GB2352348A - Portable GPS/deadreckoning distance/speed meter - Google Patents
Portable GPS/deadreckoning distance/speed meter Download PDFInfo
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- GB2352348A GB2352348A GB0010715A GB0010715A GB2352348A GB 2352348 A GB2352348 A GB 2352348A GB 0010715 A GB0010715 A GB 0010715A GB 0010715 A GB0010715 A GB 0010715A GB 2352348 A GB2352348 A GB 2352348A
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- Prior art keywords
- travel
- distance
- user
- calculated
- stride
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
- G01C22/006—Pedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
- G01C22/02—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers by conversion into electric waveforms and subsequent integration, e.g. using tachometer generator
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/19—Sporting applications
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Measurement Of Distances Traversed On The Ground (AREA)
- Navigation (AREA)
Abstract
A portable distance/speed meter has two methods 16,18 of calculating the travel speed or travel distance of a user. The first method, using GPS signals received 10 from the GPS satellite system, is used when a reception state of the GPS transmissions is judged 12 to be good, while when the reception state is judged to be poor, the travel distance and speed is calculated using a second method 18, based on stride data acquired earlier, and stored in storage means 17. The stride data may be inputted by the user via inputting means 22. In this, the stride length of the user, and the number of steps measured using body movement detecting means 11 are used to calculate the travel speed and travel distance. The device may be particularly used by walkers or runners in the form of a compact wristwatch with the information displayed by display means 23.
Description
2352348 Portable GPS Type Distance Meter, Portable GPS Type Distance/Speed
Meter,. .,,and a Method of Measuring Distance and Speed The present invention relates to a highly reliable portable type distance meter and a portable type distance/speed meter capable of measuring a travel distance and a travel speed of a user, and to a method of measuring distance and speed. This is accomplished by selecting the optimum travel distance calculating method corresponding to a reception state of GPS radio wave in a situation where a small-scale device, such as a wrist watch, is structured with a distance/speed meter utilizing a GPS receiver.
In the GPS (Global Positioning System), of the 24 sets of GPS satellites orbiting on 6 sets of orbits situated at an inclined angle of 55 degrees at a distance of approximately 20,200 Km on the earth and travelling for approximately 12 hours per one turn, navigation data required for positioning transmitted from more than 3 or 4 GPS satellites under the most receivable condition are received by a GPS receiver on earth. Positioning calculations are carried out by measuring propagation delay time of these navigation data so as to determine the travel direction/position of the user.
In this GPS, two different frequencies "Ll (= 1.57542 GHz)" and "L2 1.22760 GHz)" are prepared for the transmission frequencies of the GPS satellites. Since the C/A code, commercial-purpose code being free-opened, is transmitted at the frequency of 1.57542 GHz (equal to GPS transmission frequency "Ll"), one GPS transmission frequency "Ll" is utilized in generalpurpose positioning operation. It should be understood that the GPS signal having this frequency ' "Ll" is modulated in the PSK (Phase Shift Keying) modulating method using the pseudonoise code, and then the PSK-modulated GPS signal is transmitted by way of the spread spectrum communication system. This pseudonoise code corresponds to the synthesized wave formed from the C/A code used to discriminate the desirable GPS satellite from all of the GPS satellites, and also the navigation data such as the GPS satellite orbit information, and the time information.
Fig. 7 is a schematic block diagram illustrating an arrangement of a conventional GPS receiver for receiving a GPS radio wave (GPS signal having the frequency "Ll" (= 1.57542 GHz)) transmitted from a GPS satellite. In Fig. 7, a GPS receiver 200 is composed of a reception antenna 201, an L-band amplifying circuit 202, a down-converter circuit 203, a voltage comparing circuit 204, a message decrypting circuit 205, and a positioning calculating circuit 206. The reception antenna 201 receives GPS radio wave transmitted from the GPS satellites. The L-band amplifying circuit 202 amplifies a GPS signal having an L-band frequency among the received GPS signals. The down-converter circuit 203 performs a down-converting operation of the amplified GPS signal by multiplying this received GPS signal by a signal produced from a local oscillating circuit 107. The voltage comparing circuit 204 digitally converts the GPS signal down-converted by the down-converter circuit 203 into a digital GPS signal. In the message decrypting circuit 205, the digital GPS signal inputted from the voltage comparing circuit 204 is multiplied by a C/A code generated from a C/A code generating circuit 208 so as to acquire both navigation data and carrier wave phase information corresponding to a pseudodistance. The positioning calculating circuit 206 calculates positioning data by using both the navigation data and the carrier wave phase information, which are entered from the message decrypting circuit 205. It should also be noted that the local oscillating circuit 2 107 corresponds to such a circuit capable of producing a signal to convert a received GPS signal into another signal having a desirable frequency.
