includes means for transmitting at least one signal radio wave to the first base station within the first positioning period,
The first base station comprises means for performing broadcast transmission of signal radio waves to the second base station group at least twice within a second positioning period,
The mobile terminal comprises means for broadcasting to the first base station and the second base station group at least one signal radio signal radio wave within a third positioning period,
The positioning server
Using the transmission time and reception time of each base station received from the first base station and the second base station group within the second positioning period, the scale and offset of the second base station group Means for determining
Means for determining a time when the reception time of the signal radio wave from the mobile terminal is converted into the time of the first base station using the determined scale and offset within the third positioning period;
During the third positioning period, a difference between a propagation delay time from the mobile terminal to a predetermined base station and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station is determined. Means to
Within the third positioning period, using the difference between the determined at least two delay times and the position coordinates of the first base station and the second base station group, the position coordinates of the mobile terminal Means for determining
The wireless positioning system according to supplementary note 1, comprising:
(Appendix 12)
The wireless positioning system according to attachment 11 further includes:
The positioning server is
The scale and offset of the second base station group obtained in the second positioning period are the transmission time and reception time of each base station in the first positioning period, and the first base station in the second positioning period. The base station comprises means for determining by the least square method using the transmission time and the reception time of each base station in the broadcast transmission performed more than twice for the second base station group. The wireless positioning system according to appendix 11.
(Appendix 13)
A plurality of mobile terminals in the wireless positioning system according to appendix 11, each mobile terminal transmits one signal radio wave synchronously or asynchronously, and each base station receives the signal radio wave. The wireless positioning system according to appendix 11, wherein coordinates are determined.
(Appendix 14)
The wireless positioning system according to attachment 11 further includes:
Within the third positioning period,
Means for conveying the mobile terminal position coordinates determined by the positioning server to a user of the identified specific mobile terminal via at least one of the base stations, or
Means to communicate to the identified fixed terminal user via a network connected to the positioning server;
The wireless positioning system according to claim 11, further comprising:
(Appendix 15)
The wireless positioning system according to attachment 11 further includes:
The sum of the first positioning period and the second positioning period is repeated as a first positioning period, the third positioning period is set as a second positioning period, and is independent of the first positioning period. 12. The wireless positioning system according to claim 11, wherein the position coordinates of the mobile terminal and the notification of the position coordinates of the mobile terminal to the identified user are repeated in a second positioning cycle by repeating. .
(Appendix 16)
The wireless positioning system according to attachment 11 further includes:
After initial setting of the scale and offset of the second base station group in the first positioning period, the second positioning period is repeated at a first positioning period, and the third positioning period is set. The second positioning cycle is repeated independently of the first positioning cycle, thereby determining the position coordinates of the mobile terminal and notifying the identified user of the mobile terminal position coordinates in the second The wireless positioning system according to claim 11, wherein the wireless positioning system repeats at a positioning cycle.
(Appendix 17)
The wireless positioning system according to attachment 11 further includes:
A third positioning cycle in which the first positioning period is inserted at the beginning of an integral multiple of the first positioning cycle, and each scale and offset of the second base station group for each third positioning cycle; The wireless positioning system according to claim 11, wherein the mobile terminal position coordinate determination and the notification of the determined mobile terminal position coordinate to the identified user are repeated.
(Appendix 18)
The wireless positioning system according to attachment 1 includes a first base station, a second base station group including at least two base stations, a mobile terminal, and a positioning server,
The first base station and the second base station group each have a time for transmitting a signal radio wave and a means for holding a time for receiving the signal radio wave,
Means for transmitting a time when the held signal radio wave is transmitted and a time when the signal radio wave is received to a positioning server;
With
The first base station transmits at least two signal radio waves to the second base station group within the first positioning period, and less than the two signal radio wave transmissions. Also has means to broadcast one time,
Each of the second base station group includes means for transmitting at least one signal radio wave to the first base station within the first positioning period,
The mobile terminal comprises means for broadcasting to the first base station and the second base station group at least one signal radio signal radio wave within a second positioning period,
The positioning server within the first positioning period,
Means for determining the scale and offset of the second base station group using the transmission time and reception time of each base station received from the first base station and the second base station group;
Means for determining a time at which the reception time of the signal radio wave from the mobile terminal is converted into the time of the first base station using the determined scale and offset within the second positioning period;
Means for determining a difference between a propagation delay time to a predetermined base station and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station within the second positioning period;
Within the second positioning period, using the determined difference between the two delay times and the position coordinates of the first base station and the second base station group, the position coordinates of the mobile terminal Means for determining
The wireless positioning system according to supplementary note 1, comprising:
(Appendix 19)
The wireless positioning system according to appendix 18, wherein the first base station further transmits at least one signal radio wave to the second base station group within a third positioning period. Means for performing
The positioning server is
The scale and offset of the second base station group obtained in the third positioning period are the transmission time and reception time of each base station in the first positioning period, and the first base station in the third positioning period. The base station comprises means for determining by the least square method using the transmission time and reception time of each base station in more than one broadcast transmission to the second base station group. The wireless positioning system according to appendix 18.
