JP2010230467A - Positioning system, positioning device, positioning method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a signal source positioning system and its technology for computing a position of a signal source by emitting a signal one-time from the signal source while dispensing with highly precise synchronization of time of two or more receivers in space, a special device in the signal source and receivers for other than single signal transmission route, or a position-known reference signal source in space. <P>SOLUTION: The positioning system includes a measurement means which includes two or more sensors and measures arrival time of a signal received by the two or more sensors using an own time source and a compute means which collects the measured arrival time from two or more measurement means and computes a position of the signal source of the signal from signal transmission speed, position information of positions of the sensors in the measurement means, and the arrival time in the sensors. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a positioning system, a positioning device, a positioning method, and a positioning program that calculate the position of a signal source.

  As a system for calculating the position of a signal source, a system that receives sound waves, ultrasonic waves, or radio waves simultaneously emitted from a signal source by a plurality of receiving devices and calculates the position of the signal source from the signal transmission time. Proposed. For example, in Patent Document 1, Non-Patent Document 1, and Non-Patent Document 2, based on distances calculated from signal transmission times until signals received from a signal source are received by a plurality of time-synchronized receiving devices, A technique for calculating the position of the signal source is described.

  In Patent Document 1, two signal transmission paths having different signal transmission speeds are provided between a signal source and a receiving device. And it is the structure which notifies the signal transmission timing on the other path | route using a faster signal transmission path | route among these two signal transmission paths. Thereby, the signal transmission time until the signals transmitted from the signal sources are received by the plurality of receiving devices is measured and the positions of the signal sources are calculated without having to synchronize the times of the plurality of receiving devices.

  Patent Document 2 measures a signal phase difference between any two combinations when a signal radiated from a radio wave signal source is received by a plurality of receiving antennas connected to a single reference oscillator. Then, the position of the signal source is calculated after correcting the phase difference measurement error for each antenna path included in the signal phase difference measurement using a reference signal source installed at a known position.

  Patent Document 3 corrects a phase difference measurement error for each antenna path without a reference signal source based on a plurality of phase difference measurement results performed while moving the signal source.

Japanese Patent Laid-Open No. 06-222130 Japanese Patent No. 003602403 JP 2007-248217 A

James Scott, Boris Dragovic, Audio Location: Accurate Low-Cost Location Sensing, Pervasive2005 Xuehai Bian, Gregory Abowd, James Rehg, Using Sound Source Localization in a Home Environment, Pervasive2005

  Even if the above technique is used, it is difficult to apply the signal source positioning system at a low cost and in a wide range.

  The reason is that it is necessary to synchronize the time of a plurality of receiving apparatuses installed in the space with high accuracy in order to measure the signal transmission time necessary for calculating the position of the signal source. This is because special equipment such as connecting a plurality of receiving apparatuses with a dedicated cable is required. In addition, in order to calculate the position of the signal source without synchronizing the times of a plurality of receiving apparatuses with high accuracy, a special apparatus is provided for the signal source and the receiving apparatus, and a reference signal source whose position is known in space is provided. This is because it is necessary to perform multiple measurements while installing or moving the signal source.

  Therefore, the present invention has been invented in view of the above problems, and its purpose is to synchronize the times of a plurality of receiving apparatuses installed in space with high accuracy or to provide a single signal source and receiving apparatus. A signal that can be used to calculate the position of a signal source by emitting a signal once from the signal source without the need to provide a special device for other than the signal transmission path or to install a reference signal source whose position is known in space. It is to provide a source positioning system and its technology.

  The present invention for solving the above problems is a positioning system, comprising a plurality of sensors, and measuring means for measuring arrival times of signals received by the plurality of sensors using its own time source, The calculating means for collecting the measured arrival times from a plurality of measuring means and calculating the position of the signal source of the signal from the signal transmission speed, the position information indicating the position of the sensor of each measuring means, and the arrival time of each sensor. It is characterized by having.

  The present invention for solving the above-mentioned problems is a positioning device, wherein a measuring device having a plurality of sensors measures the arrival times of signals in the plurality of sensors measured by using its own time source. And calculating means for calculating the position of the signal source of the signal from the signal transmission speed, the position information indicating the position of the sensor of each measuring device, and the arrival time of each sensor.

