POSITION MEASURING DEVICE AND OBSERVING SYSTEM USING SAME BASED ON INTEGRATED ANALYSIS OF SENSOR INFORMATION

摘要

Disclosed is a position measuring 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 position-measuring accuracy and robustness to external noise or to lack of signals. Also disclosed is an observing system using the same. Particles pi'{(coordinates)i', (weight)i} and beacon patterns BP(pi') thereof after probabilistic transition are calculated. Particle filtering of the particles pi'{(coordinates)i', (weight)i} 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''{(coordinates)i', (weight)i'} are calculated by updating the (weight)i of the particles pi'{(coordinates)i', (weight)i} after the transition using the likelihood. A loop of these processes is repeated.