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POSITION ESTIMATION DEVICE NEW

外国特許コード F170009299
整理番号 (S2016-0329-N0)
掲載日 2017年12月7日
出願国 世界知的所有権機関(WIPO)
国際出願番号 2017JP018411
国際公開番号 WO 2017199972
国際出願日 平成29年5月16日(2017.5.16)
国際公開日 平成29年11月23日(2017.11.23)
優先権データ
  • 特願2016-099547 (2016.5.18) JP
発明の名称 (英語) POSITION ESTIMATION DEVICE NEW
発明の概要(英語) [Problem] To provide a position estimation device capable of estimating the position of a wireless node with high accuracy. [Solution] In a position estimation device 5, a position updating unit 63 acquires estimated positions of fixed nodes on the basis of a fixed topology indicating a placement relationship between the fixed nodes and temporary self-positions of the fixed nodes. A topology inconsistency determination unit 65 calculates a region determination value indicating the frequency of occurrence of topology inconsistency using the estimated positions of the fixed nodes based on the fixed topology. A virtual topology generation unit 66 generates a virtual topology by virtually changing a wireless communication distance between the fixed nodes. The virtual topology generation unit 66 specifies any one topology from among the fixed topology and a plurality of virtual topologies on the basis of a region determination value corresponding to the fixed topology and a plurality of region determination values corresponding to the plurality of virtual topologies, and outputs, as the position estimation results of the fixed nodes, the estimated positions of the fixed nodes based on the specified topology.
特許請求の範囲(英語) [claim1]
1. The adjacent node information which is information of the primary adjacent node which from the radio node of one exists in position of 1 hops as for m (m, integer of 4 or more) the acquisition section which is acquired from each of the radio node and,
The fixed topology formation department which forms the fixed topology which shows the arrangement relationship of aforementioned m radio nodes on the basis of adjacent node information concerning each of aforementioned m radio nodes, and,
The self position formation department which forms the temporary self position of aforementioned m radio nodes and,
The position renewal section which presumes the position of aforementioned m radio nodes by renewing the temporary self position of aforementioned m radio nodes on the basis of the aforementioned fixed topology, and,
As it decides, corresponds to the aforementioned fixed topology whether or not the topology contradiction which shows the fact that it is close to the radio node which the radio node where position of one radio node which is presumed by the aforementioned position renewal section from the radio node the description above one exists in position of 1 hops compared to from the radio node the description above one exists in position of 2 hops occurs, the topology contradiction decision section which calculates the territory decision value which shows the occurrence frequency of the topology contradiction in aforementioned m radio nodes and,
The hypothetical topology formation department which at least forms one which shows the hypothetical arrangement relationship of aforementioned m radio nodes on the basis of the primary adjacent node where it sets the hypothetical radio communication distance between two radio nodes which exist in position of 1 hops, resets the primary adjacent node which from the radio node the description above one is position of 1 hops, on the basis of the aforementioned hypothetical radio communication distance is reset hypothetical topology and,
Having,
The aforementioned position renewal section presumes the position of aforementioned m radio nodes the description above at least on the basis of each of one hypothetical topology,
The aforementioned topology contradiction decision section calculates the territory decision value which the description above at least corresponds to each of one hypothetical topology on the basis of the estimated position of aforementioned m radio nodes which the description above at least correspond to each of one hypothetical topology,
As for the aforementioned hypothetical topology formation department, the position presumption device which it outputs as the presumption result of position of aforementioned m radio nodes the inside either estimated position of aforementioned m radio nodes which are based on the aforementioned fixed topology on the basis of with the territory decision value which corresponds to the aforementioned fixed topology and the territory decision value which the description above at least corresponds to each of one hypothetical topology, and estimated position of aforementioned m radio nodes which the description above at least are based on each of one hypothetical topology.
[claim2]
2. Being the position presumption device of statement in claim 1,
As for the aforementioned topology contradiction decision section,
The present territory decision value which is received lastly from the aforementioned topology contradiction decision section, immediately before being input one than the aforementioned present territory decision value ago, the decision value relative section which is compared with territory decision value and,
The hypothetical radio communication distance which is used with the 1st topology which corresponds to the territory decision value immediately before the description above, the distance relative section which is compared with the hypothetical radio communication distance which is used with the 2nd topology which corresponds to the aforementioned present territory decision value and,
On the basis of with the relative result of the aforementioned present territory decision value and the territory decision value immediately before the description above due to the aforementioned decision value relative section and the hypothetical radio communication distance which is used with the aforementioned 1st topology due to the aforementioned distance relative section and the distance setting section which sets the hypothetical radio communication distance which is used for the formation of new hypothetical topology the hypothetical radio communication distance which is used with the aforementioned 2nd topology the relative result, and,
The position presumption device which it has.
