JP6320029B2 - Positioning device and positioning method - Google Patents

Description

  The present invention relates to a positioning device and a positioning method for positioning the position of an observation object such as an aircraft.

  As a positioning device that measures the position of an observation object, modulated signals transmitted from a transmitter mounted on the observation object whose position coordinates are unknown are incident from multiple receiving antennas whose position coordinates are known. Then, the receiver to which the receiving antenna is connected receives the modulated signal, and using the difference (TDOA: Time Difference of Arrival) of the reception time (arrival time) of the modulated signal in a plurality of receivers, 2. Description of the Related Art Positioning devices that position the position of an observation object by performing nonlinear least square method computation based on the Gauss-Newton method are known.

The positioning processing of such a positioning device includes two-dimensional positioning for measuring the position of an observation object (observation object with Z coordinate = 0) existing on the ground surface, and an observation object (Z It is roughly divided into three-dimensional positioning for measuring the position of the observation object (coordinate ≠ 0).
As specific application examples, 2D positioning includes monitoring and positioning of illegal radio stations that interfere with important radio communications operated by the public and private sectors, and 3D positioning includes air traffic control of aircraft that are actually flying. There is.
In addition to these examples, there are a wide range of active locations for positioning devices, and the positioning accuracy required for systems that use positioning devices is the point of view of effective radio wave usage in the extremely crowded radio wave environment and control systems. From the viewpoint of ensuring safety in Japan, it is a top priority improvement issue.

The monitoring area of the observation object in the positioning device differs for each application, but in the case of a short distance, it is within a circle with a radius of several kilometers centered on the positioning device, and in the case of a long distance (for example, aircraft air traffic control In this case, the radius is about several tens km to 100 km centered on the positioning device.
What is important here is that the positioning device has an important function, but the object to be observed must be able to be positioned reliably anywhere in the vast monitoring area. The same applies to the initial detection when a new object enters the monitoring area as well as the observation object already exists in the monitoring area.

FIG. 16 is a block diagram showing a conventional positioning device.
The observation object 101 is an aircraft whose position coordinates (X, Y, Z) are unknown, and is equipped with a transmitter that transmits a modulation signal.
Reception antennas 102-1 to 102-N is the installation position coordinates _{(x 1, y 1, z} 1) ~ (x N, y N, z N) are known, it modulated transmitted from the transmitter of the aircraft 101 A signal is incident.
The receivers 103-1 to 103 -N receive the modulated signals input by the receiving antennas 102-1 to 102 _-N, and detect arrival times t _{1 to} t _N that are times when the modulated signals are received. To implement.

For example, when the reference receiver is the receiver 103-N among the receivers 103-1 to 103-N, the center receiving station 104 has an arrival time t _N detected by the receiver 103-N; and carries out a process of calculating the receiver 103-1~103- (N-1) difference of arrival time difference τ ₁ ~τ _N-1 is the arrival time t ₁ ~t _N-1 detected by.
The initial coordinate setting unit 105 includes initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 101 used when the positioning calculation processing unit 106 performs positioning calculation (positioning calculation based on the least square method based on the Gauss-Newton method). ) Is set.

The positioning calculation processing unit 106 sets the initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 101 set by the initial coordinate setting unit 105 and the coordinates (x ₁ ) of the installation positions of the receiving antennas 102-1 to 102-N. , Y ₁ , z ₁ ) to (x _N , y _N , z _N ) and the arrival time differences τ _{1 to} τ _N−1 calculated by the center receiving station 104, the observation object A process of estimating the coordinates (X ′, Y ′, Z ′) of the position where 101 exists is performed.
The positioning result display unit 107 performs processing for displaying the coordinates (X ′, Y ′, Z ′) of the position where the observation target object 101 estimated by the positioning calculation processing unit 106 exists.

The detailed procedure of the positioning calculation performed by the positioning calculation processing unit 106 is disclosed in Patent Document 1 below, but the positioning object based on the least square method based on the Gauss-Newton method is considered to have the observation object 101. This is a convergence operation that sets the likely coordinates to be the initial coordinates and converges to the true solution while sequentially correcting the errors.
The Gauss-Newton method requires a process of “Taylor expansion near the true solution” as disclosed in Non-Patent Document 1 below.
What is important here is that, for example, the monitoring area of the positioning device is vast with a radius of several tens of kilometers, and there is no prior knowledge about the coordinates (X, Y, Z) of the position of the observation object 101. This means that the positioning accuracy of the positioning device greatly depends on the initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 101 to be set.
That is, when the initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation target object 101 are inappropriate, the positioning calculation of the positioning calculation processing unit 106 diverges without converging, or the true solution (Global Minimum). ), A situation that falls into a local solution (Local Minimum) different from (), and a correct positioning result cannot be obtained. This problem is known as the “Initial Value Problem”.

In the initial value problem of the nonlinear least square method calculation based on the Gauss-Newton method using TDOA, an effective solution has not been found. For example, in Patent Document 2 below, as an initial value setting method, “for example, According to empirical rules, or a rough position is set from the map information in the map database. "
Further, in Patent Document 3 below, as an initial value setting method, “In this embodiment, the estimated initial position of a mobile station is the position of the center of gravity of a plurality of base stations, but is not limited to this. It may be an arbitrary position within a predetermined range (for example, within 1 m from a highly reliable base station) from one base station selected from the stations, or an arbitrary position within a range surrounded by a plurality of base stations It may be a position. "
In Patent Document 1, only the description “determine appropriate initial values x0 and y0” is given, and detailed description regarding “appropriate” is not made.
As represented by the following Patent Documents 1 to 3, the setting of the initial coordinates depends on obscure information such as rules of thumb and foresight information by other devices or systems.

JP 2009-236781 (paragraph numbers [0050] to [0054]) JP 2012-185011 A (paragraph number [0072]) JP 2011-214920 A (paragraph number [0064])

Published by Kenichi Kanaya, “Optimizing Mathematics Understandable”

Since the conventional positioning apparatus is configured as described above, the initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 101 cannot always be set to appropriate values, and appropriate initial coordinates ( When x ₀ , y ₀ , z ₀ ) is not set, there is a problem that the exact position of the observation object 101 may not be measured.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to obtain a positioning device and a positioning method capable of positioning the position of an observation object with high accuracy.

  The positioning device according to the present invention includes a plurality of receiving antennas that receive a modulated signal transmitted from an observation object, and an arrival time that is a time when the modulated signal received by the receiving antenna is received and received. And the difference between the arrival time detected by the reference receiver among the plurality of receivers and the arrival time detected by a receiver other than the reference receiver. An arrival time difference calculating means for calculating an arrival time difference, a plurality of signal strength measuring means for measuring the signal strength of the modulated signal received by the receiver, and a signal strength of the modulated signal measured by the plurality of signal strength measuring means And an initial coordinate setting means for setting an initial coordinate of the position where the observation object exists using the coordinates of the installation position of the receiving antenna, and the positioning means is set by the initial coordinate setting means. By performing a positioning operation using the initial coordinates of the observation object, the coordinates of the installation position of the receiving antenna, and the arrival time difference calculated by the arrival time difference calculation means, the position where the observation object exists is positioned. It is a thing.

  According to the present invention, the plurality of signal strength measuring means for measuring the signal strength of the modulated signal received by the receiver, the signal strength of the modulated signal measured by the plurality of signal strength measuring means and the installation position of the receiving antenna And an initial coordinate setting means for setting the initial coordinates of the position where the observation target exists using the coordinates, and the positioning means sets the initial coordinates of the observation target set by the initial coordinate setting means, the receiving antenna Since the position where the observation target exists is determined by performing positioning calculation using the coordinates of the installation position and the arrival time difference calculated by the arrival time difference calculation means, the position of the observation target It is possible to measure the position with high accuracy.

It is a block diagram which shows the positioning apparatus by Embodiment 1 of this invention. It is a flowchart which shows the processing content (positioning method) of the positioning apparatus by Embodiment 1 of this invention. It is a block diagram which shows the positioning apparatus by Embodiment 2 of this invention. It is a flowchart which shows the processing content (positioning method) of the positioning apparatus by Embodiment 2 of this invention. It is a block diagram which shows the positioning apparatus by Embodiment 3 of this invention. It is a block diagram which shows the positioning apparatus by Embodiment 4 of this invention. It is a block diagram which shows the positioning apparatus by Embodiment 5 of this invention. It is a block diagram which shows the positioning apparatus by Embodiment 6 of this invention. It is a block diagram which shows the positioning apparatus by Embodiment 8 of this invention. It is a block diagram which shows the positioning apparatus by Embodiment 8 of this invention. It is a block diagram which shows the positioning apparatus by Embodiment 9 of this invention. It is a block diagram which shows the positioning apparatus by Embodiment 9 of this invention. It is a block diagram which shows the positioning apparatus by Embodiment 10 of this invention. It is a block diagram which shows the positioning apparatus by Embodiment 11 of this invention. It is a block diagram which shows the positioning apparatus by Embodiment 12 of this invention. It is a block diagram which shows the conventional positioning apparatus.

Embodiment 1 FIG.
1 is a block diagram showing a positioning apparatus according to Embodiment 1 of the present invention.
In FIG. 1, an observation object 1 is an aircraft whose position coordinates (X, Y, Z) are unknown, and is equipped with a transmitter that transmits a modulation signal.
The receiving antennas 2-1 to 2-N have known coordinates (x ₁ , y ₁ , z ₁ ) to (x _N , y _N , z _N ) of the installation position, and are transmitted from the transmitter of the observation object 1. The modulated signal is incident.
The receivers 3-1 to 3 -N receive the modulated signals incident by the receiving antennas 2-1 to 2 _-N, and detect arrival times t _{1 to} t _N that are times when the modulated signals are received. To implement.

The center receiving station 4 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like. Among the receivers 3-1 to 3 -N, for example, a reference receiver receives In the case of the machine 3-N, the arrival time t _N detected by the receiver 3-N and the arrival times t _{1 to} t _N-1 detected by the receivers 3-1 to 3- (N-1) The process of calculating the arrival time differences τ _{1 to} τ _N-1 that are the differences between the two is performed. The center receiving station 4 constitutes arrival time difference calculating means.
The signal strength measuring units 5-1 to 5-N are configured from, for example, an amplitude detector, and the process of measuring the signal strength (for example, power) of the modulated signal received by the receivers 3-1 to 3-N. To implement. In the first embodiment, it is assumed that the power of the modulated signal received by the receivers 3-1 to 3-N is measured. However, it is sufficient that the signal strength of the modulated signal is known. The electric field strength may be measured. The signal strength measuring units 5-1 to 5-N constitute signal strength measuring means.

The signal strength order rearrangement unit 6 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like, and the signal of the modulation signal measured by the signal strength measurement units 5-1 to 5-N. A process of comparing the strengths and rearranging the modulated signals received by the receivers 3-1 to 3-N in descending order of the signal strength is performed.
The maximum receiving antenna coordinate extraction unit 7 is constituted by, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like, and refers to the rearrangement result of the signal strength order rearrangement unit 6 to receive the receiver 3 Among the modulation signals received by -1 to 3-N, the modulation signal having the strongest signal strength measured by the signal strength measurement units 5-1 to 5-N is specified, and the modulation signal having the strongest signal strength is selected. A process of outputting the coordinates of the installation position of the incident receiving antenna 2 to the initial coordinate setting unit 8 is performed.

The initial coordinate setting unit 8 is composed of, for example, a semiconductor integrated circuit mounted with a CPU or a one-chip microcomputer, and observes the coordinates of the installation position of the receiving antenna 2 output from the maximum receiving antenna coordinate extracting unit 7. Processing for setting the initial coordinates (x ₀ , y ₀ , z ₀ ) of the position where the object 1 exists is performed.
The signal intensity order rearranging unit 6, the maximum receiving antenna coordinate extracting unit 7 and the initial coordinate setting unit 8 constitute an initial coordinate setting means.