Next, a reception operation of the GPS receiver 200 thus constructed will now be explained. The L-band amplifying circuit 202 selectively amplifies the GPS signal having the frequency of 1.57542 GHz received by the reception antenna 201. The GPS signal amplified in the L-band amplifying circuit 202 is entered into the down-converter circuit 203. This downconverter circuit 203 converts this entered GPS signal into a first IF (intermediate frequency) signal having a frequency of from several tens of MHz to 200 MHz by using the signal produced from the local oscillating circuit 107, and furthermore, converts this first IF signal into a second IF signal having a frequency on the order of from 2 MHzto 5 MHz. Then, the voltage comparing circuit 204 enters thereinto this second IF signal so as to digitally convert the second IF signal into the digital GPS signal by employing a clock signal having a frequency several times higher than the frequency of this entered second IF signal. In this circuit, the outputted digitally-converted GPS signal is spectrum-spread data (digital signal).
The message decrypting circuit 205 reverse-spreads the C/A code (the same pseudonoise code as that of the GPS satellite) produced from the C/A code generating circuit 208 to the digital signal outputted from the voltage comparing circuit 204 so as to acquire the carrier wave phase information corresponding to the navigation data and the pseudodistance.
The above-explained reception operation is carried out with respect to a plural number of GPS satellites. Normally, the positioning calculating circuit 206 acquires the positioning data from the navigation data and the carrier wave phase information of 4 sets of the GPS satellites. The positioning data acquired by the positioning calculating circuit 206 is outputted to a CPU (not shown in the figure) which controls the overall reception operation of this GPS receiver 200, or 3 externally outputted as a digital signal. Such a GPS receiver is utilized as a car navigation system by combining positional information of GPS with map information produced from a CD-ROM.
The above-explained GPS receiver 200 is supplied as a digital ASIC (Application Specific IC) due to current technical progresses in semiconductor fields or the like, and will be made into a module cha. racterizing low cost, compactness, and light weight owing to basic high frequency techniques and software techniques relating to GPS.
With this type of background, a portable type GPS receiving apparatus utilizing the GPS receiver capable of measuring both travel speed and travel distance of people is being proposed. For instance, the "Portable Type GPS Receiver Apparatus" disclosed in Japanese Patent Application Laid-Open No. Hei 10-325735 is to realize accurate measurements of travel distance and travel speed of a GPS receiver, demanded with miniaturization of the receiver and successive measurements for avoiding the non-supplementary-state of the GPS satellites. Further, the above stated "Portable Type GPS Receiver Apparatus" calculates a step width (stride) of the user from the travel distance obtained from GPS radio wave received only at a predetermined timing and the number of steps of the user calculated on the basis of a GPS signal detected by a walk detecting means. Then the travel distance of the user is acquired by multiplying the stride data by the number of steps.
However, on one hand, the above stated "Portable Type GPS Receiver Apparatus" realizes the measurement of a travel distance and a travel speed of the user's walk or run, on the other hand, because the overall measurement depends on the calculation of the multiplied result of the number of steps and the number of strides. Therefore, a large measurement error occurred following a large change in a stride based upon an unstable walk or run.
4 This measurement error can be resolved by making the interval of a GPS reception timing smaller. The GPS reception timing is for calculating a stride of the user. By making the interval of the GPS reception timing smaller, the number of times for receiving the GPS radio wave will increase that much. This means that the probability of the time of the GPS reception timing overlapping with the non-supplementary-state of the GPS satellites will increase. When the time of the GPS reception timing overlaps with the non-supplementary-state of the GIPS satellites, naturally an accurate measurement of strides cannot be calculated. Consequently, a measurement error is included in the calculated travel distance. In particular, this travel distance is calculated from the sum of the strides; therefore, if the strides are inaccurate, there arises a large measurement error.
On the other hand, if the interval of the GPS reception timing for calculating a stride is made bigger, then the changes in a stride cannot be sufficiently obtained. Needless to say, there arises a large measurement error in the calculated travel distance.
In view of the above stated problems, an object of the present invention is to provide a highly reliable portable type distance meter and a portable type distance/speed meter capable of measuring both a travel distance and a travel speed, and a method of measuring distance and speed by selecting in accordance with the reception state of GPS radio wave received by a GPS receiver, either calculation on the basis of the positioning data of a GPS receiver, or calculation on the basis. of the number of steps and stride data for obtaining the travel distance of the user.
