JP2008275330A - Positioning information processing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To estimate the position of a human in a domain wherein position detection is impossible, and to display it virtually continuously, even when a limited number of sensors to be laid or markers are provided in the state where each position detectable domain is separated. <P>SOLUTION: This device is equipped with a history reference means for retrieving from a position history storage part, a proximate past detection position to the present detection position of a detection object terminal acquired from a position dictionary storage part, based on detection information by the sensors; a moving history estimation means for calculating a past moving route connecting the present detection position of the detection object terminal to the proximate past detection position based on selected map data, and generating graphic data of the past moving route by using route constitution data; and a direction estimation means for adding directional graphics showing a direction estimated from the past moving route to graphic data of the moving route. In the device, the graphic data of the past moving route is superimposed on the map data for displaying the present detection position, and the result is displayed. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a positioning information processing apparatus for detecting a terminal moving by a plurality of sensors installed at intervals in a premises or in a city and displaying the positions of persons or objects carrying the terminal on a map.

As a method for positioning a moving object, positioning using a GPS (Global Positioning System) satellite has become the mainstream as represented by a car navigation system. However, in the GPS positioning method, when the GPS receiver is behind the building or inside the building, positioning is impossible because the GPS radio wave transmitted from the satellite does not reach. In particular, in the case of a person who moves in a building or in an underground shopping area with a mobile phone with a GPS receiver, there has been a problem that his / her position cannot be confirmed. As a positioning method that can be applied indoors instead of GPS, a small-sized radio device that uses short-range communication technology such as RFID (Radio Frequency Identification), wireless LAN, Bluetooth (registered trademark), UWB (Ultra Wide Band), etc. Have been proposed (for example, see Non-Patent Documents 1 to 5).
For example, in the case of a positioning system using RFID, a plurality of readers and receiving units (sensors) are installed in association with predetermined positions in different measurement target areas, and a positioning target RFID tag (terminal) that moves in the area It is the structure which communicates between. When each reader receives a radio wave from the RFID tag, each reader sends the received ID information and its received radio wave strength (Received Signal Strength Indicator: hereinafter referred to as RSSI value) to the positioning processing unit via the LAN or the like. In the positioning processing unit, for example, the distance between the reader and the RFID tag is obtained by converting the RSSI value, and the position of the RFID tag is calculated from the calculated distance and the position of the reader by triangulation. As another example, RFID tags are placed at a plurality of predetermined positions in the measurement target area by pre-processing, and RSSI values for each position are collected in advance by each reader, and the pre-learning data is obtained at the time of actual positioning. There is a method of calculating the position of the RFID tag to be positioned with reference to (see Non-Patent Document 5).

Izumi Kamiya, Ryoichi Koshirai, Ryota Masuda, Kenji Kiyono, Hidehiko Kanda, Jun Haba, “Basic Experiments and Evaluation of Wireless LAN Positioning — Toward Establishing a Positioning Environment Anytime and Anywhere −”, Journal of the Photogrammetry Society of Japan “ Photogrammetry and remote sensing "Vol. 44, no. 4, 2005 Tanaka, K., Kumuro, Y., Yamano, K., Hirayama, M., Kondo, E., Matsumoto, M., “Self-position estimation and tag placement by RFID system”, IEICE Transactions, D-II, Vol. J88-D-II, no. 9, pp. 1759-1770 Izumi Kamiya, “Investigation of positioning technology and IC tag, application to UWB positioning”, Geospatial Information Authority of Japan, No. 106, 2005, http://www.gsi.go.jp/REPORT/JIHO/vol106/106-5.pdf Teruaki Kitasuka, Tsuneo Nakanishi, Satoshi Fukuda, “Indoor Positioning Method Using Wireless Communication Network”, IPSJ Transactions: Computing System Vol. 44, no. SIG10 (ACS 2), July 2003 http://www.f.csce.kyushu-u.ac.jp/~kitasuka/papers/2003/ipsj-kitasuka-v44acs2a013.pdf Tomoaki Ogawa, Shuichi Yoshino, Masafumi Shimizu, “Learning-type Location Estimation Using Indoor Wireless Tags”, IPSJ SIG 2004-UBI-5, 2004

