Position determination device
A position determination device includes: a communication unit including communication devices to perform wireless communication with a mobile terminal 1 , the communication devices to repeatedly perform UWB communication for detecting a distance measurement value Vr, at least one of the communication devices being configured to repeatedly perform BLE communication for receiving the movement value Vm; a main position determination unit to determine a first coordinate position Pf(n) as a position of the mobile terminal, based on distance measurement values Vr; a sub-position determination unit to determine a second coordinate position Ps(n) as a position of the mobile terminal 1 , based on the movement value Vm; and a determination position setting unit to set any one of the first coordinate position Pf(n) and the second coordinate position Ps(n) as a determination coordinate position Pj(n) that is a current position of the mobile terminal.
1 . A position determination device comprising:
a communication unit including a plurality of communication devices configured to perform wireless communication with a mobile terminal including a movement detection unit configured to detect a movement value including a movement amount and a movement angle, each of the plurality of communication devices being configured to repeatedly perform first wireless communication for detecting a distance measurement value with respect to the mobile terminal, at least one of the plurality of communication devices being configured to repeatedly perform second wireless communication for receiving the movement value;
a main position determination unit configured to determine a first coordinate position, which is a position of the mobile terminal, based on a plurality of distance measurement values obtained by the first wireless communication;
a sub-position determination unit configured to determine a second coordinate position, which is a position of the mobile terminal, based on the movement value obtained by the second wireless communication; and
a determination position setting unit configured to set any one of the first coordinate position and the second coordinate position as a determination coordinate position that is a current position of the mobile terminal.
2 . The position determination device according to claim 1 , further comprising a drive control unit configured to control an in-vehicle apparatus included in a vehicle based on the determination coordinate position set by the determination position setting unit.
3 . The position determination device according to claim 1 , wherein when the movement amount obtained by the second wireless communication is larger than a predetermined threshold value, the sub-position determination unit sets a temporary coordinate position obtained by adding the movement amount to a last-time determination coordinate position set by the determination position setting unit.
4 . The position determination device according to claim 3 , wherein the sub-position determination unit determines the second coordinate position by correcting the temporary coordinate position based on a correction angle set based on two of the first coordinate positions continuously determined by the main position determination unit before this-time position determination and the movement angle detected by the movement detection unit.
5 . The position determination device according to claim 1 , wherein when the number of the distance measurement values obtained by the first wireless communication is equal to or larger than a set number and a this-time first coordinate position determined by the main position determination unit is appropriate, the determination position setting unit sets the this-time first coordinate position as the determination coordinate position.
6 . The position determination device according to claim 1 , wherein when the number of the distance measurement values obtained by the first wireless communication is less than a set number, the determination position setting unit sets the second coordinate position as the determination coordinate position.
7 . The position determination device according to claim 1 , wherein when determining that this-time first coordinate position determined by the main position determination unit is inappropriate, the determination position setting unit sets the second coordinate position as the determination coordinate position.
8 . The position determination device according to claim 7 , wherein the determination position setting unit determines whether the this-time first coordinate position is appropriate based on a last-time determination coordinate position set by the determination position setting unit and the this-time first coordinate position.
9 . The position determination device according to claim 2 , wherein when the movement amount obtained by the second wireless communication is larger than a predetermined threshold value, the sub-position determination unit sets a temporary coordinate position obtained by adding the movement amount to a last-time determination coordinate position set by the determination position setting unit.
10 . The position determination device according to claim 9 , wherein the sub-position determination unit determines the second coordinate position by correcting the temporary coordinate position based on a correction angle set based on two of the first coordinate positions continuously determined by the main position determination unit before this-time position determination and the movement angle detected by the movement detection unit.
11 . The position determination device according to claim 2 , wherein when the number of the distance measurement values obtained by the first wireless communication is equal to or larger than a set number and a this-time first coordinate position determined by the main position determination unit is appropriate, the determination position setting unit sets the this-time first coordinate position as the determination coordinate position.
12 . The position determination device according to claim 2 , wherein when the number of the distance measurement values obtained by the first wireless communication is less than a set number, the determination position setting unit sets the second coordinate position as the determination coordinate position.
13 . The position determination device according to claim 2 , wherein when determining that this-time first coordinate position determined by the main position determination unit is inappropriate, the determination position setting unit sets the second coordinate position as the determination coordinate position.
14 . The position determination device according to claim 13 , wherein the determination position setting unit determines whether the this-time first coordinate position is appropriate based on a last-time determination coordinate position set by the determination position setting unit and the this-time first coordinate position.