Fig. 1 is a block diagram indicating a principle arrangement of a portable type distance meter or a portable type distance/speed meter according to an 5 aspect of the present invention. That is, to achieve the above-stated object, the portable type distance meter or the portable type distance/speed meter shown in Fig. 1, according to the aspect of the present invention, are comprised of: a GPS (Global Positioning System) receiver 10 for receiving GPS radio wave transmitted from a GPS satellite to calculate a user's position or travel speed based upon the received GPS radio wave; a measurement instructing means 19 for producing a timing signal to indicate a start or a completion of measurement; a first distance calculating means 16 for calculating a travel distance of the user based upon both the timing signal produced by the measurement instructing means 19 and a measurement result in the GPS receiver 10; a reception state judgement means 12 for judging the reception state of GPS radio wave in the GPS receiver 10; a stride storage means 17 for storing a stride data indicating a step width of the user during his or her walking or running; a body-movement detecting means 11 for detecting travel produced during his or her walking or running to thereby produce a body-movement signal for indicating a travel state; a number of steps calculating means 14 to which the body-movement signal produced by the travel detecting means 11 is inputted, and then calculating the number of steps of the user based upon both the inputted body-movement signal and the timing signal produced by the measurement instructing means 19; a second distance calculating means 18 for calculating a travel distance of the user based upon both the stride data stored in the stride storage means 17 and the number of steps calculated by the number of steps calculating means 14; a travel distance selecting means 20 for selecting the calculated travel distance from either the first distance calculating means 16 or the second distance calculating means 18 to thereby output the selected travel distance; and a speed calculating means 21 for calculating a travel speed of the user based upon the outputted travel distance from one of the selected travel distance selecting means and the user's travel 6 time in the travel distance.
According to the present invention, when the reception state of GPS radio wave transmitted from GPS satellites is good, then the travel distance or the travel speed of the user is calculated based upon these GPS radio wave. On the other hand, when the reception state of GPS radio wave is poor, the travel distance or the travel speed of the user is calculated from stride data that indicates the step width of the user during his or her walking or running and which has been inputted in advance by using a means such as an input means 22, and the number of steps of the user detected by the travel detecting means 11 such as an acceleration sensor. Even in a situation where the reception state of GPS radio wave becomes poor and the travel distance or the travel speed cannot be accurately calculated, the GPS receiver can independently acquire the travel distance or the travel speed by calculating the stride data and the number of steps of the user, and display them on a display means 23.
It should be understood that a good reception state refers to a situation where a value indicating the precision of the acquired positioning solution is greater than a predetermined value.
Also, the portable type distance meter or the portable type distance/speed meter according to the present invention further comprises a pace calculating means 15 to which the body-movement signal produced by the travel detecting means 11 is inputted, and then based upon the inputted bodymovement signal, calculates a period per step of the user or the number of steps within a unit of time as a travel pace generated from the user's walk or run travel. The stride storage means 17 stores a plural number of stride data corresponding to the travel pace generated from the walk or run travel of the user. The second distance calculating means 18 acquires from the stride storage means 17 stride data corresponding to the travel pace calculated by the pace calculating means 7 15. Then based on both the acquired stride data and the calculated number of steps by the number of steps calculating means 14, the travel distance of the user is calculated.
Furthermore, an acceleration calculating means (not shown in the figure) can be provided. Similar to the pace calculating means 15, the bodymovement signal produced by the travel detecting means 11 is inputted to the acceleration calculating means and then based on the inputted bodymovement signal, the acceleration calculating means calculates a travel acceleration produced from a walk or a run travel of the user. In this case, the stride storage means 17 stores respective stride data corresponding to the plural number of travel accelerations, the second distance calculating means 18 acquires from the stride storage means 17 stride data corresponding to the travel acceleration calculated by the acceleration calculating means, and the travel distance of the user is calculated based upon the acquired stride data and the number of steps calculated by the number of steps calculating means 14.
According to these inventions, a plural number of stride data are made to correspond with the travel pace and travel acceleration generated from the walk of the user and stored. Consequently, regarding to the calculating of the travel distance or the travel speed in a situation where the reception state of radio wave is poor, optimum stride data corresponding to the travel pace and travel acceleration calculated on the basis of the body-movement signal detected by the travel detecting means can further be acquired.
Also, the portable type distance meter or the portable type distancefspeed meter according to the present invention further provides a stride data producing means 13 for producing stride data based on both the travel distance calculated by the first distance calculating means 16 and the number of steps of the user calculated by the number of steps calculating means 14 while 8 the reception state judgement means 12 is making a judgement that a reception state is good due to a reception state in which the received GPS radio wave are stronger than the predetermined ones set in advance. Then the stride storage means 17 stores the stride date produced in the stride data producing means 13.
Furthermore, an acceleration calculating means (not shown in the figure) can be provided. Similar to the pace calculating means 15, the bodymovement signal produced by the travel detecting means 11 is inputted to the acceleration calculating means and then based on the inputted bodymovement signal, the acceleration calculating means calculates a travel acceleration produced by a walk or a run travel of the user. In this case, the stride storage means 17 stores respective stride data corresponding to the plural number of travel accelerations, the second distance calculating means 18 acquires stride data from the stride storage means 17 corresponding to the travel acceleration calculated by the acceleration calculating means, and the travel distance of the user is calculated based upon the acquired stride data and the number of steps calculated by the number of steps calculating means 14.
