JP2011149808A - Cellular mobile radio positioning system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To attain a system at low cost which measures a position in any of one to three dimensions of a mobile terminal, with high accuracy. <P>SOLUTION: Radio signals containing an origin signal are transmitted intermittently as burst signals from the mobile terminal 103, while radio signals containing a distance measuring signal, having synchronism established with a reproduced origin signal with high accuracy and a direction measuring signal for measuring direction, are transmitted, in a time-shared manner from among a plurality of radio markers 101a and 101b disposed for each cell or sector, with a plurality of directional antennas 21aa-21bd periodically switched-over. In the mobile terminal 103, the phase of the distance measuring signal is measured, and the distances from the radio markers 101a and 101b in a plurality are calculated; while the phase differences of the direction measuring signals corresponding to the antennas 21aa-21bd in a plurality are measured, and the directions where the radio markers 101a and 101b are located are calculated, and thereby, the position of the mobile terminal 103 in any of one to three dimensions is measured with high accuracy. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

The present invention enables highly accurate positioning of a one-dimensional to three-dimensional position of a mobile terminal by time division communication using the same frequency between a plurality of wireless markers and the mobile terminal. Is.

Conventionally, a system that performs positioning using a plurality of transmission means has been proposed. (For example, see Patent Documents 1 to 3)
JP 2005-088888 A JP 2006-023261 A JP 2008-139292 A

FIG. 8 shows an example of a conventional “RTK positioning system and its positioning method” described in Patent Document 1.
In FIG. 8, reference numeral 1 denotes an RTK positioning system that performs user positioning using RTK (real-time kinematic) positioning.
This RTK positioning system 1 includes four pseudolites 2, two reference station receiving means comprising a fixed reference station receiving means 3 and a mobile reference station receiving means 4, a rover receiving means 5, a user processing unit 6, a data And a link 7. Here, the pseudolite 2 is used as a signal source instead of a satellite, and at least four units are necessary when performing three-dimensional positioning of a user, and at least three are necessary when performing two-dimensional positioning. It is said that.

As described above, the conventional “RTK positioning system and its positioning method” requires at least four pseudolites (pseudo satellite stations) to perform three-dimensional positioning, and in addition to the user processing unit 6. The system is complicated and handling is complicated because two reference station receiving means consisting of a fixed reference station receiving means 3 and a mobile reference station receiving means 4, a rover receiver 5 and a data link 7 are required. There was an expensive problem.

On the other hand, in the conventional “active tag device” described in Patent Document 2, the directional antennas 21a and 21b of the receiving unit 2 are directed to face the direction 31 of the directional antenna of the transmitting unit 1, and the transmitting unit 1 Changes in the timing, amplitude, frequency, phase, or combination of these received high-frequency signals when the directional antennas 21a and 21b are switched while transmitting high-frequency signals are detected in real time, and the direction in which the transmitting means 1 is located is detected. It is said that the distance between the transmitting means 1 and the receiving means 2 is detected, but the means or method for detecting the distance between the transmitting means 1 and the receiving means 2 is not clarified. There is a problem that the appeal of positioning the dimension is not made.

In addition, the conventional “positioning system, program and position determination method for determining the position of a mobile radio station” described in Patent Document 3 realizes a simpler and smaller configuration for determining the position of a mobile radio terminal. To do. The devices (470, 370, 110, 120) for determining the position of the mobile radio stations (260 to 282) are the positions of the first reference radio stations (200 to 242) and the second reference radio stations (200 to 242). The position of the third reference radio station (200 to 242), the first relative angular direction between the mobile radio station and the first reference radio station, the mobile radio station and the second reference Means for determining a position of the mobile radio station from a second relative angular direction between the radio stations and a third relative angular direction between the mobile radio station and the third reference radio station; However, the positioning is performed by measuring only the relative angular directions from the plurality of reference radio stations, and there is a problem that it is difficult to perform positioning with high accuracy.

According to the present invention, time division communication using the same frequency is performed between a plurality of wireless markers arranged for each cell or each sector and a mobile terminal installed in the mobile body or carried by the mobile body. This is to realize a cellular mobile radio positioning system for measuring the position of any one of dimensions 3 to 3 with high accuracy at low cost.

  The cellular mobile radio positioning system according to the present invention is equipped with a plurality of directional antennas and periodically switches between at least a synchronization signal, an identification signal, a distance measurement signal for measuring a distance, and a direction. A plurality of wireless markers that transmit a wireless signal including a direction measurement signal for measurement at a frequency, a time slot, or both pre-assigned to a wireless marker arranged for each cell or each sector; A positioning request including a mobile terminal for receiving a signal and performing positioning in any one of the first to third dimensions, and the distance measurement signal is transmitted from the mobile terminal to a plurality of wireless markers. Carrier signal, subcarrier signal, modulation signal, spread spectrum code, or a combination of these signals that are synchronized with or orthogonal to the origin signal included in the signal with high accuracy A Align,

  Alternatively, at least radio signals including a system synchronization signal, an identification signal, a distance measurement signal for measuring a distance, and a direction measurement signal for measuring a direction are allocated in advance for each cell or each sector. A mobile terminal that transmits at a frequency, a time slot, or both, and a plurality of directional antennas and periodically switching between them to receive the radio signal and any one of 1 to 3 dimensions The distance measurement signal is synchronized with the origin signal included in the positioning request signal transmitted from the plurality of wireless markers to the mobile terminal with high accuracy. Or an orthogonal carrier signal, subcarrier signal, modulation signal, spread spectrum code, or a combination thereof,

The distance measurement signal and the starting point signal are synchronized instantaneously and with high accuracy, and after the starting point signal disappears, synchronous oscillation means that can maintain synchronization for a relatively long time, and with high accuracy and real time By using a phase measuring means capable of measuring a phase, and calculating the distance between at least one base station of the plurality of wireless markers and the mobile terminal and the direction in which the mobile terminals are located with high accuracy, It is configured to enable positioning in any one of the three dimensions.

In the cellular mobile radio positioning system of the present invention, the time division by the same frequency between a plurality of radio markers arranged for each cell or each sector and a mobile terminal installed in the mobile or carried by the mobile By communication, there is an advantage that a system for measuring the position of any one of the first to third dimensions of the mobile terminal with high accuracy and in real time can be realized at low cost.

  The cellular mobile radio positioning system according to the present invention is a radio signal which is an ultrasonic signal, a high frequency signal or an optical signal as shown in FIGS. 1, 2 and 1 of the first embodiment of the present invention. A mobile mobile positioning system using a mobile terminal 103 for transmitting and receiving the wireless signal in a time-division manner while moving, and a plurality of wireless markers 101a and 101b serving as position references,

The mobile terminal 103 includes at least an antenna switching unit 32, an origin signal generating unit 37, a transmitting unit 34, a receiving unit 33, a measurement signal reproducing unit 35, a phase measuring unit 36, and a position calculating unit 38. Have
,
The antenna switching unit 32 switches the antenna or the transmitter / receiver to either the transmitting unit or the receiving unit in a time division manner, and the starting point signal generating unit 37 includes at least a system synchronization signal, an identification signal, and a starting point signal. Generating a positioning request signal, and the transmitting means 34 transmits a radio signal including the positioning request signal as a burst signal toward the plurality of radio markers,

  The receiving means 33 receives wireless signals transmitted from the plurality of wireless markers 101a and 101b, and the measurement signal reproducing means 35 receives distance measurement signals and direction measurement signals from the wireless signals received by the receiving means. The phase measuring means 36 measures the phase of the reproduced distance measurement signal and the direction measurement signal, and the position calculating means 38 measures the position of the own station from the phase measurement result. ,

The plurality of wireless markers 101a and 101b include at least an antenna switching unit 19, a receiving unit 18, a starting signal reproducing unit 16, a synchronous oscillation unit 13, a measurement signal generating unit 15, and a transmitting unit 17. ,
The antenna switching unit 19 periodically switches a plurality of antennas or a plurality of transducers 21a to 21d, and switches to a transmission unit or a reception unit in a time division manner, and the reception unit 18 includes the mobile terminal 103. Receiving a radio signal including a positioning request signal transmitted from the starting point signal reproducing means 16 reproduces a starting point signal included in the positioning request signal from the radio signal received by the receiving means,

  The synchronous oscillating means 13 establishes synchronization with the reproduced starting signal with high accuracy in a short time and maintains the synchronization, and the measurement signal generating means 15 is synchronized with or orthogonal to the output of the synchronous oscillating means. A distance measurement signal to be generated and a direction measurement signal for measuring a direction separately from the distance measurement signal are generated, and the transmitting means 17 transmits a radio signal including the distance measurement signal and the direction measurement signal to each cell. Alternatively, in a time-division manner toward the mobile terminal while periodically switching a plurality of antennas or a plurality of transducers at a frequency, a time slot, or both pre-assigned to a radio marker arranged for each sector Outgoing,

  The origin signal transmitted from the mobile terminal 103, and the distance measurement signal and the direction measurement signal transmitted from the plurality of wireless markers 101a and 101b are single, or a plurality of carrier signals and subcarriers that are synchronized or orthogonal to each other. A signal, a modulation signal, a spread spectrum code, or a combination thereof, and the mobile terminal 103 measures the phase of the distance measurement signal and outputs the signal from at least one wireless marker among the plurality of wireless markers 101a and 101b. The distance is calculated, the phase difference between the direction measurement signals corresponding to the plurality of antennas or the plurality of transducers 21a to 21d of the at least one wireless marker is measured, and the direction in which the at least one wireless marker is located is calculated. From the calculation result of the distance and the calculation result of the direction, any one of the one-dimensional to three-dimensional of the mobile terminal 103 is selected. To positioning of the position of the dimension with high accuracy.

