JP2022111561A - Transmission device, position measurement system, and transmission method - Google Patents

Abstract

To provide a transmitter, etc. for transmitting a signal that enables accurate position measurement.SOLUTION: A transmission device 11 is provided, comprising an atomic clock 111, and a first signal transmitter 113 configured to transmit a first signal containing time measured by the atomic clock 111 and position information on a position of the atomic clock 111.SELECTED DRAWING: Figure 2

Description

TECHNICAL FIELD The present disclosure relates to a transmitting device and the like that transmit signals used for position measurement.

In position measurement using GPS (Global Positioning System), since the precision of the clock on the receiving side is low, it is necessary to receive GPS signals from at least four satellites with the reception time as an unknown. However, there are situations in which GPS signals cannot be received from four satellites due to the positions of the satellites, the influence of obstacles, and the like. In such situations, the location of the receiver cannot be determined with high accuracy.

Patent Literature 1 discloses a method of measuring position using time or time and position measured by two independent measurement systems. In the method of Patent Document 1, a position is measured using time information transmitted from a transmission station of standard radio waves and GPS signals transmitted from GPS satellites.

Patent Literature 2 discloses a GPS satellite orientation device that includes four ground stations whose positions are known and a master station that acquires data measured by these ground stations. Each of the four ground stations uses navigation messages received from four GPS satellites to measure pseudorange and carrier phase data for those GPS satellites. The master station uses the pseudorange data and carrier phase data measured by the four ground stations to estimate the positions, velocities, clock errors, etc. of the four GPS satellites.

JP-A-2003-028946 JP-A-10-213643

When the method of Patent Document 1 is used, time information transmitted from the standard radio wave transmitting station is used, so the clock on the receiving side measures the time during a period in which the standard radio wave is not received. Therefore, in the method of Patent Document 1, the position is measured using the time information measured by the clock on the receiving side that is not highly accurate during the period in which the standard radio wave is not received, resulting in poor position measurement accuracy. will decline.

In the technique of Patent Document 2, the clock errors of the GPS satellites estimated by the master station are transmitted via a satellite different from the GPS satellites. The receiving side that receives the GPS satellite clock error estimated by the master station uses the clock error to correct the GPS satellite clock error and cope with data loss and data anomaly. Therefore, in the method of Patent Document 2, the position of the receiving side cannot be accurately measured when the receiving side cannot receive the clock error transmitted via the satellite.

An object of the present disclosure is to provide a transmitter or the like that transmits a signal that realizes accurate position measurement.

A transmission device according to one aspect of the present disclosure includes an atomic clock, and a first signal transmission section that transmits a first signal including time stamped by the atomic clock and position information about the position of the atomic clock.

A position measurement system according to one aspect of the present disclosure includes an atomic clock, is placed at a predetermined position, generates a first signal including position information about the time and the predetermined position ticked by the atomic clock, and generated a plurality of transmitting devices that transmit first signals; a first signal that receives the first signals transmitted from the plurality of transmitting devices; measures positions using the received first signals; and a position measuring device that outputs three signals.

In a transmission method according to one aspect of the present disclosure, a computer generates a first signal including the time stamped by an atomic clock and position information about the position of the atomic clock, and transmits the generated first signal. .

According to the present disclosure, it is possible to provide a transmission device or the like that transmits a signal that realizes accurate position measurement.

1 is a conceptual diagram showing an example of a configuration of a position measurement system according to a first embodiment; FIG. 2 is a block diagram showing an example of the configuration of a transmitter of the position measurement system according to the first embodiment; FIG. 2 is a block diagram showing an example of the configuration of a position measuring device of the position measuring system according to the first embodiment; FIG. 4 is a flowchart for explaining an example of the operation of the transmitter of the position measurement system according to the first embodiment; 4 is a flowchart for explaining an example of the operation of the position measuring device of the position measuring system according to the first embodiment; 4 is a flowchart for explaining an example of time synchronization of atomic clocks of a plurality of transmitters constituting the position measurement system according to the first embodiment; 1 is a conceptual diagram showing an example of a usage scene of a position measurement system according to a first embodiment; FIG. FIG. 10 is a conceptual diagram showing an example of the configuration of a position measurement system according to a second embodiment; FIG. 11 is a block diagram showing an example of the configuration of a transmission device of a position measurement system according to a second embodiment; FIG. FIG. 11 is a block diagram showing an example of the configuration of a position measuring device of a position measuring system according to a second embodiment; FIG. 9 is a flowchart for explaining an example of the operation of the transmitter of the position measurement system according to the second embodiment; 9 is a flowchart for explaining an example of the operation of the position measuring device of the position measuring system according to the second embodiment; FIG. 10 is a conceptual diagram showing an example of a usage scene of the position measurement system according to the second embodiment; FIG. 11 is a block diagram showing an example of the configuration of a transmission device according to a third embodiment; FIG. FIG. 2 is a conceptual diagram for explaining an application example 1 of the position measurement system according to each embodiment; FIG. 10 is a conceptual diagram for explaining an application example 2 of the position measurement system according to each embodiment; FIG. 11 is a block diagram showing an example of a configuration of a log collection device of application example 2 of the position measurement system according to each embodiment; FIG. 11 is a conceptual diagram for explaining an application example 3 of the position measurement system according to each embodiment; FIG. 11 is a conceptual diagram for explaining an application example 4 of the position measurement system according to each embodiment; FIG. 11 is a conceptual diagram for explaining an application example 5 of the position measurement system according to each embodiment; FIG. 2 is a block diagram showing an example of a hardware configuration for realizing processing of a transmitter and a position measuring device of the position measuring system according to each embodiment;

EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated using drawing. However, the embodiments described below are technically preferable for carrying out the present invention, but the scope of the invention is not limited to the following. In addition, in all the drawings used for the following description of the embodiments, the same symbols are attached to the same portions unless there is a particular reason. Further, in the following embodiments, repeated descriptions of similar configurations/operations may be omitted.

(First embodiment)
First, an example of the position measurement system according to the first embodiment will be described with reference to the drawings. The position measurement system of this embodiment uses a signal (also referred to as a positioning signal or a first signal) that includes data associated with the time ticked by an atomic clock included in a transmitting device placed at a predetermined position and its known position. ) to measure the position of the moving object.

(Constitution)
FIG. 1 is a conceptual diagram showing an example of the configuration of a position measurement system 1 of this embodiment. A position measurement system 1 includes a transmitter 11 and a position measurement device 12 . The position measurement system 1 has at least four transmitters 11 . The transmitter 11 is arranged at a predetermined position. For example, the position measurement device 12 is mounted on an object for position measurement such as a moving body (not shown). The number of position measuring devices 12 is not particularly limited.

[Transmitter]
FIG. 2 is a block diagram showing an example of the configuration of the transmission device 11. As shown in FIG. The transmission device 11 has an atomic clock 111 , a storage section 112 and a first signal transmission section 113 . Note that if the information stored in the storage unit 112 can be held by other components, the storage unit 112 may be omitted.

The atomic clock 111 is a highly accurate clock that keeps accurate time. The atomic clock 111 keeps accurate time based on a frequency standard of atomic/molecular spectral lines. Since the frequency standard of atomic/molecular spectral lines is highly accurate, the atomic clock 111 keeps accurate time with higher accuracy than a crystal oscillator. For example, the atomic clock 111 may be combined with a quartz clock with an ultra-precise crystal oscillator and a frequency standard. With such a configuration, accurate time can be kept by constantly adjusting/correcting the oscillation frequency of the crystal oscillator in accordance with the time kept by the atomic clock 111 .