  In the case of the positioning method using the sensor and the terminal as described above, communication between the arranged sensor and the moving terminal is limited in the distance that can be communicated. An undetectable area is created in the middle. Therefore, since the detection information is lost while the terminal is in the undetectable area, the position cannot be displayed and it is difficult to grasp the position of the person. In addition, the current position is displayed when it can be detected by entering the detectable area next due to lack of detection information, but since there is no connection from the previous detection position, walking history (from where you have walked ) Cannot be displayed. Therefore, it is necessary to arrange the sensors so as not to create a non-detectable region so that the position of the terminal can be continuously detected, or to make a relatively short interval. For example, assuming a wide floor of a certain floor in a building, a large number of sensors must be arranged at a short distance in order to detect the position of a moving person without omission. In addition, when divided into multiple rooms with walls and partitions, long passages are also provided, and the walls and partitions become radio wave barriers, so more sensors are required to be installed in order to detect the location in each subdivision. Is done. The situation is the same in a wide range of underground malls. In this way, a large number of sensors are required in order to grasp a person's position in a wide range and continuously in various places where people move, making it cumbersome to install sensors, maintain management, etc. It also affects the cost of construction and operation. Therefore, it is desired to construct a positioning system that can continuously display and grasp the position of a person (or a terminal) even if the number of sensors is limited, like a navigation system using GPS.

  The present invention has been made to solve the above-described problems, and even if the number of sensors or markers to be laid is limited to provide a position-detectable area, a person in an area where position detection is impossible. An object of the present invention is to obtain a positioning information processing apparatus that can estimate virtual positions and continuously display virtual images.

  A positioning information processing apparatus according to the present invention is a positioning information processing apparatus of a positioning system that detects a moving terminal by sensors installed at a plurality of predetermined positions in a premises or in a town and displays the position of the terminal on a map. A position dictionary storage unit that stores in advance the position data of each installed sensor, a map data storage unit that stores map data in the premises or the city in advance, and a position history storage unit that records position history information for the detected terminal And a route data storage unit for storing route configuration data for representing the route through which the terminal passes in a figure, and a corresponding sensor position from the position dictionary storage unit based on detection information from the sensor, and From the map data storage unit, select the map data containing the current detection position of the acquired detection target terminal and the position acquisition means to acquire as the current detection position Map selection means, position display means for displaying the current detection position of the detection target terminal superimposed on the selected map data, and the latest past detection position for the current detection position of the detection target terminal from the position history storage unit Based on the history reference means for searching and the selected map data, a past movement route connecting the current detection position of the detection target terminal and the latest past detection position is calculated, and the route configuration of the route data storage unit The movement history estimation means for generating graphic data of the past movement route using the data, the direction of the past movement route is estimated as the traveling direction, and the direction graphic representing the estimated direction is displayed in the graphic data of the past movement route. A position estimation unit for adding the direction data obtained by the direction estimation unit to the map data for displaying the current detection position. It is intended to to display.

  According to the present invention, even when a sensor is arranged with a limited sensing area, the movement path of a terminal in an unsensible area is estimated using position data and map data when the sensor can be detected. Since it can be displayed on a map, it is possible to virtually display a person's position as if it were continuously detected. As a result, it is possible to construct a positioning system in which the number of sensors installed is limited in a building or underground mall where GPS cannot be used.

Embodiment 1 FIG.
FIG. 1 is an explanatory diagram showing a schematic configuration of a positioning system to which a positioning information processing apparatus according to the present invention is applied.
The terminal 20 is held by the person 10 and wirelessly transmits ID data for identifying the terminal as a signal such as a radio wave, an infrared ray, and a sound wave. The sensor 60 is installed at a plurality of predetermined positions on the premises or in the city, and detects a signal emitted from the terminal 20 when the person 10 wearing the terminal 20 enters an area where the sensor 60 can receive the sensor. The detection information is transmitted to the positioning information processing apparatus via the network 70. The detection information is data including a terminal ID for identifying the terminal 20, its detection time, and the sensor ID of the detected sensor 60 itself. In the positioning information processing apparatus, the current position of the terminal 20, that is, the position of the person holding the terminal is calculated by processing to be described later based on the detection information, and the calculated position is displayed on the display together with the route traveled. Further, in this positioning information processing apparatus, even when the terminal 20 located between the sensors cannot be detected by the sensor, the approximate position is estimated and displayed.
Here, the network 70 may be wired or wireless. When the terminal 20 is a radio wave tag such as an RFID, the sensor 60 is a radio wave receiver. When the terminal 20 is an infrared tag, the sensor 60 is an infrared receiver. In the case of a sonic tag, the sensor 60 takes the form of an ultrasonic receiver.