  Further, as shown in FIGS. 1, 3 and 2 in the second aspect of the present invention, in the cellular mobile radio positioning system using a radio signal which is an ultrasonic signal, a high frequency signal or an optical signal, the radio It is composed of a mobile terminal 103 for transmitting and receiving signals in a time division manner while moving a signal, and a plurality of wireless markers 101a and 101b that are arranged for each cell or sector and serve as a reference for the position.

The plurality of wireless markers 101a and 101b include at least an antenna switching unit 19, a receiving unit 18, a starting point signal generating unit 37, a transmitting unit 17, a measurement signal reproducing unit 35, a phase measuring unit 36, and a position calculation. Means 37;
The antenna switching unit 19 periodically switches a plurality of directional antennas or a plurality of directional transducers 21a to 21d, and switches to either the transmission unit 17 or the reception unit 18 in a time division manner. Receives a positioning activation request signal transmitted from the mobile terminal 103, and the starting signal generation means 37 receives at least a system synchronization signal, an identification signal, and a starting signal corresponding to the positioning activation request signal. A positioning request signal including

  The transmitting means 17 sends a radio signal including the origin signal to the mobile terminal 103 at a frequency, time slot, or both pre-assigned to a radio marker arranged for each cell or sector. A frequency that is transmitted as a burst signal and the reception means 18 transmits a radio signal transmitted from the mobile terminal 103 in response to the positioning request signal to a radio marker arranged for each cell or sector. In the time slot, or both, a plurality of antennas or a plurality of transducers 21a to 21d are periodically switched while being received in time division, and the measurement signal reproducing means 35 is received by the receiving means 18. A distance measurement signal and a direction measurement signal are reproduced from the radio signal, and the phase measurement means 36 reproduces the reproduced distance measurement signal. Measuring the phase of the direction measuring signal, the position calculating unit 38 measures the position of the mobile terminal 103 from the measurement results of the phase,

The mobile terminal 103 includes at least an antenna switching unit 32, a receiving unit 33, a starting point signal reproducing unit 16, a synchronous oscillation unit 13, a measurement signal generating unit 15, and a transmitting unit 34.
The antenna switching unit 32 switches the antenna or the transducer 31 to either the transmission unit 34 or the reception unit 33 in a time-sharing manner, and the transmission unit 34 includes at least a system synchronization signal, an identification signal, and a positioning activation request. And a radio signal including the positioning start request signal is intermittently transmitted, and the receiving means 33 is assigned in advance from the plurality of radio markers 101a and 101b to radio markers arranged for each cell or each sector. Receiving a radio signal transmitted at a specified frequency, time slot, or both, and the origin signal regenerating means 15 from the radio signal received by the receiving means 33 is included in the positioning request signal Play the signal,

  The synchronous oscillating means 13 establishes synchronization with the reproduced starting signal with high accuracy in a short time and maintains the synchronization, and the measurement signal generating means 15 is synchronized with or orthogonal to the output of the synchronous oscillating means. A distance measurement signal to be generated and a direction measurement signal for measuring a direction separately from the distance measurement signal are generated, and the transmitting unit 34 transmits a radio signal including the distance measurement signal and the direction measurement signal to each cell. Alternatively, the radio markers 101a and 101b are transmitted in a time-sharing manner to the radio markers 101a and 101b at a frequency, time slot, or both pre-assigned to radio markers arranged for each sector. The origin signal transmitted from the mobile terminal 103, and the distance measurement signal and the direction measurement signal transmitted from the mobile terminal 103 are a single or a plurality of synchronized or orthogonal, Transmitting signals, a subcarrier signal, the modulation signal, a spread spectrum code or a combination thereof,

  The mobile terminal 103 intermittently transmits a radio signal including at least a system synchronization signal, an identification signal, and a positioning activation request signal as a burst signal toward the plurality of radio markers 101a and 101b, and the plurality of radio markers The markers 101a and 101b correspond to the positioning activation request signal transmitted from the mobile terminal 103, and a radio signal including the positioning request signal is sent to the radio marker arranged for each cell or each sector toward the mobile terminal. Transmitting in a time-sharing manner using a pre-assigned frequency, time slot, or both, and the mobile terminal 103 corresponds to the positioning request signals transmitted from the plurality of wireless markers 101a and 101b. A radio signal including at least the positioning signal and the direction measurement signal is sent to the radio markers 101a and 101b for each cell. Ku is pre-assigned frequency radio markers placed in each sector, time slot or in both of these, when sent in parts,

  In at least one of the plurality of wireless markers 101a and 101b, the phase of the positioning signal is measured to calculate the distance from the mobile terminal 103, and the plurality of antennas or the plurality of the at least one wireless marker are calculated. The direction in which the mobile terminal 103 is located is calculated by measuring the phase difference between the direction measurement signals corresponding to the transducers 21a to 21d, and one of the mobile terminals 103 is calculated from the distance calculation result and the direction calculation result. The position of any one of dimensions 3 to 3 is measured with high accuracy.

  Further, as described in claim 3, when the starting signal or measurement signal to be reproduced is a carrier signal or subcarrier signal of a radio signal in the starting signal reproducing means 16 or the measurement signal reproducing means 35, a group After being demodulated by an analog demodulator with a small delay error or a digital demodulator with a small delay error using a high-frequency clock signal if the signal is a modulated signal obtained by passing a band-pass filter with little delay distortion or modulating a radio signal. And reproduction through the band pass filter.

  Further, as shown in claim 4, the plurality of wireless markers 101a and 101b or the synchronous oscillation means 13 of the mobile terminal 103 is a counter or numerically controlled oscillator with a set or reset driven by a reference oscillator 11 or a phase synchronous oscillator. The timing of the rising point, the falling point, or the zero crossing point of the starting signal received by the receiver 18 and demodulated or reproduced by the signal reproducing means 16 is determined by the synchronization detecting means 14 at a frequency of at least 16 MHz or more. By detecting the clock signal and setting or resetting the counter or the numerically controlled oscillator at the timing detected by the synchronization detection means, the synchronization oscillation means establishes synchronization with the origin signal in a short time, and Can be held.

  Further, as shown in claim 5, the synchronization establishment error between the plurality of wireless markers 101a, 101b or the synchronous oscillation means 13 of the mobile terminal 103 and the demodulated or reproduced starting signal is reduced, and high In order to establish synchronization accurately and in a short time, a synchronization establishment error function is given to the mobile terminal 103, the plurality of wireless markers 101a, 101b, or both, and the synchronization establishment error function is used as the synchronization establishment error. As close to zero as possible.

  Further, as shown in FIG. 6 and claim 6, in order to give the synchronization establishment error function to the plurality of wireless markers 101a, 101b or the synchronization detecting means 14 of the mobile terminal 103, the clock signal of the phase-locked oscillator 23 Timing control for selecting and outputting a plurality of sets of phase shift means 51 for shifting the phase of the output and a plurality of sets of clock signals shifted to different phases by the plurality of sets of phase shifting means, respectively. Means 53, and the total amount of phase shift of the phase shift means is set larger than the interval of one cycle of the clock signal, thereby improving the distance calculation accuracy.

  Further, as shown in FIG. 7 and claim 7, in order to give the synchronization establishment error function to the plurality of wireless markers 101 a and 101 b or the synchronization oscillation means 13 of the mobile terminal 103, the synchronization oscillation means includes a plurality of sets. A counter or a plurality of sets of numerically controlled oscillators 92a to 92n are provided, and the plurality of sets of counters or the plurality of sets of numerically controlled oscillators are switched by switching means 91 at a plurality of timings different from the reproduced starting signal. Synchronization is established, and output signals output from the plurality of sets of counters or the plurality of sets of numerically controlled oscillators are selected by a selection means 93 at a plurality of different timings, and synchronized with or orthogonal to the selected output signals. One or a plurality of distance measurement signals are generated and the mobile terminal 103 or a plurality of wireless markers 101a, 10 Disseminating the b, the position calculating unit 37 of the mobile terminal or a plurality of wireless markers, by determining the average value of the distance calculated in correspondence with the plurality of timings, improving distance calculation accuracy.

