JP-2026074659-A - Estimation device, program, and system

Abstract

[Challenge] To achieve more accurate position estimation based on TDOA. [Solution] An estimation device is provided, comprising: an estimation unit that estimates the position of a transmitter based on the difference in arrival times of radio waves transmitted by the transmitter in accordance with a predetermined standard to each of a plurality of receivers, wherein the estimation unit prioritizes the obtained plurality of arrival time differences based on predetermined priority conditions, estimates the position of the transmitter using a predetermined number of arrival time differences with higher priority, and the predetermined priority conditions include at least one of the following: the arrival time difference is smaller or the arrival time is earlier. [Selection Diagram] Figure 13

Inventors

• 横田 啓輔
• 河原 和哉

Assignees

• 株式会社東海理化電機製作所

Dates

Publication Date

20260507

Application Date

20241021

Claims (8)

1. An estimation unit that estimates the position of the transmitter based on the difference in arrival times of radio waves transmitted by the transmitter, which conform to a predetermined standard, to each of a plurality of receivers. Equipped with, The estimation unit prioritizes the multiple differences in arrival times obtained based on predetermined priority conditions, and estimates the position of the transmitter using a predetermined number of arrival time differences with higher priority. The aforementioned predetermined priority conditions include at least one of the following: the difference in arrival times is smaller, or the arrival time is earlier. Estimation device.
2. The estimation unit changes the priority order of the multiple arrival time differences obtained based on predetermined modification conditions, and estimates the position of the transmitter using a predetermined number of arrival time differences with higher priority. The aforementioned predetermined modification condition includes lowering the priority of the corresponding arrival time difference if the angle formed on a two-dimensional plane between the two receivers used to obtain the arrival time difference is smaller than a threshold. The estimation device according to claim 1.
3. The predetermined modification condition further includes lowering the priority of the later arrival time differences used to obtain the arrival time differences, The estimation device according to claim 2.
4. The estimation unit excludes the differences in arrival times that fall under predetermined exclusion conditions, and then prioritizes the obtained differences in arrival times based on predetermined priority conditions. The predetermined exclusion condition includes the fact that the distance between the two receivers used to obtain the difference in arrival times is less than a threshold. The estimation device according to claim 1.
5. The aforementioned predetermined exclusion condition further includes that at least one of the arrival times used to obtain the difference in arrival times is 0. The estimation device according to claim 4.
6. The aforementioned specified standard is an ultra-wideband wireless communication standard. An estimation device according to any one of claims 1 to 5.
7. On the computer, An estimation function that estimates the position of a transmitter based on the difference in arrival times of radio waves transmitted by the transmitter, which conform to a predetermined standard, to each of several receivers. To make it happen, The estimation function prioritizes the multiple arrival time differences obtained based on predetermined priority conditions, and estimates the position of the transmitter using the predetermined number of arrival time differences with higher priority. The aforementioned predetermined priority conditions include at least one of the following: the difference in arrival times is smaller, or the arrival time is earlier. program.
8. A transmitter that emits radio waves conforming to a specified standard, At least three or more receivers that receive radio waves compliant with the predetermined standard transmitted by the transmitter, An estimation device that estimates the position of the transmitter based on the difference in arrival times of radio waves compliant with a predetermined standard transmitted by the transmitter to each of at least three or more receivers, Equipped with, The estimation device prioritizes the multiple arrival time differences obtained based on predetermined priority conditions, and estimates the position of the transmitter using the predetermined number of arrival time differences with higher priority. The aforementioned predetermined priority conditions include at least one of the following: the difference in arrival times is smaller, or the arrival time is earlier. system.

Description

This invention relates to an estimation device, program, and system. In recent years, technologies have been developed to estimate the location of a transmitter based on TDOA (Time Difference Of Arrival), as disclosed in, for example, Patent Document 1. Japanese Patent Publication No. 2018-146473 This is a diagram illustrating the overview of position estimation based on TDOA.This diagram illustrates the overview of position estimation based on TDOA.This figure shows examples of hyperbolas obtained from the calculation results of equations (1) and (4) for receivers 20A and 20B at a certain position on a two-dimensional plane.This diagram illustrates an example of position estimation of the transmitter 10 based on a hyperbola for each combination of the three receivers 20A to 20C.This figure shows an example of the error range for a hyperbola.This figure shows examples of six hyperbolas obtained from combinations of two of the four receivers 20.This figure shows two hyperbolas obtained from the combination of [receivers 20A and 20B] and the combination of [receivers 20A and 20C], out of the six hyperbolas illustrated in Figure 6.This figure shows two hyperbolas obtained from the combination of [receivers 20B and 20C] and the combination of [receivers 20B and 20D], out of the six hyperbolas illustrated in Figure 6.This figure shows another example of the six hyperbolas obtained from a combination of two of the four receivers 20.This figure shows two hyperbolas obtained from the combination of [receivers 20A and 20C] and the combination of [receivers 20B and 20D], out of the six hyperbolas illustrated in Figure 9.Figure 9 shows two hyperbolas obtained from the combination of [receivers 20A and 20B] and the combination of [receivers 20A and 20C], out of the six hyperbolas illustrated in Figure 9.This is a block diagram showing an example of the functional configuration of System 1 according to one embodiment of the present invention.This flowchart shows an example of the processing flow by the server 30 according to the same embodiment.This figure illustrates predetermined modification conditions according to the same embodiment. Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, thus omitting redundant explanations. Furthermore, in this specification and drawings, when describing multiple identical components to distinguish them, letters or other symbols may be added to the end of the reference numerals. On the other hand, when there is no need to distinguish multiple identical components, the letters or other symbols may be omitted, and a description common to all identical components may be provided. <1. Embodiments> <<1.1. Position Estimation Based on TDOA>> First, let's explain position estimation based on TDOA. Figures 1 and 2 illustrate the overview of position estimation based on TDOA. Figure 1 shows an example of the positional relationship between the transmitter 10 and receivers 20A-20C on a two-dimensional plane (XY plane). Here, the coordinates (X A , Y A ) to (X C , Y C ) of receivers 20A to 20C are known, while the coordinates (X 0 , Y 0 ) of transmitter 10 are unknown. In this case, the coordinates (X 0 , Y 0 ) of the transmitter 10 can be calculated based on the distance from the transmitter 10 to each of the receivers 20A to 20C. For example, the difference RAB between the distance from transmitter 10 to receiver 20A and the distance to receiver 20B, the difference RAC between the distance from transmitter 10 to receiver 20A and the distance to receiver 20C, and the difference RBC between the distance from transmitter 10 to receiver 20B and the distance to receiver 20C can each be calculated using the following formulas (1) to (3). Furthermore, RAB , RAC , and RBC can be calculated using TDOA. Figure 2 shows an example of the timing at which the transmitter 10 transmits radio waves and the timing at which these radio waves reach each of the receivers 20A to 20C. In the example shown in Figure 2, the timing when the transmitter 10 transmits radio waves, the timing when the radio waves reach receiver 20A, the timing when the radio waves reach receiver 20B, and the timing when the radio waves reach receiver 20C are T0 , TA , TB , and TC , respectively. In this case, R AB , R AC , and R BC can be determined by the following formulas (4) to (6). Note that C in the following formulas (4) to (6) represents the speed of light [m/s]. The coordinates (X 0 , Y 0 ) of the transmitter 10 can be estimated from the calculation results of equations (1) to (6). Geometrically, this position estimation is a problem of finding the intersection point of a hyperbola. Figure 3 shows an example of a hyperbola obtained from the calculation results of equations (1) and (4) for receivers 20A and 20B at