  The present invention for solving the above-described problem is a positioning method, in which a measuring device having a plurality of sensors uses a time source of its own device to measure arrival times of signals received by the plurality of sensors. A collection step for collecting the measured arrival times from a plurality of measurement devices, a signal transmission speed, position information indicating the position of the sensor of each measurement device, and the arrival time of each sensor, the position of the signal source of the signal And a calculating step for calculating.

  The present invention for solving the above-described problem is a program, which is a program for an information processing device, and the program uses a time source of a measuring device having a plurality of sensors in the information processing device. The measured signal arrival times at the plurality of sensors are collected from a plurality of measurement devices, the signal transmission speed, the position information indicating the positions of the sensors of the measurement devices, and the arrival times of the sensors, And a calculation process for calculating a position of a signal source of the signal.

  According to the present invention, the signal source positioning system can be widely applied at low cost.

  The reason is that it is not necessary to synchronize the times built in a plurality of receiving apparatuses installed in the space, and thus no configuration part for synchronization is required.

FIG. 1 is a diagram showing an outline of the first embodiment. FIG. 2 is a block diagram showing the configuration of the first embodiment. FIG. 3 is an example of information recorded in the sensor installation position storage unit. FIG. 4 is a flowchart showing the operation of the first embodiment. FIG. 5 is a diagram showing an outline of the second embodiment. FIG. 6 is a block diagram showing the configuration of the second embodiment. FIG. 7 is a flowchart showing the operation of the second embodiment. FIG. 8 is a block diagram showing the configuration of the third embodiment. FIG. 9 is a block diagram showing a configuration of the fourth embodiment.

  The positioning system of the present invention measures a time when a receiving device having a plurality of sensors that receive a signal transmitted from a signal source has received a signal to the sensor of the device, and a plurality of receiving devices whose time is not synchronized with each other Then, the positioning device collects the signal arrival time, and the positioning device calculates the position of the signal source from the known signal speed, the position of the sensor, and the collected signal arrival time. By adopting such a configuration, it is possible to calculate the position of the signal source from measured amounts obtained from a plurality of receiving apparatuses whose time is not synchronized with each other.

  Details of the present invention will be described.

  A first embodiment of the present invention will be described in detail with reference to the drawings.

  As shown in FIGS. 1 and 2, the positioning system according to the first embodiment of the present invention includes a signal source 1, a plurality of receiving devices 3, and a positioning device 4.

  The signal source 1 is installed in a physical space and emits a specific signal determined in advance superimposed on a sound wave. As the specific signal, for example, a single pulse or a bit string that is unique to each of the plurality of signal sources 1 can be used. In this description, the case where radiation is superimposed on the sound wave will be described. However, if it is a wave propagating in space and the transmission speed is known, it may be an ultrasonic wave, a radio wave, or the like.

  The sensors 21 and 22 convert the amplitude of the received sound wave into digital information, and output the digital information to the signal detection unit 31 as a time-series digital signal that can be processed by the receiving device. In this configuration, two sensors 21 and 22 are prepared for each receiving device. However, the number of sensors 21 and 22 is not necessarily two, and may be three or more.

  The receiving device 3 includes a signal detection unit 31, a signal arrival time measurement unit 32, and a time source 33. Note that the time sources 33 incorporated in each of the plurality of receiving apparatuses 3 do not need to be synchronized.

  The signal detector 31 detects a specific signal determined in advance from the time-series digital signal input from the sensor 21 or 22.

  The time source 33 is a clock, and this clock can be used as an effective clock in each receiving device 3.

  When the signal detection unit 31 detects a signal, the signal arrival time measurement unit 32 refers to the time source 33 and measures the time when the signal is detected.

  The positioning device 4 includes a signal arrival time collection unit 41, a sensor installation position storage unit 42, and a signal source position calculation unit 43.

  The signal arrival time collection unit 41 includes N receiving apparatuses 3 (receiving apparatuses 3-1, 3-2,..., 3-N: N: The signal arrival time obtained by (natural number) is collected and output to the signal source position calculation unit 43. Here, the signal arrival time measured by the sensors 21-i and 22-i using the built-in time source 33-i for the receiving device 3-i (i is a natural number and indicates the array number of the receiving device). Are t1-i and t2-i, respectively. At this time, the signal arrival time collection unit 41 receives t1-1, t2-1, t1-2, t2-2,..., T1-N, t2-N, a total of 2 from the N receiving devices 3. Collect N signal arrival times.

