2F19475-PCT
`
`Title of Invention
`
`DESCRIPTION
`
`ESTIMATION AND IDENTIFICATION DEVICE AND
`
`ESTIMATION AND
`
`IDENTIFICATION SYSTEM
`
`Technical Field
`
`[0001] The present disclosure relates to an estimation and identification apparatus, and an
`
`estimation and identification system.
`
`10
`
`Background
`
`Art
`
`[0002] Received
`
`Signal Strength
`
`Indicator
`
`(RSSI) fingerprinting
`
`is known as a
`
`technique
`
`of estimating positions of radio communication terminals.
`
`[0003] Non Patent Literature
`
`(hereinafter,
`
`referred to as
`
`“NPL”’)
`
`|
`
`discloses, for
`
`example,
`
`the following technique using
`
`RSSI
`
`fingerprints. The RSSI
`
`fingerprints
`
`are collected in
`
`15
`
`advance from access
`
`points around a radio communication terminal
`
`to be a
`
`target of
`
`position estimation,
`
`and
`
`registered
`
`in a database.
`
`The
`
`position
`
`of
`
`the radio
`
`communication terminal
`
`is estimated by pattern matching between RSSI
`
`fingerprints
`
`collected
`
`during
`
`the
`
`position
`
`estimation of the radio communication terminal and the RSSI
`
`fingerprints registered
`
`in the database.
`
`20
`
`Citation List
`
`Non-Patent Literature
`
`[0004]
`
`NPL 1
`
`25
`
`Helena Leppakoski, Sija Tikkinen and Jarmo Takala, “Optimizing Radio Map for WLAN
`
`Fingerprinting’,
`
`International Conference on
`
`Ubiquitous Positioning
`
`Indoor
`
`Navigation
`
`

`

`2F19475-PCT
`
`and Location Based Service, pp. 1-8
`
`(online),
`
`DOI:
`
`10.1109/UPINLBS.2010.5654332(2010).
`
`Summary
`
`of Invention
`
`Technical Problem
`
`[0005] One
`
`non-limiting
`
`and
`
`exemplary
`
`embodimentfacilitates
`
`providing
`
`an
`
`improved
`
`estimation and identification apparatus
`
`that estimates positions of a
`
`plurality of
`
`identification targets, and identifies the
`
`plurality
`
`of identification targets.
`
`10
`
`Solution to Problem
`
`[0006]
`
`An estimation and identification apparatus according
`
`to an embodiment of the
`
`present disclosure adopts
`
`a
`
`configuration including:
`
`a
`
`plurality of tracking devices, each of
`
`which in
`
`operation,
`
`emits an
`
`electromagnetic
`
`wave or a sound wave, and detects a
`
`position
`
`of an identification target holding
`
`a radio communication terminal, based on a reflected
`
`15
`
`wave of the electromagnetic
`
`wave or the sound wave
`
`by the identification target;
`
`a
`
`plurality
`
`of
`
`radio communication devices,
`
`each of which in
`
`operation, performs
`
`radio
`
`communication with the radio communication terminal, and receives identification
`
`information of the radio communication terminal from the radio communication terminal;
`
`and analysis circuitry, which, in
`
`operation, identifies the identification target and estimates
`
`20
`
`the position of the identification target, based on a result of the radio communication, the
`
`detected
`
`position
`
`of the identification target, and the identification information.
`
`[0007] An estimation and identification system according
`
`to an embodiment of the
`
`present disclosure
`
`adopts
`
`a
`
`configuration including:
`
`the estimation and identification
`
`apparatus according
`
`to the present disclosure;
`
`and one or a
`
`plurality of
`
`radio
`
`25
`
`communication terminals that are
`
`capable of performing radio communication with one or
`
`the
`
`plurality
`
`of radio communication devices included in the estimation and identification
`
`