[claim3]
3. Being the position presumption device of statement in claim 2,
As for the aforementioned distance setting section, when it is smaller than the hypothetical radio communication distance where it can use the hypothetical radio communication distance which is used with the aforementioned 2nd topology with the aforementioned 1st topology it is judged by the distance relative section, at the same time when, the aforementioned present territory decision value is smaller than territory decision value immediately before the description above, when it is judged by the aforementioned decision value relative section, it makes smaller than the hypothetical radio communication distance which can use the hypothetical radio communication distance which is used for the formation of the aforementioned new hypothetical topology, with the aforementioned 2nd topology,
As for the aforementioned distance setting section, when it is smaller than the hypothetical radio communication distance where it can use the hypothetical radio communication distance which is used with the aforementioned 2nd topology with the aforementioned 1st topology it is judged by the distance relative section, at the same time when, the aforementioned present territory decision value is above territory decision value immediately before the description above, when it is judged by the aforementioned decision value relative section, the position presumption device which is enlarged than the hypothetical radio communication distance which can use the hypothetical radio communication distance which is used for the formation of the aforementioned new hypothetical topology, with the aforementioned 2nd topology.
[claim4]
4. Claim 2 or being the position presumption device of statement in claim 3,
As for the aforementioned distance setting section, it is judged by the distance relative section which is above the hypothetical radio communication distance where it can use the hypothetical radio communication distance which is used with the aforementioned 2nd topology with the aforementioned 1st topology, at the same time when, the aforementioned present territory decision value is larger than territory decision value immediately before the description above, when it is judged by the aforementioned decision value relative section, it makes smaller than the hypothetical radio communication distance which can use the hypothetical radio communication distance which is used for the formation of the aforementioned new hypothetical topology, with the aforementioned 2nd topology,
As for the aforementioned distance setting section, when it is above the hypothetical radio communication distance where it can use the hypothetical radio communication distance which is used with the aforementioned 2nd topology with the aforementioned 1st topology it is judged by the distance relative section, at the same time, when it is judged by the aforementioned decision value relative section where the aforementioned present territory decision value is below territory decision value immediately before the description above, the position presumption device which is enlarged than the hypothetical radio communication distance which can use the hypothetical radio communication distance which is used for the formation of the aforementioned new hypothetical topology, with the aforementioned 2nd topology.
[claim5]
5. Claim 1 or being the position presumption device of statement in either of claim 4,
The territory decision value which corresponds to the aforementioned fixed topology and, from 1st hypothetical topology k (as for k integer of 2 or more) from midst of each territory decision value to hypothetical topology, the minimum decisive section which decides the minimum of territory decision value and,
When (k+1) the territory decision value which corresponds to hypothetical topology is received anew from the aforementioned topology contradiction decision section, (k+1) the minimum relative section which compares the territory decision value which corresponds to hypothetical topology with the aforementioned minimum and,
When (k+1) the territory decision value which corresponds to hypothetical topology it is larger than the aforementioned minimum, the replacement factor relative section which compares replacement factor of the aforementioned minimum with specified threshold and,
Having,
As for the aforementioned hypothetical topology formation department, when the aforementioned replacement factor is smaller than the aforementioned threshold, when it is decided by the aforementioned replacement factor relative section, the position presumption device which decides that it outputs as the position presumption result of aforementioned m radio nodes estimated position of aforementioned m radio nodes which are based on the topology which corresponds to the aforementioned minimum.