For example, the atomic clock 111 is implemented by a microwave clock, an optical atomic clock, or the like. Examples of microwave clocks include cesium atomic clocks and rubidium atomic clocks. Examples of optical atomic clocks include single ion clocks and neutral atomic clocks. Examples of single ion clocks include strontium ion clocks and ytterbium ion clocks. Examples of neutral atomic optical clocks include calcium clocks, magnesium clocks, strontium optical lattice clocks, and ytterbium optical lattice clocks.

For example, the atomic clock 111 operates on the principle of CPT (Coherent Population Trapping) resonance. For example, the atomic clock 111 operates on the principle of CPT resonance, such as a buffer gas trap method or a laser cooling trap method. If a system operating on the principle of CPT resonance is used, the atomic clock 111 can be miniaturized to the extent that it can be mounted on a moving body such as an automobile.

The storage unit 112 stores information (also referred to as position information) about the position where the transmission device 11 is arranged. For example, the storage unit 112 stores position information including position coordinates such as latitude and longitude of the position where the transmission device 11 is arranged. For example, if the position coordinates of the transmitting device 11 are "35 degrees 34 minutes 28.0 seconds north latitude, 139 degrees 39 minutes 55.3 seconds east longitude", the position information "35.574454, 139.665367" is stored in the storage unit 112 . For example, the storage unit 112 stores location information including the altitude of the location where the transmission device 11 is located. For example, the storage unit 112 stores position information including, as an altitude, an altitude relative to the sea level of the position where the transmission device 11 is arranged.

The storage unit 112 may store information (also referred to as accuracy information) indicating the accuracy of the position according to the stability of the location where the transmission device 11 is placed. For example, when the earth's crust at the place where the transmitting device 11 is placed is stable, the storage unit 112 stores accuracy information indicating that the position information is highly accurate. For example, when the location where the transmitting device 11 is placed is unstable, the storage unit 112 stores accuracy information indicating that the accuracy of the position information is low. For example, the accuracy information is referred to in position measurement by the position measurement device 12 . The more stable the earth's crust where the transmitter 11 is placed, the more highly accurate position measurement is possible.

The first signal transmission unit 113 generates a signal (also referred to as a first signal) including data that associates the time stamped by the atomic clock 111 with the position information stored in the storage unit 112 . For example, the first signal transmission unit 113 adds the time elapsed from the time ticked by the atomic clock 111 until the data corresponding to that time is transmitted to the time ticked by the atomic clock 111 to the position. A first signal is generated that includes data associated with the information. Hereinafter, the time included in the data generated by first signal transmitter 113 is also referred to as transmission time.

The first signal transmission section 113 transmits the generated first signal at a predetermined timing. For example, the first signal transmitter 113 transmits the first signal at a preset time. For example, the first signal transmitter 113 transmits the first signal at preset time intervals. The timing at which first signal transmission section 113 transmits the first signal may be set arbitrarily. The first signal transmitted from the first signal transmitter 113 is used for position measurement by the position measurement device 12 .

The first signal transmitter 113 transmits a first signal using radio waves in a preset frequency band. For example, when a GPS (Global Positioning System) signal (also referred to as a satellite signal or a second signal) and the first signal are not used together, the first signal transmission unit 113 transmits the positioning signal in a frequency band different from that of the second signal. do. For example, when the second signal and the first signal are not used together, the first signal transmission unit 113 transmits the L1 wave (1575.42 MHz) or the L2 wave (1227.60 MHz) of the second signal so as not to mix with the second signal. Megahertz) to transmit the positioning signal in a different frequency band. For example, when the second signal and the first signal are used together, the first signal transmitter 113 may transmit the first signal in the same frequency band as the second signal.

It is assumed that the atomic clocks 111 of the plurality of transmitters 11 constituting the position measurement system 1 are synchronized in time. For example, it may be configured to synchronize the atomic clocks 111 among a plurality of transmission devices 11 at preset timings. A plurality of transmitters 11 are equipped with atomic clocks 111 that are more accurate than general clocks. Therefore, the atomic clocks 111 of the plurality of transmitters 11 can reduce the frequency of time synchronization compared to general clocks.

Time synchronization of the atomic clocks of the plurality of transmitters 11 constituting the position measurement system 1 will now be described with an example. For example, it is assumed that a plurality of transmitters 11 constituting the position measurement system 1 are positioned on the same circle. A synchronizing device (not shown) is arranged at the center of the circle where the plurality of transmitting devices 11 are positioned. A plurality of transmitting devices 11 transmit a detection signal including a device ID (Identifier) of these devices and a mutually shared waveform code at preset time synchronization timing, such as midnight every night. Send. The waveform code may be time information about the time ticked by the atomic clock 111 of each transmitter 11 . The synchronizer receives detection signals transmitted from a plurality of transmitters 11 . If the atomic clocks 111 of a plurality of transmitters 11 are precisely synchronized with each other, the waveform codes common to those transmitters 11 exactly overlap in the synchronizers located at the same distance from those transmitters 11 . On the other hand, if the atomic clocks 111 of a plurality of transmitters 11 are deviated, the common waveform code of the transmitters 11 is deviated in the synchronizing devices located at the same distance from those transmitters 11 . The synchronizer synchronizes the atomic clocks 111 of the transmitters 11 so that the waveform codes contained in the detection signals received from the transmitters 11 are out of sync with each other. to correct.

[Position measuring device]
FIG. 3 is a block diagram showing an example of the configuration of the position measuring device 12. As shown in FIG. The position measurement device 12 has a first signal reception section 121 , a position calculation section 122 and an output section 123 .

The first signal receiver 121 receives the first signal transmitted from the transmitter 11 . The first signal received by the first signal receiver 121 is used for position measurement by the position measuring device 12 .

The position calculator 122 calculates a position based on at least four first signals received by the first signal receiver 121 . The position calculator 122 calculates the position using the transmission times and the position information included in the at least four first signals.

For example, the position calculation unit 122 uses the transmission time T and the position coordinates (X, Y, Z) included in the position information to measure the position of the moving object on which the position measuring device 12 is mounted. In the following description, identification numbers 1, 2, . The position at the transmission time T _i of the transmission device 11 with the identification number i is described as (X _i , Y _i , Z _i ). The position calculation unit 122 calculates the position (x, y, z) at time t of the moving object on which the position calculation unit 122 is mounted using Equation 1 below.
c ² (T _i −t) ² =(X _i −x) ² +(Y _i −y) ² +(Z _i −z) ² (1)
However, in Equation 1 above, c is the speed of light.

The position calculator 122 substitutes the transmission times and the position coordinates included in the first signals received from at least four transmitters 11 into Equation 1 above. The position calculation unit 122 calculates the position (x, y, z) and the time t of the moving body on which the position calculation unit 122 is mounted by solving simultaneous equations of Equation 1 for each first signal. For example, the position calculation unit 122 may calculate the position of the mobile body equipped with the position measurement device 12 using the time ticked by the clock of the device itself and the data received from at least three transmission devices 11. . If the position measuring device 12 is equipped with a highly accurate clock (for example, an atomic clock), the position measuring device 12 uses the time ticked by its own clock and data received from at least three transmitters 11. can measure the position of a moving object with high accuracy.

The output unit 123 outputs a signal (also referred to as a third signal) including information (position information) regarding the position calculated by the position calculation unit 122 . For example, the output unit 123 transmits the third signal to a display device (not shown). The display device causes the display unit to display the position information included in the received third signal. For example, the display device displays on the map the landmarks of the locations included in the third signal. Also, for example, the output unit 123 transmits a third signal to a control device (not shown). The control device controls the controlled device based on the position information included in the received position information. For example, the control device moves or operates the controlled device based on the position included in the position information.