(Appendix 20)
A plurality of mobile terminals in the wireless positioning system according to appendix 18, each mobile terminal transmits a signal radio wave once synchronously or asynchronously, and each base station receives the signal radio wave so that the position of each mobile terminal The wireless positioning system according to appendix 18, wherein coordinates are determined.
(Appendix 21)
The wireless positioning system according to attachment 18 further includes:
Within the second positioning period,
Means for conveying the mobile terminal position coordinates determined by the positioning server to a user of the identified specific mobile terminal via at least one of the base stations, or
Means to communicate to the identified fixed terminal user via a network connected to the positioning server;
The wireless positioning system according to claim 18, further comprising:
(Appendix 22)
The wireless positioning system according to attachment 18 further includes:
The first positioning period is repeated at a first positioning period, the second positioning period is set as a second positioning period, and the position coordinates of the mobile terminal are determined by repeating independently of the first positioning period. The wireless positioning system according to claim 18, wherein the mobile terminal position coordinate notification to the identified user is repeated at a second positioning cycle.
(Appendix 23)
The wireless positioning system described in Appendix 18 is
After initial setting of the scale and offset of the second base station group in the first positioning period, the third positioning period is repeated at a first positioning period, and the second positioning period is The second positioning cycle is repeated independently of the third positioning cycle, so that the determination of the position coordinates of the mobile terminal and the notification of the mobile terminal position coordinates to the identified user are performed in a second manner. The wireless positioning system according to appendix 18, wherein the wireless positioning system repeats at a positioning cycle.
(Appendix 24)
The wireless positioning system described in Appendix 18 is
A third positioning cycle in which the first positioning period is inserted at the beginning of an integer multiple of the first positioning cycle, and each scale and offset of the second base station group for each third positioning cycle; The wireless positioning system according to claim 18, wherein the position coordinate of the mobile terminal is updated and the notification of the determined mobile terminal position coordinate to the identified user is repeated.

(Appendix 25)
The wireless positioning system according to attachment 1 includes a first base station, a second base station group including at least two base stations, a mobile terminal, and a positioning server,
The first base station and the second base station group each have a time for transmitting a signal radio wave and a means for holding a time for receiving the signal radio wave;
Means for transmitting the time when the signal radio waves are held and the time when the signal radio waves are received to the positioning server;
With
Means for holding a time at which the mobile terminal receives a signal radio wave;
Means for transmitting the time when the held signal radio wave is received to the positioning server;
With
The first base station transmits signal radio waves at least twice each to the second base station group and the mobile terminal within the first positioning period,
Each of the second base station group includes means for transmitting at least one signal radio wave to the first base station within the first positioning period,
The positioning server within the first positioning period,
Using the transmission time and reception time of each base station and the reception time of the mobile terminal received from the first base station, the second base station group, and the mobile terminal, the second base station group and the mobile terminal A terminal scale and means for determining the offset;
Means for determining and notifying each base station of a time at which each base station transmits to the mobile terminal simultaneously or with a known time difference using each of the determined scale, offset, and predetermined repetition time; ,
With
Each base station transmits a signal radio wave to the mobile terminal at the time when each base station transmits to the mobile terminal simultaneously or with a known time difference, which is notified from the positioning server within the second positioning period. Means for transmitting
The mobile terminal comprises means for notifying the positioning server of the reception time of each signal radio wave received from each base station within the second positioning period via at least one base station,
The positioning server within the second positioning period,
Propagation delay time from the mobile terminal to the predetermined base station using the time when the mobile terminal received the signal radio wave from each base station and the scale of the determined mobile terminal notified from the mobile terminal And means for determining a difference in propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station;
Means for determining a position coordinate of the mobile terminal using the determined difference between at least two delay times and the position coordinates of the first base station and the second base station group;
The wireless positioning system according to supplementary note 1, comprising:
(Appendix 26)
The wireless positioning system according to attachment 25 is further
The first base station comprises means for performing broadcast transmission of signal radio waves at least once each within a third positioning period to the second base station group and mobile terminals,
The positioning server is
The transmission time and the reception time obtained in the first positioning period, received from the second base station group and the mobile terminal, and the first base station to the second base station group and the mobile terminal 26. The radio positioning system according to appendix 25, further comprising means for determining a scale and an offset by a least square method using a transmission time and a reception time in a broadcast transmission exceeding one time.