`

`2F19475-PCT
`
`apparatus, and that transmit
`
`specific
`
`identification information to at least one of the
`
`plurality of radio communication devices.
`
`[0008]
`
`It should be noted that general
`
`or
`
`specific embodiments may be implemented
`
`as a
`
`system,
`
`an
`
`apparatus,
`
`a
`
`method,
`
`an
`
`integrated circuit,
`
`a
`
`computer program,
`
`a
`
`storage
`
`medium,
`
`or any selective combination thereof.
`
`Advantageous Effects of Invention
`
`[0009] According
`
`to an embodimentof the present disclosure, it is
`
`possible
`
`to
`
`provide
`
`an
`
`improved estimation and identification apparatus that estimates positions of a
`
`plurality of
`
`10
`
`identification targets, and identifies the plurality of identification targets.
`
`[0010] Additional benefits and
`
`advantages
`
`of the disclosed embodiments will become
`
`apparent from the specification and drawings. The benefits and/or advantages may be
`
`individually
`
`obtained
`
`by
`
`the various embodiments and features of the
`
`specification
`
`and
`
`drawings, which need not all be provided
`
`in order to obtain one or more of such benefits
`
`15
`
`and/or advantages.
`
`Brief Description of Drawings
`
`[0011]
`
`FIG 1 illustrates an
`
`exemplary estimation and identification system;
`
`20
`
`FIG 2 illustrates an
`
`exemplary usage of the estimation and identification system;
`
`FIG 3 is a flow chart
`
`describing
`
`an
`
`exemplary operation
`
`of an estimation and
`
`identification apparatus according
`
`to Embodiment1;
`
`FIG 4A illustrates
`
`a detection
`
`operation
`
`of
`
`tracking
`
`devices
`
`according
`
`to
`
`Embodiment 1;
`
`25
`
`FIG. 4B illustrates an estimation operation of radio communication devices
`
`according
`
`to Embodiment1;
`
`

`

`2F19475-PCT
`
`FIG 4C illustrates an
`
`analysis operation
`
`of an
`
`analyzer according
`
`to Embodiment 1;
`
`FIG 5 is a flow chart describing
`
`an
`
`exemplary operation for step $150 in FIG. 3;
`
`FIG 6 is a flow chart describing
`
`an
`
`exemplary operation for step $210 in FIG. 5;
`
`FIG. 7A illustrates an
`
`exemplary linking operation
`
`between a
`
`target and a radio
`
`communication terminal in the flow chart in FIG. 6;
`
`FIG. 7B illustrates another
`
`exemplary linking operation
`
`betweenthe targets and the
`
`radio communication terminals in the flow chart in FIG. 6;
`
`FIG. 8 is a flow chart
`
`describing
`
`another
`
`exemplary operation
`
`for step $210 in FIG.
`
`10
`
`FIG. 9A illustrates an
`
`exemplary linking operation between a
`
`target and radio
`
`communication terminals in the flow chart in FIG. 8;
`
`FIG. 9B illustrates another exemplary linking operation between the targets and the
`
`radio communication terminals in the flow chart in FIG, 8;
`
`FIG. 9C illustrates still another exemplary linking operation between the targets and
`
`15
`
`the radio communication terminals in the flow chart in FIG 8;
`
`FIG. 10Aillustrates still another
`
`exemplary linking operation
`
`betweenthe targets and
`
`the radio communication terminals in the flow chart in FIG 8;
`
`FIG. 10B illustrates still another
`
`exemplary linking operation
`
`betweenthe targets and
`
`the radio communication terminals in the flow chart in FIG 8;
`
`20
`
`FIG, 10C illustrates still another exemplary linking operation between the targets and
`
`the radio communication terminals in the flow chart in FIG 8;
`
`FIG, 11A illustrates still another exemplary linking operation between the targets and
`
`the radio communication terminals in the flow chart in FIG, 8;
`
`FIG, 11B illustrates still another exemplary linking operation between the targets and
`
`25
`
`the radio communication terminals in the flow chart in FIG, 8;
`
`FIG. 11C illustrates still another
`
`exemplary linking operation
`
`between the targets and
`
`

`

`2F19475-PCT
`
`the radio communication terminals in the flow chart in FIG. 8;
`
`FIG, 11D illustrates still another exemplary linking operation between the targets and
`
`the radio communication terminals in the flow chart in FIG, 8;
`
`FIG 11E illustrates still another
`
`exemplary linking operation
`
`betweenthe targets and
`
`the radio communication terminals in the flow chart in FIG. 8;
`
`FIG 11F illustrates still another
`
`exemplary linking operation
`
`between the targets and
`
`the radio communication terminals in the flow chart in FIG 8;
`
`FIG. 12 is a flow chart
`
`describing
`
`an
`
`exemplary operation
`
`of an estimation and
`
`identification apparatus according
`
`to Embodiment2;
`
`10
`
`FIG. 13A illustrates a detection operation of tracking devices according
`
`to
`
`Embodiment2;
`
`FIG.
`
`13B illustrates an estimation operation of radio communication devices
`
`according
`
`to Embodiment2;
`
`FIG. 13C illustrates combinations of detection results and estimation results
`
`15
`
`according
`
`to Embodiment 2; and
`
`FIG. 13D illustrates another estimation
`
`operation
`
`of the radio communication device
`
`according
`
`to Embodiment 2.
`
`Description of Embodiments
`
`20
`
`[0012] There have been growing expectations
`
`in
`
`preschools and daycare that observing
`
`activity history
`
`of individual children and
`
`figuring
`
`out events in which the children
`
`expressed strong interest,
`
`for example,
`
`can contribute to
`
`supporting their healthier
`
`development. However,
`
`it is not easy for a man or machine to
`
`distinguish among
`
`a
`
`plurality of children with similar physique
`
`or
`
`clothing and keep trackingtheir activities.
`
`25
`
`[0013] With the technique disclosed in NPL 1, having individual children as observation
`
`targets respectively
`
`wear radio communication terminals allows
`
`estimating
`
`and
`
`identifying
`
`