  In the sensor installation position storage unit 42, the installation positions of the sensors 21 and 22 measured in advance using a surveying instrument or the like are recorded. FIG. 3 shows an example of contents recorded in the sensor installation position storage unit 42. As shown in FIG. 3, the sensor installation position storage unit 42 records the installation position of each sensor measured in advance in association with an identifier for identifying each sensor. Further, FIG. 3 shows an example in which the sensor installation position is also expressed in three dimensions in order to calculate the position of the signal source 1 in three-dimensional coordinates. The installation position is also two-dimensional, and when the position of the signal source 1 is calculated with one-dimensional coordinates, the sensor installation position may be expressed in one dimension.

The signal source position calculation unit 43 calculates the signal source 1 from the signal arrival time measured by each sensor obtained from the signal arrival time collection unit 41 and the installation position of each sensor recorded in the sensor installation position storage unit 42. The position (x, y, z) is calculated and output to the signal source position output device 5. Here, the time indicated by the time source 33-i built in the receiving device 3-i at the moment when the signal is emitted from the signal source 1 is t0-i (i = 1, 2,..., N), and the sensor is installed. The installation position of the sensor 21-i recorded in the position storage unit 42 in advance is (x1-i, y1-i, z1-i), and the installation position of the sensor 22-i is (x2-i, y2-i, z2-i). i) When the transmission speed of the signal radiated from the signal source and received by the sensor is c, and paying attention to the distance between the signal source and each sensor, the following two formulas are established for each receiver 3-i. In this description, the signal transmission speed c is the speed of sound.

Hereinafter, using the least squares method, the unknowns x, y, z and _{t i (i = 1,2, ...} , N) describes a method for determining the.

First, the assumed times t _{i, 1} and t _i, 2 at which signals are received by the sensor 1 and the sensor 2 of each receiver _i are approximated values of x, y, z, t _i , x ⁰ , y ⁰ , z, respectively. ^0, assuming t _i ^0, is determined as follows Kara equation (1).

すると、観測方程式は以下の通りとなる。

Then, the observation equation is as follows.

If this equation is developed for Δx, Δy, Δz, Δt _i , and these are sufficiently small and the second and higher terms are omitted, the following is obtained.

However, S _{i, 1} and S _{i, 2} are given below.

Considering equation (4) for N receivers, the following observational equations are obtained.

From the observation equation of equation (6), x is calculated as follows using the method of least squares.

  Note that p is an appropriate weight matrix, and is determined by giving the variance of each observation amount according to a model assumed in advance.

By repeatedly calculating the assumed coordinates and the assumed time using the calculated x, estimated values of x, y, z and t _i (i = 1, 2,..., N) can be obtained. That is, when the number N of receiving apparatuses 3 that can receive a signal is 3 or more, the signal is received at the position (x, y, z) of the signal source 1 and at the moment when the signal radiates the signal source 1. The time t0-i (i = 1, 2,..., N) indicated by the time source 33-i built in the device 3-i can be calculated.

  In the present embodiment, the signal source 1 radiates the signal superimposed on the sound wave, and the sensors 21 and 22 and the receiving device 3 receive and detect the signal superimposed on the sound wave. The source 1 may be configured to emit a signal superimposed on an ultrasonic wave or radio wave, and the sensors 21 and 22 and the receiving device 3 may receive and detect the signal superimposed on the ultrasonic wave or radio wave.

  Next, the operation of the present embodiment will be described in detail with reference to FIGS.

  The signal source 1 emits a signal at a predetermined timing (step A1 in FIG. 4). The signal radiated from the signal source 1 is received by the sensors 21 and 22, and the signal arrival time measuring unit 32 measures the signal arrival time using the time source 33 built in the receiving device 3 (step A2 in FIG. 4). ). Signal arrival times at the sensors 21 and 22 measured by the plurality of receiving devices 3 are output to the positioning device 4 (step A3 in FIG. 4). The positioning device 4 collects the signal arrival times from the plurality of receiving devices 3 using the signal arrival time collection unit 41 and uses the sensor installation position recorded in the sensor installation position storage unit 42 to determine the position of the signal source 1. Calculate (step A4 in FIG. 4). The position of the signal source 1 calculated by the positioning device 4 is output to the signal source position output device 5 (step A5 in FIG. 4).

  Here, the signal source 1 appropriately determines the timing of emitting the signal. For example, by setting the time interval for radiating the signal to be constant at waiting time 1, and setting the waiting time 1 sufficiently longer than the time required for the processing from step A1 to step A5, the position of the signal source 1 is periodically set. It is possible to continue to calculate.