  In addition, as described in claim 8, the synchronization establishment error function is added to a starting point signal transmitted from the plurality of wireless markers 101a, 101b or the mobile terminal 103 or received by the plurality of wireless markers or the mobile terminal. Therefore, the origin signal is transmitted or received while periodically switching the plurality of antennas or the plurality of transducers 21a to 21d of the wireless marker, thereby improving the distance calculation accuracy.

  Further, as shown in claim 9, the phase measuring means 36 of the mobile terminal 103 or the wireless markers 101a, 101b has a product-sum calculator, and 0, as a Sin lookup table of the product-sum calculator. 1, 0, -1, or 1, 1, -1, -1, or an integer multiple of these, and the Cos lookup table is 1, 0, -1, 0, or 1, -1, -1 The product-sum operation is performed as one or an integer multiple of these. Note that multiplication with 1 when performing a product-sum operation is the same value as the digital signal, multiplication with -1 is to obtain the complement of the digital signal, and division with 0 is 0. The product-sum calculator can be simplified, and high-speed, real-time calculation is possible.

Further, as shown in claim 10, the plurality of antennas or the plurality of transducers 21a to 21d of the wireless marker have directivity, and the directivity direction is directed downward, obliquely downward, or horizontally. Then, the direction measurement signals are arranged at intervals of 0.5 to 2 wavelengths.
In addition, as shown in claim 11, the cell is further divided into a plurality of sectors, and a radio marker is installed in each sector.

  Moreover, as shown in claim 12, the receiving means 33 of the mobile terminal 103, the receiving means 18 of the wireless marker 101, or both of them has a quality detecting means for detecting the quality of the propagation path, and the quality detection The means analyzes the channel quality from the result of measuring the power or signal-to-noise ratio of the radio signal received by the receiving means, and the phase measuring means measures the phase of the distance measurement signal or the phase difference of the direction measurement signal. From the results, the distance measurement accuracy or the direction measurement accuracy is analyzed, or both of these analyzes are performed, and the results of the distance measurement processing, the direction measurement processing, or both are corrected or supplemented.

Further, as shown in claim 13, the receiving means of the mobile terminal, the receiving means of the radio marker, or both of them are periodically switched by providing a plurality of antennas or a plurality of transducers, and the quality detecting means In the above, the results of measuring or calculating the distance corresponding to the plurality of antennas or the plurality of transducers are selected and averaged, and the load average is calculated, or these are calculated. The distance measurement result or the distance calculation result is corrected or complemented by performing the combination.
In addition, as shown in claim 14, an ad hoc network is configured between a specific wireless marker of the plurality of wireless markers and a peripheral wireless marker as a node, and an external wired line or It connects to a wireless line and exchanges at least information necessary for positioning the mobile terminal.
Further, as shown in claim 15, a specific wireless marker among the plurality of wireless markers, or a wireless marker different from the plurality of wireless markers as a node, the mobile terminal, the plurality of wireless markers, or these Receiving a radio signal transmitted from both of them, measuring a phase of a distance measurement signal included in the radio signal with reference to a starting signal included in the radio signal, and positioning the position of the mobile terminal by hyperbolic navigation To do.

In addition, as shown in claim 16, a specific wireless marker among the plurality of wireless markers, or a wireless marker different from the plurality of wireless markers as a node, the mobile terminal, the plurality of wireless markers, or these Receiving the radio signal transmitted from both, measuring the phase of the distance measurement signal included in the radio signal with reference to the origin signal included in the radio signal, and the mobile terminal included in the radio signal, It receives data measuring the direction in which a plurality of wireless markers or both of them are located, and measures the position of the mobile terminal.
In addition, as shown in claim 17, a frequency assigned to GPS or a frequency in the vicinity thereof is assigned as the frequency of the radio signal, and an occupation ratio of radio signals transmitted from the plurality of radio markers is 20% or less. By doing so, GPS is seamlessly connected outdoors and indoors.

(Embodiment 1)
1 and 2 are configuration diagrams of a cellular mobile radio positioning system according to a first embodiment of the present invention. In a cellular mobile radio positioning system using radio signals which are ultrasonic signals, high frequency signals or optical signals shown in FIGS. 1 and 2, a mobile terminal 103 for transmitting and receiving the radio signals in a time-division manner while moving , Composed of a plurality of wireless markers 101a and 101b that are arranged for each cell or sector and serve as a position reference,

The mobile terminal 103 includes at least an antenna switching unit 32, an origin signal generating unit 37, a transmitting unit 34, a receiving unit 33, a measurement signal reproducing unit 35, a phase measuring unit 36, and a position calculating unit 38. Have
,
The antenna switching unit 32 switches the antenna or the transmitter / receiver to either the transmitting unit or the receiving unit in a time division manner, and the starting point signal generating unit 37 includes at least a system synchronization signal, an identification signal, and a starting point signal. Generating a positioning request signal, and the transmitting means 34 transmits a radio signal including the positioning request signal as a burst signal toward the plurality of radio markers,

  The receiving means 33 receives wireless signals transmitted from the plurality of wireless markers 101a and 101b, and the measurement signal reproducing means 35 receives distance measurement signals and direction measurement signals from the wireless signals received by the receiving means. The phase measuring means 36 measures the phase of the reproduced distance measurement signal and the direction measurement signal, and the position calculating means 38 measures the position of the own station from the phase measurement result. ,

The plurality of wireless markers 101a and 101b include at least an antenna switching unit 19, a receiving unit 18, a starting signal reproducing unit 16, a synchronous oscillation unit 13, a measurement signal generating unit 15, and a transmitting unit 17. ,
The antenna switching unit 19 periodically switches a plurality of antennas or a plurality of transducers 21a to 21d, and switches to a transmission unit or a reception unit in a time division manner, and the reception unit 18 includes the mobile terminal 103. Receiving a radio signal including a positioning request signal transmitted from the starting point signal reproducing means 16 reproduces a starting point signal included in the positioning request signal from the radio signal received by the receiving means,

  The synchronous oscillating means 13 establishes synchronization with the reproduced starting signal with high accuracy in a short time and maintains the synchronization, and the measurement signal generating means 15 is synchronized with or orthogonal to the output of the synchronous oscillating means. A distance measurement signal to be generated and a direction measurement signal for measuring a direction separately from the distance measurement signal are generated, and the transmitting means 17 transmits a radio signal including the distance measurement signal and the direction measurement signal to each cell. Alternatively, at the frequency, time slot, or both pre-assigned to the radio marker arranged for each sector, the directivity is directed downward or diagonally downward from 0.5 wavelength to 2 of the direction measurement signal. While periodically switching between a plurality of antennas or a plurality of transducers arranged at wavelength intervals, transmitting to the mobile terminal in a time-sharing manner,

The origin signal transmitted from the mobile terminal 103, and the distance measurement signal and the direction measurement signal transmitted from the plurality of wireless markers 101a and 101b are single, or a plurality of carrier signals and subcarriers that are synchronized or orthogonal to each other. A signal, a modulation signal, a spread spectrum code, or a combination thereof, and the mobile terminal 103 measures the phase of the distance measurement signal and outputs the signal from at least one wireless marker among the plurality of wireless markers 101a and 101b. The distance is calculated, the phase difference between the direction measurement signals corresponding to the plurality of antennas or the plurality of transducers 21a to 21d of the at least one wireless marker is measured, and the direction in which the at least one wireless marker is located is calculated. From the calculation result of the distance and the calculation result of the direction, any one of the first to third dimensions of the mobile terminal 103 is obtained. It positions the original position with high accuracy.
The one-dimensional position means the distance between the wireless marker and the mobile terminal or the direction in which the mobile terminal is located.

  Further, in the origin signal reproducing means 16 or the measurement signal reproducing means 35, when the origin signal or measurement signal to be reproduced is a carrier signal or subcarrier signal of a radio signal, a band-pass filter with less group delay distortion ( For example, in the case of a modulated signal obtained by modulating a radio signal through a Gaussian filter, after demodulating by an analog demodulator with a small delay error or a digital demodulator with a small delay error using a high-frequency clock signal, Replay through the band pass filter.

The plurality of wireless markers 101a and 101b or the synchronous oscillating means 13 of the mobile terminal 103 is composed of a counter or numerically controlled oscillator driven by a reference oscillator 11 or a phase synchronous oscillator, or a numerically controlled oscillator. The timing of the rising point, falling point, or zero crossing of the starting point signal received by the signal reproducing means 16 and demodulated or reproduced by the signal reproducing means 16 is detected by the synchronization detecting means 14 using a clock signal having a frequency of at least 16 MHz, By setting or resetting the counter or the numerically controlled oscillator at the timing detected by the synchronization detection means, the synchronization oscillation means can establish synchronization with the origin signal in a short time, and can maintain synchronization.
Further, the reference oscillators 11 and 39 need to be particularly stable, for example, those within ± 0.5 ppm are used.

