, (GPS: Global Positioning Systemg),.,, (LBS: Local Based Services).. GPS,.,. RFID LAN,.,.,.,,,.,..,.,.,,, i

25 Estimation scheme of indoor positioning using difference of times which chirp signals arrive 114348 214 3 6

, (GPS: Global Positioning Systemg),.,, (LBS: Local Based Services).. GPS,.,. RFID LAN,.,.,.,,,.,..,.,.,,, i

Abstract Estimation scheme of indoor positioning using difference of times which chirp signals arrive TANAKA Takuto In resent years, the acquisition of position information becomes easier in outdoor because GPS(Global Positioning System) is mounted on the portable terminal including the smartphone. Therefore, LBS(Local Based Services) which services to us in the unique position by using position information of human and object has been developed. Especially, demand of navigation system with the portable terminal in large customer attracting facility is increasing. However, it is impossible to estimate position with a valid accuracy because GPS signals can not be received properly. For this reason, it has been studied for estimation scheme of positioning indoor and underground city. The estimation scheme of indoor positioning using RSSI(Received Signal Strength Indication) scheme, TOA(Time Of Arrival) scheme and AOA(Angle Of Arrival) scheme is proposed. These estimation scheme of indoor positioning have two problems. First, these estimation scheme need device dedicated to estimate position. Second, these estimation scheme do not have a valid accuracy. In this paper, an estimation scheme of indoor positioning without device dedicated to estimate position indoor and underground city is proposed. Proposed estimation scheme presupposes that audio-visual equipment is already installed and the user has a smartphone. Therefore, proposed estimation scheme uses speakers and a microphone. Each speaker output are chirp signal. First, proposed estimation scheme estimates the ii

difference of times which each chirp signal arrive. Next, proposed estimation scheme estimates the position of the microphone from the difference of times which each chirp signal arrive. The result of proposed estimation scheme showed that proposed estimation scheme is able to estimate the position of the microphone. However, the estimated position was off from the proper position of the microphone under the influence of reflected sound. key words cross-correlation, TDOA, chirp-signal, localization iii

1 1 1.1.................................. 1 1.2...................................... 2 2 3 2.1 Range-Based.............................. 3 2.1.1........................... 3 2.1.2............................. 4 2.1.3............................. 5 2.1.4............................ 5 2.2 Range-Free............................... 6 2.3............................ 6 3 8 3.1................ 8 3.1.1................ 9 3.1.2............................. 11 3.1.3............................. 13 3.2................................ 18 4 19 4.1................................... 19 4.2................................. 22 4.3...................................... 24 4.4....................... 33 iv

4.4.1............................. 33 5 35 5.1................................ 35 5.2.................................. 35 37 38 v

2.1,....................... 4 2.2................................. 5 3.1................................ 8 3.2...................... 9 3.3 3............ 1 3.4......................... 12 3.5 1................................. 14 3.6 2................................. 15 3.7 3................................. 15 3.8 4................................. 16 3.9 5................................. 16 3.1......................... 17 3.11 ( )..................... 17 3.12......................... 18 4.1 (6.6 6.m 2 )............... 2 4.2 (2.7 2.7m 2 )............... 2 4.3 (1.5 1.5m 2 )............... 21 4.4 (1.5 1.5m 2, )........... 21 4.5............ 22 4.6 Mc1............................ 25 4.7 Mc2............................ 25 4.8 Mc3............................ 26 vi

4.9 Mc4............................ 26 4.1 Mc5............................ 27 4.11 Mc6............................ 27 4.12 Mc7............................ 28 4.13 Mc8............................ 28 4.14 Mc9............................ 29 4.15 Mc1............................ 29 4.16 Mc11............................ 3 4.17 Mc12............................ 3 4.18 Mc13............................ 31 4.19 Mc14............................ 31 4.2 Mc15............................ 32 4.21 Mc16............................ 32 4.22................................. 34 vii

2.1,.. 7 3.1................................. 14 4.1........................ 22 4.2........................ 23 4.3.................... 24 viii