Here, an application mode of the positioning information processing apparatus of the present invention will be described.
As one of such cases, a positioning information processing apparatus may be used as a monitoring center facility. In this case, since there are a plurality of terminals 20 to be monitored, it is complicated to display all the positions of many terminals all at once. In such a case, the terminal ID data of the person to be monitored may be selected and input, and only the terminal corresponding to the ID may be selected and displayed. On the other hand, there is a case where the user's position can be confirmed by the terminal 20 possessed by the person. In this case, if the position information output for each terminal ID data is sent from the positioning information processing apparatus to the corresponding terminal 20 (in this case, the tag is incorporated in the mobile phone terminal) via the mobile phone network. Good. Furthermore, the case where it is set as the structure which integrated the function of terminal 20 itself and a positioning information processing apparatus can be considered. In this case, information detected by the sensor 60 may be sent from the center to the terminal 20 via the mobile phone network.

FIG. 2 is an explanatory diagram showing a display example of positions processed by the positioning information processing apparatus of the present invention. In the figure, (a) and (c) are examples of position display when the person 10 having the terminal 20 is present in the position detectable area, and (b) is present in the position undetectable area. A display example of the position of is shown.
When the person 10 carries the terminal 20 and is in the position detectable area (a), the display position 1 of the display displays the detected position of the person with a black circle corresponding to the position detectable area together with the map. At this time, if the position of a person can be detected by a sensor placed in front by movement, the movement history is displayed, for example, by a solid line and an arrow indicating the traveling direction. When walking progresses and the person 10 enters the position undetectable area (b), the current position of the person 10 moving is estimated as the movement path on the display screen 2 and displayed, for example, with a broken line and an arrow. The The following sensors are arranged at these destinations, respectively, indicating that the person 10 is currently on any one of the movement paths so far. When the person 10 further moves to reach the position detectable region again (c), the current detection position on the display screen 3 is a black circle, which is estimated from the previous detection position (black circle on the display screen 1). The movement path is displayed as a solid line and an arrow, for example.

In the first embodiment, when the sensor detects the terminal and displays the current position, the movement path traced to the current position where the terminal is detected is estimated, and the past movement path and the current position are estimated. A processing method for displaying the moving direction together will be described. FIG. 3 is a block diagram showing a functional configuration of the positioning information processing apparatus according to Embodiment 1 of the present invention.
The position dictionary storage unit 201 is a means for storing in advance position data in which the sensor ID of each installed sensor is associated with the sensor position. For example, if the sensor ID is A, coordinate data such that the sensor position corresponding to the sensor ID is X in longitude and Y in latitude is recorded. In addition, when the sensor arrangement area is on the campus, the position data is expressed in a coordinate system determined in advance based on the space on the campus. The map data storage unit 202 is means for previously storing map data representing a map on the premises or in the city. This map data is the same as that used for general navigation, and associates position coordinates with each position on the map. The position history storage unit 203 is a means for storing the detected position history information of the terminal 20. The position history information is information in which, when a certain terminal 20 is detected, the terminal ID, the detection position (the position of the sensor that detected the terminal), and the detection time (in seconds) of the terminal are recorded for each detection. The route data storage unit 204 is a unit that stores in advance route configuration data for representing a route through which the terminal passes in a figure. This route configuration data is represented by graphic data such as nodes and arcs. The storage units 201 to 204 may be provided together with the following configurations, or may be provided at remote locations so that data can be exchanged by wire or wirelessly.

  The position acquisition unit 101 is a unit that searches for a corresponding sensor position from the position dictionary storage unit 201 based on detection information sent from a sensor that has detected the terminal, and acquires it as the current detection position of the detection target terminal. The history reference unit 102 is a unit that searches the position history storage unit 203 for the latest past detection position with respect to the current detection position of the detection target terminal. The movement history estimation means 103 calculates a past movement route connecting the past detection position of the detection target terminal and the current detection position based on the map data, and uses the path configuration data to determine the figure of the past movement route. A means for generating data. The direction estimation unit 104 is a unit that estimates the direction of the past movement route as the traveling direction and adds a direction graphic representing the estimated direction to the graphic data of the past movement route. Here, the direction figure is, for example, an arrow or an icon representing the figure of a person walking in a certain direction. The map selection unit 105 is a unit that selects map data including the current detection position of the detection target terminal from the map data storage unit 202. The position display means 106 is a means for displaying the detected position of the terminal, the moving route, etc., superimposed on the selected map data.

