Position calculation method and storage medium storing a program therefor
First Claim
1. A position calculation method, comprising the steps of:
- receiving radio signals between a plurality of respective reference stations and a detection-target station by either said plurality of reference stations or said detection-target station, said plurality of reference stations being radio devices whose positions have been already known, said detection-target station being a radio device whose position has been unknown,measuring physical quantities about distances thereby to measure absolute distances or relative distances between said plurality of respective reference stations and said detection-target station, respectively, andcalculating position of said detection-target station based on distance-ranging results and positions of said respective reference stations, said distance-ranging results being said respective distances measured,wherein said calculating step comprises the steps of;
calculating respective error degradation quantities Δ
Ei from said respective distance-ranging results Ri and said positions Pi of said respective reference stations, said respective error degradation quantities being quantities of respective errors by which said respective distance-ranging results influence minimum value of square error function to solve the position of said detection-target station,evaluating said respective distance-ranging results based on said respective error degradation quantities, and updating weight-assigning factors Wi about said respective distance-ranging results, andcalculating said position P of said detection-target station based on said respective distance-ranging results, said positions of said respective reference stations, and said respective weight-assigning factors updated.
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Abstract
A position calculation method includes a step of calculating error degradation quantities about respective measurement results (“distance-ranging results”) on distances between respective reference stations and a detection-target station from the respective distance-ranging results and positions of the respective reference stations, a step of calculating weight-assigning factors about the respective distance-ranging results based on the respective error degradation quantities, a step of checking the number of valid distance-ranging results, and a step of calculating the position of the detection-target station based on the respective distance-ranging results, the positions of the respective reference stations, and the respective weight-assigning factors.
21 Citations
10 Claims
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1. A position calculation method, comprising the steps of:
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receiving radio signals between a plurality of respective reference stations and a detection-target station by either said plurality of reference stations or said detection-target station, said plurality of reference stations being radio devices whose positions have been already known, said detection-target station being a radio device whose position has been unknown, measuring physical quantities about distances thereby to measure absolute distances or relative distances between said plurality of respective reference stations and said detection-target station, respectively, and calculating position of said detection-target station based on distance-ranging results and positions of said respective reference stations, said distance-ranging results being said respective distances measured, wherein said calculating step comprises the steps of; calculating respective error degradation quantities Δ
Ei from said respective distance-ranging results Ri and said positions Pi of said respective reference stations, said respective error degradation quantities being quantities of respective errors by which said respective distance-ranging results influence minimum value of square error function to solve the position of said detection-target station,evaluating said respective distance-ranging results based on said respective error degradation quantities, and updating weight-assigning factors Wi about said respective distance-ranging results, and calculating said position P of said detection-target station based on said respective distance-ranging results, said positions of said respective reference stations, and said respective weight-assigning factors updated. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A computer-readable storage medium for storing a position calculation program for implementing a position calculation method in a position calculation apparatus,
said position calculation apparatus, comprising: -
an input unit for inputting physical quantities about distances, a processing unit, and an output unit, said physical quantities about said distances being measured such that radio signals between a plurality of respective reference stations and a detection-target station are received by either said plurality of reference stations or said detection-target station, said plurality of reference stations being radio devices whose positions have been already known, said detection-target station being a radio device whose position has been unknown, said position calculation method being executed by said processing unit, comprising the steps of; calculating, from said physical quantities about said distances, absolute distances or relative distances between said plurality of respective reference stations and said detection-target station, respectively, and calculating position of said detection-target station based on distance-ranging results and positions of said respective reference stations, said distance-ranging results being said respective distances measured, wherein the calculating step includes the steps of; calculating respective error degradation quantities from said respective distance-ranging results and said positions of said respective reference stations, said respective error degradation quantities being quantities of respective errors by which said respective distance-ranging results influence least square error, evaluating said respective distance-ranging results based on said respective error degradation quantities, and updating weight-assigning factors about said respective distance-ranging results, and calculating said position of said detection-target station based on said respective distance-ranging results, said positions of said respective reference stations, and said respective weight-assigning factors updated.
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Specification