And still further according to these inventions, when the reception state of GPS radio wave transmitted from GPS satellites is good, then the travel distance of the user is calculated based on these GPS radio wave. From both the calculated travel distance and the user's number of steps detected by the travel detecting means, stride data is produced and stored. Therefore, stride data corresponding to the characteristics of the user's walk or run travel can be used at all times.
Also, regarding to a method of measuring distance and speed of the present invention, when the reception state of GPS radio wave transmitted from GPS satellites is good, then the travel distance or the travel speed of the user is calculated based on these GPS radio wave. On the other hand, when the 9 reception state of GPS radio wave is poor, the travel distance or the travel speed of the user is calculated from both the previously acquired stride date which indicates the step width of the user during his or her walking or running and the number of steps of the user separately detected.
According to this invention, even in a situation where GPS radio wave cannot be accurately received, the GPS receiver can independently acquire the travel distance or the travel speed by calculating the stride data and the number of steps of the user.
A preferred form of the present invention is illustrated in the accompanying drawings in which:
Fig. 1 is a block diagram indicating a principle arrangement of either a portable type distance meter or a portable type distance/speed meter according to an embodiment of the present invention; Fig. 2 is a schematic block diagram representing an arrangement of either a portable type distance meter or a portable type distance/speed meter according to an embodiment of the present invention; Fig. 3 is a flow chart describing operations of either a portable type distance meter or a portable type distance/speed meter according to an embodiment- of the present invention; Fig. 4 is a flow chart describing a stride data producing operation.; Fig. 5 is a flow chart describing another stride data producing operation. ; Fig. 6 is a flow chart describing a stride data distance calculating operation.; and Fig. 7 is a diagram schematically showing the structure of a conventional GPS receiver.
Referring now to drawings, various preferred embodiments of portable type distance meters, portable type distance/speed meters, and a method of measuring travel distance/speed according to the present invention will be explained in detail. It should be understood that the present invention is not limited only to these embodiments. Specifically in these embodiments, descriptions of the portable type distance meter or the portable type distance/speed meter according to the present invention when mounted on an arm of the user are explained.
Fig. 2 is a schematic block diagram indicating an arrangement of a p ortable type distance meter or a portable type distance/speed meter according to an embodiment of the present invention.. As indicated in this drawing, this portable type distance meter or portable type distance/speed meter is arranged by employing a GPS receiver 32, a body- movement detecting sensor 33, an AMP (amplifier) 34, an A/D converter 35, a CPU (central processing unit) 31, and an LCID driving circuit 40. The GPS receiver 32 receives GPS radio wave transmitted from a plurality of GPS satellites 30 so as to measure present altitude and also present latitude (refer to Fig. 7 regarding its outlined structure). The body- movement detecting sensor 33 (corresponds to a body-movement detecting means of the present invention) is made of sensors such as an acceleration sensor and a gyro sensor. This body-movement detecting sensor 33 detects a body-movementa action when the user walks or runs, such as an arm swinging action and vibrations produced when a foot lands on the ground, and thus, produces a body-movement signal in response to the moving action of the user. The AMP 34 amplifies the body-movement signal produced from the bodymovement detecting sensor 33. The A/D converter 35 converts the analog body-movement signal amplified by the amplifier 34 into a digital bodymovement signal. The CPU 31 executes various calculation process operations (will be explained later) so as to calculate a travel distance and a travel speed of the user. The LCD driving circuit 40 controls a display panel 41 constructed of an LCD (Liquid Crystal Display) and the like to display both the travel distance and the travel speed calculated by the CPU 31 on this display panel 41.
As shown in Fig. 2, reference numeral 39 denotes a ROM (read only memory) for storing an operation program of the CPU 31, reference numeral 38 denotes a RAM (random access memory) utilized as a storage area for storing thereinto stride data which will be discussed later, and also as a work area of the CPU 31, reference numeral 36 denotes an input switch used for issuing a starting instruction of distance/speed measuring operation, and reference numeral 37 denotes an OSC (oscillating circuit) for generating a reference frequency signal.
Next, operations of the portable type distance meter or the portable type distance/speed meter with the above-explained arrangement will now be explained. Fig. 3 is a flow chart describing the operations of either the portable type distance meter or the portable type distance/speed meter according to one embodiment. In this flow chart of Fig. 3, the measuring operations of a present travel speed and travel distance of the user is commenced when the input switch 36 is firstly manipulated by the user (step S101), Thereafter, a reception state of GPS radio wave transmitted from GPS satellites is acquired based upon precision information and the strength of a signal which indicates both position information and travel speed information outputted from the GPS receiver 32 (step S1 02). Judgement is made as to whether the reception state of the GPS radio wave is good or poor (step S1 03).