  Further, the positioning device 4 classifies the signal arrival times input from the plurality of reception devices 3 into appropriate groups, and calculates the position of the signal source 1 from the signal arrival times collected for each group. For example, after the signal arrival time is first input, the input waits for waiting time 2, and the position of the signal source 1 is calculated by regarding the signal arrival time input during this period as one group. it can. At this time, the waiting time 2 can be determined according to the assumed variation in the distance between the signal source 1 and the receiving device 3. For example, when the assumed variation in the distance between the signal source 1 and the receiving device 3 is 0 m to 300 m and the signal transmission speed is about 300 m per second, the difference in signal arrival time is 1 second at the maximum. The waiting time 2 can be set to about 1 second.

Next, the effect of the first embodiment will be described.
According to the present embodiment, it is not necessary to synchronize the times built in a plurality of receiving apparatuses installed in the space, so that no component for synchronizing is required. In addition, it is not necessary to prepare a plurality of signal transmission paths having different signal transmission speeds between the signal source and the sensor or to prepare a reference signal source having a known position. The position can be calculated. For this reason, the introduction / operation cost of the signal source position calculation system can be reduced, and the system can be introduced in a wide range.

  Next, a second embodiment will be described in detail with reference to the drawings.

  Referring to FIGS. 5 and 6, the second embodiment is different from the first embodiment shown in FIGS. 1 and 2 in that the signal detecting unit in the receiving device 3 is replaced with the receiving device 3. 31, a signal arrival time measuring unit 32, a time source 34, and a receiving device 6 including a time source synchronization unit 35, and instead of the positioning device 4, the signal arrival time collecting unit 41 and the sensor installation in the positioning device 4 The difference is that a positioning device 7 including a position storage unit, a signal source position calculation unit 44, and a time source relative error calculation unit 45 is provided. Note that a detailed description of the same configuration as that of the above embodiment is omitted.

  The time source 34 can be used as an effective clock in each of the plurality of receiving apparatuses 6, and the time can be synchronized by the time source synchronization unit 35.

  The time source synchronization unit 35 synchronizes the time source 34 based on the time source relative error input from the time source relative error calculation unit 45. For example, when a value of −5.0 seconds is input as the time source relative error, the time source synchronization unit 35 advances the time source 34 by 5.0 seconds, thereby bringing the time source incorporated in another receiving device 6 into the time source. 34 is synchronized.

  The signal source position calculation unit 44 calculates the signal source 1 based on the signal arrival time measured by each sensor obtained from the signal arrival time collection unit 41 and the installation position of each sensor recorded in the sensor installation position storage unit 42. Is calculated and output to the signal source position output device 5, and the time source 34-i built in the receiving device 6-i is calculated together with the position of the signal source 1 at the moment when the signal radiates the signal source 1. The indicated time t0-i (i = 1, 2,..., N) is output to the time source relative error calculation unit 45.

  The time source relative error calculation unit 45 obtains the time t0-i (i = 1, 2,...) Indicated by the time source 34-i at the moment when the signal radiates the signal source 1 obtained from the signal source position calculation unit 44. N), the time source relative error tE-i of the time source 34-i is calculated and output to the time source synchronization unit 35-i built in the receiving device 6-i. The time source relative error tE-i is a value indicating how much the time is shifted with respect to the time source 34-k built in a certain receiving device 6-k, and tE-i = (t0-i). -(T0-k). By correcting the clock of the time source 34-i based on the calculated time source relative error tE-i, the time sources 34 incorporated in the plurality of receiving devices 6 can be synchronized with each other.

  In the present embodiment, the signal source 1 emits the signal superimposed on the sound wave, and the sensors 21 and 22 and the receiving device 6 receive and detect the signal superimposed on the sound wave. The source 1 may be configured to emit the signal superimposed on the ultrasonic wave or the radio wave, and the sensors 21 and 22 and the receiving device 6 may receive and detect the signal superimposed on the ultrasonic wave or the radio wave.

  Next, the operation of the second embodiment will be described in detail with reference to FIG. 6 and FIG.