(Appendix 27)
A plurality of mobile terminals in the wireless positioning system described in Appendix 25, and each base station transmits a signal radio wave to each mobile terminal individually or in a broadcast manner for each mobile terminal individually. 26. The wireless positioning system according to appendix 25, wherein the positioning server determines the position coordinates of a plurality of mobile terminals using the time received by each mobile terminal and the position coordinates of each base station.
(Appendix 28)
The wireless positioning system according to attachment 25 is further
Within the second positioning period,
Means for conveying the position coordinates of the mobile terminal determined by the positioning server to a user of the identified specific mobile terminal via at least one of the base stations;
Means to communicate to the identified fixed terminal user via a network connected to the positioning server;
The wireless positioning system according to claim 25, further comprising:
(Appendix 29)
The wireless positioning system according to attachment 25 is further
By repeating the first positioning period as a first positioning period, the second positioning period as a second positioning period, and repeating independently of the first positioning period, the position coordinates of the mobile terminal are determined. 26. The wireless positioning system according to appendix 25, wherein the mobile terminal position coordinate notification to the identified user is repeated at a second positioning cycle.
(Appendix 30)
The wireless positioning system described in Appendix 25 is
After the initial setting of the second base station group, the scale of the mobile terminal, and the offset in the first positioning period, the third positioning period is repeated at a first positioning cycle, and the 23rd The positioning period is determined as a second positioning period, and is repeated independently of the first positioning period, thereby determining the position coordinates of the mobile terminal and notifying the identified user of the position coordinates of the mobile terminal. The wireless positioning system according to appendix 25, wherein the wireless positioning system repeats at a second positioning cycle.
(Appendix 31)
The wireless positioning system described in Appendix 25 is
The first positioning period includes a third positioning period inserted at the beginning of an integral multiple of the first positioning period, and each of the second base station group and the mobile terminal is provided for each third positioning period. The wireless positioning system according to claim 25, wherein the scale and offset of the mobile terminal are updated, and the determination of the position coordinates of the mobile terminal and the notification of the determined mobile terminal position coordinates to the identified user are repeated.

(Appendix 32)
The wireless positioning system according to attachment 1 includes a first base station, a second base station group including at least two base stations, a mobile terminal, and a positioning server,
The first base station and the second base station group each have a time for transmitting a signal radio wave and a means for holding a time for receiving the signal radio wave;
Means for transmitting the time when the signal radio waves are held and the time when the signal radio waves are received to the positioning server;
With
The mobile terminal includes means for holding a time when a signal radio wave is received and a transmission time of the first base station transmitted from the first base station,
The first base station transmits signal radio waves at least twice each to the second base station group and the mobile terminal within the first positioning period,
Each of the second base station group includes means for transmitting at least one signal radio wave to the first base station within the first positioning period,
The positioning server within the first positioning period,
Means for determining the scale and offset of the second base station group using the transmission time and the reception time of each base station received from the first base station and the second base station group;
Means for determining and notifying each base station of a time at which each base station transmits to the mobile terminal simultaneously or with a known time difference using each of the determined scale, offset, and predetermined repetition time; ,
With
The mobile terminal is within a first positioning period,
Means for determining the scale of the mobile terminal using the transmission time of the first base station and the reception time of the mobile terminal;
With
Each base station transmits a signal radio wave to the mobile terminal at the time when each base station transmits to the mobile terminal simultaneously or with a known time difference, which is notified from the positioning server within the second positioning period. Means for transmitting
The mobile terminal uses the reception time of each signal radio wave received from each base station within the second positioning period and the scale of the determined mobile terminal, and the propagation delay from the mobile terminal to the predetermined base station Means for determining a difference between time and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station;
Means for determining the position coordinates of the mobile terminal using the determined difference between the at least two delay times and the position coordinates of the first base station and the second base station group;
The wireless positioning system according to supplementary note 1, comprising:
(Appendix 33)
The wireless positioning system according to attachment 32 further includes:
The first base station comprises means for performing broadcast transmission of signal radio waves at least once each within a third positioning period to the second base station group and mobile terminals,
The positioning server is
The transmission time and reception time obtained in the first positioning period, received from the second base station group, and the first base station in the third positioning period become the second base station group. Means for determining a scale and an offset by a least square method using a transmission time and a reception time in more than one broadcast transmission to be performed,
The mobile terminal is
Means for determining the scale by the least square method using the first positioning period, the transmission time of the first base station determined at the third positioning time, and the reception time of the mobile terminal;
The wireless positioning system according to supplementary note 32, comprising:
(Appendix 34)
A plurality of mobile terminals in the wireless positioning system according to attachment 32, wherein each base station transmits a signal radio wave to each mobile terminal individually or in a broadcast manner to each mobile terminal. The wireless positioning system according to supplementary note 32, wherein each mobile terminal determines each position coordinate using the time received by each mobile terminal and the position coordinates of each base station.