`

`2F19475-PCT
`
`locations of the children
`
`by estimating positions
`
`of the radio communication terminals and
`
`identifying the radio communication terminals.
`
`It is difficult, however,
`
`to estimate the
`
`positions of the radio communication terminals with accuracy required for the observation
`
`of
`
`“activity history”
`
`even with the
`
`technique
`
`disclosed in NPL 1.
`
`In addition,
`
`the
`
`positions of radio communication terminals estimated by the technique disclosed in NPL 1
`
`are limited to
`
`positions
`
`where RSSI
`
`fingerprints
`
`have been
`
`registered
`
`in a database.
`
`It is
`
`thus required
`
`to
`
`register the RSSI
`
`fingerprints
`
`in the database in many places
`
`in order to
`
`improve
`
`the
`
`position
`
`estimation accuracy.
`
`Further, studies have been carried out on
`
`increase in cost due to
`
`updating the reference database according
`
`to a
`
`change of the indoor
`
`10
`
`environment and difficulty
`
`in
`
`estimating positions with high accuracy using
`
`a few access
`
`points.
`
`[0014]
`
`(Embodiment1)
`
`Hereinafter, embodiments of the present disclosure will be described in detail with
`
`reference to the accompanying drawings.
`
`15
`
`[0015]
`
`[Configuration of Estimation and Identification System]
`
`FIG.
`
`1 illustrates an
`
`example
`
`of estimation and identification system 1. Estimation
`
`and identification system 1 includes estimation and identification apparatus 2, and one or
`
`more radio communication terminals 121.
`
`[0016]
`
`Estimation and identification apparatus 2 identifies an identification target
`
`20
`
`wearing (holding) radio communication terminal 121, and estimates a
`
`position of the
`
`identification target. The identification target (target T)
`
`here includes any reflector that
`
`reflects electromagnetic
`
`waves or sound waves, such as a person.
`
`Estimation and
`
`identification apparatus 2 includes controller
`
`(control circuitry) 10, tracker
`
`(tracking
`
`device
`
`group) 11, radio communicator (radio communication device group) 12, storage (storage
`
`25
`
`element) 13, and analyzer (analysis circuitry)
`
`14.
`
`[0017] Controller 10 controls
`
`operations
`
`of tracker 11, radio communicator 12, storage
`
`

`

`2F19475-PCT
`
`13, and
`
`analyzer 14, and
`
`implements
`
`functions of estimation andidentification apparatus 2.
`
`Controller 10 is, for example,
`
`a processor that reads and executes programs from storage
`
`13.
`
`[0018] Tracker 11 emits
`
`electromagnetic
`
`waves or sound waves, measures reflected
`
`waves of the electromagnetic
`
`of the
`
`plurality
`
`of reflectors
`
`(such
`
`waves or sound waves bythe reflectors, and detects positions
`position may be referred to as a “detection
`
`a
`
`position’).
`
`Tracker 11 includes one or more
`
`tracking devices 110. One or more
`
`tracking devices 110
`
`each detect directions of one or more
`
`targets T. The directions of one or more
`
`targets T
`
`may be detected by single tracking device 110, and the position of target T may be detected
`
`10
`
`by combining direction detection results from a
`
`plurality of tracking devices 110, for
`
`example, using
`
`a
`
`principle
`
`of
`
`triangulation. Tracking
`
`device 110
`
`is, for
`
`example,
`
`a
`
`radar,
`
`a time of flight (TOF) sensor, or a sonar. The radar is a millimeter wave radar with a
`
`resolution of a few centimeters, for
`
`example.
`
`[0019]
`
`Radio communicator 12 estimates presence ranges of one or more radio
`
`15
`
`communication terminals 121
`
`(such
`
`a range may be referred to as an “estimated presence
`
`range”).
`
`Radio communicator 12 includes a
`
`plurality
`
`of radio communication devices
`
`(access points (APs))
`
`120.
`
`In addition, radio communicator 12
`
`acquires identification
`
`information of radio communication terminal 121 via radio communication. Radio
`
`communication device 120 is radio communication equipment using, for example, low
`
`20
`
`power communication using the 920 MHz band, IEEE 802.15.4, Zigbee using the 2.4 GHz
`
`band, Bluetooth
`
`(registered trademark), proximity specific
`
`Bluetooth Low
`
`Energy (BLE),
`
`a
`
`wireless LAN
`
`(IEEE 802.11b/g/n),
`
`a wireless LAN
`
`(IEEE 802.11a/ac)
`
`or DSRC
`
`using the
`
`5 GHz band,
`
`a wireless LAN
`
`(IEEE 802.11ad) using
`
`the 60 GHz band,a private PHS, LTE,
`
`or millimeter wave radio communication.
`
`25
`
`[0020] By way of example, radio communicator 12 and radio communication terminal
`
`121 may include the first mode
`
`communication
`
`(a
`
`mode)
`
`with a wider coverage
`
`area and
`
`