  The operations of the signal source 1, the signal detection unit 31, the signal arrival time measurement unit 32, the signal arrival time 41, the sensor installation position storage unit 42, and the signal source position output device 5 in the second embodiment are the same as those in the first embodiment. Since the operations of the signal source 1, the signal detection unit 31, the signal arrival time measurement unit 32, the signal arrival time 41, the sensor installation position storage unit 42, and the signal source position output device 5 are the same as those in the embodiment, description thereof is omitted.

  The positioning device 4 calculates the position of the signal source 1 from the signal arrival times input from the plurality of receiving devices 6 and outputs the position to the signal source position output device 5 (step A5 in FIG. 7), together with the position of the signal source 1. The calculated time source relative error is calculated from the time indicated by the time source 34 built in the receiving device 6 at the moment when the signal radiates from the signal source 1 (step A6 in FIG. 7) and output to the receiving device 6 (FIG. 7). Step A7).

  The receiving device 6 synchronizes the time source 34 based on the time source relative error input from the positioning device.

  Next, the effect of the second embodiment will be described.

  In the present embodiment, in addition to the effects of the first embodiment, time sources incorporated in a plurality of receiving apparatuses can be synchronized with each other.

  Next, a third embodiment will be described in detail with reference to the drawings.

  Referring to FIG. 8, in the third embodiment, similarly to the first embodiment, a signal source 1 that transmits a signal by sound waves and a signal that is installed in space and transmitted from the signal source 1 are shown. Sensors 21 and 22 that receive signals, a receiver 3 that measures the time at which signals arrive at the sensors 21 and 22, and a positioning device 4 that calculates the position of a signal source from the signal arrival times obtained by the plurality of receivers 3 And a signal source position output device 5 for outputting a positioning result.

  The positioning program 8 is read by the positioning device 4 and controls the operation of the positioning device 4. The positioning device 4 executes the same processing as the processing by the positioning device 4 in the first embodiment under the control of the positioning program 8.

  According to the present embodiment, as in the first embodiment, the introduction / operation cost of the signal source position calculation system can be reduced, and the system can be introduced in a wide range. This is because it is not necessary to synchronize the times built in a plurality of receiving apparatuses installed in the space, and thus no configuration unit for synchronization is required. In addition, it is not necessary to prepare a plurality of signal transmission paths having different signal transmission speeds between the signal source and the sensor or to prepare a reference signal source having a known position. This is because the position can be calculated.

  Next, a fourth embodiment will be described in detail with reference to the drawings.

  Referring to FIG. 9, in the fourth embodiment, similarly to the second embodiment, a signal source 1 that transmits a signal by sound waves and a signal that is installed in space and transmitted from the signal source 1 are shown. Sensors 21 and 22 that receive signals, a receiver 6 that measures the time at which signals arrive at the sensors 21 and 22, and a positioning device 7 that calculates the position of the signal source from the signal arrival times obtained by the plurality of receivers 6. And a signal source position output device 5 for outputting a positioning result.

  The positioning program 9 is read by the positioning device 7 and controls the operation of the positioning device 7. The positioning device 7 executes the same processing as the processing by the positioning device 7 in the second embodiment under the control of the positioning program 9.

  In the present embodiment, in addition to the effects of the third embodiment, the time sources incorporated in the plurality of receiving devices can be synchronized with each other.

  Next, a first embodiment will be described. This example corresponds to the first embodiment.

  In this embodiment, a person is used as the signal source 1, a condenser monaural microphone is used as the sensors 21 and 22, a small Linux board is used as the receiving device 3, a personal computer is used as the positioning device 4, and a display is used as the signal source position output device 5. Use. The small Linux board and the personal computer are network-connected by a wired LAN. The small Linux board includes a sound board that functions as the signal detection unit 31, a central processing unit that functions as the signal arrival time measurement unit 32 and the time source 33, and the personal computer includes a signal arrival time collection unit 41 and a signal source. A central processing unit that functions as the position calculation unit 43 and a storage device that functions as the sensor installation position storage unit 42 are provided.

  In this embodiment, using a plurality of microphones installed in the space, the generation position of a specific sound emitted by a person (for example, a finger repelling sound or a voice) is indicated on a plurality of small Linux boards connected to the microphone. Measurement can be performed without the need to synchronize the time with high accuracy.

  Next, a second embodiment will be described. This example corresponds to the second embodiment.