(motion)
Next, the operation of the position measurement system 1 will be described with reference to the drawings. The operations of the transmitting device 11 and the position measuring device 12 will be individually described below.

[Transmitter]
FIG. 4 is a flowchart for explaining an example of the operation of the transmitting device 11. As shown in FIG. In FIG. 4, first, the transmission device 11 generates a transmission time based on the time ticked by the atomic clock 111 (step S111).

Next, the transmitter 11 generates a first signal including data that associates the generated transmission time with the location information of the transmitter (step S112).

Next, the transmitter 11 transmits the generated first signal (step S113). The first signal transmitted from the transmitter 11 is received by the position measuring device 12 and used for position measurement.

If the transmission of the first signal is not stopped (No in step S114), the process returns to step S111. On the other hand, if the transmission of the first signal is to be stopped (Yes in step S114), the process according to the flowchart of FIG. 4 is finished.

[Position measuring device]
FIG. 5 is a flowchart for explaining an example of the operation of the position measuring device 12. As shown in FIG. In FIG. 5, first, the position measuring device 12 receives the first signal transmitted from the transmitting device 11 (step S121).

If the first signals have been received from four or more transmitters 11 (Yes in step S122), the position measuring device 12 uses the received first signals to calculate its own position (step S123). On the other hand, if the first signal has not been received from four or more transmitters 11 (No in step S122), the process returns to step S121.

After step S123, the position measurement device 12 outputs a third signal including information (position information) regarding the calculated position (step S124).

If position measurement is not to be stopped (No in step S125), the process returns to step S121. On the other hand, if the position measurement is to be stopped (Yes in step S125), the process according to the flowchart of FIG. 5 is finished.

〔Time synchronization〕
Next, time synchronization of the atomic clocks 111 of the plurality of transmitters 11 will be described with an example. FIG. 6 is a flowchart for explaining an example of time synchronization of the atomic clock 111 of the transmission device 11. As shown in FIG. In the description according to the flowchart of FIG. 6, it is assumed that the plurality of transmitters 11 constituting the position measurement system 1 are positioned on the same circle. It is assumed that a synchronizing device (not shown) is arranged at the center of the circle in which the plurality of transmitting devices 11 are positioned on the circumference. In the following description along the flow chart of FIG. 6, the synchronizer will be described as an operating entity.

In the case of time synchronization timing (Yes in step S131), the synchronization device receives detection signals transmitted from the plurality of transmission devices 11 (step S132). For example, the synchronizing device receives detection signals including device IDs of the plurality of transmitting devices 11 and shared waveform codes from the plurality of transmitting devices 11 at preset time synchronization timings. On the other hand, if it is not time for time synchronization (No in step S131), the synchronization device waits until the next time synchronization. It should be noted that the timing of time synchronization can also be considered to be the same as the timing at which detection signals are transmitted from the plurality of transmitters 11 . Therefore, the timing at which detection signals are received from a plurality of transmitters 11 may be regarded as the timing for time synchronization.

After step S132, if there is a deviation in the waveform codes included in the detection signals of the plurality of transmitters 11 (Yes in step S133), the synchronizer performs a plurality of transmissions so that the waveform codes are accurately synchronized. The atomic clock 111 of the device 11 is corrected (step S134). At step S134, the process according to the flow chart of FIG. 6 ends. Moreover, even if there is no deviation in the waveform codes included in the detection signals of the plurality of transmitters 11 (No in step S133), the processing according to the flowchart of FIG. 6 is completed.

〔Use scene〕
FIG. 7 is a conceptual diagram showing an example of a usage scene of the position measurement system 1 of this embodiment. For example, a plurality of transmitters 11 are placed at various predetermined locations throughout the city. For example, the position measuring device 12 is mounted on an automobile. A position measuring device 12 mounted on an automobile measures its own position using at least four first signals. The position measurement device 12 generates a third signal including position information of its own device. The third signal containing the position information measured by the position measuring device 12 is used for the navigation system, automatic control system, etc. of the automobile in which the position measuring device 12 is mounted.

As described above, the position measurement system of this embodiment includes a plurality of transmitters and position measurement devices. Each of the plurality of transmitters includes an atomic clock and is positioned at a predetermined location. Each of the plurality of transmitters includes a first signal transmitter that transmits a first signal including the time stamped by the atomic clock and position information about a predetermined position. A position measuring device receives first signals transmitted from a plurality of transmitters. The position measuring device measures the position using the received first signal. The position measuring device outputs a third signal containing position information about the measured position.

The transmitter transmits a first signal containing the exact time ticked by the atomic clock and the exact position of the transmitter on which the atomic clock is mounted. The position measuring device calculates the exact position of the atomic clock-mounted transmitter using the exact time and the exact position contained in the first signals transmitted from the at least four transmitters. That is, according to this embodiment, accurate position measurement can be achieved.

In one aspect of this embodiment, the atomic clock operates on the principle of CPT resonance. Atomic clocks that operate on the principle of CPT resonance can be miniaturized, and can be used as transmitters that can be mounted on various moving bodies.

According to the method of this embodiment, position measurement errors due to multipath do not occur by arranging a plurality of transmitters so that radio waves are not reflected or blocked by structures. In addition, according to the method of the present embodiment, the first signal transmitted from the transmitting device does not pass through the ionosphere or the troposphere. There is no error in position measurement due to this. That is, according to the method of the present embodiment, these errors are not included, so the accuracy in position measurement is improved.

(Second embodiment)
Next, a position measurement system according to a second embodiment will be described with reference to the drawings. The position measurement system of the present embodiment measures position using both a first signal transmitted from a transmitting device and a GPS signal (also referred to as a second signal) transmitted from a GPS satellite (also referred to as an artificial satellite). is different from the first embodiment. In the following, descriptions of the same parts as in the first embodiment are simplified or omitted.

(Constitution)
FIG. 8 is a conceptual diagram showing an example of the configuration of the position measurement system 2 of this embodiment. The position measurement system 2 includes a transmitter 21 and a position measurement device 22 . Transmitting device 21 and position measuring device 22 receive second signals transmitted from a plurality of artificial satellites 200 . The transmitter 21 is arranged at a predetermined position. The position measuring device 22 is mounted on an object for position measurement such as a moving body (not shown). The number of transmitting devices 21 and position measuring devices 22 is not particularly limited.

[Transmitter]
FIG. 9 is a block diagram showing an example of the configuration of the transmission device 21. As shown in FIG. The transmission device 21 has an atomic clock 211 , a storage section 212 , a first signal transmission section 213 , a second signal reception section 215 and an update section 217 . Note that if the first signal transmission unit 213 can hold the information stored in the storage unit 212, the storage unit 212 may be omitted.

The atomic clock 211 is a highly accurate clock that keeps accurate time. Since the atomic clock 211 has the same configuration as the atomic clock 111 of the first embodiment, detailed description thereof will be omitted.

The storage unit 212 stores information (also referred to as position information) about the position where the transmission device 21 is arranged. Since the storage unit 212 has the same configuration as the storage unit 112 of the first embodiment, detailed description thereof will be omitted.

First signal transmission section 213 generates a first signal including data that associates the time stamped by atomic clock 211 with the position information stored in storage section 212 . The first signal transmitter 213 transmits the generated first signal at a predetermined timing. Since the first signal transmission section 213 has the same configuration as the first signal transmission section 113 of the first embodiment, detailed description thereof will be omitted.