Here, the precision information is called DOP (Dilution of Precision) and is a value indicating the influence on precision due to the arrangement of GPS satellites 12 calculated by the GPS receiver, and in particular, largely uses the PDOP value as an index.
In step S103, for example, if the strength and precision information of the signal outputted from the GPS receiver 32 indicate values greater than a predetermined threshold value (for example, PDOP value is equal to or less than 6, number of capable supplementary satellites is equal to or greater than 4), then the reception state of GPS radio wave is judged to be good. To the contrary, if the strength and precision information indicate values less than the threshold value, then the reception state of GPS radio wave is judged to be poor. Here, a poor reception state of GPS radio wave refers to a situation in which accurate position information and travel speed information cannot be obtained. The cause of this is due to a situation where the reception of GPS radio wave is obstructed by obstacles such as the space between buildings and tunnels, or a situation where a switching of a supplementary satellite occurs while the user is in travel carrying this portable type distance meter or portable type distance/speed meter.
Step S103 is a case where the reception state of GPS radio wave is judged to be good. Thus, the travel distance or the travel speed can be calculated without any problems using the GPS radio wave. For example, obtaining a speed from the Doppler deviation of the GPS radio wave (step S104), and then calculating the travel distance by accumulating this calculated travel speed at step S104 (step S105). Concretely speaking, this travel distance may be calculated as follows. That is, while a timing signal produced by the CPU 31 is employed so as to measure predetermined time, the travel speed obtained from the Doppler deviation is multiplied by this measured predetermined time to obtain such a travel distance. Alternatively, this travel distance may be calculated in accordance with the below-mentioned manner other than the utilization of the 13 Doppler deviation. That is, while positional information at one time instant corresponding to a starting time instant of the above-explained predetermined time and also positional information at another time instant corresponding. to an ending time instant thereof are acquired, a travel distance may be calculated based on a difference between two pieces of the acquired positional information.
Consequently, since the predetermined time is measured as explained above when calculating the travel distance, the travel speed can be calculated by dividing the calculated travel distance by the measured predetermined time (step S1 06). Both the travel distance and the travel speed calculated at steps S1 05 and S106 are displayed on the display panel 41 under control of the CPU 31 via the LCD driving circuit 40 (step S1 07).
Stride data to be used in the stride distance calculating operation, which will be explained later, is produced next by utilizing the thus calculated travel distance (step S108). After this stride distance calculating operation at step S1 08, the CPU 31 judges as to whether or not the user has manipulated the input switch 36 to instruct a completion of the measuring operation of the travel distance and the travel speed (step S1 09).
At the step S109, when the completion of this measuring operation is instructed, a series of the above-described process operation indicated in Fig. 3 is accomplished. To the contrary, when such a completion of the measuring operation is not instructed, the process operation defined from the step S102 is again carried out so as to repeatedly calculate the travel distance and the travel speed as described above.
Also, when it is judged at step S1 03 that the reception state of GPS radio wave is poor, then the GPS radio wave cannot be used for calculating the travel distance and the travel speed. Therefore, the travel distance and the travel speed will be calculated by a stride distance calculating operation, which will be 14 explained later, (step S1 10). (Operation of producing stride data) Next, the above-explained stride data producing operation of step S1 08 will now be explained. While walking and running with a body-movement sensor mounted on one arm, a period from when the arm is swung to its highest state and to when swung back to this highest state again means that the number of steps will advance 2 steps. Fig. 4 is a flow chart describing the stride data producing operation. In Fig. 4, the CPU 31 first judges as to whether or not a bodymovement signal is detected by the body-movement detecting sensor 33 via the AMP 34 and the A/D converter 35 (step S111). In particular, this bodymovement signal indicates a signal peak in this case. When a body-movement signal is not detected at this step S1 11, the operation returns to step S1 09 as shown in Fig. 3.
To the contrary, when a body-movement signal is detected at step S1 11, a discrimination flag for discriminating the body-movement signal, two inputs as one set, is referred. By making this reference, the CPU 31 judges as to whether or not the inputted body-movement signal is the first input of the two inputs in the above stated set of body-movement signal (step S1 12). In step S1 12, if a body-movement signal is inputted in astate where the discrimination flag is not set, the CPU 31 judges that the inputted body-movement signal is the first inputted body- movement signal. The discrimination flag is then set so that the next inputted body-movement signal will be judged as the second inputted bodymovement signal (step S1 19). Thus, the time counter for measuring the period is started by a timing signal generated by the CPU 31 (step S1 20).
In step S1 12, if it is judged that the inputted body-movement signal is not the first body-movement signal inputted, that is, the above stated discrimination flag is set. When indicating that the inputted bodymovement signal is the 15 second input, the discrimination flag is reset so that the next inputted bodymovement signal can be judged as a body-movement signal inputted first (step S113).