Next, the operation will be described.
When the position acquisition unit 101 receives the detection information sent from the sensor 60 that has detected the terminal, the corresponding position of the sensor is searched from the position data in the position dictionary storage unit 201 based on the sensor ID included in the detection information. The position acquisition unit 101 sends the searched sensor position (this is the current detection position of the detection target terminal) to the map selection unit 105 and the position display unit 106. The map selection unit 105 extracts map data representing a predetermined area including the current detection position, for example, a scale of 100 meters square, from the map data storage unit 202 and sends it to the position display unit 106. The position display means 106 superimposes a graphic representing the current detection position on the map data, such as a black circle (position detectable area) shown in FIG. indicate. Conventionally, since only the figure of the detection position is displayed on the map, if the detection positions are separated from each other, information regarding the position between them is lost. Therefore, the following processing is performed here.

  The position acquisition unit 101 sends the current detection position of the detection target terminal searched from the position dictionary storage unit 201, the terminal ID included in the detection information, and the detection time to the history reference unit 102. The history reference means 102 detects the sensor position detected in the past in the past from the current detection time corresponding to the detection target terminal from the position history storage unit 203 based on the given terminal ID and detection time (this is set as the past detection position). And the detection time. The current detection position of the detection target terminal, the latest past detection position, and its detection time are sent to the movement history estimation means 103. Further, the history reference unit 102 stores the data of the currently detected position and the detection time used in the position history storage unit 203 as history information.

  The movement history estimation means 103 obtains map data including the current detection position previously selected by the map selection means 105 and calculates a past movement route on the map. For example, as illustrated in FIG. 4, movement routes R01 and R02 between two points of the latest past detection position P9 and the current detection position P10 are acquired. When there are a plurality of movement routes such as R01 and R02, the route whose distance obtained by dividing the distance of the route by the movement time (difference between the current detection time and the previous detection time) is closer to the standard walking speed is selected as the movement route. To do. In the example of FIG. 4, it is assumed that R01 is selected and obtained as a past movement route. Next, the movement history estimation means 103 selects route configuration data from the route data storage unit 204 and generates graphic data constituting the calculated past movement route. The generated graphic data of the past movement route is passed to the direction estimating means 104.

The direction estimation unit 104 estimates the traveling direction of the past movement path acquired by the movement history estimation unit 103 as the current direction at the current detection position, and represents the direction estimated in the graphic data of the past movement path. Add a figure. Here, when the past movement route is upward, for example, the current traveling direction is upward on the map. The direction estimation unit 104 sends the data of the past movement route to which the current detection position and the direction figure are added to the position display unit 106.
In the position display means 106, the map data including the current detection position previously selected by the map selection means 105 is added to the previous current detection position in addition to the previous past detection position to the current detection position. The figure of the movement path is superimposed and displayed on the display. In this case, for example, as shown in the display screen 1 of FIG. 2, the current detection position of the terminal 20 (same as the person's position), the arrow indicating the past movement route and direction (same as the person's advancing direction) are combined and displayed Is done. Therefore, it is possible to confirm where the person is currently and to guess where the person is coming from and in which direction.

  As described above, according to the first embodiment, when the detectable region is discontinuous as a sensor arrangement condition, the current detection position of the terminal (person) is displayed on the map. In addition, the estimated travel route from the most recently detected location to the currently detected location and the estimated current travel direction can be added and displayed. Therefore, it is possible to confirm the continuous position history from the previous location to the current location and in which direction it is moving. Also, even if the past detection information of the terminal is missing for some reason, if there is previous detection information, it is possible to display the movement route that has reached the current detection position.

Embodiment 2. FIG.
In the second embodiment, a processing method for estimating the next moving path from the current detection position by using the position data of the position dictionary storage unit 201 and estimating the next moving path will be described. FIG. 5 is a block diagram showing a functional configuration of a positioning information processing apparatus according to Embodiment 2 of the present invention. In the figure, the same reference numerals are given to the portions corresponding to FIG. 3 of the first embodiment, and the description thereof will be omitted in principle.
The next detection position estimation unit 107 searches the position dictionary storage unit 201 for a sensor position next to the current detection position, and calculates a sensor position excluding the latest past detection position as the next detection estimation position. It is means to do. The next movement route estimation means 108 calculates the next movement route of the detection target terminal connecting the current detection position and the next detection estimated position based on the map data from the map data storage unit 202, and stores the next movement route in the route data storage unit 204. It is means for generating graphic data of the next movement route using route configuration data. The direction estimation means (second direction estimation means) 114 is a means for estimating the direction of the next movement route as the traveling direction and adding a direction graphic representing the estimated direction to the graphic data of the next movement route.