1 1.1, (GPS: Global Positioning Systemg),.,, (LBS: Local Based Services).. GPS,.,. RFID LAN,.,.,.,,,.,,.,,.,. 1

1.2 1.2. 2,.. 3,,.,,. 4,,. 5, 4. 2

2,.,,.,,., Range-Based Range-Free., Range-Based,,,, 4.,. 2.1 Range-Based Range-Based,,. Range-Based,,, [1, 2, 3, 4]. 2.1.1 (RSSI: Received Signal Strength Indicator),,.,,., 3

2.1 Range-Based 2.1,,.,,.,. 2.1.2 (AOA: Angle of Arrival),,. 2,,..,.,, 3. 4

2.1 Range-Based 2.2 2.1.3 (TOA: Time of Arrival),,.,.,,.,.,. 2.1.4 (TDOA: Time Difference of Arrival),,. 2,,.,..,. 5

2.2 Range-Free 2.2 Range-Free Range-Free,.,., Range-Based,. Range-Free, [6]. 2.3, LAN..,,,.,, 2.1. RSSI,. AOA,,,. TOA,.,,.,,,, TDOA. 6

2.3 2.1 RSSI AOA TOA,, Range-Free Range-Based, 7

3,.,.,. 3.1,,,,. 3.1. 3.1 8

3.1 3.2 3.1.1 1, S = 331.5 +.6 c S[m/sec]. c. d[m], T [sec]. S, T, T = d S.,,, 3.2.. 1, 2, 3 T 1, T 2, T 3. 1 2 T 1 2, 1 3 T 1 3,, T 1 2 = T 1 T 2 T 1 3 = T 1 T 3. 1 d 1, 2 d 2 d 1 d 2 = S T 1 2 9

3.1 3.3 3. 1 d 1, 2 d 2 S T 1 2 [m]. 3.3, 1 2 d 1 d 2, 1 2., d 1 d 2,,,. 1 3, 3.3 1 3,., 3.,,., 1. 1,,. 3, 2.,., 3 3. 3., 3 4. 1

3.1 3.1.2,,.,.. 3.4.,.,.,.. 2, a = {a, a 1,, a N 1 }, b = {b, b 1,, b N 1 }, R ab [T ], R ab [T ] = N 1 n= a[n T ]b[n] [7]. N. R ab [T ], a[n] T a[n T ] b[n], R ab [T ]., R ab [T max ], T max a b. a, b, R ab [T max ], T max a.,., s 1, s 2,, s M, s m = {s m,, s m,1,, s m,(n 1) }(m = 1, 2,, M). M.,,., T 1, T 2,, T M, x, x = {x, x 1,, x N 1 } x n = {s 1,(n T1 ) + s 2,(n T2 ) + + s M,(n TM )} (n =, 1,, N 1) 11

3.1 3.4. x s m R xsm [T ], R xsm [T ] = N 1 n= x[n T ]s m [n] N 1 = (s 1 [n T 1 T ] + s 2 [n T 2 T ] + + s M [n T M T ])s m [n] = + + + = n= N 1 n= N 1 n= N 1 n= N 1 n= s 1 [n T 1 T ]s m [n] s 2 [n T 2 T ]s m [n]. s m [n T m T ]s m [n]. s M [n T M T ]s m [n] M R sk s m [T k + T ] k=1. R xsm [T ], s m R sm s m [T m + T ] 12

3.1 s l (l m) R sl s m [T l + T ].. R sm s m [T m + T ] T = T m,., R sl s m [T l + T ] R sl s m [T l + T ] R sm s m [T ], T m,. 3.1.3, s m, s m R sm s m [T ]. R sl s m [T ] (l m) R sm s m [T ], s m.,,,.. s[n],, s[n] = sin(2π(f + f 1 f n)n) ( n N 1) 2N. f, f 1, N,,,. f 1 f,., 3.1, 3.5, 3.6, 3.7, 3.8, 3.9.,, 1Hz, 2Hz, 3Hz 3.1, 3.11. 3.11 3.1. 3.11,, [5]., 1Hz, 5Hz, 9Hz 3.12. 3.1, 3.12, 13