`

`2F19475-PCT
`
`the second mode
`
`(a position
`
`estimation
`
`mode)
`
`with a narrower
`
`coverage
`
`area.
`
`For
`
`example, radio communicator 12 operates in the second mode when analyzer
`
`14
`
`performs
`
`linking processing, and radio communicator 12 operates in the first mode for other
`
`communication.
`
`[0021]
`
`Storage
`
`13 stores a result of the linking by analyzer
`
`14. By way of example,
`
`storage 13 stores a result of
`
`ranking by analyzer
`
`14.
`
`By way of
`
`example, storage 13
`
`stores programs to be executed in estimation and identification apparatus 2.
`
`Storage
`
`13 is,
`
`for
`
`example,
`
`a semiconductor memory.
`
`[0022]
`
`Analyzer
`
`14 combines information indicating the detection positions and
`
`10
`
`information indicating the estimated presence ranges with each other, and links the
`
`detection
`
`positions
`
`of one or more
`
`targets T with one or more radio communication
`
`terminals 121.
`
`Analyzer
`
`14 is, for example,
`
`a processor that reads and executes programs
`
`from storage 13. Hereinafter,
`
`linking
`
`the detection
`
`position
`
`of target T with radio
`
`communication terminal
`
`121 is
`
`simply referred to as
`
`linking target T with radio
`
`15
`
`communication terminal 121 for convenience. The linking will be described later with
`
`reference to FIGS. 5 to 11F.
`
`[0023] As will be described later,
`
`target T wears radio communication terminal 121
`
`corresponding
`
`to the target T.
`
`In
`
`addition,
`
`target T is identifiable
`
`by
`
`identification
`
`information of radio communication terminal 121.
`
`Using these facts, analyzer
`
`14
`
`20
`
`identifies who target T is by the identification information and estimates in which position
`
`target T is located
`
`by
`
`the detection
`
`position,
`
`based on one-to-one
`
`linking.
`
`The accuracy of
`
`the position estimation corresponds
`
`to the accuracy according
`
`to the resolution of the radar.
`
`[0024] By way of
`
`example, analyzer
`
`14 ranks a
`
`plurality
`
`of links between the detection
`
`positions of one or more
`
`targets T and one or more radio communication terminals 121.
`
`25
`
`The ranking will be described later in detail with reference to FIG 3.
`
`[0025] By way of
`
`example, analyzer
`
`14 may figure
`
`out behavioral characteristics of
`
`

`

`2F19475-PCT
`
`specific
`
`individuals based on information stored in storage 13. For
`
`example, analyzer
`
`14
`
`extracts information such as who (target Tl) has spent
`
`a
`
`long time around whom (target
`
`T2), and who(target T3) has spent
`
`a
`
`long time where, from a
`
`history of the links and the
`
`ranking
`
`stored in storage 13. The extracted information can be used for
`
`analysis
`
`of
`
`interest of the children (targets T), for example. The behavioral characteristics may be
`
`analyzed by analyzer
`
`14 or
`
`another computer
`
`by
`
`notillustrated in FIG. 1.
`
`[0026]
`
`Radio communication terminal 121 is a communication terminal
`
`that can
`
`communicate with radio communication device 120
`
`radio. Radio communication
`
`by
`
`terminal 121 is, for example,
`
`a mobile node such as a
`
`smartphone,
`
`an RFID
`
`tag,
`
`a radio tag,
`
`10
`
`or an IC tag. Radio communication terminal 121 includes identification information
`
`specific
`
`to this radio communication terminal 121, and transmits the identification
`
`information to estimation and identification apparatus 2 via radio communication. As
`
`illustrated in FIG.
`
`1,
`
`targets T hold radio communication terminals 121
`
`respectively
`
`corresponding
`
`to the targets T, and targets T are identifiable by the identification
`
`15
`
`information of radio communication terminals 121 worn
`
`by thetargets T.
`
`[0027] By way of
`
`example,
`
`radio communication terminal 121 may transmit the RSSI
`
`transmitted from radio communication device 120 to estimation and identification
`
`apparatus 2 via radio communication. Radio communication terminal 121 is radio
`
`communication equipment using, for example, the low power communication using the
`
`20
`
`920 MHz band, IFEEF 802.15.4, Zigbee using the 2.4 GHz band, Bluetooth, the wireless
`
`LAN
`
`(IEEE 802.11b/g/n),
`
`the wireless LAN
`
`(IEEE 802.11a/ac)
`
`or DSRC
`
`the 5 GHz
`
`using
`
`band, the wireless LAN
`
`(IEFE 802.11ad) using the 60 GHz band, the private PHS,
`
`or LTE.
`
`[0028]
`
`[Exemplary Usage of Estimation and Identification System]
`
`FIG 2 illustrates an
`
`exemplary usage of estimation and identification system 1.
`
`To
`
`25
`
`be more
`
`specific,
`
`FIG 2 describes a use case of identifying where and whoa
`
`plurality of
`
`children are in a classroom of a
`
`preschool using
`
`estimation and identification system 1
`
`