The positioning calculation processing unit 9 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted, or a one-chip microcomputer, and the initial coordinates (x ₀ , y) of the observation object 1 set by the initial coordinate setting unit 8. ₀ , z ₀ ), coordinates (x ₁ , y ₁ , z ₁ ) to (x _N , y _N , z _N ) of the installation positions of the receiving antennas 2-1 to 2-N, and the center receiving station 4 By performing the positioning calculation using the arrival time differences τ _{1 to} τ _N−1 , the process of estimating the coordinates (X ′, Y ′, Z ′) of the position where the observation object 1 exists is performed. The positioning calculation processing unit 9 constitutes positioning means.
The positioning result display unit 10 includes, for example, a GPU (Graphics Processing Unit), a liquid crystal display, and the like, and the coordinates (X ′, Y ′) of the position where the observation target 1 estimated by the positioning calculation processing unit 9 exists. , Z ′) is displayed.

In the example of FIG. 1, the receiving antennas 2-1 to 2-N, the receivers 3-1 to 3-N, the center receiving station 4, the signal strength measuring units 5-1 to 5-N, which are components of the positioning device, Assuming that each of signal strength order rearrangement unit 6, maximum receiving antenna coordinate extraction unit 7, initial coordinate setting unit 8, positioning calculation processing unit 9 and positioning result display unit 10 is configured by dedicated hardware. However, all or part of the positioning device may be configured by a computer.
For example, a part of the positioning device is replaced with a computer (for example, the center receiving station 4, the signal strength order rearranging unit 6, the maximum receiving antenna coordinate extracting unit 7, the initial coordinate setting unit 8, the positioning calculation processing unit 9, and the positioning result display unit 10). ), The processing contents of the center receiving station 4, the signal strength order rearranging unit 6, the maximum receiving antenna coordinate extracting unit 7, the initial coordinate setting unit 8, the positioning calculation processing unit 9, and the positioning result display unit 10 are described. May be stored in the memory of the computer, and the CPU of the computer may execute the program stored in the memory.
FIG. 2 is a flowchart showing the processing contents (positioning method) of the positioning apparatus according to Embodiment 1 of the present invention.

Next, the operation will be described.
Receiving antennas 2-1 to 2-N receive the modulated signal when the transmitter mounted on observation object 1 transmits the modulated signal (step ST1).
Receiver 3-1 to 3-N, upon receiving antennas 2-1 to 2-N enters a modulation signal, receiving the modulated signal, the arrival time t ₁ ~t a time of receiving the modulated signal _N is detected, and the arrival times t _{1 to} t _N are output to the center receiving station 4 (step ST2).

Center receiving station 4 receives the arrival time t ₁ ~t _N from the receiver 3-1 to 3-N, in the receiver 3-1 to 3-N, for example, a primary receiver is the receiver 3-N when it, the arrival time t _N detected by the receiver 3-N, the receiver 3-1~3- (N-1) of the arrival time t ₁ ~t _N-1 detected by The arrival time differences τ _{1 to} τ ₋₁ which are the differences are calculated (step ST3).
Here, an example is shown in which the reference receiver is the receiver 3-N. However, for example, when the reference receiver is the receiver 3-1, the arrival time detected by the receiver 3-1. and t _1, and calculates the arrival time difference τ ₁ ~τ _N-1 which is a difference between the detected arrival time t ₂ ~t _N by the receiver 3-2 to 3-N.

式（１）より、受信機３−ｉにおける受信電力Ｐ_iは、下記の式（２）のように表される。

式（２）において、Ｐ_tは観測対象物１に搭載されている発信器が発信する変調信号の送信電力、Ｇ_tは観測対象物１に搭載されている発信器の送信アンテナのアンテナゲイン、Ｇ_iは受信アンテナ２−ｉのアンテナゲインである。 The signal strength measuring units 5-1 to 5-N measure received powers P _{1 to} P _N indicating the signal strengths of the modulated signals received by the receivers 3-1 to 3-N (step ST4).
Here, the true coordinates of the position where the observation object 1 exists are (X _T , Y _T , Z _T ), and the coordinates of the position where the receiving antenna 2-i is installed are (x _i , y _i , When z _i ) (i = 1, 2,..., N), the linear distance R _i between the observation object 1 and the receiving antenna 2-i is expressed by the following equation (1). .

From the equation (1), the received power P _{i at the} receiver 3-i is expressed as the following equation (2).

In Expression (2), P _t is the transmission power of the modulation signal transmitted from the transmitter mounted on the observation object 1, G _t is the antenna gain of the transmission antenna of the transmitter mounted on the observation object 1, G _i is the antenna gain of the receiving antenna 2-i.

The signal strength order rearrangement unit 6 measures received powers P _{1 to} P _N indicating the signal strength of the modulated signals received by the receivers 3-1 to 5 -N by the signal strength measuring units 5-1 to 5 -N. Then, the received powers P _{1 to} P _N are compared, and the modulated signals received by the receivers 3-1 to 3 -N are rearranged in order of increasing signal strength.
The maximum receiving antenna coordinate extraction unit 7 obtains the coordinates (x ₁ , y ₁ , z ₁ ) to (x _N , y _N , z _N ) of the positions where the receiving antennas 2-1 to 2-N are installed in advance. With reference to the rearrangement result of the signal strength order rearrangement unit 6 stored therein, among the modulated signals received by the receivers 3-1 to 3 -N, the signal intensity measurement units 5-1 to 5-5. The modulation signal having the strongest signal intensity measured by N is specified, and the coordinates of the installation position of the receiving antenna 2 on which the modulation signal having the strongest signal intensity is incident are output to the initial coordinate setting unit 8 (step ST5).
For example, as shown in the following formula (3), among the modulated signals received by the receivers 3-1 to 3 -N, the received power P ₂ of the modulated signal received by the receiver 3-2 is the highest. If it is higher, the coordinates (x ₂ , y ₂ , z ₂ ) of the installation position of the receiving antenna 2-2 are output to the initial coordinate setting unit 8.

When the initial coordinate setting unit 8 receives the coordinates of the installation position of the reception antenna 2 from the maximum reception antenna coordinate extraction unit 7, the initial coordinate of the position where the observation object 1 exists is used as the coordinate of the installation position of the reception antenna 2. It is set to (x ₀ , y ₀ , z ₀ ) (step ST6).
For example, when the coordinates (x ₂ , y ₂ , z ₂ ) of the installation position of the reception antenna 2-2 are output from the maximum reception antenna coordinate extraction unit 7, the initial coordinates of the position where the observation object 1 exists ( x ₀ , y ₀ , z ₀ ), the coordinates (x ₂ , y ₂ , z ₂ ) of the installation position of the receiving antenna 2-2 are set.

The positioning calculation processing unit 9 sets the initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 1 set by the initial coordinate setting unit 8 and the coordinates of the installation positions of the receiving antennas 2-1 to 2-N (x ₁ , y ₁ , z ₁ ) to (x _N , y _N , z _N ) and arrival time differences τ _{1 to} τ _N-1 calculated by the center receiving station 4, thereby performing a positioning operation. The coordinates (X ′, Y ′, Z ′) of the position where the object 1 exists are estimated (step ST7).
The procedure of the positioning calculation performed by the positioning calculation processing unit 9 is disclosed in Patent Document 1 and will not be described in detail. However, in the first embodiment, the initial coordinates (x ₀ , y) of the observation object 1 are omitted. ₀ , z ₀ ) is set at a position close to the observation object 1 without depending on empirical rules or obscure information such as foreseeing information by other devices or systems, so that the estimated coordinates are finally stable. Positioning coordinates (X ′, Y ′, Z ′) can be obtained, and the positioning accuracy can be improved.
The positioning result display unit 10 displays the coordinates (X ′, Y ′, Z ′) of the position where the observation object 1 estimated by the positioning calculation processing unit 9 exists on the display (step ST8).

As is apparent from the above, according to the first embodiment, among the modulated signals received by the receivers 3-1 to 3 -N, the signal strength measuring units 5-1 to 5 -N measured. A maximum receiving antenna coordinate extracting unit 7 that specifies a modulation signal having the strongest signal strength and outputs coordinates of an installation position of the receiving antenna 2 on which the modulation signal having the strongest signal intensity is incident, and a maximum receiving antenna coordinate extracting unit 7 And an initial coordinate setting unit 8 for setting the coordinates of the installation position of the receiving antenna 2 output from the initial coordinates (x ₀ , y ₀ , z ₀ ) of the position where the observation object 1 exists. Therefore, the initial coordinates (x ₀ , y ₀ , z ₀ ) of the position where the observation object 1 exists are set to appropriate values, and as a result, the position (X ′ , Y ′, Z ′) can be measured with high accuracy.

Embodiment 2. FIG.
3 is a block diagram showing a positioning apparatus according to Embodiment 2 of the present invention. In the figure, the same reference numerals as those in FIG.
The average coordinate calculation unit 11 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like. ~ M (1 ≦ M ≦ N) modulation signals having strong signal strengths measured by the signal strength measurement units 5-1 to 5-N are selected from the modulation signals received by ˜3-N, A process of outputting the average coordinates of the installation positions of the upper M receiving antennas 2 on which the selected upper M modulation signals are incident to the initial coordinate setting unit 8 is performed. Note that M is a preset number.

The initial coordinate setting unit 12 includes, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like, and the average coordinates of the installation position of the receiving antenna 2 output from the average coordinate calculation unit 11 are observed. Processing for setting the initial coordinates (x ₀ , y ₀ , z ₀ ) of the position where the object 1 exists is performed.
The signal intensity order rearrangement unit 6, the average coordinate calculation unit 11, and the initial coordinate setting unit 12 constitute an initial coordinate setting unit.

In the example of FIG. 3, the receiving antennas 2-1 to 2-N, the receivers 3-1 to 3-N, the center receiving station 4, the signal strength measuring units 5-1 to 5-N, which are components of the positioning device, It is assumed that each of the signal intensity order rearranging unit 6, the average coordinate calculating unit 11, the initial coordinate setting unit 12, the positioning calculation processing unit 9, and the positioning result display unit 10 is configured by dedicated hardware. The whole or part of the positioning device may be configured by a computer.
For example, a part of the positioning device is a computer (for example, the center receiving station 4, the signal intensity order rearranging unit 6, the average coordinate calculating unit 11, the initial coordinate setting unit 12, the positioning calculation processing unit 9, and the positioning result display unit 10). When configured, a program describing the processing contents of the center receiving station 4, the signal strength order rearranging unit 6, the average coordinate calculating unit 11, the initial coordinate setting unit 12, the positioning calculation processing unit 9, and the positioning result display unit 10 is provided. What is necessary is just to make it memorize | store in the memory of a computer and CPU of the said computer run the program stored in the said memory.
FIG. 4 is a flowchart showing the processing contents (positioning method) of the positioning device according to Embodiment 2 of the present invention.

Next, the operation will be described.
In the first embodiment, the modulation signal having the strongest signal strength measured by the signal strength measurement units 5-1 to 5-N is identified from the modulation signals received by the receivers 3-1 to 3-N. Then, the coordinates of the installation position of the receiving antenna 2 on which the modulation signal having the strongest signal intensity is incident are set to the initial coordinates (x ₀ , y ₀ , z ₀ ) of the position where the observation object 1 exists. I have to.
For this reason, it is very effective when the observation object 1 exists outside the area surrounded by the receivers 3-1 to 3 -N.
On the other hand, when the observation object 1 exists inside the area surrounded by the receivers 3-1 to 3 -N, the initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 1 are the area. It is more effective to set the coordinates inside.
Therefore, in the second embodiment, a mode in which the initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 1 are set to the coordinates inside the area will be described.