Subsequently, the time counter for the period measurement that has started in step S1 20 is stopped (step S1 14), and a period t to which the bodymovement signal is inputted is acquired (step S1 15). The period t indicates an arm swinging period. Thus, the period of a step being taken forward in a walk or run travel can be expressed by t/2 as the travel pace of the user's walk or run. This is because the number of steps becomes 2 steps in one arm swinging period. A pace frequency value p=2/t is then calculated from this pace period t/2 (step S116). Note that the frequency value of the body-movement signal here is obtained by period measurement due to the time counter. However, it can also be obtained by frequency analysis.
The travel speed calculated in step S106 of Fig. 3 is specifically calculated as a unit of velocity in seconds, velocity v(m/s) per second (step S1 17). By dividing this velocity v by the pace frequency value p calculated in step S1 16, the step width (stride) of the user S=v/p is calculated (step S1 18). The stride thus calculated in step S1 18 is stored in the RAM 38 as stride data corresponding to the pace period t/2 or to the pace frequency value p calculated in step S1 16. In other words, a travel pace expressed as a pace period t/2 or a pace frequency value p is paired with a corresponding stride data, and a plural number of these pairs are stored in the RAM 38.
Other than the procedure shown in Fig. 4, the stride data producing operation can also be conducted by another procedure such as the one explained next. Fig. 5 is a flow chart describing another stride data producing operation. When the stride data producing operation shown in Fig. 5 is initially started, a time counter for period measurement is started by a timing signal generated by the 16 CPU 31.
In Fig. 5, the CPU 31 first judges as to whether or not a body-movement signal is detected via the body-movement detecting sensor 33, the AMP 34, and the A/D converter 35 (step S121). When a body-movement signal is not detected at this step S1 21, the operation returns to step S1 09 as shown in Fig. 3.
To the contrary, when a body-movement signal is detected at step S121, 2 is added to the a step counter for counting the user's number of steps produced by a walk or run travel, with respect to the detecting of the body-movement signal (step S122). As explained in Fig. 8, 2 is added because the body-movement signal detects the period of an arm swing in which one period of an arm swing equals 2 steps in the number of steps. Next, the CPU 31 judges as to whether or not the above stated time counter has indicated an elapse of one minute (step S1 23). In step S1 23, when the time counter indicates the elapse of one minute, the present value of the step counter, that is, the number of steps within a minute is calculated as the travel pace P per minute (step/min) of the user's walk or run (step S 124). It should be understood that although the value of the time counter is set to one minute in this embodiment, the value of the time counter is not limited to one minute but can be optionally set. For instance, if the value of the time counter is set to five minutes, the number of steps within a minute is obtained by dividing the value of the step counter by 5, and the travel pace P per minute (STEP/min) is calculated.
Thereafter, an average travel speed in this one minute period is acquired from the travel speed calculated in step S1 06 of Fig. 3 and calculated as a unit of velocity per second V(m/s) (step S125). The step width (stride) S=60xV/P of the user is calculated by dividing this velocity V by the travel pace P per minute (STEP/min) calculated in step S124 and then multiplying it by 60 so that the figures will be uniform (step S126). The stride calculated in this step S126, as 17 - stride data, is then corresponded with the travel pace P per minute calculated in step S124 and stored in the RAM 38.
Further, in the stride data producing operation indicated in Figs. 4 and 5, stride data was produced by calculating the travel pace. However, stride can also be calculated by using the step counter as shown in step S1 22 of Fig. 5. For example, if the step counter indicates 100 steps, the stride can be calculated by dividing the travel distance calculated in step S1 05 of Fig. 3 by the 100 steps to obtain the stride. Contrary to this, if the travel distance calculated in step S1 05 of Fig. 3 indicates, for example, 100 meters, then stride can also be calculated by dividing the 100 meters by the counted number of steps from the step counter.
Moreover, together with conducting the above stated calculations of the travel pace, the travel acceleration from a walk or a run is calculated. Thistravel acceleration and the calculated stride data can be made to correspond with each other and be stored in the RAM 38. Here, the travel acceleration is a parameter that focuses on the changes in the speed of an arm swing or the strength of a foot hitting the ground produced by a walk or run travel of the user, and refers to the output strength of the body-movement signal outputted from the travel detecting means accompanying this change.
