Position detection system
A position detection system according to an embodiment of the present invention includes a plurality of fixed stations 20 ; and a sensor unit 10 including an inertial sensor that detects movement history of a mobile body 51 and a distance sensor that detects separation distances between the mobile body 51 and the fixed stations 20 . A position of the mobile body 51 is determined by detecting a first arrival position P 1 obtained based on the movement history, a second arrival position P 2 obtained based on the separation distances, and a relative distance L 1 between the first arrival position P 1 and the second arrival position P 2 , and by comparing a range value R 1 obtained based on the movement history with the relative distance L 1 . The range value R 1 is changed based on the movement history.
1. A position detection system comprising:
a plurality of fixed stations; and
a mobile body moving toward a target object, the mobile body having a sensor unit,
wherein the sensor unit includes:
an inertial sensor that detects a movement history of a mobile body, the movement history including a traveling angle and a moved distance of the mobile body;
a distance sensor that detects separation distances between the mobile body and the plurality of fixed stations based on RF communications between the sensor unit and the plurality of fixed stations; and
a controller that perform the following procedure repeatedly:
detecting a first arrival position based on the movement history of the mobile body,
detecting a second arrival position based on the separation distances,
detecting a relative distance between the first arrival position and the second arrival position,
comparing the relative distance with a range value which starts from a predetermined initial range value,
adopting the second arrival position as the position of the mobile body when the relative distance is less than or equal to the range value,
adopting the first arrival position as the position of the mobile body when the relative distance is greater than the range value,
checking if the adopted position has been changed from the first arrival position to the second arrival position,
increasing the range value by a predetermined amount when the adopted position has not been changed from the first arrival position to the second arrival position, and
resetting the range value to the initial range value when the adopted position has been changed from the first arrival position to the second arrival position.
2. The position detection system according to claim 1 , wherein the inertial sensor includes an angular velocity sensor that detects the traveling angle by detecting an angular velocity of the mobile body, and includes an acceleration sensor that detects the moved distance by detecting an acceleration of the mobile body.