Similarly to the first embodiment, the signal strength measuring units 5-1 to 5 -N receive received powers P _{1 to} P _N indicating the signal strengths of the modulated signals received by the receivers 3-1 to 3 _-N . Measurement is performed (step ST4 in FIG. 4).
The signal strength order rearrangement unit 6 measures received powers P _{1 to} P _N indicating the signal strength of the modulated signals received by the receivers 3-1 to 5 -N by the signal strength measuring units 5-1 to 5 -N. Then, similar to the first embodiment, the received powers P _{1 to} P _N are compared, and the modulation signals received by the receivers 3-1 to 3 -N are rearranged in the descending order of the signal strength. To do.

When the average coordinate calculation unit 11 rearranges the modulation signals received by the receivers 3-1 to 3 -N in the order of the signal strength, the signal strength order rearrangement unit 6 refers to the rearrangement result, Among the modulation signals received by the receivers 3-1 to 3-N, the top M (1 ≦ M ≦ N) modulations having strong signal strengths measured by the signal strength measurement units 5-1 to 5-N. Select a signal.
For example, if M = 5, the top five strong signal strengths measured by the signal strength measurement units 5-1 to 5-N among the modulated signals received by the receivers 3-1 to 3-N Select the modulation signal.

When the average coordinate calculation unit 11 selects the top M modulation signals having strong signal strength, the average coordinate calculation unit 11 indicates the installation position of the receiving antenna 2 on which the top M modulation signals are incident as shown in the following equation (4). Average coordinates are calculated.

Here, it is assumed that M values have a preset fixed value. For example, when M = 5, as shown in the following equation (5), received power P ₅ and If the power gradient is such that there is a large gap between the received powers P ₃ (for example, there is a difference larger than a preset interval value), the received power P ₃ and P ₁ are excluded and the top three select a modulation signal of the received power _{P 4, P 2, P 5} , may be calculated the average coordinates of the installation position of the receiving antenna 2 is incident their modulation signal.

When the average coordinate calculation unit 11 calculates the average coordinate of the installation position of the receiving antenna 2 on which the upper M modulation signals are incident, the average coordinate calculation unit 11 outputs the average coordinate to the initial coordinate setting unit 8 (step ST11).
When the initial coordinate setting unit 12 receives the average coordinate of the installation position of the receiving antenna 2 from the average coordinate calculation unit 11, the initial coordinate (x ₀ , x y ₀ , z ₀ ) is set (step ST12).

The positioning calculation processing unit 9 sets the initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 1 set by the initial coordinate setting unit 12 and the coordinates of the installation positions of the receiving antennas 2-1 to 2-N (x ₁ , y ₁ , z ₁ ) to (x _N , y _N , z _N ) and arrival time differences τ _{1 to} τ _N-1 calculated by the center receiving station 4, thereby performing a positioning operation. The coordinates (X ′, Y ′, Z ′) of the position where the object 1 exists are estimated (step ST7), but the observation target is based on the installation position of the receiving antenna 2 with high signal strength and high reliability. since setting the initial coordinates of the object _{1 (x 0, y 0,} z 0), for example, initial coordinates to the position of the center of gravity of the receiver _{3-1~3-N (x 0, y} 0, z 0) The initial coordinates (x ₀ , y ₀ , z ₀ ) can be optimized rather than using a method such as setting. As a result, the convergence speed can be increased and the positioning accuracy of the position (X ′, Y ′, Z ′) of the observation object 1 can be increased.

Embodiment 3 FIG.
5 is a block diagram showing a positioning apparatus according to Embodiment 3 of the present invention. In the figure, the same reference numerals as those in FIG.
The positioning coordinate recording unit 21 is composed of a storage device such as a RAM or a hard disk, for example. ). The positioning coordinate recording unit 21 constitutes positioning coordinate recording means.

The initial coordinate setting unit 22 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like. In the first positioning process for the observation target 1, the initial coordinate setting unit 22 Similarly, the process of setting the coordinates of the installation position of the receiving antenna 2 output from the maximum receiving antenna coordinate extracting unit 7 to the initial coordinates (x ₀ , y ₀ , z ₀ ) of the position where the observation object 1 exists. To implement.
In the second or subsequent positioning process for the observation object 1, the observation object 1 has the coordinates (X ′, Y ′, Z ′) of the positioning position recorded in the positioning coordinate recording unit 21 in the previous positioning process. A process of setting the initial coordinates (x ₀ , y ₀ , z ₀ ) of the current position is performed.
The signal intensity order rearranging unit 6, the maximum receiving antenna coordinate extracting unit 7 and the initial coordinate setting unit 22 constitute an initial coordinate setting means.

In the example of FIG. 5, the receiving antennas 2-1 to 2-N, the receivers 3-1 to 3-N, the center receiving station 4, the signal strength measuring units 5-1 to 5-N, which are components of the positioning device, The signal strength order rearrangement unit 6, the maximum receiving antenna coordinate extraction unit 7, the positioning coordinate recording unit 21, the initial coordinate setting unit 22, the positioning calculation processing unit 9, and the positioning result display unit 10 are each configured by dedicated hardware. However, all or part of the positioning device may be configured by a computer.
For example, a part of the positioning device is replaced with a computer (for example, center receiving station 4, signal strength order rearranging unit 6, maximum receiving antenna coordinate extracting unit 7, positioning coordinate recording unit 21, initial coordinate setting unit 22, positioning calculation processing unit 9. And the positioning result display unit 10), the positioning coordinate recording unit 21 is configured on the memory of the computer, and the center receiving station 4, the signal strength order rearranging unit 6, the maximum receiving antenna coordinate extracting unit 7, the initial coordinates. A program describing the processing contents of the setting unit 22, the positioning calculation processing unit 9 and the positioning result display unit 10 is stored in the memory of the computer, and the CPU of the computer executes the program stored in the memory. do it.

In the first embodiment, in the second and subsequent positioning processes, the initial coordinate setting unit 8 uses the observation object 1 as the coordinates of the installation position of the reception antenna 2 output from the maximum reception antenna coordinate extraction unit 7. The initial coordinates (x ₀ , y ₀ , z ₀ ) of the current position are set, but the coordinates (X ′, Y ′, Z ′) of the position where the observation object 1 estimated by the positioning calculation processing unit 9 exists are set. ) Is sufficiently close to the true coordinates, the coordinates (X ′, Y ′, Z ′) are expected to be sufficiently close to the true coordinates in the next positioning process.

Therefore, in the first positioning process, the initial coordinate setting unit 22 uses the coordinates of the installation position of the receiving antenna 2 output from the maximum receiving antenna coordinate extracting unit 7 as the observation target, as in the initial coordinate setting unit 8 of FIG. The initial position (x ₀ , y ₀ , z ₀ ) of the position where the object 1 exists is set. Are set to initial coordinates (x ₀ , y ₀ , z ₀ ) where the observation object 1 exists.
As a result, the positioning calculation processing unit 9 repeats the recursive calculation, so that continuous observation in time series is possible, and the initial coordinates (x ₀ , y ₀ , z) of the observation object 1 can be obtained. ₀ ) will be further optimized. For this reason, the convergence speed can be increased as compared with the first embodiment, and the positioning accuracy of the position (X ′, Y ′, Z ′) of the observation object 1 can be increased.

Embodiment 4 FIG.
FIG. 6 is a block diagram showing a positioning apparatus according to Embodiment 4 of the present invention. In the figure, the same reference numerals as those in FIGS.
The initial coordinate setting unit 23 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like. In the first positioning process for the observation target 1, the initial coordinate setting unit 12 Similarly, the process of setting the average coordinate of the installation position of the receiving antenna 2 output from the average coordinate calculation unit 11 to the initial coordinate (x ₀ , y ₀ , z ₀ ) of the position where the observation object 1 exists. carry out.
In the second or subsequent positioning process for the observation object 1, the observation object 1 has the coordinates (X ′, Y ′, Z ′) of the positioning position recorded in the positioning coordinate recording unit 21 in the previous positioning process. A process of setting the initial coordinates (x ₀ , y ₀ , z ₀ ) of the current position is performed.
The signal intensity order rearrangement unit 6, the average coordinate calculation unit 11, and the initial coordinate setting unit 23 constitute an initial coordinate setting unit.

In the example of FIG. 6, the receiving antennas 2-1 to 2-N, the receivers 3-1 to 3-N, the center receiving station 4, the signal strength measuring units 5-1 to 5-N, which are components of the positioning device, Each of the signal intensity order rearrangement unit 6, the average coordinate calculation unit 11, the positioning coordinate recording unit 21, the initial coordinate setting unit 23, the positioning calculation processing unit 9, and the positioning result display unit 10 is configured by dedicated hardware. However, all or part of the positioning device may be configured by a computer.
For example, a part of the positioning device is replaced with a computer (for example, the center receiving station 4, the signal intensity order rearranging unit 6, the average coordinate calculating unit 11, the positioning coordinate recording unit 21, the initial coordinate setting unit 23, the positioning calculation processing unit 9, and the positioning). In the case of configuring with the result display unit 10), the positioning coordinate recording unit 21 is configured on the memory of the computer, and the center receiving station 4, the signal intensity order rearranging unit 6, the average coordinate calculating unit 11, the initial coordinate setting unit 23, A program describing the processing contents of the positioning calculation processing unit 9 and the positioning result display unit 10 may be stored in the memory of a computer, and the CPU of the computer may execute the program stored in the memory.

In the second embodiment, in the second and subsequent positioning processes, the initial coordinate setting unit 12 includes the observation target 1 with the average coordinates of the installation position of the receiving antenna 2 output from the average coordinate calculation unit 11. The initial coordinates (x ₀ , y ₀ , z ₀ ) of the position are set, but the coordinates (X ′, Y ′, Z ′) of the position where the observation object 1 estimated by the positioning calculation processing unit 9 exists. Is sufficiently close to the true coordinates, the coordinates (X ′, Y ′, Z ′) are expected to be sufficiently close to the true coordinates in the next positioning process.

Therefore, in the first positioning process, the initial coordinate setting unit 23 uses the average coordinates of the installation position of the receiving antenna 2 output from the average coordinate calculation unit 11 as the observation target, as in the initial coordinate setting unit 12 of FIG. The initial coordinates (x ₀ , y ₀ , z ₀ ) of the position where 1 exists are set, but in the second and subsequent positioning processes, the positioning position recorded in the positioning coordinate recording unit 21 in the previous positioning process is set. The coordinates (X ′, Y ′, Z ′) are set to the initial coordinates (x ₀ , y ₀ , z ₀ ) of the position where the observation object 1 exists.
As a result, the positioning calculation processing unit 9 repeats the recursive calculation, so that continuous observation in time series is possible, and the initial coordinates (x ₀ , y ₀ , z) of the observation object 1 can be obtained. ₀ ) will be further optimized. For this reason, the convergence speed can be increased and the positioning accuracy of the position (X ′, Y ′, Z ′) of the observation object 1 can be improved as compared with the second embodiment.

Embodiment 5. FIG.
FIG. 7 is a block diagram showing a positioning apparatus according to Embodiment 5 of the present invention. In the figure, the same reference numerals as those in FIG.
The weight calculation unit 31 is composed of, for example, a semiconductor integrated circuit mounted with a CPU or a one-chip microcomputer, and receives a modulation signal having the strongest signal intensity specified by the maximum receiving antenna coordinate extraction unit 7. A process of calculating a weight W that prioritizes the installation positions of the receiving antennas 2 over the installation positions of the other receiving antennas 2 is performed.

The positioning calculation processing unit 32 is configured by, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like, and the weight W calculated by the weight calculation unit 31 is received by the receiving antennas 2-1 to 2-N. The initial coordinates (x ₀ , y) of the observation object 1 set by the initial coordinate setting unit 8 are added to the coordinates (x ₁ , y ₁ , z ₁ ) to (x _N , y _N , z _N ) of the installation position. ₀ , z ₀ ), coordinates (x ₁ , y ₁ , z ₁ ) to (x _N , y _N , z _N ) of the installation positions of the receiving antennas 2-1 to 2-N after weighting, and the center receiving station 4 Processing for estimating the coordinates (X ′, Y ′, Z ′) of the position where the observation object 1 exists by performing the positioning calculation using the arrival time differences τ _{1 to} τ _N−1 calculated by To implement.
The weight calculation unit 31 and the positioning calculation processing unit 32 constitute positioning means.