  Further, the synchronization establishment error between the plurality of wireless markers 101a, 101b or the synchronous oscillation means 13 of the mobile terminal 103 and the demodulated or reproduced starting signal is reduced, and synchronization can be performed with high accuracy and in a short time. In order to establish, a synchronization establishment error function is given to the mobile terminal 103, the plurality of wireless markers 101a, 101b, or both, and the synchronization establishment error function brings the synchronization establishment error as close to zero as possible.

  Further, as shown in FIG. 6, in order to give the synchronization establishment error function to the plurality of wireless markers 101a, 101b or the synchronization detecting means 14 of the mobile terminal 103, the phase of the clock signal output of the phase-locked oscillator 23 is changed. A plurality of sets of phase shifting means 51 for shifting, and a timing control means 53 for selecting and outputting a plurality of sets of clock signals shifted to different phases by the plurality of sets of phase shifting means, respectively. The distance calculation accuracy is improved by setting the total phase shift amount of the phase shift means to be larger than the interval of one cycle of the clock signal.

  Further, as shown in FIG. 7, in order to give the synchronization establishment error function to the plurality of wireless markers 101a, 101b or the synchronization oscillation means 13 of the mobile terminal 103, the synchronization oscillation means includes a plurality of counters or a plurality of sets. The plurality of sets of counters or the plurality of sets of numerically controlled oscillators are switched by a switching means 91 at a plurality of timings different from the reproduced starting signal to establish synchronization. The output means output from the plurality of sets of counters or the plurality of sets of numerically controlled oscillators is selected by a selection means 93 at a plurality of different timings, and is synchronized with or orthogonal to the selected output signals. A distance measurement signal is generated and transmitted to the mobile terminal 103 or a plurality of wireless markers 101a and 101b. And, in the position calculating unit 37 of the mobile terminal or a plurality of wireless markers, by determining the average value of the distance calculated in correspondence with the plurality of timings, improving distance calculation accuracy.

  Further, in order to add the synchronization establishment error function to the origin signal transmitted from the plurality of wireless markers 101a, 101b or the mobile terminal 103 or received by the plurality of wireless markers or the mobile terminal, a plurality of the wireless markers are provided. The origin signal is transmitted or received while periodically switching the antenna or the plurality of transducers 21a to 21d, thereby improving the distance calculation accuracy.

  Further, the phase measuring means 36 of the mobile terminal 103 or the wireless markers 101a and 101b has a product-sum calculator, and the positioning signal and the direction measuring signal are converted into a digital signal by an analog / digital converter of 8 bits or more, for example. Later, 0, 1, 0, −1, or 1, 1, −1, −1 or an integer multiple of these as the Sin lookup table, and 1, 0, −1, as the Cos lookup table The product-sum operation is performed by repeating 0, 1, -1, -1, 1, or an integer multiple of these. Note that multiplication with 1 when performing a product-sum operation is the same value as the digital signal, multiplication with -1 is to obtain the complement of the digital signal, and division with 0 is 0. The product-sum calculator can be simplified, and high-speed, real-time calculation is possible.

Further, since phase measurement, which is a main part of position calculation, can be processed using the product-sum calculator, the processing content required for the position calculation means 38 is not so large, and is configured using a normal microprocessor. Benefits that can be obtained.
In addition, the plurality of antennas or the plurality of transducers 21a to 21d of the wireless marker have directivity, and the direction of the directivity is directed downward, obliquely downward, or horizontally, with the direction measurement signal 0. • Arrange at intervals of 5 to 2 wavelengths.
Further, the cell is further divided into a plurality of sectors, and a wireless marker is installed for each sector.

  Further, the receiving means 33 of the mobile terminal 103, the receiving means 18 of the plurality of wireless markers 101a and 101b, or both of them have a quality detecting means for detecting the quality of the propagation path, and the quality detecting means The channel quality is analyzed from the result of measuring the power or signal-to-noise ratio of the radio signal received by the receiving means, and the distance from the result of measuring the phase of the distance measuring signal or the phase difference of the direction measuring signal by the phase measuring means 36. The measurement accuracy or the direction measurement accuracy is analyzed, or both of these analyzes are performed, and the results of the distance measurement process, the direction measurement process, or both are corrected or supplemented.

Further, the receiving means of the mobile terminal, the receiving means of the radio marker, or both of them are periodically switched by providing a plurality of antennas or a plurality of transducers, and the quality detecting means includes the plurality of antennas or the plurality of antennas. Of the results of measuring or calculating the distance corresponding to the transmitter / receiver of the above, by selecting the distance calculated relatively short, averaging, performing the load average, or a combination thereof, Correct or complement the distance measurement result or distance calculation result.
In addition, as a frequency of the radio signal, a frequency assigned to GPS or a frequency in the vicinity thereof is assigned, and the occupation ratio of the radio signal transmitted from the plurality of radio markers is set to 20% or less, so that the outdoor and indoor Connect the GPS seamlessly.

When the wireless marker is single, if the distance calculation result is distance (Lm) and the direction calculation result is direction (α (X), α (Y)), the distance (Lm) and direction (α From the measurement results (X) and α (Y)), the two-dimensional or three-dimensional position of the mobile terminal can be obtained as follows.
(1) When the plurality of antennas 21a to 21d of the wireless marker are directed downward Xx = X0−L * Sin (α (X)) −−−− (1)
Yy = Y0−L * Sin (α (Y)) −−−− (2)
Zz = Z0−L * √ (1−Sin ^ 2 (α (X)) − Sin ^ 2 (α (Y)) −−−− (3)

(2) When the plurality of antennas 21a to 21d of the wireless marker are inclined by β (Y) Xx = X0−L * Sin (α (X)) −−−− (4)
Yy = Y0−L * Sin {(α (Y)) + (β (Y))} −−−− (5)
Zz = Z0−L * √ (1−Sin ^ 2 (α (X)) − Sin ^ 2 (γ (Y)) −−−− (6)
However, γ (Y) = α (Y) + β (Y) <90 °.

Here, when the distance measurement signal is 1 MHz, the distance measurement range is 150 m and the phase of the distance measurement signal is 360 ° at the maximum, so that the relative distance can be measured with high accuracy by detecting the phase difference.
Further, since the measurement accuracy of the phase difference can be realized about ± 0.5 °, the measurement error of the relative distance can be realized about ± 150 m × (0.5 / 360 °) = ± 21 cm.
When there are a plurality of wireless markers, when the plurality of wireless markers 101a and 101b receive a wireless signal including a positioning request signal transmitted from the mobile terminal 103, the wireless including the distance measurement signal and the direction measurement signal. While periodically switching a plurality of antennas or a plurality of transducers 21a to 21d at a frequency, a time slot, or both pre-assigned to a radio marker arranged for each cell or each sector, By transmitting to the mobile terminal 103 in a time-sharing manner, the position of the mobile terminal 103 is measured with high accuracy.

It is also possible to measure a one-dimensional or two-dimensional position by providing two antennas on the wireless marker and periodically switching them.
Further, when the plurality of wireless markers 101a and 101b are pseudo satellite stations (suedolite) and the radio signal transmitted from the pseudo satellite station is a short burst signal with a time rate of 20% or less, a perspective problem occurs. Therefore, it is possible to increase the power that can be transmitted to about 1 mW.
In addition, even if a single wireless marker is used, positioning in any one of the first to third dimensions can be performed. Therefore, the first to third dimensions can be obtained by hyperbolic navigation using four conventional pseudo satellite stations. As compared with the case of positioning in any one of the dimensions, the influence of multipath can be reduced.

In addition, when the plurality of wireless markers 101a and 101b are discretely arranged, it is possible to perform positioning in any one of the dimensions from one to three if at least one transmitting means can be seen. System design is possible.
Further, a high-accuracy positioning system can be realized by further dividing the cell into a plurality of sectors and installing a wireless marker for each sector.
In addition, a plurality of directional antennas are connected to the mobile terminal at intervals of 0.5 to 2 wavelengths of the direction measurement signal, and distance calculation, direction calculation, or both are performed while periodically switching. Thus, the influence of multipath can be reduced.

