POSITIONING DEVICE AND OBSERVING SYSTEM USING THE SAME BASED ON INTEGRATED ANALYSIS OF SENSOR INFORMATION

摘要

PROBLEM TO BE SOLVED: To provide a positioning device capable of estimating positions of human beings, animals, articles, and the like on the basis of beacon signals from wireless beacon devices while maintaining high positioning accuracy and robustness to external noise or to lack of signals, and to provide an observing system using the same.

SOLUTION: Particles pi'äcoordinatesi', weighti} and beacon patterns BP(pi') thereof after probabilistic transition are calculated. Particle filtering of the particles pi'äcoordinatesi', weighti} after the probabilistic transition is performed by calculating likelihood using the calculated beacon patterns BP(pi') and actual received beacon patterns BP(Receiver). New particles pi''äcoordinatesi', weighti'} are calculated by updating the weightiof the particles pi'äcoordinatesi', weighti} after the transition using the likelihood. A loop of these processes is repeated.

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