In the example of FIG. 7, the receiving antennas 2-1 to 2-N, the receivers 3-1 to 3-N, the center receiving station 4, the signal strength measuring units 5-1 to 5-N, which are components of the positioning device, The signal strength order rearrangement unit 6, the maximum receiving antenna coordinate extraction unit 7, the initial coordinate setting unit 8, the weight calculation unit 31, the positioning calculation processing unit 32, and the positioning result display unit 10 are each configured by dedicated hardware. Although the thing is assumed, all or a part of the positioning device may be configured by a computer.
For example, a part of the positioning device is replaced with a computer (for example, center receiving station 4, signal strength order rearranging unit 6, maximum receiving antenna coordinate extracting unit 7, initial coordinate setting unit 8, weight calculating unit 31, positioning calculation processing unit 32, and In the case of comprising the positioning result display unit 10), the center receiving station 4, the signal strength order rearranging unit 6, the maximum receiving antenna coordinate extracting unit 7, the initial coordinate setting unit 8, the weight calculating unit 31, the positioning calculation processing unit 32, and the positioning A program describing the processing contents of the result display unit 10 may be stored in the memory of a computer, and the CPU of the computer may execute the program stored in the memory.

Next, the operation will be described.
Since the components other than the weight calculation unit 31 and the positioning calculation processing unit 32 are the same as those in the first embodiment, only the processing contents of the weight calculation unit 31 and the positioning calculation processing unit 32 will be described here.
When the maximum receiving antenna coordinate extraction unit 7 specifies the receiving antenna 2 on which the modulation signal with the strongest signal intensity is incident, the weight calculation unit 31 determines the receiving antenna 2 on which the modulation signal with the strongest signal intensity is incident. A weight W giving priority to the installation position over the installation positions of the other receiving antennas 2 is calculated.

式（６）において、ｄｉａｇ（…）は…を対角要素にもつ正方行列（非対角要素はすべて０）を生成する操作を意味し、ｍａｘ（…）は…の中から最大値を抽出する操作を意味している。 For example, when the number of receiving antennas 2 is N = 5, the largest received power among the received powers P _{1 to} P ₅ of the modulated signals received by the receivers 3-1 to 3-5 is P _max . Then, the weight W that gives priority to the installation position of the receiving antenna 2 on which the modulation signal having the strongest signal intensity is input over the installation positions of the other receiving antennas 2 is defined as the following equation (6). .

In equation (6), diag (...) means an operation to generate a square matrix (all off-diagonal elements are 0) having ... as diagonal elements, and max (...) extracts the maximum value from ... Means an operation to do.

When the weight calculation unit 31 calculates the weight W, the positioning calculation processing unit 32 uses the coordinates (x ₁ , y ₁ , z ₁ ) to (x _N ) of the installation positions of the receiving antennas 2-1 to 2- _N. , Y _N , z _N ).
Then, the positioning calculation processing unit 32 sets the initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 1 set by the initial coordinate setting unit 8 and the receiving antennas 2-1 to 2-N after weighting. implementation of the installation position coordinates _{(x 1, y 1, z} 1) ~ (x N, y N, z N) positioning calculation using and arrival time difference τ ₁ ~τ _N-1 calculated by the center receiving station 4 Thus, the coordinates (X ′, Y ′, Z ′) of the position where the observation object 1 exists are estimated.

  As is apparent from the above, according to the fifth embodiment, the installation position of the receiving antenna on which the modulation signal having the strongest signal intensity specified by the initial coordinate setting unit 8 is incident can be changed to a modulation other than the modulation signal. Since the positioning calculation is performed with a greater weight than the installation position of the receiving antenna on which the signal is incident, the installation position of the receiving antenna 2 having high signal strength and high reliability is given priority in the positioning calculation. As a result, the positioning accuracy of the position (X ′, Y ′, Z ′) of the observation object 1 can be further improved as compared with the first embodiment.

Embodiment 6 FIG.
8 is a block diagram showing a positioning apparatus according to Embodiment 6 of the present invention. In the figure, the same reference numerals as those in FIG.
The weight calculation unit 33 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like. Is performed to calculate a weight W ′ that gives priority to the installation position of the receiving antenna that is incident.

The positioning calculation processing unit 34 is constituted by, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like, and the weight W ′ calculated by the weight calculation unit 33 is received by the receiving antennas 2-1 to 2-N. the installation position of the coordinates _{(x 1, y 1, z} 1) ~ (x N, y N, z N) was added to the initial coordinate observation object 1 of the initial coordinates set by the setting unit 12 (x _0, y ₀ , z ₀ ), coordinates (x ₁ , y ₁ , z ₁ ) to (x _N , y _N , z _N ) of the installation positions of the receiving antennas 2-1 to 2-N after weight addition, and the center receiving station The coordinates (X ′, Y ′, Z ′) of the position where the observation object 1 is present are estimated by performing the positioning calculation using the arrival time differences τ _{1 to} τ _N−1 calculated according to 4. Perform the process.
The weight calculation unit 33 and the positioning calculation processing unit 34 constitute positioning means.

In the example of FIG. 8, the receiving antennas 2-1 to 2-N, the receivers 3-1 to 3-N, the center receiving station 4, the signal strength measuring units 5-1 to 5-N, which are components of the positioning device, The signal strength order rearrangement unit 6, the average coordinate calculation unit 11, the initial coordinate setting unit 12, the weight calculation unit 33, the positioning calculation processing unit 34, and the positioning result display unit 10 are each configured by dedicated hardware. Assuming, all or part of the positioning device may be configured by a computer.
For example, a part of the positioning device may be a computer (for example, the center receiving station 4, the signal intensity order rearranging unit 6, the average coordinate calculating unit 11, the initial coordinate setting unit 12, the weight calculating unit 33, the positioning calculation processing unit 34, and the positioning result. In the case of the display unit 10), the center receiving station 4, the signal strength order rearrangement unit 6, the average coordinate calculation unit 11, the initial coordinate setting unit 12, the weight calculation unit 33, the positioning calculation processing unit 34, and the positioning result display unit 10 It is sufficient to store a program describing the processing contents of the above in a memory of a computer, and the CPU of the computer executes the program stored in the memory.

Next, the operation will be described.
Since the components other than the weight calculation unit 33 and the positioning calculation processing unit 34 are the same as those in the second embodiment, only the processing contents of the weight calculation unit 33 and the positioning calculation processing unit 34 will be described here.
The weight calculation unit 33 refers to the rearrangement result of the signal strength order rearrangement unit 6 and calculates a weight W ′ that gives priority to the installation position of the receiving antenna on which the modulated signal having a higher signal strength is incident.
For example, when the number of the receiving antennas 2 is N = 5, the weight W ′ that is given priority as the installation position of the receiving antenna on which the modulated signal having a strong signal intensity is incident is defined as the following equation (7). The

When the weight calculation unit 33 calculates the weight W ′, the positioning calculation processing unit 34 converts the weight W ′ into the coordinates (x ₁ , y ₁ , z ₁ ) to (x ₁ , y ₁ , z ₁ ) to ( x _N , y _N , z _N ).
Then, the positioning calculation processing unit 34 sets the initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation target object 1 set by the initial coordinate setting unit 12 and the receiving antennas 2-1 to 2-N after weighting. implementation of the installation position coordinates _{(x 1, y 1, z} 1) ~ (x N, y N, z N) positioning calculation using and arrival time difference τ ₁ ~τ _N-1 calculated by the center receiving station 4 Thus, the coordinates (X ′, Y ′, Z ′) of the position where the observation object 1 exists are estimated.

  As apparent from the above, according to the sixth embodiment, the installation position of the receiving antenna 2 on which the modulated signal having a strong signal intensity measured by the signal intensity measuring units 5-1 to 5-N is incident, Since the positioning calculation with a large weight is performed, the installation position of the receiving antenna 2 having a high signal strength and high reliability is prioritized in the positioning calculation. Furthermore, the effect which can improve the positioning precision of the position (X ', Y', Z ') of the observation object 1 is acquired.

Embodiment 7 FIG.
In the first to sixth embodiments, the arrival times t _{1 to} t _N that are the times when the receivers 3-1 to 3 -N receive the modulated signals incident by the reception antennas 2-1 to 2 _-N are detected. , the positioning operation processing unit 9,32,34, using the arrival time t ₁ ~t _N detected by the receiver 3-1 to 3-N, showed that implementing the positioning calculation, the receiver 3 −1 to 3 -N decodes the modulated signal incident by the receiving antennas 2-1 to 2- _N , outputs decoded data d _{1 to} d _N as the decoding results, and the positioning calculation processing units 9 and 32. , 34 are the decoded data d _{1 to} d N output from the receivers 3-1 to 3 _-N , and the initial coordinates (x ₀₎ of the observation object 1 set by the initial coordinate setting units 8, 12, 22 and 23. , y _0, z _0), the installation position of the receiving antennas 2-1 to 2-N coordinates _{(x 1, y 1, z} 1) ~ (x N y _N, z _N) and by carrying out the positioning calculation using the arrival time difference τ ₁ ~τ _N-1 calculated by the center receiving station 4, the position where the observed object 1 is present coordinates (X ' , Y ′, Z ′) may be estimated.

In the decoded data d _{1 to} d _N that are the decoding results of the modulated signals by the receivers 3-1 to 3 _-N , information about the true coordinates of the position of the observation object 1 (for example, altitude information in three-dimensional positioning), etc. May be included.
When the information regarding the true coordinates of the position of the observation object 1 is included in the decoded data d _{1 to} d _N , the positioning calculation processing units 9, 32 and 34 use the decoded data d _{1 to} d _N for the positioning calculation. For example, the amount of information used for positioning calculation increases, and a more accurate position can be determined.
Specifically, if the altitude (the value of Z in the positioning coordinate system) of the observation object 1 is known in advance, one unknown variable in the positioning calculation is reduced, and the positioning calculation is performed with the altitude (Z This can be simplified as an XY two-dimensional positioning problem in (coordinates).
However, even when a large error is included in the altitude (Z coordinate) information of the observation object 1 included in the decoded data d _{1 to} d _N , the observation set by the initial coordinate setting units 8, 12, etc. Since the initial coordinates (x ₀ , y ₀ , z ₀ ) of the target object 1 are information independent of the decoded data d _{1 to} d _N , the initial coordinate (x ₀ , y ₀ , z ₀ ) functions to alleviate the influence of errors in the decoded data d _{1 to} d _N. This also has the effect of comprehensively leading to improved positioning accuracy.

Embodiment 8 FIG.
FIG. 9 is a block diagram showing a positioning apparatus according to Embodiment 8 of the present invention. In the figure, the same reference numerals as those in FIG.
The receivers 3-1 ′ to 3-N ′ receive the modulated signals incident by the receiving antennas 2-1 to 2- _N and detect arrival times t _{1 to} t _N that are times when the modulated signals are received. Perform the process.
Further, the receivers 3-1 ′ to 3-N ′ decode the modulated signals incident by the receiving antennas 2-1 to 2- _N and output decoded data d _{1 to} d _N as the decoding results. To implement.

The other communication systems 40a and 40b are control devices and control systems that are completely independent of the present positioning device, for example, airport monitoring radars and monitoring satellites installed in airports.
Observation information indicating the coordinates of the three-dimensional position of the observation object 1 by the other device information communication device 41 specifying the coordinates of the three-dimensional position of the observation object 1 from the orientation and distance of the observation object 1 observed by the other communication systems 40a and 40b. Implement the process of sending.