(Appendix 35)
The wireless positioning system according to attachment 32 further includes:
Within the second positioning period,
Means for each mobile terminal to communicate each determined position coordinate to the user of the identified specific mobile terminal via at least one of the base stations, or
Means for communicating to the identified fixed terminal user via a network connected to the positioning server;
By repeating the first positioning period as a first positioning period, the second positioning period as a second positioning period, and repeating independently of the first positioning period, the position coordinates of the mobile terminal are determined. And a means for repeating the notification of the mobile terminal position coordinates to the identified user at a second positioning cycle.
(Appendix 36)
The wireless positioning system described in appendix 32 is
After the initial setting of the scale and offset of the second base station group and the initial setting of the scale of the mobile terminal in the first positioning period, the third positioning period is set to the first positioning cycle. Repeatedly, the second positioning period is set as a second positioning period, and the position determination of the mobile terminal is determined and the position of the mobile terminal to the identified user is repeated independently of the first positioning period. Means for repeating the notification of coordinates at the second positioning cycle;
A third positioning period in which the first positioning period is inserted at the beginning of an integral multiple of the first positioning period, and the scale and offset of the second base station group for each third positioning period; Means for respectively updating the scale of the mobile terminal and repeating the determination of the position coordinates of the mobile terminal and the notification of the determined mobile terminal position coordinates to the identified user;
The wireless positioning system according to supplementary note 32, comprising:
(Appendix 37)
In the radio positioning system according to attachment 32,
Each base station includes means for transmitting a signal radio wave to the mobile terminal at a broadcast time notified from the positioning server within a second positioning period, or at a predetermined time difference,
The mobile terminal uses the reception time of each signal radio wave received from each base station within the second positioning period as it is without converting it to the time of the first base station, and from the mobile terminal to a predetermined base station. And a means for determining a difference between the propagation delay time and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station;
Means for determining the position coordinates of the mobile terminal using the determined difference between the at least two delay times and the position coordinates of the first base station and the second base station group;
The wireless positioning system according to supplementary note 32, comprising:

It is a figure which shows the principle figure of TDOA. It is a figure which shows the conventional wireless positioning system structure. It is a figure which shows the radio | wireless positioning system structure of Example 1. FIG. It is a figure which shows the arrival time difference measuring method of Example 1. FIG. It is a figure which shows the positioning calculation method of Example 1. FIG. It is a figure which shows a positioning system structure (Example 1, 2, 3, 4). It is a figure which shows a base station block diagram (Example 1, 2, 3, 4). It is a figure which shows a transmission data format (Example 1, 2, 3, 4). It is a figure which shows the wireless positioning system structure of Example 2. FIG. It is a figure which shows the wireless positioning system structure (the 1) of Example 3. FIG. It is a figure which shows the wireless positioning system structure (the 2) of Example 3. FIG. It is a figure which shows the wireless positioning system structure (the 3) of Example 3. FIG. It is a figure which shows the wireless positioning system structure of Example 4. FIG.