Furthermore, an equation expressing the relationship between the plural number of stride data calculated by the stride data producing operation and the plural numbers of travel paces or travel accelerations corresponding to these stride data is calculated. This equation can be stored in the RAM 38 and utilized. (Stride data distance calculating operation) The stride data distance calculating operation in the above-mentioned step S1 10 will be explained next. Fig. 6 is a flow chart illustrating a stride data distance calculating operation. In Fig. 6, a body-movement signal is first detected via the body-movement detecting sensor 33, the AMP 34, and the A/D 18 converter 35 (step S121). In particular, this body-movement signal indicates a signal peak in this case. Note that when a body-movement signal is not detected, the CPU 31 judges that it is in a state that walking or running has stopped. Thus the operation returns to step S109 as shown in Fig. 3 without performing the subsequent operations.
Similar to the operations in steps S1 11 through S1 15, S1 19 and S120 of Fig. 4, the number of steps is calculated while measuring the period t of the arm swing by using the time counter of the period measurement (step S122). Since the number of steps in one period of an arm swing is 2, the period t and the number of steps 2 can both be obtained in step S1 22 whenever a body-movement signal is detected. From this, a pace period t/2 can be obtained as the travel pace produced by the user's walk or run travel (step S123). Also, similar to step S1 16 of Fig. 4, the pace frequency value p=2/t can be calculated as the travel pace in step S1 23.
Then, by using the travel pace (pace period t/2 or pace frequency value p) calculated in step S1 23, stride data that has been corresponded with that travel pace is acquired from the RAM 38 (step S124). Moreover, when a travel acceleration corresponding with stride data is stored in the RAM 38, as explained above, the travel acceleration produced by a walk or a run travel is calculated while conducting the calculations for the travel pace in step S123. The stride data being corresponded to this travel acceleration can be acquired.
Still further, when an equation expressing the relationship between stride data and the travel pace or the travel acceleration is stored in the RAM 38, as explained above, the stride data can be calculated by utilizing this equation.
The frequency of updating stride data can be performed whenever the travel pace or the travel acceleration can be calculated, or updated at a time optionally set.
19 After the acquisition of stride data in step S124, the travel distance is calculated by multiplying the stride data by the number of steps 2 calculated in step S1 22 (step S1 25). Then the travel speed is calculated by dividing the travel distance calculated in step S125 by the period t calculated in step S122 (step S126). Both the travel distance and the travel speed calculated at steps S125 and S126 are displayed on the display panel 41 under control of the CPU 31 via the LCID driving circuit 40 (step S127) The stride data and the travel pace or the travel acceleration stored in the RAM 38 are automatically produced when the reception state of GPS radio wave is good. However, these data can be manually entered by using the input switch 36 and stored in the RAM 38.
As previously described in detail, according to the present invention, when the reception state of GPS radio wave transmitted from GPS satellites is good, then the travel distance or the travel speed of the user is calculated based on these GPS radio wave. On the other hand, when the reception state of GPS radio wave is poor, the travel distance or the travel speed of the user is calculated from a previously acquired stride data and the number of steps of the user. The stride data indicates the step width of the user during his or her walking or running and the number of steps of the user is detected by the travel detecting means such as an acceleration sensor. When the reception state of GPS radio wave becomes poor caused by obstacles such as the spaces between building and tunnels obstructing the reception of GPS radio wave, or by the occurrence of switching supplementary satellites, the travel distance or the travel speed cannot be measured accurately in this situation. However, by calculating the stride data and the number of steps of the user, the GPS receiver can acquire the travel distance or the travel speed independently. In addition, highly reliable as well as consecutive measurement of travel distance or travel speed is possible.
Further, according to the present invention, the travel pace or the travel acceleration produced by a walk or a run travel of the user is corresponded with stride data, and a plural number of stride data are stored. Therefore, regarding the calculation of the travel distance or the travel speed in a situation where the reception state of GPS radio wave is poor, optimum stride data corresponding to the travel pace or the travel acceleration calculated on the basis of the bodymovement signal detected by the travel detecting means, can be acquired. Higher reliable measurements of travel distance or travel speed are possible.
Still further, according to the present invention, when the reception state of GPS radio wave transmitted from GIPS satellites is good, then the travel distance of the user is calculated based on these GPS radio wave. With this calculated travel distance and the number of steps of the user detected by the travel detecting means, stride data is produced and stored. Thus, stride data corresponding to the walk or run characteristics of the user can be utilized at all times. Together with this, measuring operations can be performed simply and easily without performing troublesome operations such as manually entering the plural number of stride data.
21
Claims (9)
1. A portable type distance/speed meter, characterized in that: when a reception state of a GPS radio wave transmitted from a GPS satellite is good, a travel distance or a travel speed of a user is calculated based upon said GPS radio wave; and when the reception state of said GPS radio wave is poor, the travel distance or the travel speed of the user is calculated from a previously acquired stride data that indicates a step width of the user during his or her walking or running and a separately detected number of steps of the user.