(Embodiment 2)
1 and 3 are configuration diagrams of a cellular mobile radio positioning system according to a second embodiment of the present invention. In a cellular mobile radio positioning system using radio signals which are ultrasonic signals, high frequency signals or optical signals shown in FIGS. 1 and 3, a mobile terminal 103 for transmitting and receiving the radio signals in a time-division manner while moving , Composed of a plurality of wireless markers 101a, 101b serving as a reference of the position,

The plurality of wireless markers 101a and 101b include at least an antenna switching unit 19, a receiving unit 18, a starting point signal generating unit 37, a transmitting unit 17, a measurement signal reproducing unit 35, a phase measuring unit 36, and a position calculation. Means 37;
The antenna switching unit 19 periodically switches a plurality of directional antennas or a plurality of directional transducers 21a to 21d, and switches to either the transmission unit 17 or the reception unit 18 in a time division manner. Receives a positioning activation request signal transmitted from the mobile terminal 103, and the starting signal generation means 37 receives at least a system synchronization signal, an identification signal, and a starting signal corresponding to the positioning activation request signal. A positioning request signal including

  The transmitting means 17 sends a radio signal including the origin signal to the mobile terminal 103 at a frequency, time slot, or both pre-assigned to a radio marker arranged for each cell or sector. A frequency that is transmitted as a burst signal and the reception means 18 transmits a radio signal transmitted from the mobile terminal 103 in response to the positioning request signal to a radio marker arranged for each cell or sector. A plurality of antennas or a plurality of transmission / reception units arranged at intervals of 0.5 to 2 wavelengths of the direction measurement signal in the direction of directivity downward or diagonally downward in the time slot or both. The wave generators 21a to 21d are received in time division while being periodically switched, and the measurement signal reproducing means 35 is received by the receiving means 18. The distance measurement signal and the direction measurement signal are reproduced from the radio signal, the phase measurement means 36 measures the phase of the reproduced distance measurement signal and the direction measurement signal, and the position calculation means 38 comprises the phase Measure the position of the mobile terminal 103 from the measurement result of

The mobile terminal 103 includes at least an antenna switching unit 32, a receiving unit 33, a starting point signal reproducing unit 16, a synchronous oscillation unit 13, a measurement signal generating unit 15, and a transmitting unit 34.
The antenna switching unit 32 switches the antenna or the transducer 31 to either the transmission unit 34 or the reception unit 33 in a time-sharing manner, and the transmission unit 34 includes at least a system synchronization signal, an identification signal, and a positioning activation request. And a radio signal including the positioning start request signal is intermittently transmitted, and the receiving means 33 is assigned in advance from the plurality of radio markers 101a and 101b to radio markers arranged for each cell or each sector. Receiving a radio signal transmitted at a specified frequency, time slot, or both, and the origin signal regenerating means 15 from the radio signal received by the receiving means 33 is included in the positioning request signal Play the signal,

  The synchronous oscillating means 13 establishes synchronization with the reproduced starting signal with high accuracy in a short time and maintains the synchronization, and the measurement signal generating means 15 is synchronized with or orthogonal to the output of the synchronous oscillating means. A distance measurement signal to be generated and a direction measurement signal for measuring a direction separately from the distance measurement signal are generated, and the transmitting unit 34 transmits a radio signal including the distance measurement signal and the direction measurement signal to each cell. Alternatively, the radio markers 101a and 101b are transmitted in a time-sharing manner to the radio markers 101a and 101b at a frequency, time slot, or both pre-assigned to radio markers arranged for each sector. The origin signal transmitted from the mobile terminal 103, and the distance measurement signal and the direction measurement signal transmitted from the mobile terminal 103 are a single or a plurality of synchronized or orthogonal, Transmitting signals, a subcarrier signal, the modulation signal, a spread spectrum code or a combination thereof,

  The mobile terminal 103 intermittently transmits a radio signal including at least a system synchronization signal, an identification signal, and a positioning activation request signal as a burst signal toward the plurality of radio markers 101a and 101b, and the plurality of radio markers The markers 101a and 101b correspond to the positioning activation request signal transmitted from the mobile terminal 103, and a radio signal including the positioning request signal is sent to the radio marker arranged for each cell or each sector toward the mobile terminal. Transmitting in a time-sharing manner using a pre-assigned frequency, time slot, or both, and the mobile terminal 103 corresponds to the positioning request signals transmitted from the plurality of wireless markers 101a and 101b. A radio signal including at least the positioning signal and the direction measurement signal is sent to the radio markers 101a and 101b for each cell. Ku is pre-assigned frequency radio markers placed in each sector, time slot or in both of these, when sent in parts,

In at least one of the plurality of wireless markers 101a and 101b, the phase of the positioning signal is measured to calculate the distance from the mobile terminal 103, and the plurality of antennas or the plurality of the at least one wireless marker are calculated. The direction in which the mobile terminal 103 is located is calculated by measuring the phase difference between the direction measurement signals corresponding to the transducers 21a to 21d, and one of the mobile terminals 103 is calculated from the distance calculation result and the direction calculation result. The position of any one of dimensions 3 to 3 is measured with high accuracy.
In addition, when the mobile terminal 103 is carried by a pedestrian as described above, a radio signal including the positioning activation request signal is intermittently transmitted from the mobile terminal 103 at intervals of 0.5 to 5 seconds. The current consumption of the mobile terminal 103 can be kept low.
Further, an ad hoc network is configured with a peripheral wireless marker as a specific wireless marker among the plurality of wireless markers, and connected to an external wired line or wireless line via the node, at least, Information necessary to determine the position of the mobile terminal is exchanged.

Further, a wireless signal transmitted from the mobile terminal, the plurality of wireless markers, or both of them, using a specific wireless marker among the plurality of wireless markers or a wireless marker different from the plurality of wireless markers as a node. , The phase of the distance measurement signal included in the wireless signal is measured with reference to the starting signal included in the wireless signal, and the position of the mobile terminal can be determined by hyperbolic navigation.

Further, a wireless signal transmitted from the mobile terminal, the plurality of wireless markers, or both of them, using a specific wireless marker among the plurality of wireless markers or a wireless marker different from the plurality of wireless markers as a node. And measuring the phase of the distance measurement signal included in the wireless signal with reference to the origin signal included in the wireless signal, and the mobile terminal, a plurality of wireless markers included in the wireless signal, or these The data of the direction in which both are located can be received to determine the position of the mobile terminal.

  FIG. 4 is a diagram illustrating a configuration example of a radio signal according to the present invention. 4, 61a to 61g are system synchronization signals, 62a to 62g are MAC layers, 63a is a positioning request signal including an origin signal intermittently transmitted from the mobile terminal 103, and 63b is a positioning request signal received by the wireless marker 101a. 63c is a distance measurement signal and direction measurement signal transmitted from the time slot assigned to the wireless marker 101a, 63d is a distance measurement signal and direction measurement signal received by the mobile terminal 103, and 63e is received by the wireless marker 101b. 63f is a distance measurement signal and direction measurement signal transmitted from the time slot assigned to the wireless marker 101b, 63g is a distance measurement signal and direction measurement signal received by the mobile terminal 103, and 64 is the above-mentioned The time axis of the mobile terminal, 65 is the time axis of the wireless marker 101a, and 66 is the wireless marker. Is the time axis of the mosquito 101b. A signal surrounded by a thick line indicates a signal to be transmitted, and other signals indicate signals to be received.

The system synchronization signals 61a to 62g are multi-bit unique words, and the control timing between the mobile terminal 103 and the plurality of wireless markers 101a and 101b can be matched with an accuracy of about ± 100 nanoseconds. If the distance is obtained by measuring the time difference with a degree of accuracy, there is a problem that the distance measurement error increases to several tens of meters.
The MAC layers 62a to 62g include at least an identification number, a destination number, a notification signal, or a combination thereof, and are generated as a set with the system synchronization signals 61a to 61g.

The origin signal included in the positioning request signal is a signal for establishing precise synchronization between the plurality of wireless markers 101a and 101b and the mobile terminal 103, and is a single signal or a plurality of signals that are synchronized or orthogonal to each other. A carrier signal, a subcarrier signal, a modulation signal, a spread spectrum code, or a signal of any combination thereof is used.
On the other hand, the distance measurement signal and the direction measurement signal are signals for performing accurate distance and direction measurement, and a plurality of carrier signals, subcarrier signals, modulation signals, spread spectrum codes that are single, synchronized, or orthogonal to each other. , Or any combination of these is used.

  Further, the duration of the MAC layers 62c and 62f transmitted from the wireless markers 101a and 101b is set to about 0.5 ms, respectively, and the distance measurement signal and the direction measurement signals 63c and 63f transmitted from the wireless markers 101a and 101b are continued. If each time is about 0.5 ms and the duration of the system synchronization signal is ignored, the duration of the radio signals transmitted from the radio markers 101a and 101b will be about 1 ms in total, so eight radio markers are installed. When 8 time slots are assigned to each wireless marker, the duration time of the 8 wireless markers is 8 ms in total.

Further, if the frequency deviation of the reference oscillators mounted on the wireless markers 101a and 101b and the mobile terminal 103 is ± 0.5 ppm, the change in frequency during the duration of 8 ms is as follows. Since ± 0.5 × (8/1000) Hz, the synchronization holding error of the synchronous oscillator is ± 360 ° × (4/1000) = ± 1.44 °, and the distance measurement error is ± 150 m × ( 1.44 ° / 360 °) = ± 60 cm.