The initial coordinate correction unit 42 is composed of, for example, a semiconductor integrated circuit mounted with a CPU or a one-chip microcomputer, and uses the coordinates of the three-dimensional position indicated by the observation information transmitted from the other apparatus information communication device 41. Thus, the initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 1 set by the initial coordinate setting unit 8 are corrected, and the corrected initial coordinates (x ₀ ′, y ₀ ′, z ₀ ′) are corrected. Is output to the positioning calculation processing unit 9.
The signal intensity order rearrangement unit 6, the maximum receiving antenna coordinate extraction unit 7, the initial coordinate setting unit 8, and the initial coordinate correction unit 42 constitute an initial coordinate setting means.

In the example of FIG. 9, the receiving antennas 2-1 to 2-N, the receivers 3-1 ′ to 3-N ′, the center receiving station 4, and the signal strength measuring units 5-1 to 5- N, signal strength order rearrangement unit 6, maximum receiving antenna coordinate extraction unit 7, initial coordinate setting unit 8, initial coordinate correction unit 42, positioning calculation processing unit 9, and positioning result display unit 10 are each configured by dedicated hardware. However, all or part of the positioning device may be configured by a computer.
For example, a part of the positioning device is replaced with a computer (for example, center receiving station 4, signal strength order rearranging unit 6, maximum receiving antenna coordinate extracting unit 7, initial coordinate setting unit 8, initial coordinate correcting unit 42, positioning calculation processing unit 9). And the positioning result display unit 10), the center receiving station 4, the signal strength order rearranging unit 6, the maximum receiving antenna coordinate extracting unit 7, the initial coordinate setting unit 8, the initial coordinate correcting unit 42, and the positioning calculation processing unit 9 The program describing the processing contents of the positioning result display unit 10 may be stored in the memory of the computer, and the CPU of the computer may execute the program stored in the memory.

Next, the operation will be described.
When the other communication systems 40a and 40b, which are completely independent of the positioning device, observe the azimuth and distance of the observation object 1, the other apparatus information communication device 41 determines from the azimuth and distance of the observation object 1. The coordinates of the three-dimensional position of the observation object 1 are specified, and observation information indicating the coordinates of the three-dimensional position is transmitted.

If the observation information is not transmitted from the other apparatus information communication device 41, the initial coordinate correction unit 42 uses the initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 1 set by the initial coordinate setting unit 8. The data is output to the positioning calculation processing unit 9.
When the observation information is transmitted from the other apparatus information communicator 41, the initial coordinate correction unit 42 uses the coordinates of the three-dimensional position indicated by the observation information to observe the observation target 1 set by the initial coordinate setting unit 8. The initial coordinates (x ₀ , y ₀ , z ₀ ) are corrected, and the corrected initial coordinates (x ₀ ′, y ₀ ′, z ₀ ′) are output to the positioning calculation processing unit 9.
For example, the Z coordinate z ″ of the observation object 1 is extracted from the coordinates (x ″, y ″, z ″) of the three-dimensional position indicated by the observation information transmitted from the other apparatus information communication device 41, and the Correction for replacing the z coordinate z ″ with the Z coordinate of the initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 1 set by the initial coordinate setting unit 8 is performed.
Initial coordinates after correction (x ₀ ′, y ₀ ′, z ₀ ′) = (x ₀ , y ₀ , z ″)

Here, an example is shown in which only the Z coordinate is replaced among the coordinates of the three-dimensional position indicated by the observation information, but the X coordinate and the Y coordinate of the three-dimensional position indicated by the observation information may be replaced. .
Also, the initial coordinate setting unit 8 initial coordinate x ₀ of the observed object 1 that is set by, x ₀ of the initial coordinates of the corrected average value of the coordinate x "of the X three-dimensional position indicated by the observation information ' It is good.
Similarly, the initial coordinate y ₀ after correcting the average value of the initial coordinate y _{0 of} the observation object 1 set by the initial coordinate setting unit 8 and the Y coordinate y ″ of the three-dimensional position indicated by the observation information. ', And the initial coordinate z ₀ of the initial coordinate after correcting the average value of the initial coordinate z _{0 of} the observation object 1 set by the initial coordinate setting unit 8 and the Z coordinate z ″ of the three-dimensional position indicated by the observation information. It's okay.

As is apparent from the above, according to the eighth embodiment, the initial coordinate correction unit 42 has the coordinates (x ″, y ″, z) of the three-dimensional position indicated by the observation information transmitted from the other apparatus information communication device 41. )), The initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 1 set by the initial coordinate setting unit 8 are corrected, and the corrected initial coordinates (x ₀ ′, y ₀ ′, Since z ₀ ′) is output to the positioning calculation processing unit 9, the initial coordinates of the observation object 1 can be optimized further than in the first embodiment, and as a result, the above-described implementation In addition, the positioning accuracy of the position (X ′, Y ′, Z ′) of the observation object 1 can be improved.
In addition, the positioning success rate can be improved even when there is no prior knowledge at what altitude from which point in the vast monitoring area the positioning device is in charge and at what altitude. .

In the eighth embodiment, the initial coordinate correction unit 42 uses the coordinates (x ″, y ″, z ″) of the three-dimensional position indicated by the observation information transmitted from the other device information communication device 41 to set initial coordinates. Although the correction of the initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 1 set by the unit 8 is shown, the three-dimensional position indicated by the observation information transmitted from the other apparatus information communication device 41 is shown. The three-dimensional position of the observation object 1 included in the decoded data d _{1 to} d _N output from the receivers 3-1 ′ to 3-N ′ instead of the coordinates (x ″, y ″, z ″) The initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 1 set by the initial coordinate setting unit 8 may be corrected using these coordinates.
The correction method of the initial coordinates (x ₀ , y ₀ , z ₀ ) of the observation object 1 is based on the coordinates (x ″, y ″, z ″ of the three-dimensional position indicated by the observation information transmitted from the other device information communication device 41. ) May be used.

Further, in the eighth embodiment, the example in which the initial coordinate correction unit 42 is applied to the positioning device of FIG. 1 has been shown. However, as shown in FIG. 10, the initial coordinate correction unit 42 is applied to the positioning device of FIG. You may do it.
Similarly, you may make it apply the initial coordinate correction | amendment part 42 to the positioning apparatus of FIGS.

Embodiment 9 FIG.
FIG. 11 is a block diagram showing a positioning apparatus according to Embodiment 9 of the present invention. In the figure, the same reference numerals as those in FIG.
The time series calculation coordinate recording unit 51 is composed of a storage device such as a RAM or a hard disk, for example. The time series calculation coordinate recording unit 51 is associated with the observation time t that is the time of the positioning process, and the observation target object 1 set by the initial coordinate setting unit 8. The initial coordinates (x ₀ (t), y ₀ (t), z ₀ (t)) and the coordinates (X ′ (t), Y ′ (t), Z) of the positioning position estimated by the positioning calculation processing unit 9 '(T)). The time series calculation coordinate recording unit 51 constitutes time series calculation coordinate recording means.

In the example of FIG. 11, the receiving antennas 2-1 to 2-N, the receivers 3-1 to 3-N, the center receiving station 4, the signal strength measuring units 5-1 to 5-N, which are components of the positioning device, Each of signal strength order rearrangement unit 6, maximum receiving antenna coordinate extraction unit 7, initial coordinate setting unit 8, positioning calculation processing unit 9, positioning result display unit 10, and time series calculation coordinate recording unit 51 is configured by dedicated hardware. However, all or part of the positioning device may be configured by a computer.
For example, a part of the positioning device is replaced with a computer (for example, center receiving station 4, signal strength order rearranging unit 6, maximum receiving antenna coordinate extracting unit 7, initial coordinate setting unit 8, positioning calculation processing unit 9, positioning result display unit 10). When the time series calculation coordinate recording unit 51) is configured, the time series calculation coordinate recording unit 51 is configured on the memory of the computer, and the center reception station 4, the signal strength order rearrangement unit 6, and the maximum reception antenna coordinate extraction unit. 7. A program describing the processing contents of the initial coordinate setting unit 8, the positioning calculation processing unit 9, and the positioning result display unit 10 is stored in a memory of a computer, and the program stored in the memory by the CPU of the computer is stored. It should be executed.

The second embodiment is the same as the first embodiment except that the time series calculation coordinate recording unit 51 is mounted.
The time series calculation coordinate recording unit 51 includes initial coordinates (x ₀ (t), y ₀ (t), z ₀ (t)) of the observation object 1 at the observation time t set by the initial coordinate setting unit 8, and The coordinates (X ′ (t), Y ′ (t), Z ′ (t)) of the positioning position at the observation time t estimated by the positioning calculation processing unit 9 are recorded.
The time series calculation coordinate recording unit 51 sets the initial coordinates (x ₀ (t), y ₀ (t), z ₀ (t)) of the observation object 1 at the observation time t and the coordinates of the positioning position at the observation time t ( By recording X ′ (t), Y ′ (t), Z ′ (t)), track information in which the coordinates of the position where the observation object 1 exists at each observation time is connected in time series is obtained. Can be obtained.
This wake information can be used, for example, as an index for evaluating the uniqueness of the wake (the coordinates of the position where the observation object 1 is present) in an external tracking smoothing device (not shown).

In the ninth embodiment, an example in which the time series calculation coordinate recording unit 51 is applied to the positioning device of FIG. 1 is shown. However, as shown in FIG. You may make it apply to an apparatus.
Similarly, the time series calculation coordinate recording unit 51 may be applied to the positioning device of FIGS.

Embodiment 10 FIG.
13 is a block diagram showing a positioning apparatus according to Embodiment 10 of the present invention. In the figure, the same reference numerals as those in FIG.
The signal strength prediction unit 52 is constituted by, for example, a semiconductor integrated circuit mounted with a CPU or a one-chip microcomputer, and the observation time t− recorded by the time series calculation coordinate recording unit 51 in the previous positioning process. The initial coordinates (x ₀ (t-1), y ₀ (t-1), z ₀ (t-1)) of one observation object 1 and the observation time t-1 recorded in the previous positioning process Using the coordinates (X ′ (t−1), Y ′ (t−1), Z ′ (t−1)) of the positioning position of the signal, the signal intensity of the modulation signal at the observation time t in the current positioning process A process of predicting P ′ (t) is performed.
The signal strength prediction unit 52 constitutes signal strength prediction means.

The signal strength comparison unit 53 is configured by, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like. Among the signal intensities measured at -1 to 5-N at the observation time t, the strongest signal intensity P (t) is identified and predicted by the strongest signal intensity P (t) and the signal intensity predicting unit 52 A deviation ΔP (t) (a difference between the signal intensity P (t) and the signal intensity P ′ (t)) from the signal intensity P ′ (t) is obtained, and the deviation ΔP (t) is compared with a preset threshold Th. Perform the process.
Further, when the deviation ΔP (t) is larger than the threshold Th, the signal intensity comparison unit 53 sets the initial coordinates (x ₀ (t ₀ ) of the observation object 1 at the observation time t−1 recorded in the time series calculation coordinate recording unit 51. -1), y ₀ (t-1), z ₀ (t-1)) are discarded, and the initial coordinates (x ₀ (t-1), y ₀ ( Processing for instructing the initial coordinate setting unit 54 to reset t-1) and z ₀ (t-1)) is performed.

The initial coordinate setting unit 54 is constituted by, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like. If no reset instruction is received from the signal strength comparison unit 53, the initial coordinate setting unit shown in FIG. Similarly to the unit 8, the coordinates of the installation position of the receiving antenna 2 output from the maximum receiving antenna coordinate extraction unit 7 in the current positioning process are used as the initial coordinates (x ₀ (t), y of the observation object 1 at the observation time t. ₀ (t), z ₀ (t)) is set.
On the other hand, when a reset instruction is received from the signal strength comparison unit 53, the coordinates of the installation position of the reception antenna 2 output from the maximum reception antenna coordinate extraction unit 7 in the current positioning process are used as the observation object 1 at the observation time t-1. To reset the initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)).
The signal strength order rearranging unit 6, the maximum receiving antenna coordinate extracting unit 7, the signal strength comparing unit 53, and the initial coordinate setting unit 54 constitute an initial coordinate setting means.