3.1,.,,. 3.1 1 1Hz 2Hz 1Hz 2 1Hz 3Hz 2Hz 3 1Hz 4Hz 3Hz 4 5Hz 6Hz 1Hz 5 9Hz 1Hz 1Hz 1 ChirpSignal 1.5 Amplitude -.5-1 12 24 36 48 Samples 3.5 1 14

3.1 1 ChirpSignal 2.5 Amplitude -.5-1 12 24 36 48 Samples 3.6 2 1 ChirpSignal 3.5 Amplitude -.5-1 12 24 36 48 Samples 3.7 3 15

3.1 1 ChirpSignal 4.5 Amplitude -.5-1 12 24 36 48 Samples 3.8 4 1 ChirpSignal 5.5 Amplitude -.5-1 12 24 36 48 Samples 3.9 5 16

3.1 Auto-Correlation-Function 3 25 2 15 1 5-5 -1 12 24 36 48 Lag ChirpSignal 1 ChirpSignal 2 ChirpSignal 3 3.1 Auto-Correlation-Function 3 25 2 15 1 5-5 -1 12 24 36 48 Lag ChirpSignal 1 ChirpSignal 2 ChirpSignal 3 3.11 ( ) 17

3.2 Cross-Correlation-Function 3 25 2 15 1 5-5 -1 ChirpSignal 1 and 4 ChirpSignal 1 and 5 ChirpSignal 4 and 5 12 24 36 48 Lag 3.12 3.2,,,,.,,.,.,.,,,.,,,,,. 18

4.,,,. 4.1., 6.6 6.m 2, 2.7 2.7m 2, 1.5 1.5m 2. 4.1, 4.2, 4.3, 4.4,,., 1.,.,. 4.1 4.4 Mc, Mc. Spi(i = 1,2,3)., 1 2 x, 1 3 y, (x, y). 48kHz, 34m/s., 4.1, 4.5 1. 19

4.1 4.1 (6.6 6.m 2 ) 4.2 (2.7 2.7m 2 ) 2

4.1 4.3 (1.5 1.5m 2 ) 4.4 (1.5 1.5m 2, ) 21

4.2 4.1 PC ThinkPad X6 SHURE SM94 Roland UA-11 Roland MA-7A 19 185 ChirpSignal 1 ChirpSignal 2 ChirpSignal 3 Hertz 18 175 17 165.2.4.6.8 1 Sec 4.5 4.2. 4. 4.2., 6.6 6.m 2 4.6 4.9, 2.7 2.7m 2 4.1 4.13, 1.5 1.5m 2 4.14 4.17, 1.5 1.5m 2 4.18 4.21. 4.6 4.21, x, y. speaker1,2 1 2 22

4.2 4.2 x y x y Mc1 3.3m 3.m 3.3m 3.m Mc2 5.4m 4.8m 5.235m 4.756m Mc3 1.5m 1.2m 1.446m 1.299m Mc4 2.1m 5.7m 2.28m 5.997m Mc5 1.35m 1.35m 1.32m 1.31m Mc6 2.1m.9m 2.44m 1.37m Mc7.6m.6m.54m.539m Mc8.9m 2.4m 1.19m 2.698m Mc9.75m.75m.776m.832m Mc1 1.2m.6m Mc11.3m.3m.37m.391m Mc12.m.9m.343m 1.171m Mc13.75m.75m.776m.832m Mc14 1.2m.6m 1.316m.621m Mc15.3m.3m.344m.389m Mc16.m.9m.72m.741m, speaker1,3 1 3., microphone. 23

4.3 4.3 6.6 6.m 2 2.7 2.7m 2 1.5 1.5m 2 1.5 1.5m 2 ( ).148m.274m.212m.117m.36m.66m.437m.175m 4.3, 3,., 4.3. 6.6 6.m 2.148m, 2.7 2.7m 2 1.5 1.5m 2.274m,.212m,., 1.5 1.5m 2 Mc1, 1 3.,.,., 2.7 2.7m 2, 1.5 1.5m 2.,,., 1.5 1.5m 2..117m.,.95m.,,.,. 24