  FIG. 5 is a timing chart of the present invention. In FIG. 5, 71a is an origin signal transmitted from the mobile terminal 103, 71b is an origin signal reproduced by the wireless marker 101a, 71c is an origin signal reproduced by the wireless marker 101b, and 72a is an origin point toward the wireless marker 101a. A propagation path through which the signal propagates; 72b, a propagation path through which the origin signal propagates toward the wireless marker 101b; 73a, a distance measurement signal generated in synchronization with the origin signal reproduced by the wireless marker 101a; Distance measurement signal generated in synchronization with the origin signal reproduced by the wireless marker 101b, 74a is a propagation path through which the distance measurement signal is propagated from the wireless marker 101a, 74b is a propagation path through which the distance measurement signal is propagated from the wireless marker 101b,

  75a is a distance measurement signal from the reproduced wireless marker 101a, 75b is a distance measurement signal from the reproduced wireless marker 101b, 76a is a time to the first time slot, 76b is a time to the second time slot, 77a is the phase difference between the origin signal and the distance measurement signal transmitted from the wireless marker 101b, 77b is the phase difference between the origin signal and the distance measurement signal transmitted from the wireless marker 101a, and 81a is the transmission means of the mobile terminal 1. , 83a and 83b are the time axis of the receiving means of the previous mobile terminal 103, 81b is the time axis of the receiving means of the wireless marker 101a, 82a is the time axis of the transmitting means of the wireless marker 101a, and 81c is the wireless marker 101a is a time axis of the receiving means, and 82b is a time axis of the transmitting means of the wireless marker 101b.

Assuming that the starting signal 71a transmitted from the mobile terminal 103 is ASin (2πf1t), the starting signal 71a propagates through the propagation path 72a of the distance La (m), is received by the wireless marker 101a, and is the starting signal 71b. Is reproduced as BSin {2πf1t + 2πLa (f1 / C)}.
When the distance measurement signal 73a synchronized with the reproduced origin signal 71b and the synchronization establishment error is zero, the generated positioning signal 73a is similarly expressed by BSin {2πf1t + 2πLa (f1 / C)}.

After the time division interval 76a, the generated positioning signal 73a is transmitted from the wireless marker 101a, propagates again through the propagation path 74a of the distance La (m), and is reproduced by the mobile terminal 103. The signal 75a is represented by CSin {2πf1t + 4πLa (f1 / C)}. Here, C is the speed of light.
Therefore, when the phase of the reproduced distance measurement signal 75a is measured using a clock signal that is synchronized with or orthogonal to the origin signal 71a generated by the mobile terminal 103 and whose frequency is an integral multiple of the origin signal, the movement Since the phase difference 77a between the origin signal 71a generated at the terminal 103 and the distance measurement signal 75a reproduced at the mobile terminal 103 is measured and ΔΦ = {4πLa (f1 / C)}, La = {CΔΦ / 4πf1}, the distance La (m) can be calculated.

FIG. 6 is a block diagram of the synchronization establishment error function generation means of the present invention. In FIG. 6, 11 is a reference oscillator, 12 is a phase-locked oscillator, 27 is an error function generating means, 51 is a phase shifting means, 52a to 52n are switching taps of the phase shifting means 51, 53 is a switching control means, 54, 55, Reference numeral 56 denotes a connection terminal.
The output signal of the reference oscillator 11 at the previous stage is converted to a high frequency by the phase-locked oscillator 12 and input to the phase shift means 51 via the connection terminal 54. The phase shift means 51 is constituted by a plurality of stages of shift registers, a plurality of stages of delay elements, or a plurality of stages of delay circuits, and the signal output of each stage is drawn out by the switching taps 52a to 52n. The signals are sequentially switched and output from the connection terminal 56 to the outside (synchronization detection means, synchronous oscillation means, etc.) as a high-frequency clock signal.

  The amount of phase shift at each stage of the phase shift means 51 is desirably as small as possible, and the total of the phase shift amounts needs to be one period or more of the clock signal. For example, if the frequency of the clock signal is 256 MHz, the phase shift amount of each stage of the phase shift means 51 is 4 nanoseconds or less (for example, 0.4 nanosecond), and the total phase shift amount is It is necessary to set it to 4 nanoseconds or more (for example, 6.4 nanoseconds).

  In the absence of the phase shift means 51, the synchronization establishment accuracy of the synchronous oscillation means 13 is ± 2 nanoseconds. If the frequency of the origin signal is 1 MHz, the distance measurement accuracy is relative to 150 m of the positioning range. However, ± 30 cm is the limit, but when the above-mentioned phase shift means 51 is provided, the phase shift amount assigned to each stage is 0.4 nanoseconds, and the average value of the calculated distance is obtained, the positioning accuracy is ± 15 cm. Can be improved.

The phase shifting means 51 gives a synchronization establishment error function to the synchronous oscillation means 13, and the sum of synchronization establishment errors generated in each stage of the plurality of stages of taps 52a to 52n is calculated as the synchronization establishment error function. In other words, the synchronization establishment error function can be expressed by a polynomial, and the polynomial converges to 0 or a constant value.

FIG. 7 is another configuration diagram of the synchronization establishment error function generation means of the present invention. In FIG. 7, 91 and 93 are changeover switches, 92a to 92n are plural sets of counters or plural sets of numerically controlled oscillators, and 94 to 96 are connection terminals.
The set or reset signal detected from the rising point, falling point, or zero crossing timing of the starting signal supplied to the connection terminal 94 is sequentially switched by the changeover switch 91, and the plurality of sets of counters or the plurality of sets of The numerically controlled oscillators 92a to 92n are sequentially set or reset.

On the other hand, the connection terminal 96 is supplied with a clock signal from a phase-locked oscillator 12 (not shown), and is synchronized with the set or reset timing by the reset signal by the plural sets of counters 92a to 92n. Count down to a lower frequency.
The output signals generated by the plurality of sets of counters or the plurality of sets of numerically controlled oscillators 92 a to 92 n are sequentially switched by the changeover switch 93 and supplied to the distance measurement signal generation means 15 via the connection terminal 95. .

  Here, the frequency or phase of the clock signal supplied from the phase-locked oscillator 12 to the synchronization detecting means 14 and the frequency or phase of the reproduced starting signal are uncorrelated and / or the frequency or phase between them. The correlation coefficient between the synchronization establishment errors of the plurality of sets of counters or the plurality of sets of numerically controlled oscillators 92a to 92n can be kept low. Therefore, by obtaining the average value from the result of calculating the distance by measuring the phase of the distance measurement signal, a merit that the distance measurement accuracy can be improved can be obtained.

  In other words, the detection timing of the set or reset signal detected by the synchronization detecting means 14 is changed corresponding to each of the plurality of sets of counters or the plurality of sets of numerically controlled oscillators 92a to 92n, and the phase-locked oscillator 23 As a whole, the average value of synchronization establishment errors converges to 0 or a constant value if it can be set or reset at different timings within the time interval of a plurality of bits of the clock signal supplied from Therefore, by providing the plurality of sets of counters or the plurality of sets of numerically controlled oscillators 92a to 92n, it is possible to perform highly accurate positioning even if the frequency of the clock signal supplied to the synchronization detecting means 14 is kept relatively low. Become.

Note that the switching timings of the changeover switches 91 and 93 are not the same, and it is necessary to match at least the timing of performing transmission / reception at the time division interval.
Further, when the plurality of sets of counters are used, it is possible to use about 8 or less counters per set. Therefore, even if 8 sets of counters are provided, it is possible to use about 64 counters, which is an economical scale.
Further, if the total synchronization establishment error generated for each set of the plurality of sets of counters or the plurality of sets of numerically controlled oscillators 92a to 92n is expressed as a synchronization establishment error function, the synchronization establishment error function can be expressed by a polynomial. The polynomial will converge to 0 or a constant value.

On the other hand, in the case of turning back with an analog or digital delay means as in the prior art, for example, when the transmission / reception in time division is 2 milliseconds and the duration is 1 millisecond, Even if the frequency of the starting signal is about 1 MHz, especially in the case of a digital delay means, it is necessary to set the frequency of the clock signal to 100 MHz to 1000 MHz or more, so a large delay element is required. Become.
However, a change-over switch is provided between the input terminal and output terminal of the delay means, and the change-over switch is disconnected when reading the origin signal, connected in a ring shape after reading, and disconnected when reading. Thus, there is an advantage that the delay time required for the interval of 2 milliseconds between the parts to be transmitted and received in time division can be saved.

In the above description, the case where radio waves are used as radio signals has been described. However, ultrasonic signals, high-frequency signals, or optical signals can be included as radio signals. In the case of an ultrasonic signal or an optical signal, a transmitter / receiver is used instead of an antenna, and in the case of an optical signal, a relatively high frequency subcarrier signal or a high chip rate spreading code is used. And
In addition, by adopting the UWB (ultra-wide band) method, it is possible to use a modulation signal having a relatively high frequency, and a pico cell having a diameter of 30 m or less is formed, so that a one-dimensional to three-dimensionally high precision at a short distance. Positioning of any one of the dimensions can be performed.