The second signal receiver 215 receives satellite signals transmitted from artificial satellites. The second signal receiver 215 receives second signals transmitted from at least three satellites. The transmission device 21 has accurate time kept by the atomic clock 211 and accurate position information stored in the storage unit 212 . Therefore, the second signal receiving section 215 should receive the second signals transmitted from at least three artificial satellites. For example, the second signal receiving unit 215 receives signals in the frequency band of the L1 wave (1575.42 MHz) and L2 wave (1227.60 MHz) of the second signal. The second signal receiver 215 may be configured to receive the first signal transmitted from another transmitter 21 .

Update unit 217 updates the position information stored in storage unit 212 . The updating unit 217 calculates the position of the transmitting device 21 at the calibration timing using at least three second signals, the time ticked by the atomic clock 211 and the position coordinates. The updating unit 217 calculates the position coordinates of the transmitting device 21 in the same manner as the position measuring device 12 of the first embodiment. The transmission device 21 has accurate time kept by the atomic clock 211 and accurate position information stored in the storage unit 212 . Therefore, the update unit 217 updates the time and position coordinates contained in the second signals transmitted from at least three artificial satellites, the accurate time ticked by the atomic clock 211, and the accurate position information stored in the storage unit 212. can be used to calculate the exact position coordinates. The update unit 217 updates the position information stored in the storage unit 212 with the position information including the calculated position coordinates.

It is assumed that the atomic clocks 211 of the plurality of transmitters 21 constituting the position measurement system 2 are synchronized in time. For example, it may be configured such that the atomic clocks 211 of the plurality of transmission devices 21 are time-synchronized at a predetermined timing. For example, each of the plurality of transmitters 21 may correct the time of the atomic clock 211 by correcting the time drift error using the plurality of second signals received by the second signal receiver 215. . If each of the plurality of transmitters 21 corrects the time of the atomic clock 211 using the second signal, the atomic clocks 211 of the plurality of transmitters 21 can be time-synchronized. A plurality of transmitters 21 are provided with atomic clocks 211 that are more accurate than general clocks. Therefore, the atomic clocks 211 of the plurality of transmitters 21 can reduce the frequency of time synchronization compared to general clocks.

[Position measuring device]
FIG. 10 is a block diagram showing an example of the configuration of the position measuring device 22. As shown in FIG. The position measurement device 22 has a first signal reception section 221 , a position calculation section 222 , an output section 223 and a second signal reception section 225 .

The first signal receiver 221 receives the first signal transmitted from the transmitter 21 . The first signal received by the first signal receiver 221 is used for position measurement by the position measuring device 22 . The first signal receiver 221 has the same configuration as the first signal receiver 121 of the first embodiment.

Second signal receiver 225 receives the second signal transmitted from artificial satellite 200 . The second signal received by the second signal receiver 225 is used for position measurement by the position measuring device 22 . For example, the second signal receiver 225 converts the received second signal into the same format as the first signal.

The position calculator 222 calculates the position based on the first signal received by the first signal receiver 221 and the second signal received by the second signal receiver 225 . The position calculator 222 calculates the position using the same technique as the position calculator 122 of the first embodiment.

The output unit 223 outputs a third signal including information about the position calculated by the position calculation unit 222 (position information). Since the output unit 223 has the same configuration as the output unit 123 of the first embodiment, detailed description thereof will be omitted.

(motion)
Next, the operation of the position measurement system 2 will be described with reference to the drawings. The operations of the transmitting device 21 and the position measuring device 22 will be individually described below.

[Transmitter]
FIG. 11 is a flowchart for explaining an example of the operation of the transmission device 21. FIG. In FIG. 11, first, when calibration is performed at startup (Yes in step S211), the transmitting device 21 receives at least four second signals (step S212). If calibration is not to be performed at startup (No in step S211), the process proceeds to step S214.

After step S212, the transmitter 21 performs calibration using the received second signal (step S213). In calibration, the transmitting device 21 calculates its own position using the positional information and time contained in at least four second signals. The transmitting device 21 updates the position of its own device stored in the storage unit 212 with the calculated position. The timing of calibration may be not only at startup, but also at a preset time, or at the user's request.

If No in step S211, or after step S213, the transmitter 21 generates a transmission time based on the time ticked by the atomic clock 211 (step S214).

Next, the transmitter 21 generates a first signal including data that associates the generated transmission time with the location information of the transmitter (step S215).

Next, the transmitter 21 transmits the generated first signal (step S216). The first signal transmitted from the transmitter 21 is received by the position measuring device 22 and used for position measurement.

If position measurement is not to be stopped (No in step S217), the process returns to step S214. If the position measurement is to be stopped (Yes in step S217), the process according to the flowchart of FIG. 11 ends.

[Position measuring device]
FIG. 12 is a flowchart for explaining an example of the operation of the position measuring device 22. As shown in FIG. In FIG. 12, the position measurement device 22 first receives the first signal transmitted from the transmission device 21 and the second signal transmitted from the artificial satellite 200 (step S221).

If four or more first/second signals have been received (Yes in step S222), the position measuring device 22 calculates its own position using the received first/second signals (step S223 ). On the other hand, if four or more first signals/second signals have not been received (No in step S222), the process returns to step S221.

After step S223, the position measurement device 22 outputs a third signal including information (position information) regarding the calculated position (step S224).

If position measurement is not to be stopped (No in step S225), the process returns to step S221. On the other hand, if the position measurement is to be stopped (Yes in step S225), the processing according to the flowchart of FIG. 12 is finished.

〔Use scene〕
FIG. 13 is a conceptual diagram showing an example of a usage scene of the position measurement system 2 of this embodiment. For example, a plurality of transmitters 21 are placed at various predetermined locations around town. For example, the position measuring device 22 is mounted on an automobile. A position measuring device 22 mounted on an automobile measures the position of its own device using at least four first signals/second signals. The third signal containing the position information measured by the position measuring device 22 is used for the navigation system, automatic control system, etc. of the automobile in which the position measuring device 22 is mounted.

As described above, the position measurement system of this embodiment includes a plurality of transmitters and position measurement devices. Each of the plurality of transmitters is arranged at a predetermined position. Each of the plurality of transmitters includes an atomic clock, and a first signal transmitter that transmits a first signal including the time stamped by the atomic clock and position information about the position of the atomic clock. Further, each of the plurality of transmitters includes a second signal receiver that receives a second signal transmitted from an artificial satellite, measures a position using at least four second signals, and measures the position of the transmitter at the measured position. and an updating unit that updates the position of the . Each of the plurality of transmitters generates a first signal including the time stamped by the atomic clock and position information about a predetermined position. Each of the multiple transmitters transmits the generated first signal. Also, each of the plurality of transmitting devices updates its own position based on at least four second signals. A position measuring device receives first signals transmitted from a plurality of transmitters. The position measurement device uses the received first signal to measure its own position. The position measuring device outputs a third signal containing position information about the measured position.

The transmitting device of this embodiment updates its own position based on the satellite signal (second signal). Therefore, according to this embodiment, when the position of the transmitting device changes, the position information about the position can be updated, so that the positioning signal (first signal) including more accurate position information can be generated.

In one aspect of this embodiment, the position-measuring device receives a second signal. The position measuring device uses both the second signal and the first signal to measure its own position. According to this aspect, accurate position measurement can be achieved even in a place where the density of the transmission devices is low, as long as the satellite signals (second signals) can be received.

(Third embodiment)
Next, a transmission device according to a third embodiment will be described with reference to the drawings. The transmission device of this embodiment has a simplified configuration of the transmission device of each embodiment.

FIG. 14 is a block diagram of an example of the configuration of the transmission device 31 of this embodiment. The transmission device 31 includes an atomic clock 311 and a first signal transmission unit 313 that transmits a first signal including the time stamped by the atomic clock 311 and the position information about the position where the atomic clock 311 is arranged.