The positioning calculation processing unit 55 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted, or a one-chip microcomputer. Initial coordinates (x ₀ (t), y ₀ (t), z ₀ (t)) of the observation object 1 at the observation time t, coordinates (x ₁ , y) of the installation positions of the receiving antennas 2-1 to 2-N ₁ , z ₁ ) to (x _N , y _N , z _N ) and observation by performing a positioning operation using the arrival time differences τ _{1 to} τ _N-1 of the observation time t calculated by the center receiving station 4. A process of estimating the coordinates (X ′ (t), Y ′ (t), Z ′ (t)) of the position where the object 1 exists is performed.
Further, the positioning calculation processing unit 55 receives the initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1) of the observation object 1 at the observation time t−1 by the initial coordinate setting unit 54. )) Is reset, the initial coordinates (x ₀ (t−1), y ₀ (t−1), z) of the observation object 1 at the observation time t−1 reset by the initial coordinate setting unit 54 are set. ₀ (t-1)), the coordinates (x ₁ , y ₁ , z ₁ ) to (x _N , y _N , z _N ) of the receiving antennas 2-1 to 2-N and the center receiving station 4 By performing the positioning calculation using the arrival time differences τ _{1 to} τ _N-1 of the observed time t-1, the coordinates of the position of the observation time t-1 where the observation object 1 exists (X ′ ( t-1), Y ′ (t−1), Z ′ (t−1)) are estimated again. The positioning calculation processing unit 55 constitutes positioning means.

In the example of FIG. 13, the receiving antennas 2-1 to 2-N, the receivers 3-1 to 3-N, the center receiving station 4, the signal strength measuring units 5-1 to 5-N, which are components of the positioning device, Signal strength order rearrangement unit 6, maximum receiving antenna coordinate extraction unit 7, initial coordinate setting unit 54, positioning calculation processing unit 55, positioning result display unit 10, time series calculation coordinate recording unit 51, signal strength prediction unit 52, and signal strength Although each of the comparison units 53 is assumed to be configured with dedicated hardware, all or part of the positioning device may be configured with a computer.
For example, a part of the positioning device is replaced with a computer (for example, center receiving station 4, signal strength order rearranging unit 6, maximum receiving antenna coordinate extracting unit 7, initial coordinate setting unit 54, positioning calculation processing unit 55, positioning result display unit 10). When the time series calculation coordinate recording unit 51, the signal strength prediction unit 52, and the signal strength comparison unit 53) are configured, the time series calculation coordinate recording unit 51 is configured on the memory of the computer, and the center receiving station 4, the signal strength The processing contents of the order rearrangement unit 6, the maximum receiving antenna coordinate extraction unit 7, the initial coordinate setting unit 54, the positioning calculation processing unit 55, the positioning result display unit 10, the signal strength prediction unit 52, and the signal strength comparison unit 53 are described. May be stored in the memory of the computer, and the CPU of the computer may execute the program stored in the memory.

Next, the operation will be described.
The signal strength prediction unit 52 receives the initial coordinates (x ₀ (t−1), y ₀ (t) of the observation object 1 at the observation time t−1 recorded in the previous positioning process from the time series calculation coordinate recording unit 51. -1), z ₀ (t-1)) and the coordinates (X ′ (t−1), Y ′ (t−1), Y ′ (t−1), and the coordinates of the positioning position at the observation time t−1 recorded in the previous positioning process. Z ′ (t−1)) and the initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1) of the observation object 1 at the observation time t−1. ) And the coordinates (X ′ (t−1), Y ′ (t−1), Z ′ (t−1)) of the positioning position at the observation time t−1, the observation time t in the current positioning process. The signal strength P ′ (t) of the modulated signal at is predicted.

Specifically, the signal strength P ′ (t) of the modulation signal at the observation time t is predicted as follows.
The signal intensity prediction unit 52 uses the initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)) of the observation object 1 at the observation time t−1 and the observation time t. −1 positioning position coordinates (X ′ (t−1), Y ′ (t−1), Z ′ (t−1)) and the positioning position coordinates (X ′ (t)) at the observation time t. , Y ′ (t), Z ′ (t)).
Since the process for predicting the coordinates (X ′ (t), Y ′ (t), Z ′ (t)) of the positioning position at the observation time t is a known technique, detailed description thereof is omitted.

When the signal strength prediction unit 52 predicts the coordinates (X ′ (t), Y ′ (t), Z ′ (t)) of the positioning position at the observation time t, the signal intensity prediction unit 52 calculates the distance L from the positioning device to the predicted position. calculate. Since the position of the positioning device is known, the distance L from the positioning device to the predicted position can be easily calculated.
Since the signal strength P ′ (t) of the modulated signal at the observation time t is inversely proportional to the square of the distance L from the positioning device to the predicted position, for example, the inverse of the square of the distance L is multiplied by a predetermined proportionality constant. As a result, the signal intensity P ′ (t) of the modulation signal at the observation time t is calculated.

The signal strength comparison unit 53 refers to the rearrangement result of the signal strength order rearrangement unit 6 and is the strongest signal strength at the observation time t measured by the signal strength measurement units 5-1 to 5-N. The signal strength P (t) is specified, and the difference ΔP (t) between the strongest signal strength P (t) and the signal strength P ′ (t) predicted by the signal strength prediction unit 52 (signal strength P (t) and The difference between the signal strengths P ′ (t) is obtained, and the deviation ΔP (t) is compared with a preset threshold Th.
When the deviation ΔP (t) is larger than the threshold Th, the signal intensity comparison unit 53 determines the initial coordinates (x ₀ (t−1), y) of the observation object 1 at the observation time t−1 set in the previous positioning process. ₀ (t−1), z ₀ (t−1)) is determined to be inappropriate, and the initial observation object 1 at the observation time t−1 recorded in the time series calculation coordinate recording unit 51 is recorded. The coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)) are discarded.
Further, the signal intensity comparison unit 53 determines the initial coordinates (x ₀ (t−1), y) of the observation object 1 at the observation time t−1 in order to reposition the position of the observation object 1 at the observation time t−1. _The initial coordinate setting unit 54 is instructed to reset ₀ (t−1), z ₀ (t−1)).

If the initial coordinate setting unit 54 has not received a resetting instruction from the signal strength comparison unit 53, the initial coordinate setting unit 54 is output from the maximum receiving antenna coordinate extraction unit 7 in the current positioning process, similarly to the initial coordinate setting unit 8 of FIG. The coordinates of the installation position of the receiving antenna 2 (the coordinates of the installation position of the receiving antenna 2 on which the modulation signal having the strongest signal intensity is incident at the observation time t) are the initial coordinates (x ₀ ) of the observation object 1 at the observation time t. (T), y ₀ (t), z ₀ (t)).
On the other hand, when a reset instruction is received from the signal strength comparison unit 53, the coordinates of the installation position of the reception antenna 2 output from the maximum reception antenna coordinate extraction unit 7 in the current positioning process (the signal strength is strongest at the observation time t). The coordinates of the installation position of the receiving antenna 2 on which the modulation signal is incident are the initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ ( Reset to t-1)). Further, the initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)) of the observation object 1 at the observation time t−1 are recorded in the time series calculation coordinate recording unit 51. .

When the initial coordinate setting unit 54 sets the initial coordinates (x ₀ (t), y ₀ (t), z ₀ (t)) of the observation object 1 at the observation time t, the positioning calculation processing unit 55 in FIG. Similar to the positioning calculation processing unit 9, the initial coordinates (x ₀ (t), y ₀ (t), z ₀ (t)) of the observation object 1 at the observation time t set by the initial coordinate setting unit 54 are received. Arrival time difference of observation time t calculated by coordinates (x ₁ , y ₁ , z ₁ ) to (x _N , y _N , z _N ) of the antennas 2-1 to 2-N and the center receiving station 4 By performing the positioning calculation using τ _{1 to} τ _N−1 , the coordinates (X ′ (t), Y ′ (t), Z ′ (t )) Is estimated, and the coordinates (X ′ (t), Y ′ (t), Z ′ (t)) are recorded in the time series calculation coordinate recording unit 51.

In the positioning calculation processing unit 55, the initial coordinate setting unit 54 sets the initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)) of the observation object 1 at the observation time t−1. ) Is reset, the initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)) of the observation object 1 reset by the initial coordinate setting unit 54 are received. antenna 2-1 to 2-N of the installation position coordinates _{(x 1, y 1, z} 1) ~ (x N, y N, z N) and the arrival of the observation time t-1 which is calculated by the center receiving station 4 By performing the positioning calculation using the time differences τ _{1 to} τ _N−1 , the coordinates (X ′ (t−1), Y ′ (t) of the position at the observation time t−1 at which the observation object 1 exists are present. -1), Z ′ (t−1)) are re-estimated, and their coordinates (X ′ (t−1), Y ′ (t−1), Z ′ (t−1)) are recorded as time series calculation coordinates. Overwrite and record in the section 51.

As is apparent from the above, according to the tenth embodiment, the initial coordinates (x ₀ (t−1), x ₁ (t−1),) of the observation object 1 at the observation time t−1 recorded by the time series computation coordinate recording unit 51 are recorded. y ₀ (t−1), z ₀ (t−1)) and the coordinates (X ′ (t−1), Y ′ (t−1), Z ′ (t−) of the positioning position at the observation time t−1. 1)) and the signal strength prediction unit 52 that predicts the signal strength P ′ (t) of the modulated signal at the observation time t, and the observation times measured by the signal strength measurement units 5-1 to 5-N. When the difference ΔP (t) between the strongest signal strength P (t) and the signal strength P ′ (t) predicted by the signal strength prediction unit 52 is larger than the threshold Th among the signal strengths of t, time series calculation is performed. Initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)) of the observation object 1 at the observation time t−1 recorded in the coordinate recording unit 51. , And a signal instructing resetting of the initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)) of the observation object 1 at the observation time t−1. When receiving a reset instruction from the intensity comparison unit 53 and the signal intensity comparison unit 53, the coordinates of the installation position of the reception antenna 2 output from the maximum reception antenna coordinate extraction unit 7 in the current positioning process are obtained at the observation time t-1. An initial coordinate setting unit 54 for resetting the initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)) of the observation object 1, and a positioning calculation processing unit 55. However, the positioning calculation using the initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)) of the observation object 1 reset by the initial coordinate setting unit 54 is performed. By carrying out, the coordinates (X ′ (t−1), Y ′ (t−1), Z ′ () of the position at the observation time t−1 at which the observation target object 1 exists. -1)) is re-estimated. Therefore, if the positioning result of the position where the observation object 1 exists does not have smooth continuity, the positioning of the position where the observation object 1 exists The effect that can be redone.

Embodiment 11 FIG.
14 is a block diagram showing a positioning apparatus according to Embodiment 11 of the present invention. In the figure, the same reference numerals as those in FIGS.
The signal strength comparison unit 56 is configured by, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like. Among the signal intensities measured at -1 to 5-N, the top M (1 ≦ M ≦ N) signal strengths with the strong signal strength are identified, and the top M signals with the strong signal strength A deviation ΔP (t) between the average intensity and the signal intensity P ′ (t) predicted by the signal intensity prediction unit 52 is obtained, and a process of comparing the deviation ΔP (t) with a preset threshold Th is performed. .
Further, when the deviation ΔP (t) is larger than the threshold Th, the signal intensity comparing unit 56 sets the initial coordinates (x ₀ (t -1), y ₀ (t-1), z ₀ (t-1)) are discarded, and the initial coordinates (x ₀ (t-1), y ₀ ( Processing for instructing the initial coordinate setting unit 57 to reset t-1) and z ₀ (t-1)) is performed.