[claim6]
6. The adjacent node information which is information of the primary adjacent node which from the radio node of one exists in position of 1 hops, the mobile radio node which moves inside the radio communication space and as for m (m where it does not move inside the aforementioned radio communication space, integer of 4 or more) the acquisition section which is acquired from each of the fixed radio node and,
The fixed node position presumption section which presumes the position of aforementioned m fixed radio nodes on the basis of adjacent node information concerning each of aforementioned m fixed radio nodes, and,
With the adjacent node information of the aforementioned mobile radio node and the portable node position presumption section which presumes the position of the aforementioned mobile radio node the estimated position of aforementioned m fixed radio nodes due to the aforementioned fixed node position presumption section on the basis of, and,
Having,
As for the aforementioned fixed node position presumption section,
The fixed topology formation department which forms the fixed topology which shows the arrangement relationship of aforementioned m fixed radio nodes on the basis of adjacent node information concerning each of aforementioned m fixed radio nodes, and,
The 1st self position formation department which forms the temporary self position of aforementioned m fixed radio nodes and,
The 1st position renewal section which presumes the position of aforementioned m fixed radio nodes by renewing the temporary self position of aforementioned m fixed radio nodes on the basis of the aforementioned fixed topology, and,
Having,
As for the aforementioned portable node position presumption section,
The portable topology formation department which acquires the adjacent node information of the contiguity fixed node which is the fixed radio node which is recorded to the adjacent node information of the inside aforementioned mobile radio node of aforementioned m fixed radio nodes from the aforementioned acquisition section, forms the topology of the aforementioned mobile radio node on the basis of with the adjacent node information of the aforementioned mobile radio node and the adjacent node information of the aforementioned contiguity fixed node, and,
The 2nd self position formation department which forms the temporary self position of the aforementioned mobile radio node and,
The 2nd position renewal section which presumes the position of the aforementioned mobile radio node on the basis with of the aforementioned portable topology and the estimated position of the aforementioned contiguity fixed node, by renewing the temporary self position of the aforementioned mobile radio node, and,
The position presumption device which it has.
[claim7]
7. Being the position presumption device of statement in claim 6,
As for the number of adjacent node information which are used for the formation of the aforementioned portable topology, the position presumption device which is fewer than the numbers of adjacent node information which are used for the formation of the aforementioned fixed topology.
[claim8]
8. Claim 6 or being the position presumption device of statement in claim 7,
The aforementioned acquisition section acquires with adjacent node information and the adjacent node information of the aforementioned mobile radio node concerning each of aforementioned m fixed radio nodes periodically,
The aforementioned fixed node position presumption section repeatedly presumes the position of aforementioned m fixed radio nodes at 1st period,
As for the aforementioned portable node position presumption section, position of the aforementioned mobile radio node the position presumption device which repeatedly presumes at the 2nd period which is shorter than the aforementioned 1st period.
[claim9]
9. Claim 6 or being the position presumption device of statement in either of claim 8,
As for the aforementioned fixed topology formation department, the position presumption device which sets adjacent node information of the aforementioned mobile radio node which is already used for the position presumption of the aforementioned mobile radio node to the adjacent node information of the hypothetical fixed radio node, forms fixed topology on the basis of with adjacent node information and the adjacent node information of the aforementioned hypothetical fixed radio node concerning each of aforementioned m fixed radio nodes.
[claim10]
10. Being the position presumption program in order to make position presumption of the radio node the computer execute,
The adjacent node information which is information of the primary adjacent node which from the radio node of one exists in position of 1 hops as for m (m, integer of 4 or more) the acquisition step which is acquired from each of the radio node and,
The fixed topology formation step which forms the fixed topology which shows the arrangement relationship of aforementioned m radio nodes on the basis of adjacent node information concerning each of aforementioned m radio nodes, and,
The self position formation step which forms the temporary self position of aforementioned m radio nodes and,
The position renewal step which presumes the position of aforementioned m radio nodes by renewing the temporary self position of aforementioned m radio nodes on the basis of the aforementioned fixed topology, and,
As it decides, corresponds to the aforementioned fixed topology whether or not the topology contradiction which shows the fact that it is close to the radio node which the radio node where position of one radio node which is presumed by the aforementioned position renewal step from the radio node the description above one exists in position of 1 hops compared to from the radio node the description above one exists in position of 2 hops occurs, the topology contradiction decision step which calculates the territory decision value which shows the occurrence frequency of the topology contradiction in aforementioned m radio nodes and,
The hypothetical topology formation step which at least forms one which shows the hypothetical arrangement relationship of aforementioned m radio nodes on the basis of the primary adjacent node where it sets the hypothetical radio communication distance between two radio nodes which exist in position of 1 hops, resets the primary adjacent node which from the radio node the description above one is position of 1 hops, on the basis of the aforementioned hypothetical radio communication distance is reset hypothetical topology and,
Having,
The aforementioned position renewal step presumes the position of aforementioned m radio nodes the description above at least on the basis of each of one hypothetical topology,
The aforementioned topology contradiction decision step calculates the territory decision value which the description above at least corresponds to each of one hypothetical topology on the basis of the estimated position of aforementioned m radio nodes which the description above at least correspond to each of one hypothetical topology,
As for the aforementioned hypothetical topology formation step, the position presumption program which it outputs as the presumption result of position of aforementioned m radio nodes the inside either estimated position of aforementioned m radio nodes which are based on the aforementioned fixed topology on the basis of with the territory decision value which corresponds to the aforementioned fixed topology and the territory decision value which the description above at least corresponds to each of one hypothetical topology, and estimated position of aforementioned m radio nodes which the description above at least are based on each of one hypothetical topology.