As described above, the transmitter of the present embodiment transmits the first signal (positioning signal) including data in which the exact time ticked by the atomic clock and the exact position of the transmitter are associated. According to the transmitting device of this embodiment, it is possible to transmit a signal that realizes accurate position measurement.

(Application example)
Next, application examples of the position measurement system of each embodiment will be described with reference to the drawings. 15 to 20 are conceptual diagrams of application examples of the position measurement system of each embodiment. In each application example, the position measurement system is composed of a plurality of transmitters 41 and a plurality of position measurement devices 42 . The transmitter 41 is the transmitter 11 of the first embodiment or the transmitter 21 of the second embodiment. The position measuring device 42 is the position measuring device 12 of the first embodiment or the position measuring device 22 of the second embodiment. In the following description, an example of position measurement using a positioning signal (first signal) will be given.

[Application example 1]
FIG. 15 is a conceptual diagram for explaining application example 1 of the position measurement system of each embodiment. In this application example, a plurality of transmitters 41 are arranged so as to be scattered throughout the city. The position measuring device 42 measures its own position based on the first signal transmitted from the transmitting device 41 . Further, in this application example, an application having the functions of the position measuring device 42 is installed in the mobile terminal 420 .

The transmitter 41 is placed in the city. For example, the transmitter 41 is placed on a traffic light, a utility pole, a building, a guardrail, or the like. The plurality of transmitters 41 may be arranged at positions where the first signal transmitted from each transmitter 41 can be easily received by the position measuring device 42 . The plurality of transmitters 41 are preferably arranged such that the first signals transmitted from at least four transmitters 41 are received by the position measuring device 42 at any position.

The position measuring device 42 is arranged on a moving object such as an automobile or a bicycle. The position measuring device 42 may be mounted on a moving object such as a wheelchair, a rickshaw, or a trolley. The position measuring device 42 may be an application installed in the mobile terminal 420 carried by the user. The position measurement device 42 measures its own position using the first signals transmitted from the plurality of transmission devices 41 . The position measuring device 42 outputs a third signal including the measured positional information of its own device.

For example, the third signal output from the position measuring device 42 is used in a navigation system for moving bodies such as automobiles and bicycles. For example, the third signal output from the position measuring device 42 is used in an automatic driving control system for mobile objects such as automobiles. For example, the third signal output from the position measuring device 42 is used to indicate the current position on the map displayed on the display section of the mobile terminal 420 . For example, based on the third signal output from the position measurement device 42, the accurate positional relationship between the car, bicycle, and pedestrian can be grasped, and if the positional relationship can be shared, the collision of the car, bicycle, and pedestrian can be avoided. A system (collision avoidance system) can be realized. For example, a collision avoidance system avoids collisions between automobiles, bicycles, and pedestrians by controlling the speed and direction of movement of the controlled automobiles, bicycles, and pedestrians according to the precise positional relationship between the automobiles, bicycles, and pedestrians. . For example, by specifying the position of the mobile terminal based on the third signal output from the position measuring device 42, it is possible to realize a system (guidance system) that guides/guides the user holding the mobile terminal to a specific facility.

As described above, in this application example, a plurality of transmitting devices are arranged at predetermined positions in the city. A position measuring device is mounted on a moving object. The position measuring device measures its own position using at least four first signals. According to this application example, even in a situation where satellite signals (second signals) cannot be received, if at least four first signals from transmitting devices scattered around the city can be received, the position of the position measuring device and the mobile terminal can be detected. can be measured accurately.

For example, the position measurement device outputs a third signal including position information regarding the measured position to the control system of the moving body. With this configuration, the position measuring device can control the moving object according to the accurate position of the moving object measured based on the first signal. For example, a system that manages the positional relationships of multiple moving bodies and controls the speed and direction of movement of the managed bodies so that they do not collide with each other, thereby avoiding collisions between moving bodies. can be realized.

[Application example 2]
FIG. 16 is a conceptual diagram for explaining application example 2 of the position measurement system of each embodiment. In this application example, a plurality of transmitters 41 are arranged in infrastructure such as bridges (hereinafter referred to as infrastructure), transmission line towers, and the like. The position measuring device 42 measures its own position based on the first signal transmitted from the transmitting device 41 . In addition, in this application example, the log collection device 410 having an atomic clock is buried in infrastructure such as bridges and steel towers, or in the ground such as embankments.

The transmitter 41 is arranged on a bridge, a steel tower, or the like. The plurality of transmitters 41 may be arranged at positions where the first signal transmitted from each transmitter 41 can be easily received by the position measuring device 42 . For example, the plurality of transmitters 41 are preferably arranged such that the first signals transmitted from at least four transmitters 41 are received by the position measuring device 42 at any position.

The position measuring device 42 is arranged on a moving object such as a train. For example, the position measuring device 42 may be an application installed in a mobile terminal (not shown) carried by the user. The position measurement device 42 measures its own position using the first signals transmitted from the plurality of transmission devices 41 . The position measuring device 42 outputs a third signal including the measured positional information of its own device.

For example, the third signal output from the position measuring device 42 is used in an automatic operation control system for moving bodies such as trains. For example, the third signal output from the position measuring device 42 indicates the current position of the train on the map displayed on the display unit of the portable terminal carried by passengers on the train or people near the railroad tracks. used to indicate For example, if the exact position of a train can be grasped based on the position information contained in the position signal output from the position measuring device 42, the interval between trains, the arrival time of the train at the station, etc. can be accurately grasped. Also, if the position of a person who has entered the track can be accurately grasped, it will be possible to avoid a collision between the person and the train by controlling the break of the train according to the positional relationship between the person and the train.

Here, an example of the log collection device 410 of this application example will be described with reference to the drawings. FIG. 17 is a block diagram showing an example of the log collection device 410. As shown in FIG. The log collection device 410 is one form of the transmission device 41 . The log collection device 410 has an atomic clock 411 , a sensor 412 , a log generation section 413 and a storage section 415 . The atomic clock 411 has the same configuration as the atomic clock 111 of the first embodiment. The sensor 412 measures physical quantities such as acceleration, angular velocity, vibration, heat, light, electricity, and magnetism, and generates sensor data including those physical quantities. The log generator 413 associates the sensor data including the physical quantity measured by the sensor 412 with the time when the physical quantity was measured (the time measured by the atomic clock 411) and stores them in the storage unit 415. Further, the log collection device 410 may have a transmission section that transmits a signal including the log generated by the log generation section 413 .

For example, the log collection device 410 is installed on a bridge, embankment, or the like. For example, the log collection device 410 is buried in the soil of a bank. The log collection device 410 accumulates logs of sensor data including physical quantities measured by the sensors 412 . For example, the log collection device 410 accumulates a log in which sensor data is associated with an exact time ticked by the atomic clock 411 at a predetermined timing or at a timing when the displacement or velocity exceeds a threshold value. For example, after an event such as a natural disaster or an accident occurs, the log collection device 410 can be collected and the log accumulated in the log collection device 410 can be analyzed to verify the occurrence status and scale of the event. If the application is to analyze the logs collected by the log collection device 410, sensor data associated with accurate position information can be obtained even if the communication environment is not well established. For example, by burying the log collection device 410 in the soil of a bank, it is possible to verify the influence of a flood or the like.

For example, if the log collection device 410 is provided with a signal transmission function and configured to transmit a signal at the timing when a large displacement is detected in the log collection device 410, the log collection device can be used as a device for detecting a sign of bank collapse. Device 410 can be used. For example, the log collection device 410 may be provided with a satellite signal (second signal) reception function so that the time of the atomic clock 411 can be adjusted. Although the atomic clock 411 is highly accurate, the time drifts with the passage of time. Therefore, if the time of the atomic clock 411 can be adjusted using the second signal, a log containing more accurate time information can be accumulated.