Further, the receiving means of the mobile terminal, the receiving means of the radio marker, or both of them are periodically switched by providing a plurality of antennas or a plurality of transducers, and the quality detecting means includes the plurality of antennas or the plurality of antennas. Of the results of measuring or calculating the distance corresponding to the transmitter / receiver of the above, by selecting the distance calculated relatively short, averaging, performing the load average, or a combination thereof, The distance measurement result or the distance calculation result can be corrected or supplemented.
Further, when the wireless marker is a pseudo satellite station and transmits a pseudo GPS signal, an arbitrary modulation method is used in addition to the BPSK modulation similar to the conventional GPS, or any other than the C / A code or the P code is used. Can be coded.

In addition, the MAC layer includes at least the identification code or identification number of the transmission means, includes station information, includes text information, or selects a code length within a range not exceeding 1% of the time rate. can do.
Further, the same effect can be obtained when the wireless marker has a single antenna and the mobile terminal is equipped with a plurality of antennas and receives or transmits while periodically switching.
Further, a high-accuracy positioning system can be realized by further dividing the cell into a plurality of sectors and installing a wireless marker for each sector.

Since the present invention is configured as described above, by installing the wireless marker as a pseudo satellite station indoors, outdoors, or both, a high-accuracy cellular system that seamlessly connects GPS outdoors and indoors. A mobile radio positioning system can be realized in an economical way.
In addition, when a pico cell is configured by the plurality of wireless markers and applied to logistics management, the article management in the warehouse can be accurately recorded although it is stored in which shelf on which shelf and in what location. It can help to improve efficiency.

Further, when the wireless marker is discretely arranged regardless of outdoors or indoors, and the mobile terminal is carried by a pedestrian, a pedestrian autonomous movement support system, a pedestrian navigation system, a fire or a disaster It can be used for time evacuation / guidance systems or child watching systems, and it can also be applied to autonomous movement of robots.
Further, when the guardian carries the wireless marker and the child carries the mobile terminal, the present invention can be applied to a lost child search system. It can also be applied to forgotten things search system, old man search, etc.
Further, the cellular mobile radio positioning technology of the present invention is a basic technology and can be expected to be used in many other fields.

Configuration diagram of cellular mobile radio positioning system of the present invention Configuration diagram of cellular mobile radio positioning system according to Embodiment 1 of the present invention Configuration diagram of cellular mobile radio positioning system according to Embodiment 2 of the present invention The figure which shows the structure of the radio signal of this invention Timing chart of the present invention Configuration diagram of synchronization establishment error function generation means of the present invention Another configuration diagram of synchronization establishment error function generation means of the present invention Configuration diagram showing a conventional example

DESCRIPTION OF SYMBOLS 1 RTK positioning system 2 Transmitting means or pseudo satellite station 3 Fixed reference station receiving means 4 Moving reference station receiving means 5 Rover receiving means 6 User processing unit or receiving means 7 Data link 101a, 101b A plurality of cells arranged for each cell or sector Wireless markers 21a to 21d Antenna 103 Mobile terminals 104a, 104b Distances between the plurality of wireless markers and the mobile terminal 105a, 105b Direction of the mobile terminal viewed from the plurality of wireless markers

Claims (17)