  In this embodiment, a person is used as the signal source 1, a condenser monaural microphone is used as the sensors 21 and 22, a small Linux board is used as the receiving device 6, a personal computer is used as the positioning device 7, and a display is used as the signal source position output device 5. Use. The small Linux board and the personal computer are network-connected by a wired LAN. The small Linux board has a sound board that functions as the signal detection unit 31, a central processing unit that functions as the signal arrival time measurement unit 32, the time source 34, and the time source synchronization unit 35, and the personal computer has a signal arrival time. A central processing unit that functions as the collection unit 41, the signal source position calculation unit 43, and the time source relative error calculation unit 45, and a storage device that functions as the sensor installation position storage unit 42 are provided.

  In this embodiment, using a plurality of microphones installed in the space, the generation position of a specific sound emitted by a person (for example, a finger repelling sound or a voice) is indicated on a plurality of small Linux boards connected to the microphone. The time can be measured without the need to synchronize with high accuracy in advance, and the time of a plurality of small Linux boards can be synchronized with high accuracy by periodically measuring the position of the signal source.

  INDUSTRIAL APPLICABILITY According to the present invention, the present invention can be applied to an application such as a program for realizing in a computer a system capable of realizing signal source position measurement at a low cost and in a wide range.

DESCRIPTION OF SYMBOLS 1 Signal source 21 Sensor 22 Sensor 3 Receiver 31 Signal detection part 32 Signal arrival time measurement part 33 Time source 34 Time source 35 Time source synchronization part 4 Positioning apparatus 41 Signal arrival time collection part 42 Sensor installation position memory | storage part 43 Signal source position Calculation unit 44 Signal source position calculation unit 45 Time source relative error calculation unit 5 Signal source position output device 6 Reception device 7 Positioning device 8 Positioning program 9 Positioning program

Claims (10)

Measuring means for measuring the arrival time of signals received by the plurality of sensors by using its own time source;
The calculating means for collecting the measured arrival times from a plurality of measuring means and calculating the position of the signal source of the signal from the signal transmission speed, the position information indicating the position of the sensor of each measuring means, and the arrival time of each sensor. And a positioning system.   The calculation means calculates a radiation time when the signal is radiated from the signal source from a signal transmission speed, position information indicating a position of a sensor of each measurement means, and an arrival time of each sensor. Item 4. The positioning system according to item 1.   The positioning system according to claim 2, further comprising a synchronization unit that synchronizes a time source of each measurement unit using the calculated emission time.   The calculating means determines an assumed position of the position of the signal source and an assumed arrival time of the time when the signal is emitted at the assumed position, and position information indicating the position of the sensor of each measuring means and arrival of the sensor. 4. The position of the signal source of the signal and the radiation time are calculated by calculating a correction amount of the assumed position and the assumed arrival time from the time. 5. Positioning system. The measurement devices having a plurality of sensors collect the signal arrival times at the plurality of sensors measured by using their own time sources from the plurality of measurement devices, and indicate the signal transmission speed and the sensor position of each measurement device. A positioning apparatus comprising: a calculation unit that calculates a position of a signal source of the signal from position information and arrival time of each sensor. A measuring step in which a measuring device having a plurality of sensors uses the time source of its own device to measure arrival times of signals received by the plurality of sensors,
A collecting step of collecting the measured arrival times from a plurality of measuring devices;
A positioning method comprising: a calculation step of calculating a position of a signal source of the signal from a signal transmission speed, position information indicating a position of a sensor of each measuring device, and arrival time of each sensor.   The calculating step calculates a radiation time when the signal is radiated from the signal source from a signal transmission speed, position information indicating a position of a sensor of each measuring device, and an arrival time of each sensor. Item 7. The positioning method according to item 6.   The positioning method according to claim 7, further comprising a synchronization step of synchronizing the time sources of the respective measuring devices using the calculated emission time.   The calculating step determines an assumed position of the position of the signal source and an assumed arrival time of a time at which the signal is emitted at the assumed position, position information indicating the position of the sensor of each measurement device, and arrival of the sensor 9. The correction amount of the assumed position and the assumed arrival time is calculated from the time, and the position of the signal source of the signal and the radiation time are calculated. Positioning method. An information processing apparatus program, the program is stored in the information processing apparatus,
A collection process for collecting arrival times of signals in the plurality of sensors from the plurality of measurement devices, measured by a measurement device having a plurality of sensors using its own time source,
A program for executing a calculation process for calculating a position of a signal source of the signal from a signal transmission speed, position information indicating a position of a sensor of each measuring device, and arrival time of each sensor.

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