`

`2F19475-PCT
`
`according
`
`to the present disclosure.
`
`[0029] FIG 2 illustrates tracker 11 and six radio communication devices 120
`
`to
`
`(API
`
`AP6) among the components of estimation and identification apparatus 2. The children
`
`(targets
`
`Tl to
`
`T4) respectively
`
`wear radio communication terminals 121
`
`(mobile
`
`nodes
`
`MN1 to MN4)
`
`placed
`
`in their own name
`
`tags.
`
`[0030]
`
`In FIG 2, the radar
`
`serving
`
`as tracker 11 tracks targets Tl to T4
`
`by keeping
`
`detecting the positions of targets T1 to T4 in the classroom. However, tracker 11 does not
`
`identify
`
`who targets T1 to T4 are while
`
`determining
`
`whethertargets T1 to T4 are
`
`people.
`
`[0031] AP1 to AP6 in FIG 2
`
`respectively have coverage areas R1 to RO surrounded by
`
`10
`
`broken lines illustrated in FIG. 2.
`
`In other words, mobile nodes MN1 to MN4can each
`
`communicate with AP1 to AP6 when the mobile nodes enter coverage
`
`areas R1 to R6.
`
`That is, API to AP6 can
`
`figure
`
`out which mobile nodes MN1 to MN4are in
`
`respective
`
`coverage
`
`areas R1 to RO.
`
`[0032] Here, in a case where radio communicator 12 and radio communication terminals
`
`15
`
`121 have the first mode (the communication mode) and the second mode (the position
`
`estimation
`
`mode),
`
`radio communicator 12 and radio communication terminals 121 may
`
`select the second mode to narrow the coverage areas in order to
`
`improve the position
`
`estimation accuracy.
`
`[0033] However,
`
`the resolution of radio communication devices 120 to estimate the
`
`20
`
`positions of mobile nodes MN1 to MN4 is coarser than that of the radar even with the
`
`second mode.
`
`[0034] Thus, estimation and identification apparatus 2 combines the detection results of
`
`tracker 11 with the estimation results of radio communication devices 120 to
`
`identify
`
`mobile nodes MN1 to MN4 worn
`
`by targets T1 to T4, and detects the positions of targets
`
`25
`
`T1 to T4
`
`wearing mobile nodes MN1 to MN4with the resolution of the radar.
`
`[0035]
`
`[Operation
`
`of Estimation and Identification
`
`Apparatus]
`
`10
`
`

`

`2F19475-PCT
`
`FIG 3 is a flow chart
`
`describing
`
`an
`
`exemplary operation
`
`of estimation and
`
`identification apparatus 2
`
`according
`
`to Embodiment |. By way of example, controller 10
`
`controls operations of tracker 11, radio communicator 12, storage 13, and analyzer
`
`14 in
`
`accordance with the flow chart illustrated in FIG 3. The
`
`processing
`
`in the flow chart
`
`illustrated in FIG. 3 may be performed repeatedly.
`
`[0036]
`
`In step S110,
`
`tracker 11 detects the
`
`position
`
`of target T
`
`by
`
`the radar.
`
`For
`
`example, tracker 11 extracts what appears to be a person from a measurement result by
`
`signal processing
`
`of the radar, and
`
`recognizes
`
`the extracted
`
`object
`
`as
`
`target T. At this
`
`point, estimation and identification apparatus 2
`
`figures
`
`out the position of target T with the
`
`10
`
`resolution of the radar using tracker 11.
`
`[0037]
`
`In step $120, radio communicator 12
`
`acquires
`
`the identification information of
`
`radio communication terminal 121
`
`by radio communication. By way of example, radio
`
`communicator 12 operates in the first mode
`
`(the
`
`communication
`
`mode) during step $120.
`
`[0038]
`
`In step S130, radio communicator 12 estimates the presence range of radio
`
`15
`
`communication terminal 121
`
`by radio communication. The estimated presence range is,
`
`for
`
`example,
`
`a
`
`coverage
`
`area of one of radio communication devices 120 included in radio
`
`communicator 12.
`
`For
`
`example,
`
`radio communicator 12 determines whether radio
`
`communication terminal 121 is included in the coverage
`
`area of radio communication
`
`device 120 based on whether radio communication device 120 has received a radio signal
`
`20
`
`including the identification information from radio communication terminal 121. By way
`
`of
`
`example,
`
`radio communicator 12 operates in the second mode
`
`(the position
`
`estimation
`
`mode) during step $130. At this point, estimation and identification apparatus 2
`
`figures
`
`out which radio communication terminal 121
`
`(whose
`
`radio communication terminal
`
`is
`
`121)
`
`in the coverage area
`
`using radio communicator12.
`
`25
`
`[0039] By way of example, radio communication device 120 that has no
`
`target T detected
`
`in its coverage
`
`area
`
`may be put
`
`to
`
`sleep
`
`in step S120 and the
`
`subsequent step S130. This
`
`11
`
`