The initial coordinate setting unit 57 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted, a one-chip microcomputer, or the like. If no reset instruction is received from the signal strength comparison unit 56, the initial coordinate setting unit shown in FIG. Similarly to the unit 12, the average coordinates of the installation position of the receiving antenna 2 output from the average coordinate calculation unit 11 in the current positioning process are used as the initial coordinates (x ₀ (t), y ₀ ) of the observation object 1 at the observation time t. (T), z ₀ (t)) is set.
On the other hand, when a resetting instruction is received from the signal strength comparison unit 53, the average coordinates of the installation position of the receiving antenna 2 output from the average coordinate calculation unit 11 in the current positioning process are used as the observation object 1 at the observation time t-1. Processing for resetting to the initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)) is performed.
The signal intensity order rearranging unit 6, the average coordinate calculating unit 11, the signal intensity comparing unit 56, and the initial coordinate setting unit 57 constitute an initial coordinate setting unit.

In the example of FIG. 14, the receiving antennas 2-1 to 2-N, the receivers 3-1 to 3-N, the center receiving station 4, the signal strength measuring units 5-1 to 5-N, which are components of the positioning device, Signal strength order rearrangement unit 6, average coordinate calculation unit 11, initial coordinate setting unit 57, positioning calculation processing unit 55, positioning result display unit 10, time series calculation coordinate recording unit 51, signal strength prediction unit 52, and signal strength comparison unit Although each of 56 is assumed to be configured by dedicated hardware, all or part of the positioning device may be configured by a computer.
For example, a part of the positioning device is replaced with a computer (for example, center receiving station 4, signal strength order rearranging unit 6, average coordinate calculating unit 11, initial coordinate setting unit 57, positioning calculation processing unit 55, positioning result display unit 10, time In the case of the series calculation coordinate recording unit 51, the signal strength prediction unit 52, and the signal strength comparison unit 56), the time series calculation coordinate recording unit 51 is configured on the memory of the computer, and the center receiving station 4 and the signal strength are arranged in order. A computer program that describes the processing contents of the switching unit 6, the average coordinate calculation unit 11, the initial coordinate setting unit 57, the positioning calculation processing unit 55, the positioning result display unit 10, the signal strength prediction unit 52, and the signal strength comparison unit 56 The CPU of the computer may execute the program stored in the memory.

Next, the operation will be described.
Similarly to the tenth embodiment, the signal intensity predicting unit 52 receives the initial coordinates (x ₀ (x ₀ ) of the observation object 1 at the observation time t−1 recorded in the previous positioning process from the time series calculation coordinate recording unit 51. t−1), y ₀ (t−1), z ₀ (t−1)) and the coordinates of the positioning position (X ′ (t−1)) at the observation time t−1 recorded in the previous positioning process. , Y ′ (t−1), Z ′ (t−1)) and the initial coordinates (x ₀ (t−1), y ₀ (t−1) of the observation object 1 at the observation time t−1. ), Z ₀ (t−1)) and the coordinates (X ′ (t−1), Y ′ (t−1), Z ′ (t−1)) of the positioning position at the observation time t−1. The signal strength P ′ (t) of the modulation signal at the observation time t in the current positioning process is predicted.

The signal strength comparison unit 56 refers to the rearrangement result of the signal strength order rearrangement unit 6, and among the signal strengths at the observation time t measured by the signal strength measurement units 5-1 to 5-N, the signal strength Of the top M (1 ≦ M ≦ N) signal strengths with the strongest signal strength, and the average of the top M signal strengths with the strong signal strength and the signal strength P ′ (t) predicted by the signal strength prediction unit 52 The deviation ΔP (t) is obtained, and the deviation ΔP (t) is compared with a preset threshold Th.
When the deviation ΔP (t) is larger than the threshold Th, the signal strength comparison unit 56 determines the initial coordinates (x ₀ (t−1), y) of the observation object 1 at the observation time t−1 set in the previous positioning process. ₀ (t−1), z ₀ (t−1)) is determined to be inappropriate, and the initial observation object 1 at the observation time t−1 recorded in the time series calculation coordinate recording unit 51 is recorded. The coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)) are discarded.
Further, the signal intensity comparison unit 56 determines the initial coordinates (x ₀ (t−1), y) of the observation object 1 at the observation time t−1 in order to reposition the position of the observation object 1 at the observation time t−1. _The initial coordinate setting unit 57 is instructed to reset ₀ (t−1), z ₀ (t−1)).

If no reset instruction is received from the signal strength comparison unit 56, the initial coordinate setting unit 57 receives the reception antenna output from the average coordinate calculation unit 11 in the current positioning process, as with the initial coordinate setting unit 12 of FIG. 2 is set to the initial coordinates (x ₀ (t), y ₀ (t), z ₀ (t)) of the observation object 1 at the observation time t.
On the other hand, when a resetting instruction is received from the signal intensity comparison unit 56, the average coordinates of the installation position of the receiving antenna 2 output from the average coordinate calculation unit 11 in the current positioning process are obtained from the observation object 1 at the observation time t-1. Reset to initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)). Further, the initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)) of the observation object 1 at the observation time t−1 are recorded in the time series calculation coordinate recording unit 51. .

When the initial coordinate setting unit 57 sets the initial coordinates (x ₀ (t), y ₀ (t), z ₀ (t)) of the observation object 1 at the observation time t, the positioning calculation processing unit 55 performs the above-described implementation. As in the tenth embodiment, the initial coordinates (x ₀ (t), y ₀ (t), z ₀ (t)) of the observation object 1 at the observation time t set by the initial coordinate setting unit 57, the receiving antenna 2− 1 to 2-N installation position coordinates (x ₁ , y ₁ , z ₁ ) to (x _N , y _N , z _N ) and the arrival time difference τ ₁ to the observation time t calculated by the center receiving station 4 By performing the positioning calculation using τ _N−1 , the coordinates (X ′ (t), Y ′ (t), Z ′ (t)) of the position at the observation time t where the observation object 1 exists are obtained. Then, the coordinates (X ′ (t), Y ′ (t), Z ′ (t)) are recorded in the time series calculation coordinate recording unit 51.

In the positioning calculation processing unit 55, the initial coordinate setting unit 57 uses the initial coordinates (x ₀ (t-1), y ₀ (t-1), z ₀ (t-1) of the observation object 1 at the observation time t-1. ) Is reset, the initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)) of the observation object 1 reset by the initial coordinate setting unit 57 are received. antenna 2-1 to 2-N of the installation position coordinates _{(x 1, y 1, z} 1) ~ (x N, y N, z N) and the arrival of the observation time t-1 which is calculated by the center receiving station 4 By performing the positioning calculation using the time differences τ _{1 to} τ _N−1 , the coordinates (X ′ (t−1), Y ′ (t) of the position at the observation time t−1 at which the observation object 1 exists are present. -1), Z ′ (t−1)) are re-estimated, and their coordinates (X ′ (t−1), Y ′ (t−1), Z ′ (t−1)) are recorded as time series calculation coordinates. Overwrite and record in the section 51.

As is apparent from the above, according to the eleventh embodiment, the initial coordinates (x ₀ (t−1), x ₁ (t−1),) of the observation object 1 at the observation time t−1 recorded by the time series calculation coordinate recording unit 51 are recorded. y ₀ (t−1), z ₀ (t−1)) and the coordinates (X ′ (t−1), Y ′ (t−1), Z ′ (t−) of the positioning position at the observation time t−1. 1)) and the signal strength prediction unit 52 that predicts the signal strength P ′ (t) of the modulated signal at the observation time t, and the observation times measured by the signal strength measurement units 5-1 to 5-N. Among the signal strengths of t, the top M signal strengths having the strong signal strength are specified, the average of the top M signal strengths having the strong signal strength, and the signal strength P ′ (t ) Is larger than the threshold value Th, the first observation object 1 at the observation time t−1 recorded in the time series calculation coordinate recording unit 51 is obtained. Period coordinates _{(x 0 (t-1)} , y 0 (t-1), z 0 (t-1)) together to discard the initial coordinates of the observed object 1 observation time t-1 (x ₀ (t -1), y ₀ (t-1), z ₀ (t-1)), a signal strength comparison unit 56 for instructing resetting, and when a reset command is received from the signal strength comparison unit 56, the current positioning process The average coordinates of the installation position of the receiving antenna 2 output from the average coordinate calculation unit 11 are the initial coordinates (x ₀ (t−1), y ₀ (t−1), z ₀ (t−1)) and an initial coordinate setting unit 57 for resetting, and the positioning calculation processing unit 55 sets the initial coordinates (x ₀ (t ₀ (t)) of the observation object 1 reset by the initial coordinate setting unit 57. _{-1), y 0 (t-} 1), z 0 (t-1)) , etc. by carrying out the positioning calculation using the observation time of the observation object 1 exists t- Since the coordinates (X ′ (t−1), Y ′ (t−1), Z ′ (t−1)) of the position of are re-estimated, the position of the observation object 1 exists. If the positioning result does not have smooth continuity, the positioning of the position where the observation object 1 is present can be performed again.

Embodiment 12 FIG.
15 is a block diagram showing a positioning apparatus according to Embodiment 12 of the present invention. In the figure, the same reference numerals as those in FIG.
The reference receiver selection unit 60 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted or a one-chip microcomputer, and is based on the signal strength measured by the signal strength measurement units 5-1 to 5-N. The receiver to be a reference is selected from the receivers 3-1 to 3 -N, and the process of notifying the center reception station 4 of the selection result is performed.
The center reception station 4 and the reference receiver selection unit 60 constitute arrival time difference calculation means.
FIG. 15 shows an example in which the reference receiver selection unit 60 is applied to the side device of the first embodiment. However, the reference receiver selection unit 60 is applied to the side device of the second to eleventh embodiments. You may make it do.

In the example of FIG. 15, the receiving antennas 2-1 to 2-N, the receivers 3-1 to 3-N, the reference receiver selecting unit 60, the center receiving station 4, and the signal strength measuring unit 5 which are components of the positioning device. −1 to 5-N, signal strength order rearrangement unit 6, maximum receiving antenna coordinate extraction unit 7, initial coordinate setting unit 8, positioning calculation processing unit 9 and positioning result display unit 10 are each configured by dedicated hardware. However, all or part of the positioning device may be configured by a computer.
For example, a part of the positioning device is a computer (for example, a reference receiver selection unit 60, a center reception station 4, a signal strength order rearrangement unit 6, a maximum reception antenna coordinate extraction unit 7, an initial coordinate setting unit 8, a positioning calculation processing unit. 9 and positioning result display unit 10), reference receiver selection unit 60, center receiving station 4, signal strength order rearrangement unit 6, maximum reception antenna coordinate extraction unit 7, initial coordinate setting unit 8, positioning calculation processing The program describing the processing contents of the unit 9 and the positioning result display unit 10 may be stored in the memory of a computer, and the CPU of the computer may execute the program stored in the memory.

Next, the operation will be described.
Since this embodiment is the same as Embodiment 1 except that the reference receiver selection unit 60 is mounted, only the processing contents of the reference receiver selection unit 60 will be described here.
The reference receiver selecting unit 60 refers to the rearrangement result of the signal strength order rearranging unit 6 and has the strongest signal strength among the signal strengths measured by the signal strength measuring units 5-1 to 5-N. The modulation signal is specified, and the receiver 3 receiving the modulation signal is selected as a reference receiver.
When the reference receiver selection unit 60 selects a reference receiver, the reference receiver selection unit 60 notifies the center reception station 4 of the selection result.