Explanation of symbols

101 Base station A
102 Base station B
103 Base station C
104 Mobile terminal M
105 Hyperbola 106 Hyperbola 301 Base station A
302 Base station B
303 Base station C
304 Mobile terminal M
411 base station A transmit antenna 412 base station A receive antenna 413 base station B receive antenna 414 base station B transmit antenna 415 mobile terminal M transmit antenna 601 base station A301 transmit / receive antenna 602 base station B302 transmit / receive antenna 603 Transmission / reception antenna of the base station C303 604 Transmission / reception antenna of the mobile terminal M304 605 Transmission unit of the base station A301 606 Transmission time holding unit of the base station A301 607 Reception unit of the base station A301 608 Reception time holding unit of the base station A301 609 Positioning server 610A Positioning Time holding unit of base station A in server 610B Time holding unit of base station B in positioning server 610C Time holding unit of base station C in positioning server 611B Base station B time correcting unit 611C Base station C time correcting unit 612B Base Station B scale, off Tsu DOO calculator 612C base station C scale, offset calculation section 613 positioning unit 701 MPU (microprocessor unit)
702 Transmission data 703 PPM (pulse position modulation) data modulation unit 704 PN sequence generation unit 705 Transmission time holding unit 706 Timer 707 Impulse generation unit 708 Transmission BPF (band pass filter)
709 PA (Power Amplifier)
710 transmitting antenna 711 receiving antenna 712 receiving BPF (band pass filter)
713 LNA (Low Noise Amplifier)
714 Pulse detecting unit 715 Correlator 716 Reception time holding unit 717 PPM data demodulating unit 718 Received data 811 Position hopping for one chip 812 Position hopping for one chip 901 Base station A serving as a reference
902 Base station B
903 Base station C
904 Base station D
905 Mobile terminal M

Claims (5)

In a wireless positioning system that performs positioning of a mobile terminal by communication between a first base station and a second base station group including at least two base stations,
The first base station comprises means for transmitting at least two signal radio waves to the second base station group,
The second base station group includes means for transmitting at least one signal radio wave to the first base station,
The wireless positioning system further includes:
Using the transmission time and reception time of the signal radio wave measured at each base station, the ratio of each time step of the second base station group to the time step of the first base station (hereinafter referred to as scale) And means for determining a time lag (hereinafter referred to as offset) between each time of the second base station group and the time of the first base station,
Means for determining a time obtained by converting the time of the second base station group into the time of the first base station using the determined scale and offset;
Time when the signal radio wave broadcast from the mobile terminal is received at each base station is converted to the time of the first base station, or
A signal radio wave transmitted from each base station to the mobile terminal or transmitted at a predetermined time difference is received at a time converted from the time at the mobile terminal to the time at the first base station, or received at the mobile terminal Use time as is,
Means for determining a difference between a propagation delay time to the mobile terminal and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station;
Means for determining a position coordinate of the mobile terminal using the determined difference between at least two delay times and the position coordinates of the first base station and the second base station group;
A wireless positioning system comprising: The wireless positioning system according to claim 1 includes a first base station, a second base station group including at least two base stations, a mobile terminal, and a positioning server,
The first base station and the second base station group each have a time for transmitting a signal radio wave and a means for holding a time for receiving the signal radio wave,
Means for transmitting a time when the held signal radio wave is transmitted and a time when the signal radio wave is received to a positioning server;
With
The first base station includes means for transmitting signal radio waves to the second base station group at least twice within a first positioning period,
The second base station group includes means for transmitting at least one signal radio wave to the first base station within the first positioning period,
The mobile terminal includes means for transmitting at least one signal radio wave to the first base station within the second positioning period,
The positioning server determines a scale and an offset using a transmission time and a reception time of each base station received from the first base station and the second base station group within the first positioning period. When,
Means for determining a time in which the reception time of the signal radio wave from the mobile terminal is converted into the time of the first base station using the determined scale and offset within the second positioning period;
During the second positioning period, a difference between a propagation delay time from the mobile terminal to a predetermined base station and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station is determined. Means to
Within the second positioning period, using the determined difference between the at least two delay times and the position coordinates of the first base station and the second base station group, the position coordinates of the mobile terminal Means for determining
The wireless positioning system according to claim 1, further comprising: The wireless positioning system according to claim 1 includes a first base station, a second base station group including at least two base stations, a mobile terminal, and a positioning server,
The first base station and the second base station group each have a time for transmitting a signal radio wave and a means for holding a time for receiving the signal radio wave,
Means for transmitting a time when the held signal radio wave is transmitted and a time when the signal radio wave is received to a positioning server;
With
The first base station comprises means for performing signal radio wave transmission at least twice for each of the second base station groups within the first positioning period,