`

`2F19475-PCT
`
`reduces unnecessary interference and power consumption.
`
`As another
`
`example,
`
`radio
`
`communicator
`
`12 may configure the directivity
`
`in a direction in which radio
`
`communication terminal 121 is assumed to be present, in step $130.
`
`[0040]
`
`In step S140, in a case where storage 13 stores a result of the
`
`linking
`
`from the
`
`previous performance of the procedure
`
`in the flow chart, analyzer
`
`14 unlinks the terminal
`
`from target T whose detected
`
`position
`
`is not included in the estimated presence range of the
`
`terminal.
`
`[0041]
`
`In step $150, analyzer
`
`14 links/unlinks radio communication terminal 121
`
`with/from target T whose detected position is not included in the estimated presence range
`
`10
`
`of the terminal based on the position, and ranks the link. Analyzer
`
`14 may refer,
`
`as
`
`necessary, to the results of the
`
`linking
`
`and
`
`unlinking
`
`and the results of the
`
`ranking
`
`stored in
`
`storage 13
`
`during the previous performance.
`
`At this point, for target T linked one-to-one,
`
`analyzer
`
`14
`
`figures
`
`out who target T is
`
`by
`
`the identification information and at which
`
`position target T is located with the resolution of the radar. The processing
`
`in step $150
`
`15
`
`will be described later with reference to FIG. 5.
`
`[0042]
`
`In step S160, storage 13 stores the results of the
`
`linking
`
`and
`
`unlinking,
`
`and the
`
`results of the ranking. Referring
`
`to the results of the linking stored in storage 13 allows
`
`figuring
`
`out who target T
`
`is, and
`
`referring
`
`to the results of the
`
`ranking
`
`allows
`
`figuring
`
`out
`
`whotarget Tis likely tobe. The procedure is completed thereafter.
`
`20
`
`[0043] By way of example, the repetition may be performed
`
`at
`
`predetermined intervals.
`
`In another
`
`example,
`
`controller 10 may confirm that target T detected
`
`tracker 11 in step
`
`by
`
`$110 has moved to a
`
`predetermined position (e.g.,
`
`a
`
`private locker) before proceeding the
`
`processing
`
`to
`
`step $120. Controller 10 may also confirm that target T detected
`
`tracker
`
`by
`
`11 in step $110 is at a
`
`predetermined position (e.g., the entrance and exit of the room)
`
`25
`
`before proceeding the processing
`
`to step $120.
`
`In this way, estimation and identification
`
`apparatus 2 can increase the
`
`probability
`
`of
`
`linking
`
`one-to-one between certain target T and
`
`12
`
`