For example, the log collection device 410 may be installed at the tip of a steel tower. For example, the log collection device 410 detects changes caused by thunder, weather, etc. with the sensor 412 and collects logs of physical quantities corresponding to those changes. For example, if the log collected by the log collection device 410 is analyzed in association with the occurrence of lightning and the weather, there is a possibility that a sign of the occurrence of lightning or a change in the weather can be detected. For example, if the log collection device 410 is provided with a signal transmission function and is configured to transmit a signal at the timing when a sign of thunder or weather change is detected, it can be used as a device for detecting thunder or weather change. A log collector 410 can be used.

According to this application example, even in a situation where satellite signals (second signals) cannot be received, if at least four first signals can be received from transmission devices placed in infrastructure or the like, the position measurement device can be installed. The position of a moving object can be accurately measured.

Further, the log collection device of this application example has an atomic clock, a sensor, and a storage unit. A sensor detects at least one physical quantity. The storage unit stores the time stamped by the atomic clock and the physical quantity detected by the sensor in association with each other. According to the log collection device of this application example, when an event such as a natural disaster occurs, the event can be verified by analyzing the log including sensor data associated with accurate time. For example, if the log collection device of this application example is provided with a transmission function, the log collection device can be used as a device for detecting lightning or weather changes.

[Application example 3]
FIG. 18 is a conceptual diagram for explaining application example 3 of the position measurement system of each embodiment. In this application example, a plurality of transmitting devices 41 and a plurality of position measuring devices 42 are arranged in a soccer stadium. For example, it is preferable that time synchronization be established between the transmitting device 41 and the position measuring device 42 before a soccer match starts. Further, in this application example, a ball 430 on which a reflector that reflects the first signal transmitted from the transmitter 41 is mounted is used.

The transmission device 41 is arranged in a soccer stadium. The plurality of transmitters 41 are arranged at positions where the first signal transmitted from each transmitter 41 can easily reach the position measuring device 42 and the ball 430 . The plurality of transmitters 41 are preferably arranged so that the first signals transmitted from at least four transmitters 41 reach the position measuring device 42 and the ball 430 at any position. For example, the transmitter 41 is placed near the corner of a soccer court.

The position measuring device 42 is placed inside the soccer stadium. The plurality of position measurement devices 42 are arranged at positions where it is easy to receive the first signal transmitted from each transmitter 41 and the first signal reflected by the ball 430 (hereinafter also referred to as a reflected signal). For example, the position measuring device 42 is arranged near a goal line GL (Goal Line), a side line SL (Side Line), or the like.

The position measuring device 42 may be arranged at the same position as the position measuring device 42 . If the position measuring device 42 and the position measuring device 42 are arranged at the same position, based on the time from when the first signal is transmitted from the transmitting device 41 to when the reflected wave from the ball 430 arrives, the position measuring device 42 and the ball 430 can be calculated. The position of the ball 430 on the soccer court can be identified by using the distances between the plurality of position measuring devices 42 and the ball 430 .

Ball 430 has the shape and properties of a general soccer ball. A reflector that reflects radio waves in the frequency band of the first signal is mounted on the ball 430 . For example, the reflector is realized by a conductor such as metal or carbon. For example, reflectors may be formed on the surface of ball 430 or on seams. For example, the reflector is formed under the surface layer of ball 430 . For example, a reflector is formed inside the ball 430 .

In this application example, the positional relationship between the plurality of transmitting devices 41 and the plurality of position measuring devices 42 is fixed. During soccer play, the plurality of transmitters 41 transmit a first signal having a periodic signal pattern. The first signals transmitted from the multiple transmitters 41 are received by the position measuring device 42 . A reflected wave of the first signal reflected by the ball 430 is also received by the position measuring device 42 . The first signals that directly reach the position measurement device 42 from the plurality of transmitters 41 are not used for position measurement. A reflected wave of the first signal reflected by the ball 430 is used to measure the position of the ball 430 .

The position measuring device 42 measures the position of the ball 430 using the reflected wave directly received from the transmitting device 41 and excluding the first signal. For example, the position measuring device 42 calculates the position coordinates of the ball 430 based on the position coordinates and the times contained in at least four reflected waves. For example, the position measurement device 42 estimates the position of the ball 430 by inputting the received reflected waves into a model that has learned the reception pattern of the reflected waves according to the position of the ball 430 .

By superimposing the position coordinates measured by the position measuring device 42 on the coordinates on the soccer court, the position of the ball 430 on the soccer court can be identified. For example, if the position of ball 430 on a soccer court can be identified, the positional relationship between goal line GL, sideline SL, center line CL (Center Line), center circle CC (Center Circle), and ball 430 can be identified. For example, if the positional relationship between the goal line GL, the side line SL, and the ball 430 is known, it can be determined whether the ball 430 crosses the line. For example, if the positional relationship between the soccer goal and the ball 430 can be identified, the goal can be determined. For example, if the position of the ball 430 at the time the foul occurred can be identified, the restart position can be accurately identified. For example, if the positional relationship between the position of the ball 430 and the penalty area PA (Penalty Area) at the time the foul occurred can be specified, it can be determined whether the foul occurred inside the penalty area PA. For example, if the position of the player specified by the GPS tracker attached to the player's body and the positional relationship with the ball 430 can be specified, the progress of the game can be accurately recorded. For example, the determination according to the position of the ball 430 specified by the position measuring device 42 can be displayed on the screen of a display device (not shown) or accumulated as a log.

This application example can also be applied to sports other than soccer. For example, this application example can be applied to ball games such as baseball, American football, basketball, ice hockey, rugby, volleyball, handball, tennis, badminton, and golf. Note that this application example may be applied to sports other than these ball games. This application example may be used according to the rules of each sport.

As described above, in this application example, a plurality of transmission devices are arranged in a sports facility where ball games are played. The position measuring device measures the position of the ball using the reflected wave of the first signal reflected by the ball mounted with the reflector that reflects the first signal. The position measuring device outputs a third signal containing position information about the measured position of the ball. According to this application example, the position of the ball in the stadium where the sport is played can be accurately specified based on the third signal, so clear and fair determination can be realized. Moreover, according to this application example, accurate data analysis can be realized by collecting the exact position of the ball on the stadium as a log.

[Application example 4]
FIG. 19 is a conceptual diagram for explaining application example 4 of the position measurement system of each embodiment. In this application example, a plurality of transmitting devices 41 are arranged at soccer goals, and a position measuring device 42 is arranged near the soccer goals. For example, it is preferable to synchronize the time between the transmitting device 41 and the position measuring device 42 before a soccer match starts. In this application example, similarly to the application example 3, the ball 430 on which a reflector that reflects the first signal transmitted from the transmitter 41 is mounted is used. In this application example, a determination device 440 that determines based on the third signal output from the position measurement device 42 is used. In this application example, a display device 450 that displays information corresponding to the position of the ball 430 measured by the position measuring device 42 is used.

A transmitter 41 is placed at the soccer goal. The plurality of transmitters 41 are arranged at positions where the first signal transmitted from each transmitter 41 can easily reach the position measuring device 42 and the ball 430 . The plurality of transmitters 41 are preferably arranged such that the first signals transmitted from at least four transmitters 41 are received by the position measuring device 42 at any position. For example, the transmitters 41 are placed inside the four corners of the goal mouse of a soccer goal.