Each of the second base station group includes means for transmitting at least one signal radio wave to the first base station within the first positioning period,
The first base station comprises means for performing broadcast transmission of signal radio waves to the second base station group at least twice within a second positioning period,
The mobile terminal comprises means for broadcasting to the first base station and the second base station group at least one signal radio signal radio wave within a third positioning period,
The positioning server
Using the transmission time and reception time of each base station received from the first base station and the second base station group within the second positioning period, the scale and offset of the second base station group Means for determining
Means for determining a time when the reception time of the signal radio wave from the mobile terminal is converted into the time of the first base station using the determined scale and offset within the third positioning period;
During the third positioning period, a difference between a propagation delay time from the mobile terminal to a predetermined base station and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station is determined. Means to
Position coordinates of the mobile terminal using the difference between the determined at least two delay times and the position coordinates of the first base station and the second base station group within the third positioning period Means for determining
The wireless positioning system according to claim 1, further comprising: The wireless positioning system according to claim 1 includes a first base station, a second base station group including at least two base stations, a mobile terminal, and a positioning server,
The first base station and the second base station group each have a time for transmitting a signal radio wave and a means for holding a time for receiving the signal radio wave,
Means for transmitting a time when the held signal radio wave is transmitted and a time when the signal radio wave is received to a positioning server;
With
The first base station transmits at least two signal radio waves to the second base station group within the first positioning period, and less than the two signal radio wave transmissions. Also has means to broadcast one time,
Each of the second base station group includes means for transmitting at least one signal radio wave to the first base station within the first positioning period,
The mobile terminal comprises means for broadcasting to the first base station and the second base station group at least one signal radio signal radio wave within a second positioning period,
The positioning server within the first positioning period,
Means for determining the scale and offset of the second base station group using the transmission time and reception time of each base station received from the first base station and the second base station group;
Means for determining a time at which the reception time of the signal radio wave from the mobile terminal is converted into the time of the first base station using the determined scale and offset within the second positioning period;
Means for determining a difference between a propagation delay time to a predetermined base station and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station within the second positioning period;
Within the second positioning period, using the determined difference between the two delay times and the position coordinates of the first base station and the second base station group, the position coordinates of the mobile terminal Means for determining
The wireless positioning system according to claim 1, further comprising: The wireless positioning system according to claim 1 includes a first base station, a second base station group including at least two base stations, a mobile terminal, and a positioning server,
The first base station and the second base station group each have a time for transmitting a signal radio wave and a means for holding a time for receiving the signal radio wave;
Means for transmitting the time when the signal radio waves are held and the time when the signal radio waves are received to the positioning server;
With
The mobile terminal includes means for holding a time when a signal radio wave is received and a transmission time of the first base station transmitted from the first base station,
The first base station transmits signal radio waves at least twice each to the second base station group and the mobile terminal within the first positioning period,
Each of the second base station group includes means for transmitting at least one signal radio wave to the first base station within the first positioning period,
The positioning server within the first positioning period,
Means for determining the scale and offset of the second base station group using the transmission time and the reception time of each base station received from the first base station and the second base station group;
Means for determining and notifying each base station of a time at which each base station transmits to the mobile terminal simultaneously or with a known time difference using each of the determined scale, offset, and predetermined repetition time; ,
With
The mobile terminal is within a first positioning period,
Means for determining the scale of the mobile terminal using the transmission time of the first base station and the reception time of the mobile terminal;
With
Each base station transmits a signal radio wave to the mobile terminal at the time when each base station transmits to the mobile terminal simultaneously or with a known time difference, which is notified from the positioning server within the second positioning period. Means for transmitting
The mobile terminal uses the reception time of each signal radio wave received from each base station within the second positioning period and the scale of the determined mobile terminal, and the propagation delay from the mobile terminal to the predetermined base station Means for determining a difference between time and a propagation delay time from the mobile terminal to at least two base stations other than the predetermined base station;
Means for determining the position coordinates of the mobile terminal using the determined difference between the at least two delay times and the position coordinates of the first base station and the second base station group;
The wireless positioning system according to claim 1, further comprising:

Images