2. A portable type distance meter provided with a GPS receiver that receives a GPS radio wave transmitted from a GPS satellite and calculates a position or a travel speed of a user based upon the received GPS radio wave, characterized in that: -said portable type distance meter comprises: measurement instructing means for producing a timing signal to indicate a start or completion of measurement; a first distance calculating means for calculating a travel distance of the user based upon both the timing signal produced in said measurement instructing means and a calculation result calculated by said GPS receiver; reception state judgement means for judging the reception state of said GPS radio wave in said GPS receiver; stride storage means for storing a stride data that indicates a step width of the user during his or her walking or running; travel detecting means for detecting a body- movement by walking or running of the user to produce a body-movement signal indicating a travel state; number of steps calculating means for inputting a body-movement signal produced in said travel detecting means and for calculating the number of steps of 22 a user based upon the inputted body-movement signal and the timing signal produced in said measurement instructing means; a second distance calculating means for calculating a travel distance of the user based upon the stride data stored in said stride storage means and the number of steps calculated by said number of steps calculating means; and travel distance selecting means for selecting either one of the travel distance calculated by said first distance calculating means or said second distance calculating means to output the selected travel distance.
3. A portable type distance meter as claimed in claim 2, characterized in that: said portable type distance meter further comprises stride data producing means for producing said stride data, during a judgment by said reception state judgement means that the reception state is good, based upon the travel distance calculated by said first distance calculating means and the number of steps of the user calculated by said number of steps calculating means; and said stride storage means stores the stride data produced in said stride data producing means.
4. A portable type distance meter as claimed in claim 2, characterized in that said portable type distance meter further comprises pace calculating means for inputting the body-movement signal produced in said travel detecting means and for calculating, based upon the inputted bodymovement signal, a cycle per step or the number of steps within a unit of time of the user as a travel pace by the user's walking or running; said stride storage means stores a plurality of stride data corresponding to the travel paces by the user's walking or running; and.
said second distance calculating means acquires from said- stride storage means the stride data corresponding to the travel pace calculated by said pace calculating means and for calculating a travel distance of the user based 23 upon the acquired stride data and the number of steps calculated by said number of steps calculating means.
5. A portable type distance meter as claimed in claim 4, characterized in that: said portable type distance meter further comprises stride data producing means for producing said stride data, during a judgment by said reception state judgement means that the reception state is good, based upon the travel distance calculated by said first distance calculating means and the number of steps of the user calculated by said number of steps calcu lating means; and said stride storage means stores the stride data produced in said stride data producing means and the travel pace calculated by said pace calculating means in correspondence with each other when the stride data is produced.
6. A portable type distance meter as claimed in claim 2, characterized in that said portable type distance meter further comprises acceleration calculating means for inputting the body-movement signal produced in said travel detecting means and for calculating, based upon the inputted bodymovement signal, a travel acceleration by the user's walking or running; said stride storage means stores respective stride data corresponding to a plurality of travel accelerations; and said second distance calculating means acquires from said stride storage means the stride data corresponding to the travel acceleration calculated by said acceleration calculating means and for calculating a travel distance of the user based upon the acquired stride data and the number of steps calculated by said number of steps calculating means.
7. A portable type distance meter as claimed in claim 6, comprising stride data producing means for producing said stride data, during a judgment by said reception state judgement means that the reception state is good, based upon the travel distance calculated by said first distance calculating means and 24 the number of steps of the user calculated by said number of steps calculating means, characterized in that said stride storage means stores the stride data produced in said stride data producing means and the travel acceleration calculated by said acceleration calculating means in correspondence with each other when the stride data is produced.
8. A portable type distance/speed meter, characterized in that the portable type distance meter as claimed in any one of claims 2 to 7 further comprises speed calculating means for calculating a travel speed of the user based upon the travel distance outputted from said travel distance selecting means and the user's travel time in the travel distance.
9. A method of measuring a distance/speed, characterized in that: when a reception state of a GPS radio wave transmitted from a GPS satellite is good, a travel distance or a travel speed of a user is calculated based upon said GPS radio wave; and when the reception state of said GPS radio wave is poor, the travel distance or the travel speed of the user is calculated from a previously acquired stride data that indicates a step width of the user during his or her walking or running and a separately detected number of steps of the user.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12703199 | 1999-05-07 | ||
| JP2000089448A JP2001027545A (en) | 1999-05-07 | 2000-03-28 | Portable range finder, portable distance/speed meter, and distance/speed measuring method |
Publications (2)
| Publication Number | Publication Date |
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| GB0010715D0 GB0010715D0 (en) | 2000-06-28 |
| GB2352348A true GB2352348A (en) | 2001-01-24 |
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| GB0010715A Withdrawn GB2352348A (en) | 1999-05-07 | 2000-05-03 | Portable GPS/deadreckoning distance/speed meter |
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| JP (1) | JP2001027545A (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| GB0010715D0 (en) | 2000-06-28 |
| JP2001027545A (en) | 2001-01-30 |
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