4.3 6 5 speaker1,2 speaker1,3 microphone 4 y 3 2 1 1 2 3 4 5 6 x 4.6 Mc1 6 5 speaker1,2 speaker1,3 microphone 4 y 3 2 1 1 2 3 4 5 6 x 4.7 Mc2 25

4.3 6 5 speaker1,2 speaker1,3 microphone 4 y 3 2 1 1 2 3 4 5 6 x 4.8 Mc3 6 5 speaker1,2 speaker1,3 microphone 4 y 3 2 1 1 2 3 4 5 6 x 4.9 Mc4 26

4.3 2.5 2 speaker1,2 speaker1,3 microphone 1.5 y 1.5.5 1 1.5 2 2.5 x 4.1 Mc5 2.5 2 speaker1,2 speaker1,3 microphone 1.5 y 1.5.5 1 1.5 2 2.5 x 4.11 Mc6 27

4.3 2.5 2 speaker1,2 speaker1,3 microphone 1.5 y 1.5.5 1 1.5 2 2.5 x 4.12 Mc7 2.5 2 speaker1,2 speaker1,3 microphone 1.5 y 1.5.5 1 1.5 2 2.5 x 4.13 Mc8 28

4.3 1.4 1.2 speaker1,2 speaker1,3 microphone 1 y.8.6.4.2.2.4.6.8 1 1.2 1.4 x 4.14 Mc9 1.4 1.2 speaker1,2 speaker1,3 microphone 1 y.8.6.4.2.2.4.6.8 1 1.2 1.4 x 4.15 Mc1 29

4.3 1.4 1.2 speaker1,2 speaker1,3 microphone 1 y.8.6.4.2.2.4.6.8 1 1.2 1.4 x 4.16 Mc11 1.4 1.2 speaker1,2 speaker1,3 microphone 1 y.8.6.4.2.2.4.6.8 1 1.2 1.4 x 4.17 Mc12 3

4.3 1.4 1.2 speaker1,2 speaker1,3 microphone 1 y.8.6.4.2.2.4.6.8 1 1.2 1.4 x 4.18 Mc13 1.4 1.2 speaker1,2 speaker1,3 microphone 1 y.8.6.4.2.2.4.6.8 1 1.2 1.4 x 4.19 Mc14 31

4.3 1.4 1.2 speaker1,2 speaker1,3 microphone 1 y.8.6.4.2.2.4.6.8 1 1.2 1.4 x 4.2 Mc15 1.4 1.2 speaker1,2 speaker1,3 microphone 1 y.8.6.4.2.2.4.6.8 1 1.2 1.4 x 4.21 Mc16 32

4.4 4.4,.,. 4.4.1,. x t, p 1 x t = h n x t n + d t ɛ t n=1., h n, ɛ t σ 2 ɛ x t n (n = 1, 2,, p 1). x t d t h n,. w n, y t p p 1 y t = w n x t n n=., y t d t,., E[e 2 t ] = σ 2 ɛ + p 1 e t = d t y t = ɛ t + (h n w n )x t n p 1 n= m= n= p 1 (h n w n )(h m w m )E[x t n x t m ]. 2, w n = h n (n =, 1,, p 1)., E[e 2 t ] w n,., h n,.,, 33

4.4 4.22.,.,,. GPS,,,.,. 34

5 5.1,,.,., 3,.,.,,.,. 5.2, 3., 3., 3.,,.,, 35

5.2,.,,., GPS,..,.,,. 36

,,,. 2,,.,,..,.,.,,. 2 4,,,,.,.,..,,, 3,.,..,,,. 37

[1],, RSSI,, USN, Vol.17, No.294, 27. [2],,, AOA,, RCS, Vol.19, No.15, 29. [3],, TOA NLOS,, USN, Vol.111, No.263, 211. [4],, TDOA,, A, Vol.J89-A, No.12, 26. [5],,,,,, US, Vol.11, No.91, 21. [6],,,,,, MoMuC, Vol.17, No.517, 28. [7],,, 24. [8],,, 2. 38