`

`2F19475-PCT
`
`radio communication terminal 121 worn
`
`the certain target T when the certain target T
`
`by
`
`moves away from anothertargetT.
`
`[0044] FIG 4A illustrates a detection operation of tracking devices 110
`
`according
`
`to
`
`Embodiment 1.
`
`FIG 4B illustrates an estimation
`
`operation
`
`of radio communication
`
`devices 120
`
`according
`
`to Embodiment1.
`
`[0045] FIG 4Aillustrates that two
`
`tracking
`
`devices 110
`
`(110-1
`
`and
`
`110-2),
`
`which are
`
`millimeter wave
`
`radars, detect locations of people (targets
`
`Tl and T2). The millimeter
`
`waveradars enable detection of
`
`positions
`
`rl and r2 of targets T1 and T2 with the resolution
`
`of a few centimeters, for example.
`
`10
`
`[0046]
`
`FIG. 4B illustrates how locations of target Tl
`
`(e.g., JAMES) wearing radio
`
`communication terminal 121
`
`(mobile
`
`node
`
`MN1)
`
`and target T2
`
`(e.g., MARY) wearing
`
`radio communication terminal
`
`121
`
`(mobile node MN2)
`
`are estimated using radio
`
`communication devices 120
`
`to
`
`(API
`
`AP9). According
`
`to AP1 to
`
`AP9, it can be estimated
`
`that the position of mobile node MN1 worn
`
`by
`
`JAMES is included in coverage area R1 of
`
`15
`
`APS, and the position of mobile node MN2 worn
`
`by
`
`MARYis included in coverage area
`
`R2 of AP9, for
`
`example.
`
`However,it is difficult for AP1 to AP9 to estimate the
`
`positions
`
`of mobile node MN1 worn
`
`by
`
`JAMES and mobile node MN2 worn
`
`MARYwith as
`
`by
`
`high
`
`resolution as the millimeter wave radars.
`
`[0047] FIG 4C illustrates an
`
`analysis operation of analyzer
`
`14
`
`according
`
`to Embodiment
`
`20
`
`1.
`
`[0048] Using
`
`the fact
`
`that
`
`targets Tl and T2 hold mobile nodes MN1 and MN2
`
`respectively, the detection results of tracking devices 110-1 and 110-2
`
`(millimeter
`
`wave
`
`radars)
`
`can be combined with the estimation results of AP1 to AP9
`
`(results
`
`estimated
`
`using
`
`RSSI, RSSI
`
`fingerprints, determination of whether radio communication is possible, etc.),
`
`25
`
`as illustrated in FIG. 4C. The combination of such results allows identifying targets T1
`
`and T2 as JAMES and MARY
`respectively,
`
`and
`
`estimating
`
`the
`
`positions
`
`of JAMES and
`
`13
`
`

`

`2F19475-PCT
`
`MARY with a resolution
`
`higher
`
`than the resolution of
`
`position
`
`estimation
`
`radio
`
`by
`
`communication. Note that, although
`
`two
`
`tracking devices 110
`
`(110-1 and 110-2) and nine
`
`radio communication devices 120
`
`(AP1
`
`to
`
`AP9)
`
`are illustrated in FIG. 4C, the numbers of
`
`tracking
`
`devices 110 and radio communication devices 120 are not limited thereto.
`
`[0049] FIG 5 isa flow chart describing
`
`an
`
`exemplary operation for step $150 in FIG 3.
`
`[0050]
`
`In step $210, analyzer
`
`14 links target T with radio communication terminal 121
`
`based on the position (the detection position) where target T is detected and the range(the
`
`estimated presence range)
`
`where radio communication terminal 121 is estimated to be
`
`present. The linking processing will be described later with reference to FIG. 6 and the
`
`10
`
`subsequent figures.
`
`[0051]
`
`For target Tl
`
`for which radio communication terminal 121-1 is identified,
`
`analyzer
`
`14 unlinks radio communication terminal 121-1 from another target T2, and
`
`unlinks target Tl from another radio communication terminal 121-2 in step $220. Here,
`
`target T1 for which radio communication terminal 121-1 is identified is target T with which
`
`15
`
`radio communication terminal 121 is linked one-to-one. The previous
`
`link is updated
`
`with the latest link in this manner.
`
`[0052]
`
`In step 8230, analyzer
`
`14 ranks the probability of the links with radio
`
`communication terminal 121 based on the results of the detection and the estimation for
`
`targets T for which radio communication terminals 121 are not identified. By way of
`
`20
`
`example, analyzer
`
`14
`
`weights the links between targets T for which radio communication
`
`terminals 121 are not identified and the terminals, in order to reflect the accuracy of the
`
`linking. Analyzer
`
`14 then ranks, based on the weighting, radio communication terminals
`
`121
`
`respectively
`
`linked with targets T in the order of the
`
`probability
`
`of
`
`being
`
`held
`
`by
`
`respective targets T.
`
`25
`
`[0053] For
`
`example, analyzer
`
`14
`
`gives
`
`a score that reflects the accuracy of the linking
`
`to
`
`the links, and ranks the links based on the
`
`previous
`
`scores. For
`
`example,
`
`the
`
`higher
`
`the
`
`14
`
`