[claim11]
11. Being the position presumption program which makes position presumption of the mobile radio node which moves inside the radio communication space the computer execute,
The adjacent node information which is information of the primary adjacent node which from the radio node of one exists in position of 1 hops, the aforementioned mobile radio node and, as for m (m where it does not move inside the aforementioned radio communication space, integer of 4 or more) the acquisition step which is acquired from each of the fixed radio node and,
The fixed node position presumption step which presumes the position of aforementioned m fixed radio nodes on the basis of adjacent node information concerning each of aforementioned m fixed radio nodes, and,
With the adjacent node information of the aforementioned mobile radio node and the portable node position presumption step which presumes the position of the aforementioned mobile radio node the estimated position of aforementioned m fixed radio nodes by the aforementioned fixed node position presumption step on the basis of, and,
Having,
As for the aforementioned fixed node position presumption step,
The fixed topology formation step which forms the fixed topology which shows the arrangement relationship of aforementioned m fixed radio nodes on the basis of adjacent node information concerning each of aforementioned m fixed radio nodes, and,
The 1st self position formation step which forms the temporary self position of aforementioned m fixed radio nodes and,
The 1st position renewal step which presumes the position of aforementioned m fixed radio nodes by renewing the temporary self position of aforementioned m fixed radio nodes on the basis of the aforementioned fixed topology, and,
Having,
As for the aforementioned portable node position presumption step,
The portable topology formation step which acquires the adjacent node information of the contiguity fixed node which is the fixed radio node which is recorded to the adjacent node information of the inside aforementioned mobile radio node of aforementioned m fixed radio nodes from the aforementioned acquisition step, forms the topology of the aforementioned mobile radio node on the basis of with the adjacent node information of the aforementioned mobile radio node and the adjacent node information of the aforementioned contiguity fixed node, and,
The 2nd self position formation step which forms the temporary self position of the aforementioned mobile radio node and,
The 2nd position renewal step which presumes the position of the aforementioned portable node on the basis with of the aforementioned portable topology and the estimated position of the aforementioned contiguity fixed node, by renewing the temporary self position of the aforementioned mobile radio node, and,
The position presumption program which it has.
  • 出願人(英語)
  • ※2012年7月以前掲載分については米国以外のすべての指定国
  • KANSAI UNIVERSITY
  • 発明者(英語)
  • TAKIZAWA YASUHISA
  • KITANOUMA TAKAMASA
国際特許分類(IPC)
指定国 (WO2017199972)
National States: AE AG AL AM AO AT AU AZ BA BB BG BH BN BR BW BY BZ CA CH CL CN CO CR CU CZ DE DJ DK DM DO DZ EC EE EG ES FI GB GD GE GH GM GT HN HR HU ID IL IN IR IS JP KE KG KH KN KP KR KW KZ LA LC LK LR LS LU LY MA MD ME MG MK MN MW MX MY MZ NA NG NI NO NZ OM PA PE PG PH PL PT QA RO RS RU RW SA SC SD SE SG SK SL SM ST SV SY TH TJ TM TN TR TT TZ UA UG US UZ VC VN ZA ZM ZW
ARIPO: BW GH GM KE LR LS MW MZ NA RW SD SL SZ TZ UG ZM ZW
EAPO: AM AZ BY KG KZ RU TJ TM
EPO: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
OAPI: BF BJ CF CG CI CM GA GN GQ GW KM ML MR NE SN ST TD TG

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