The position measuring device 42 is arranged at a position where it can receive the first signal transmitted from the transmitting device 41 . For example, the position measuring device 42 is placed at a position where it is easy to receive the first signal transmitted from each transmitter 41 and the first signal reflected by the ball 430 (hereinafter also referred to as reflected signal). The plurality of transmitters 41 may be arranged so that the first signals transmitted from at least four transmitters 41 and the reflected waves from the ball 430 reach the position of the ball 430 near or inside the soccer goal. preferable. For example, the position measuring device 42 is placed near a soccer goal. The position measuring device 42 outputs a third signal regarding the measured position of the ball 430 .

The position measuring device 42 may be arranged at the same position as the position measuring device 42 . If the position measuring device 42 and the position measuring device 42 are arranged at the same position, based on the time from when the first signal is transmitted from the transmitting device 41 to when the reflected wave from the ball 430 arrives, the position measuring device 42 and the ball 430 can be calculated. Using a plurality of position measuring devices 42 and the distance of the ball 430, the position of the ball 430 near/within the goal can be identified.

Ball 430 has the shape and properties of a typical soccer ball. A reflector that reflects radio waves in the frequency band of the first signal is mounted on the ball 430 . For example, the reflector is realized by a conductor such as metal or carbon. For example, reflectors may be formed on the surface of ball 430 or on seams. For example, the reflector is formed under the surface layer of ball 430 . For example, a reflector is formed inside the ball 430 .

In this application example, the positional relationship between the multiple transmitters 41 and the position measuring device 42 is fixed. During soccer play, the plurality of transmitters 41 transmit a first signal having a periodic signal pattern. The first signals transmitted from the multiple transmitters 41 are received by the position measuring device 42 . A reflected wave of the first signal reflected by the ball 430 is also received by the position measuring device 42 . A first signal that directly reaches the position measuring device 42 from the plurality of transmitting devices 41 has a periodic signal pattern and is not used for position measurement. A reflected wave of the first signal reflected by the ball 430 is used to measure the position of the ball 430 .

The position measurement device 42 extracts reflected waves from the ball 430 except for the first signal directly received from the transmission device 41 . The position measuring device 42 measures the position of the ball 430 based on the extracted reflected waves. For example, the position measurement device 42 calculates the position coordinates of the ball 430 using the position coordinates and the times included in the reflected waves originating from at least four transmitters 41 . For example, the position measuring device 42 estimates the position of the ball 430 by inputting the received reflected waves into a model that has learned the reception pattern of the reflected waves according to the position of the ball 430 .

The determination device 440 identifies the position of the ball 430 on the soccer court by superimposing the position coordinates measured by the position measurement device 42 on the coordinates on the soccer court. For example, if the positional relationship between the goal line GL and the ball 430 is specified, it can be determined whether the ball 430 has reached the goal. For example, if the positional relationship between the position of the ball 430 and the penalty area PA at the time the foul occurred can be specified, it can be determined whether the foul occurred inside the penalty area PA. The determination device 440 outputs to the display device 450 a signal (also referred to as a determination signal) including the determination result according to the position of the ball 430 . The determination result included in the determination signal output from determination device 440 is displayed on the screen of display device 450 .

The display device 450 is a general electronic bulletin board. The display device 450 receives the determination signal output from the determination device 440 . The display device 450 displays information about the determination result included in the determination signal output from the determination device 440 . For example, when the ball 430 reaches the goal, the information “GOAL!!!” is displayed on the screen of the display device 450 . For example, when the ball 430 hits the goal line inside the goal but does not reach the goal, the information “No_goal” may be displayed on the screen of the display device 450 . Information unrelated to the goal may be displayed on the display device 450 .

This application example can also be applied to sports other than soccer. For example, this application example can be applied to ball games such as ice hockey, handball, and water polo. Note that this application example may be applied to sports other than these ball games. This application example may be used according to the rules of each sport.

As described above, in this application example, a plurality of transmission devices are arranged in a sports facility where ball games are played. The position measuring device measures the position of the ball using the reflected wave of the first signal reflected by the ball mounted with the reflector that reflects the first signal. The position measuring device outputs a third signal containing position information about the measured position of the ball. According to this application example, the position of the ball in the stadium where the sport is played can be accurately specified based on the third signal, so clear and fair determination can be realized. In addition, according to this application example, it is possible to clearly grasp the state of promotion of sports by displaying the goal determination result and the like on the display device based on the accurate position of the ball.

Application example 3-4 shows an example in which the transmitting device 41 and the position measuring device 42 are configured separately. When position measurement is performed based on reflected waves as in application example 3-4, the transmission device 41 and the position measurement device 42 may be a single device that shares an atomic clock. If the transmitting device 41 and the position measuring device 42 are configured as a single device, time synchronization is established between the transmitting device 41 and the position measuring device 42 . Therefore, there is no need to correct the relative time between devices that transmit and receive radio waves for position measurement.

[Application example 5]
FIG. 20 is a conceptual diagram for explaining application example 5 of the position measurement system of each embodiment. In this application example, a position measuring device 425 having a function of arranging a plurality of transmitting devices 41 inside a velodrome and transmitting the measured positions is mounted on a bicycle. For example, it is preferable to synchronize the time between the transmitting device 41 and the position measuring device 425 before a bicycle race starts. In this application example, a determination device 460 that determines the order of arrival of the bicycles based on the third signal output from the position measurement device 425 is used. In this application example, a display device 450 that displays information corresponding to the position of the bicycle determined by the determination device 460 is used.

The transmission device 41 is arranged inside the velodrome. The plurality of transmitters 41 are arranged at positions where the first signal transmitted from each transmitter 41 can easily reach the position measuring device 42 mounted on the bicycle running on the bank. The plurality of transmitters 41 are preferably arranged such that the first signals transmitted from at least four transmitters 41 are received by the position measuring device 42 at any position within the bank. For example, the transmitter 41 is arranged near the bank.

A position measuring device 425 is mounted on the bicycle. For example, the position measuring device 42 is mounted on the frame or handle of a bicycle. The position measuring device 425 measures its own position based on the first signals transmitted from at least four transmitting devices 41 . The position measuring device 425 outputs a third signal related to the measured position of its own device. The third signal includes an identifier for identifying the bicycle on which position measuring device 425 is mounted. For example, the position measuring device 425 transmits the third signal as a radio signal.

In this application example, the positions of the plurality of transmitters 41 are fixed. During a bicycle race, the plurality of transmitters 41 transmit first signals having periodic signal patterns. The first signals transmitted from the multiple transmitters 41 are received by the position measuring device 42 . A first signal that directly reaches the position measurement device 42 from the plurality of transmitters 41 has a periodic signal pattern and is used for position measurement. The position measurement device 42 uses the first signal received from the transmission device 41 to measure its own position. For example, the position measurement device 42 uses the position coordinates and time included in the first signals derived from at least four transmitters 41 to calculate its own position.

The determination device 460 receives the third signal transmitted from the position measurement device 42 . The determination device 460 superimposes the position coordinates of each identifier measured by the position measurement device 42 on the coordinates inside the velodrome, and associates the position of the bicycle corresponding to the identifier with the position on the bank in the velodrome. For example, if the positional relationship between the finish line and each bicycle is known, the finish time of each bicycle can be specified. For example, the determination device 460 determines the order of arrival according to the order of the finish times of the bicycles. The determination result by the determination device 460 is displayed on the screen of the display device 450 .

The determining device 460 is placed at a position where it can receive the third signal transmitted from the position measuring device 425 . The determination device 460 is connected to the display device 450 . For example, the determination device 460 is placed at a location where it is likely to receive the third signal transmitted from each position measurement device 425 . For example, the decision device 460 is placed near the bank.

The display device 450 is a general electronic bulletin board. The display device 450 receives the determination signal output from the determination device 460 . The display device 450 displays information about the determination result included in the determination signal output from the determination device 460 . For example, the determination device 460 causes the display device 450 to display information regarding the order of arrival of the bicycles. For example, the determination device 460 causes the display device 450 to display information regarding the order of the bicycles during the race.