`

`2F19475-PCT
`
`sum of the
`
`previous
`
`scores are, the
`
`higher
`
`the ranking
`
`is
`
`for the link.
`
`[0054]
`
`Predetermined points corresponding
`
`to the linked time may be added to or
`
`subtracted from the previous
`
`scores. For
`
`example, predetermined points may be added to
`
`the latest score, and
`
`predetermined points may be subtracted from the score after a
`
`to the
`
`In addition, predetermined points corresponding
`predetermined time has elapsed.
`frequency may be addedto or subtracted from the score. For
`
`example,
`
`more
`
`points may
`
`be added to the score for the link with high frequency of occurrence.
`
`Further,
`
`predetermined points corresponding
`
`to the detection
`
`position
`
`of target T may be added to or
`
`subtracted from the score. For
`
`example, the predetermined points may be added to the
`
`10
`
`score when the detection position is where individuals are
`
`expected
`
`to be more
`
`easily
`
`identified
`
`a
`
`(e.g.,
`
`private locker).
`
`This makes it
`
`possible
`
`to further
`
`improve
`
`the accuracy
`
`of individual estimation.
`
`[0055] Furthermore, determination criteria for the linked time,
`
`the
`
`position,
`
`and the
`
`frequency of occurrence of the link described above may be based on, for example,
`
`a
`
`15
`
`relation between a person (target T) and an
`
`object whose position is known. Examples of
`
`the relation include,
`
`for
`
`example,
`
`a relation about
`
`private lockers,
`
`a relation about
`
`individual desks and chairs,
`
`a relation about changing
`
`rooms and rest rooms, and a relation
`
`about
`
`places
`
`for handkerchiefs. Herein, the relation about
`
`private
`
`lockers includes that
`
`target T is likely
`
`to stop by his/her locker in the morning and before leaving for home, and
`
`20
`
`that target T goes to the locker to
`
`pick up tools for a craft class. The relation about
`
`individual desks and chairs includes that target Tis at his/her desk and chair
`
`a class.
`
`during
`
`The relation about changing
`
`rooms and rest rooms includes that boys
`
`use
`
`boys’
`
`room and
`
`use
`
`girls
`
`girls'
`
`room. The relation about
`
`places
`
`for handkerchiefs includes that target T
`
`frequently goes to a
`
`place for his/her handkerchief.
`
`25
`
`[0056] By way of example, tracker 11 measures
`
`physical characteristics (e.g., height and
`
`size)
`
`?
`of target T, and behavioral characteristics
`
`(e.g., walking speed
`
`and arm
`
`swing)
`
`of
`
`15
`
`

`

`2F19475-PCT
`
`target T.
`
`Analyzer
`
`14 may add
`
`points
`
`to or subtract
`
`points
`
`from the score
`
`to the
`
`given
`
`links based on the physical
`
`or behavioral characteristics of targets T.
`
`[0057] The processing ends after step $230.
`
`[0058]
`
`[Basic Linking Operation]
`
`In a case where targets T in a room each wear
`
`single radio communication terminal
`
`121, the numberof targets T matches the number of radio communication terminals 121 in
`
`the room. With this regard,
`
`a
`
`description will be given below of an
`
`operation of linking
`
`radio communication terminals 121 with the same number of targets T on a one-to-one
`
`basis (may be referred to as a “basic linking operation” for convenience)
`
`in step 8210.
`
`10
`
`[0059] FIG 6 is a flow chart describing
`
`an
`
`exemplary operation for step S210 in FIG 5.
`
`In the
`
`exemplary operation
`
`for step S210, radio communication terminals 121 are linked
`
`one-to-one with targets T.
`
`[0060]
`
`In step $310, analyzer
`
`14 selects radio communication device 120 to be
`
`processed.
`
`In the exemplary operation illustrated in FIG. 6, analyzer
`
`14
`
`performs the linking operation
`
`15
`
`for each coverage area of radio communication device 120.
`
`[0061]
`
`In step S320, analyzer
`
`14 extracts radio communication terminal 121 that is
`
`included in the coverage area of selected radio communication device 120, and not linked
`
`with any of targets T whose detection
`
`positions
`
`are included in the coverage
`
`area of
`
`selected radio communication device 120. Here, whether radio communication terminal
`
`20
`
`121 is included in the coverage are of radio communication device 120 is determined by
`
`analyzer
`
`14 based on information received from radio communicator 12. The information
`
`indicates whether radio communication device 120 has received a radio signal (e.g.,
`
`a radio
`
`signal including
`
`the identification
`
`information)
`
`from radio communication terminal 121.
`
`[0062]
`
`In step S330, analyzer
`
`14 extracts target T whose detection position is included in
`
`25
`
`the coverage area of selected radio communication device 120, and not linked with any of
`
`radio communication terminals 121 in the coverage
`
`area of selected radio communication
`
`16
`
`

`

`2F19475-PCT
`
`device 120.
`
`[0063]
`
`In step $340, analyzer
`
`14 determines whether the number of extracted radio
`
`communication terminals 121 and the number of extracted targets T are both equal
`
`to 1.
`
`That is, it is determined whether radio communication terminal 121 and target T are linked
`
`one-to-one.
`
`[0064] When it
`
`is determined that
`
`the number of extracted radio communication
`
`terminals 121 and the numbe