In a cellular mobile radio positioning system using a radio signal which is an ultrasonic signal, a high frequency signal or an optical signal,
It is composed of a mobile terminal for transmitting and receiving in a time-division manner while moving the wireless signal, and a plurality of wireless markers that are arranged for each cell and serve as a reference for the position,
The mobile terminal is at least
An antenna switching means, an origin signal generating means, a transmitting means, a receiving means, a measurement signal reproducing means, a phase measuring means, and a position calculating means;
The antenna switching means switches the antenna or the transducer to either the transmitting means or the receiving means in a time division manner,
The starting point signal generating means generates at least a system synchronization signal, an identification signal, and a positioning request signal including the starting point signal;
The transmitting means transmits a wireless signal including the positioning request signal as a burst signal toward the plurality of wireless markers,
The receiving means receives radio signals transmitted from the plurality of radio markers;
The measurement signal reproduction means reproduces a distance measurement signal and a direction measurement signal from a radio signal received by the reception means,
The phase measurement means measures the phase of the reproduced distance measurement signal and the direction measurement signal;
The position calculating means measures the position of the own station from the measurement result of the phase,
The plurality of wireless markers are at least:
Antenna switching means, receiving means, origin signal reproducing means, synchronous oscillation means, measurement signal generating means, and transmitting means,
The antenna switching unit periodically switches a plurality of antennas or a plurality of transducers, and switches to either a transmission unit or a reception unit in a time division manner,
The receiving means receives a radio signal including a positioning request signal transmitted from the mobile terminal;
The origin signal reproduction means reproduces the origin signal included in the positioning request signal from the radio signal received by the reception means,
The synchronous oscillating means establishes synchronization in a short time with high accuracy with the reproduced starting signal, and holds the synchronization;
The measurement signal generation means generates a distance measurement signal that is synchronized with or orthogonal to the output of the synchronous oscillation means, and a direction measurement signal for measuring a direction separately from the distance measurement signal,
The transmitting means transmits a radio signal including the distance measurement signal and the direction measurement signal to a plurality of antennas at a frequency, a time slot, or both pre-assigned to a radio marker arranged for each cell or each sector. While periodically switching between a plurality of transducers, transmit to the mobile terminal in a time-sharing manner,
A plurality of carrier signals, subcarrier signals, and modulation signals in which the origin signal transmitted from the mobile terminal and the distance measurement signal and the direction measurement signal transmitted from the plurality of wireless markers are single or synchronized or orthogonal to each other. A spread spectrum code, or a combination of these,
In the mobile terminal, the phase of the distance measurement signal is measured to calculate the distance from at least one wireless marker, and the direction measurement signal corresponding to the plurality of antennas or the plurality of transducers of the at least one wireless marker is calculated. Measuring the phase difference to calculate the direction in which the at least one wireless marker is located;
A cellular mobile radio positioning system characterized in that the position of any one of the first to third dimensions of the mobile terminal is measured with high accuracy from the distance calculation result and the direction calculation result.
In a cellular mobile radio positioning system using a radio signal which is an ultrasonic signal, a high frequency signal or an optical signal,
It is composed of a mobile terminal for transmitting and receiving in a time-division manner while moving the wireless signal, and a plurality of wireless markers that are arranged for each cell and serve as a reference for the position,
The plurality of wireless markers are at least:
An antenna switching means, a receiving means, an origin signal generating means, a transmitting means, a measurement signal reproducing means, a phase measuring means, and a position calculating means;
The antenna switching means periodically switches a plurality of directional antennas or a plurality of directional transducers, and switches to either a transmitting means or a receiving means in a time division manner,
The receiving means receives a positioning activation request signal transmitted from the mobile terminal;
In response to the positioning activation request signal, the starting point signal generating means generates at least a system synchronization signal, an identification signal, and a positioning request signal including a starting point signal,
The transmission means transmits a radio signal including the origin signal as a burst signal to the mobile terminal at a frequency, time slot, or both pre-assigned to a radio marker arranged for each cell. ,
The receiving means transmits a plurality of radio signals transmitted from the mobile terminal in response to the positioning request signal at a frequency, time slot, or both pre-assigned to a radio marker arranged for each cell. Receiving in time division while periodically switching the antenna or multiple transducers,
The measurement signal reproduction means reproduces a distance measurement signal and a direction measurement signal from a radio signal received by the reception means,
The phase measurement means measures the phase of the reproduced distance measurement signal and the direction measurement signal;
The position calculating means measures the position of the mobile terminal from the measurement result of the phase,
The mobile terminal is at least
Antenna switching means, receiving means, positioning activation request signal generating means, origin signal reproducing means, synchronous oscillation means, measurement signal generating means, and transmitting means,
The antenna switching means switches the antenna or the transducer to either the transmitting means or the receiving means in a time division manner,
The positioning activation request signal generating means generates at least a system synchronization signal, an identification signal, and a positioning activation request signal,
The transmission means intermittently transmits a radio signal including the positioning start request signal,
The receiving means receives a radio signal transmitted from the plurality of radio markers at a frequency, a time slot, or both pre-assigned to radio markers arranged for each cell or sector,
The origin signal reproduction means reproduces the origin signal included in the positioning request signal from the radio signal received by the reception means,
The synchronous oscillating means establishes synchronization in a short time with high accuracy with the reproduced starting signal, and holds the synchronization;
The measurement signal generation means generates a distance measurement signal that is synchronized with or orthogonal to the output of the synchronous oscillation means, and a direction measurement signal for measuring a direction separately from the distance measurement signal,
The transmitting means transmits the radio signals including the distance measurement signal and the direction measurement signal at a frequency, a time slot, or both pre-assigned to a radio marker arranged for each cell or each sector. Send to the marker in time division,
A plurality of carrier signals, subcarrier signals, and modulation signals in which the origin signal transmitted from the plurality of wireless markers and the distance measurement signal and the direction measurement signal transmitted from the mobile terminal are single or synchronized or orthogonal to each other. A spread spectrum code, or a combination of these,
The mobile terminal intermittently transmits a radio signal including at least a system synchronization signal, an identification signal, and a positioning activation request signal as a burst signal toward the plurality of radio markers,
The plurality of wireless markers correspond to the positioning activation request signal transmitted from the mobile terminal, and the wireless signal including the positioning request signal is directed to the mobile terminal as a wireless marker arranged for each cell or sector. Transmit in time division on pre-assigned frequencies, time slots, or both,
In response to the positioning request signal transmitted from the plurality of wireless markers, the mobile terminal transmits a radio signal including at least the positioning signal and the direction measurement signal toward the plurality of wireless markers, for each cell or sector. Transmit in a time-sharing manner at the frequency, time slot, or both pre-assigned to the radio marker placed every time,
In the plurality of wireless markers, the phase of the positioning signal is measured to calculate the distance from the mobile terminal, and the phase difference of the direction measurement signals corresponding to the plurality of antennas or the plurality of transducers is measured to determine the mobile terminal. Calculate the direction in which
A cellular mobile radio positioning system characterized in that the position of any one of the first to third dimensions of the mobile terminal is measured with high accuracy from the distance calculation result and the direction calculation result.
In the origin signal reproducing means or measurement signal reproducing means, when the origin signal or measurement signal to be reproduced is a carrier signal or subcarrier signal of a radio signal, it is passed through a band-pass filter with little group delay distortion, or wirelessly When the signal is a modulated signal, the signal is demodulated by an analog demodulator with a small delay error or a digital demodulator with a small delay error using a high-frequency clock signal, and then reproduced through the band-pass filter. The cellular mobile radio positioning system according to claim 1 or 2.
The plurality of wireless markers or the synchronous oscillating means of the mobile terminal is constituted by a counter or numerically controlled oscillator driven by a reference oscillator or a phase synchronous oscillator, and received by the receiver and demodulated by a signal reproducing means. Alternatively, the timing of the rising point, the falling point, or the zero crossing point of the reproduced starting signal is detected by using a clock signal having a frequency of at least 16 MHz by the synchronization detecting means, and at the timing detected by the synchronization detecting means, 3. The synchronous oscillation unit according to claim 1, wherein the synchronous oscillation means can establish synchronization with a starting point signal in a short time and can maintain synchronization by setting or resetting a counter or a numerically controlled oscillator. Cellular mobile radio positioning system
In order to reduce synchronization establishment error between the plurality of wireless markers or synchronous oscillation means of the mobile terminal and the demodulated or reproduced starting signal, and to establish synchronization in a short time with high accuracy The synchronization establishment error function is given to the terminal, the plurality of wireless markers, or both of them, and the synchronization establishment error function has a characteristic of bringing the synchronization establishment error as close to zero as possible. Alternatively, the cellular mobile radio positioning system according to item 2.
A plurality of sets of phase shifting means for shifting the phase of the clock signal output of the phase-locked oscillator to provide the synchronization establishment error function to the plurality of wireless markers or synchronization detection means of the mobile terminal; Timing control means for selecting and outputting to the outside a plurality of sets of clock signals each shifted to a different phase by the phase shift means, the total amount of phase shift of the phase shift means is the clock signal 6. The cellular mobile radio positioning system according to claim 5, wherein the distance calculation accuracy is improved by setting the interval larger than the interval of one cycle.
In order to give the synchronization establishment error function to the plurality of wireless markers or the synchronization oscillation means of the mobile terminal, the synchronization oscillation means has a plurality of sets of counters or a plurality of sets of numerically controlled oscillators, A plurality of sets of numerically controlled oscillators are switched by switching means at a plurality of timings respectively different from the reproduced starting signal to establish synchronization, and output from the plurality of sets of counters or the plurality of sets of numerically controlled oscillators A signal is selected by a selection means at a plurality of different timings, and a single or a plurality of distance measurement signals synchronized with or orthogonal to the selected output signal are generated and transmitted to the mobile terminal or a plurality of wireless markers In the signal processing means of the mobile terminal or the plurality of wireless markers, the calculation is performed corresponding to the plurality of timings. Cellular mobile radio positioning system according to claim 5, wherein by determining the average value of the distance, characterized in that to improve the distance calculation accuracy of the.
In order to add the synchronization establishment error function to the origin signal transmitted from the plurality of wireless markers or mobile terminals or received by the plurality of wireless markers or mobile terminals, a plurality of antennas or a plurality of transmission / receptions of the wireless markers are provided. 6. The cellular mobile radio positioning system according to claim 5, wherein the origin signal is transmitted or received while periodically changing the waver to improve the calculation accuracy of the distance.
The phase measuring means of the mobile terminal or the plurality of wireless markers has a product-sum operation unit, and 0, 1, 0, -1 or 1, 1, -1, as a Sin lookup table of the product-sum operation unit −1, or an integer multiple of these, and the Cos lookup table is 1, 0, −1, 0, or 1, −1, −1, 1, or an integer multiple of these multiply-accumulate operations . Note that multiplication with 1 when performing a product-sum operation is the same value as the digital signal, multiplication with -1 is to obtain the complement of the digital signal, and division with 0 is 0. The cellular mobile radio positioning system according to claim 1 or 2, wherein the sum-of-products calculator can be simplified, and real-time calculation can be performed at high speed.
A plurality of antennas or a plurality of transducers of the wireless marker have directivity, and the direction of the directivity is directed downward, diagonally downward, or horizontally, from 0.5 wavelength to 2 of the direction measurement signal. The cellular mobile radio positioning system according to claim 1 or 2, wherein the cellular mobile radio positioning system is arranged at intervals of wavelengths.
The cellular mobile radio positioning system according to claim 1 or 2, wherein the cell is further divided into a plurality of sectors, and a radio marker is installed for each sector.
The receiving means of the mobile terminal, the receiving means of the wireless marker, or both of them have a quality detecting means for detecting the quality of the propagation path, and the quality detecting means is the power of the radio signal received by the receiving means or Analyzing the line quality from the result of measuring the signal-to-noise ratio, and analyzing the distance measurement accuracy or the direction measurement accuracy from the result of measuring the phase difference of the distance measurement signal or the phase measurement signal by the phase measuring means, or these The cellular measurement according to any one of claims 1 to 11, wherein both of the analysis are performed, and the results of the distance measurement process, the direction measurement process, or both of them are corrected or supplemented. Mobile radio positioning system.
The receiving means of the mobile terminal, the receiving means of the wireless marker, or both of them are periodically switched by providing a plurality of antennas or a plurality of transducers, and the quality detecting means includes the plurality of antennas or the plurality of transmitting / receiving units. The distance measurement is performed by selecting, averaging, performing load averaging, or performing a combination of the distance measurement corresponding to the corrugator and selecting the result of the distance calculation that is relatively short. The cellular mobile radio positioning system according to claim 1 or 2, wherein the result or the distance calculation result is corrected or complemented.
A specific wireless marker of the plurality of wireless markers or a wireless marker different from the plurality of wireless markers is used as a node, an ad hoc network is configured with the plurality of wireless markers, and the 3. The cellular movement according to claim 1, wherein the cellular movement is connected to an external wired line or a wireless line, and at least information necessary for positioning the position of the mobile terminal is exchanged. Wireless positioning system.
A wireless signal transmitted from the mobile terminal, the plurality of wireless markers, or both is received using a specific wireless marker of the plurality of wireless markers or a wireless marker different from the plurality of wireless markers as a node. And measuring a position of the mobile terminal by hyperbolic navigation by measuring a phase of a distance measurement signal included in the radio signal with reference to a starting signal included in the radio signal. Item 2. A cellular mobile radio positioning system according to item 2.
A wireless signal transmitted from the mobile terminal, the plurality of wireless markers, or both is received using a specific wireless marker of the plurality of wireless markers or a wireless marker different from the plurality of wireless markers as a node. The phase of the distance measurement signal included in the wireless signal is measured with reference to the origin signal included in the wireless signal, and the mobile terminal, the plurality of wireless markers, or both included in the wireless signal are The cellular mobile radio positioning system according to claim 1 or 2, wherein the cellular mobile radio positioning system is configured to receive data obtained by measuring a direction in which the mobile terminal is located and to position the mobile terminal.
  As a frequency of the radio signal, a frequency assigned to GPS or a frequency in the vicinity thereof is assigned, and the occupation ratio of the radio signal transmitted from the plurality of radio markers is set to 20% or less, so that the GPS can be used outdoors and indoors. The cellular mobile radio positioning system according to claim 1 or 2, characterized in that they are connected seamlessly.

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