This application example can also be applied to competitions other than bicycle racing. For example, this application example can be applied to competitions such as auto races, boat races, car races, and horse races. Note that this application example may be applied to competitions other than these competitions. This application example may be applied according to the rules of each competition. For example, if this application example and photo determination are used together, accurate and fair arrival order determination can be performed. For example, as in application example 3-4, a reflector that reflects the first signal is mounted on the bicycle, and the first signal (reflected wave) reflected by the reflector is used to measure the position of the bicycle. may be configured.

As described above, in this application example, a plurality of transmission devices are arranged at the competition facility where the race is held. A position measuring device is mounted on a vehicle used in a race. The position measuring device uses at least four first signals to measure the position of the vehicle on which it is mounted. The position measuring device transmits a third signal containing position information about the measured position of the vehicle. According to this application example, it is possible to accurately determine the intermediate ranking and the final order of finish in the race, so that the race can be managed fairly and clearly.

(hardware)
Here, the hardware configuration for executing the processing of the transmission device and the position measurement device according to each embodiment of the present disclosure will be described by taking the information processing device 90 of FIG. 21 as an example. Note that the information processing device 90 of FIG. 21 is a configuration example for executing processing of the transmission device and the position measurement device of each embodiment, and does not limit the scope of the present disclosure.

As shown in FIG. 21, an information processing device 90 includes a processor 91 , a main memory device 92 , an auxiliary memory device 93 , an input/output interface 95 and a communication interface 96 . In FIG. 21, the interface is abbreviated as I/F (Interface). Processor 91 , main storage device 92 , auxiliary storage device 93 , input/output interface 95 , and communication interface 96 are connected to each other via bus 98 so as to enable data communication. Also, the processor 91 , the main storage device 92 , the auxiliary storage device 93 and the input/output interface 95 are connected to a network such as the Internet or an intranet via a communication interface 96 .

The processor 91 expands a program stored in the auxiliary storage device 93 or the like into the main storage device 92 and executes the expanded program. In this embodiment, a configuration using a software program installed in the information processing device 90 may be used. The processor 91 executes processing by the transmitting device and the position measuring device according to this embodiment.

The main memory 92 has an area in which programs are expanded. The main memory device 92 may be a volatile memory such as a DRAM (Dynamic Random Access Memory). Also, a non-volatile memory such as MRAM (Magnetoresistive Random Access Memory) may be configured and added as the main storage device 92 .

The auxiliary storage device 93 stores various data. The auxiliary storage device 93 is configured by a local disk such as a hard disk or flash memory. It should be noted that it is possible to store various data in the main storage device 92 and omit the auxiliary storage device 93 .

The input/output interface 95 is an interface for connecting the information processing device 90 and peripheral devices. A communication interface 96 is an interface for connecting to an external system or device through a network such as the Internet or an intranet based on standards and specifications. The input/output interface 95 and the communication interface 96 may be shared as an interface for connecting with external devices.

The information processing device 90 may be connected to input devices such as a keyboard, mouse, and touch panel, if necessary. These input devices are used to enter information and settings. Note that when a touch panel is used as an input device, the display screen of the display device may also serve as an interface of the input device. Data communication between the processor 91 and the input device may be mediated by the input/output interface 95 .

Further, the information processing device 90 may be equipped with a display device for displaying information. When a display device is provided, the information processing device 90 is preferably provided with a display control device (not shown) for controlling the display of the display device. The display device may be connected to the information processing device 90 via the input/output interface 95 .

Further, the information processing device 90 may be equipped with a drive device. Between the processor 91 and a recording medium (program recording medium), the drive device mediates reading of data and programs from the recording medium, writing of processing results of the information processing device 90 to the recording medium, and the like. The drive device may be connected to the information processing device 90 via the input/output interface 95 .

The above is an example of the hardware configuration for enabling the transmitting device and the position measuring device according to each embodiment of the present invention. Note that the hardware configuration of FIG. 21 is an example of a hardware configuration for executing arithmetic processing of the transmitting device and the position measuring device according to each embodiment, and does not limit the scope of the present invention. The scope of the present invention also includes a program that causes a computer to execute processing related to the transmitting device and the position measuring device according to each embodiment. Further, the scope of the present invention also includes a program recording medium on which the program according to each embodiment is recorded. The recording medium can be implemented by, for example, an optical recording medium such as a CD (Compact Disc) or a DVD (Digital Versatile Disc). The recording medium may be a semiconductor recording medium such as a USB (Universal Serial Bus) memory or an SD (Secure Digital) card, a magnetic recording medium such as a flexible disk, or other recording medium. When a program executed by a processor is recorded on a recording medium, the recording medium corresponds to a program recording medium.

The components included in the transmitting device and the position measuring device of each embodiment can be combined arbitrarily. Also, the components included in the transmitting device and the position measuring device of each embodiment may be realized by software or by circuits.

Although the present invention has been described with reference to the embodiments, the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

Reference Signs List 1, 2 position measurement system 11, 21, 31, 41 transmitter 12, 22, 42 position measurement device 111, 211, 311 atomic clock 112, 212 storage unit 113, 213, 313 first signal transmitter 121 first signal receiver Unit 122 Position calculation unit 123 Output unit 215 Second signal reception unit 217 Update unit 221 First signal reception unit 222 Position calculation unit 223 Output unit 225 Second signal reception unit 410 Log collection device 411 Atomic clock 412 Sensor 413 Log generation unit 415 storage unit

Claims (10)

an atomic clock;
and a first signal transmitting means for transmitting a first signal including the time stamped by the atomic clock and position information about the position of the atomic clock. 2. The transmitter according to claim 1, wherein the atomic clock operates on the principle of CPT (Coherent Population Trapping) resonance. a second signal receiving means for receiving a second signal transmitted from a GPS (Global Positioning System) satellite;
3. The transmitting device according to claim 1, further comprising updating means for measuring a position using at least four of said second signals and updating the position of said atomic clock with the measured position. a sensor that detects at least one physical quantity;
4. The transmission device according to claim 1, further comprising storage means for storing the time stamped by the atomic clock and the physical quantity detected by the sensor in association with each other. a plurality of devices including atomic clocks, arranged at a predetermined position, generating a first signal containing the time stamped by the atomic clock and positional information about the predetermined position, and transmitting the generated first signal; a transmitting device;
a position measuring device that receives the first signals transmitted from the plurality of transmitters, measures a position using the received first signals, and outputs a third signal including position information about the measured positions; , a position measurement system. a plurality of said transmitters are arranged in the city,
The position measuring device is
6. The position measuring system according to claim 5, which is mounted on a moving object and measures the position of said position measuring device using at least four of said first signals. The position measuring device is
7. The position measurement system according to claim 6, wherein said third signal including position information regarding the measured position is output to a control system of said moving body. the plurality of transmitting devices are arranged in a sports facility where ball games are played;
The position measuring device is
measuring the position of the ball using a reflected wave of the first signal reflected by a ball on which a reflector that reflects the first signal is mounted; 6. The position measurement system according to claim 5, which outputs three signals. A plurality of said transmission devices are arranged at a competition facility where a race is held,
The position measuring device is
The position measurement device is mounted on a vehicle used in the race, measures the position of the vehicle on which the position measuring device is mounted using at least four of the first signals, and includes position information about the measured position of the vehicle. 6. The position measurement system according to claim 5, which transmits three signals. the computer
generating a first signal including the time stamped by an atomic clock and position information about the position of the atomic clock;
A transmission method for transmitting the generated first signal.

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