The reason why the receiver 3 receiving the modulation signal having the strongest signal strength is selected as the reference receiver is that the receiving antenna 2 connected to the receiver 3 is an object to be observed than the other receiving antennas 2. This is because since the distance to 1 is short, the SN ratio (signal-to-noise ratio) is the best, and the reception state is considered to be good.
Note that in the case of the receiver 3 having a poor S / N ratio, the modulation signal is affected by noise, and it is difficult to detect the arrival time of the modulation signal (particularly, it is difficult to detect the rising portion of the modulation signal).
Therefore, if a receiver 3 having a poor S / N ratio is selected as a reference receiver, a problem that an accurate arrival time difference τ cannot be obtained, positioning accuracy deteriorates, and reliability decreases.

  In the present invention, within the scope of the invention, any combination of the embodiments, or any modification of any component in each embodiment, or omission of any component in each embodiment is possible. .

  DESCRIPTION OF SYMBOLS 1 Observation object, 2-1 to 2-N receiving antenna, 3-1 to 3-N, 3-1 'to 3-N' receiver, 4 center receiving station (arrival time difference calculation means), 5-1 ˜5-N signal strength measuring unit (signal strength measuring unit), 6 signal strength order rearranging unit (initial coordinate setting unit), 7 maximum receiving antenna coordinate extracting unit (initial coordinate setting unit), 8 initial coordinate setting unit (initial (Coordinate setting means), 9 positioning calculation processing section (positioning means), 10 positioning result display section, 11 average coordinate calculating section (initial coordinate setting means), 12 initial coordinate setting section (initial coordinate setting means), 21 positioning coordinate recording section (Positioning coordinate recording means), 22, 23 Initial coordinate setting section (initial coordinate setting means), 31, 33 Weight calculation section (positioning means), 32, 34 Positioning calculation processing section (positioning means), 40a, 40b Other communication systems 41 Other device information communication 42 initial coordinate correction unit (initial coordinate setting unit), 51 time series calculation coordinate recording unit (time series calculation coordinate recording unit), 52 signal strength prediction unit (signal strength prediction unit), 53 signal strength comparison unit (initial coordinate setting) Means), 54 initial coordinate setting section (initial coordinate setting means), 55 positioning calculation processing section (positioning means), 56 signal intensity comparison section (initial coordinate setting means), 57 initial coordinate setting section (initial coordinate setting means), 60 Reference receiver selection unit (arrival time difference calculating means), 101 observation object, 102-1 to 102-N receiving antenna, 103-1 to 103-N receiver, 104 center receiving station, 105 initial coordinate setting unit, 106 Positioning calculation processing unit, 107 positioning result display unit.

Claims (19)

A plurality of receiving antennas for receiving modulated signals transmitted from an observation object;
A plurality of receivers that receive a modulated signal incident by the receiving antenna and detect an arrival time that is a time when the modulated signal is received;
An arrival time which is a difference between an arrival time detected by a reference receiver among the plurality of receivers and an arrival time detected by a receiver other than the reference receiver. Time difference calculation means;
A plurality of signal strength measuring means for measuring the signal strength of the modulated signal received by the receiver;
Initial coordinate setting means for setting initial coordinates of the position where the observation object exists, using the signal strength of the modulation signal measured by the plurality of signal strength measuring means and the coordinates of the installation position of the receiving antenna; ,
By performing a positioning operation using the initial coordinates of the observation object set by the initial coordinate setting means, the coordinates of the installation position of the receiving antenna, and the arrival time difference calculated by the arrival time difference calculation means, the observation A positioning device comprising positioning means for positioning a position where an object exists.   The initial coordinate setting means specifies a modulation signal having the strongest signal intensity measured by the signal intensity measurement means from among the modulation signals received by the plurality of receivers, and the modulation signal having the strongest signal intensity. The positioning apparatus according to claim 1, wherein the coordinates of the installation position of the receiving antenna that is incident are set to the initial coordinates of the position where the observation object exists.   The initial coordinate setting means selects, from among the modulation signals received by the plurality of receivers, the upper specified number of modulation signals having a strong signal intensity measured by the signal intensity measurement means, and selects the upper 2. The average coordinates of the installation positions of the upper specified number of receiving antennas on which the specified number of modulated signals are incident are set as initial coordinates of the position where the observation object exists. Positioning device. Positioning coordinate recording means for recording the coordinates of the position measured by the positioning means,
The initial coordinate setting means includes
In the first positioning process for the observation object, the modulation signal having the strongest signal intensity measured by the signal intensity measurement unit is specified from the modulation signals received by the plurality of receivers, and the signal intensity Set the coordinates of the installation position of the receiving antenna where the strongest modulation signal is incident to the initial coordinates of the position where the observation object exists,
In the second or subsequent positioning process for the observation object, the coordinates of the positioning position recorded in the positioning coordinate recording means in the previous positioning process are set to the initial coordinates of the position where the observation object exists. The positioning device according to claim 1, wherein Positioning coordinate recording means for recording the coordinates of the position measured by the positioning means,
The initial coordinate setting means includes
In the first positioning process for the observation object, a plurality of higher-order designated modulation signals having a strong signal strength measured by the signal strength measuring means are selected from the modulation signals received by the plurality of receivers. In addition, the average coordinates of the installation positions of the upper specified number of receiving antennas that are incident on the selected upper specified number of modulation signals are set as initial coordinates of the position where the observation object exists,
In the second or subsequent positioning process for the observation object, the coordinates of the positioning position recorded in the positioning coordinate recording means in the previous positioning process are set to the initial coordinates of the position where the observation object exists. The positioning device according to claim 1, wherein   The positioning means is the installation position of the receiving antenna that receives the modulation signal having the strongest signal intensity specified by the initial coordinate setting means, and the installation position of the receiving antenna that receives a modulation signal other than the modulation signal. The positioning apparatus according to claim 2 or 4, wherein a position where the observation object exists is measured by performing a positioning calculation with a greater weight.   The positioning means performs the positioning calculation with a greater weight as the installation position of the receiving antenna on which the modulated signal having a strong signal strength measured by the signal strength measuring means is incident, so that the observation object is The positioning device according to claim 3 or 5, wherein an existing position is measured. The plurality of receivers decode the modulation signal incident by the receiving antenna, and output decoded data that is a decoding result thereof,
The positioning means includes decode data output from the plurality of receivers, initial coordinates of an observation object set by the initial coordinate setting means, coordinates of installation positions of the plurality of receiving antennas, and arrival time difference calculating means. The position at which the observation object exists is measured by performing a positioning calculation using the arrival time difference calculated according to any one of claims 1 to 7. Positioning device. The plurality of receivers decode the modulation signal incident by the receiving antenna, and output decoded data that is a decoding result thereof,
The initial coordinate setting means uses a coordinate indicating the position of the observation object included in the decoded data output from the receiver, and receives the modulation signal having the strongest signal intensity. 5. The positioning device according to claim 2, wherein the coordinates of the installation position are corrected, and the corrected coordinates are set as initial coordinates of the position where the observation object exists. The plurality of receivers decode the modulation signal incident by the receiving antenna, and output decoded data that is a decoding result thereof,
The initial coordinate setting means corrects the average coordinates of the installation positions of the upper specified number of receiving antennas using coordinates indicating the positions of the observation objects included in the decoded data output from the receiver. 6. The positioning apparatus according to claim 3, wherein the corrected average coordinates are set as initial coordinates of a position where the observation object is present.   When the observation information indicating the coordinates of the position of the observation target is given from the outside, the initial coordinate setting means receives the modulation signal having the strongest signal intensity using the coordinates indicated by the observation information. 5. The positioning apparatus according to claim 2, wherein the coordinates of the antenna installation position are corrected, and the corrected coordinates are set as initial coordinates of the position where the observation object exists.   If the observation information indicating the coordinates of the position of the observation target is given from the outside, the initial coordinate setting means uses the coordinates indicated by the observation information, and the average coordinates of the installation positions of the upper specified number of receiving antennas The positioning device according to claim 3 or 5, wherein the corrected average coordinates are set as initial coordinates of a position where the observation object exists.   The position of the positioning process of the position of the receiving antenna where the modulation signal having the strongest signal intensity set by the initial coordinate setting means is incident and the position of the position measured by the positioning means 5. The positioning device according to claim 2, further comprising time series calculation coordinate recording means for recording in association with the observation time.   Corresponding to the observation time, which is the time of the positioning process, the average coordinates of the installation positions of the several higher-order designated receiving antennas set as the initial coordinates by the initial coordinate setting means and the coordinates of the positions determined by the positioning means 6. The positioning device according to claim 3, further comprising time series calculation coordinate recording means for recording with addition. Using the coordinates of the installation position of the receiving antenna on which the modulation signal having the strongest signal intensity is recorded by the time series calculation coordinate recording means and the position measured by the positioning means is used. The signal strength prediction means for predicting the signal strength of the modulation signal in the current positioning process,
The initial coordinate setting means includes the strongest signal strength among the signal strengths of the modulation signals measured by the plurality of signal strength measurement means in the current positioning process, and the signal strength predicted by the signal strength prediction means. When the deviation is larger than a preset threshold, the initial coordinates of the position where the observation object set in the previous positioning process exists are discarded and received by the plurality of receivers in the current positioning process. Among the modulation signals, the coordinates of the installation position of the receiving antenna on which the modulation signal having the strongest signal intensity measured by the signal intensity measurement unit is incident are reset to the initial coordinates of the position where the observation object exists. Set,
14. The positioning device according to claim 13, wherein the positioning means repositions the position where the observation object exists using the initial coordinates reset by the initial coordinate setting means. The current positioning process is performed using the average coordinates of the installation positions of the several higher-order specified receiving antennas recorded in the previous positioning process by the time series calculation coordinate recording means and the coordinates of the positions determined by the positioning means. Comprising signal strength predicting means for predicting the signal strength of the modulated signal at
The initial coordinate setting means includes an average of signal strengths of a plurality of upper designated signals having strong signal strengths among signal strengths measured by the plurality of signal strength measurement means, and signal strengths predicted by the signal strength prediction means. If the deviation from the point is larger than a preset threshold value, the initial coordinates of the position where the observation object set in the previous positioning process exists are discarded and received by the plurality of receivers in the current positioning process. From the modulated signals, the upper designated number of modulation signals having a strong signal strength measured by the signal strength measuring means are selected, and the selected upper designated number of modulation signals are incident. Reset the average coordinates of the installation positions of the receiving antennas to the initial coordinates of the position where the observation object exists,
15. The positioning device according to claim 14, wherein the positioning means repositions the position where the observation object exists using the initial coordinates reset by the initial coordinate setting means.   The said arrival time difference calculation means selects the receiver used as a reference | standard from these receivers based on the signal strength measured by the said signal strength measurement means, The Claim 1 characterized by the above-mentioned. Item 17. The positioning device according to any one of items 16.   The arrival time difference calculating means identifies a modulated signal having the strongest signal strength measured by the signal strength measuring means from among the modulated signals received by the plurality of receivers, and modulating the strongest signal strength. 18. The positioning apparatus according to claim 17, wherein a receiver receiving a signal is selected as a reference receiver. When a modulated signal transmitted from an observation object is incident on a receiving antenna to which a plurality of receivers are connected, the receiver receives the modulated signal incident on the receiving antenna and receives the modulated signal. An arrival time detection processing step for detecting an arrival time which is a set time;
The arrival time difference calculating means is a difference between an arrival time detected by a reference receiver among the plurality of receivers and an arrival time detected by a receiver other than the reference receiver. An arrival time difference calculation processing step for calculating an arrival time difference;
A plurality of signal strength measuring means for measuring the signal strength of the modulated signal received by the receiver;
The initial coordinate setting means sets the initial coordinates of the position where the observation object exists using the signal intensity of the modulation signal measured in the signal intensity measurement processing step and the coordinates of the installation position of the receiving antenna. An initial coordinate setting process step;
The positioning means performs a positioning calculation using the initial coordinates of the observation object set in the initial coordinate setting processing step, the coordinates of the installation position of the receiving antenna, and the arrival time difference calculated in the arrival time difference calculation processing step. And a positioning processing step for positioning a position where the observation object is present.

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