Next, the operation will be described.
When the next detection position estimation unit 107 receives from the history reference unit 102 the latest past detection position, the current detection position, and the respective detection times of the detection target terminal, the sensor position that the corresponding terminal is assumed to head next after a predetermined time. Is estimated. In this case, all the sensor positions adjacent to the current detection position are searched from the position dictionary storage unit 201, and the sensor position excluding the most recent past detection position obtained by the history reference means 102 is obtained from them, and this is the next period. Estimated as a detection estimated position. The obtained next detection estimated position is sent to the next movement path estimation means 108 together with the current detection position. Here, the predetermined time is a time until a person moves away from the current detection position at the standard walking speed and reaches a place where the communication between the terminal 20 and the sensor 60 is impossible (position undetectable region).

  In the next movement route estimation means 108, based on the map data including the current detection position previously selected by the map selection means 105, the movement route of the detection target terminal from the current detection position on the map to the next detection estimation position (this Calculate next movement route). Next, route configuration data is selected from the route data storage unit 204, graphic data constituting the calculated next movement route is generated and sent to the direction estimating means 114. The direction estimation means 114 estimates the direction of the next movement path that has been passed as the traveling direction, adds a direction graphic such as an arrow to the graphic data of the next movement path, and sends it to the position display means 106. The position display means 106 superimposes a graphic with a directional figure added to the next movement route on the map data including the current detection position from the map selection means 105 and displays it on the display. The movement path displayed in this case may be the current detection position and the next detection estimated position connected by a 100% line, and if it can be distinguished, it does not have to be a path length of 100%. For example, FIG. As shown in the display screen 2, a fixed-length moving route within a discriminable range may be displayed.

From the display of the next movement route as described above, it can be assumed that the position of the terminal (person's position) is on these next movement routes, and at that time, it is comprehensively judged from the immediately preceding detection position and surrounding scenery. In this case, the actual position can be estimated. When the detection target terminal eventually reaches the position detectable region set as the next detection estimated position and is detected by the sensor, the history reference unit 102 and the movement history estimation unit 103 described in the first embodiment again according to the detection information. Then, the processing of the direction estimation means 104 is performed, and the movement route (the state shown in FIG. 2C) assumed to have actually walked is selected from the displayed next movement routes.
In the state where a plurality of next movement routes are displayed as shown in the display screen 2 of FIG. 2, if the user can confirm the next movement route where the current position is, the user selects and designates the next movement route. Thus, only the corresponding route on the screen may be displayed. As a result, it is possible to make it easier to estimate the position of the user thereafter.

  As described above, according to the second embodiment, when the robot starts walking away from the original detection position, the movement path to the next detection position is estimated, and the traveling direction is added and displayed. The user can infer from the displayed movement route where he / she has walked and where he / she is currently. In the case of the first embodiment, the present invention can be applied even when the sensors are arranged at regular intervals or at different intervals.

Embodiment 3 FIG.
In the second embodiment, when the next movement path from the current detection position (original detection position) to the next detection position is represented, the path length is 100% or the fixed length of the discriminable range. In the third embodiment, a processing method will be described in which a graphic of a moving path from the original detection position to the next detection position is gradually increased in accordance with the walking progress status and displayed.
In FIG. 5, the next movement route estimation means 108 estimates a movement route from the current detection position to the next detection estimation position. In the third embodiment, the following processing is further performed.
After the estimation of the next movement route, the route configuration data corresponding to the distance traveled by the detection target terminal according to the standard movement speed is selected from the route data storage unit 204 at regular intervals, and the next movement route is selected from the current detection position as a base point. The graphic data to be sequentially connected so as to increase along the traveling direction along the direction is generated. The distance traveled according to the standard moving speed of the terminal in this case is the distance traveled by a person (terminal) in a certain time. For example, when the predetermined time is 5 seconds, the predetermined distance is about 5.6 m when walking at the standard walking speed (4 km / h), and arcs corresponding to this distance are sequentially connected in the traveling direction. The direction estimation unit 114 determines that the created arc traveling direction of the tip is the current direction, adds a direction figure, and sends figure data of the next moving path that sequentially increases to the position display unit 106.

An example of the above operation will be described with reference to FIG.
It is assumed that the terminal is moving away from the current detection position and progressing on the next movement route toward one of the next detection estimation positions (sensor positions) N1 to N4. Every ten seconds, a terminal (person) forms a moving path figure by sequentially connecting arcs and nodes having a length corresponding to the distance traveled by the standard moving speed. The arc at each tip in FIG. 6 represents, for example, the position of the terminal after 20 seconds from the departure and in less than 30 seconds. If the detection information is not obtained even after reaching the nearest next detection estimated position N3 after 30 seconds, it is not proceeding in this direction. Subsequently, the remaining movement path figure is generated up to another detection position where the detection information can be obtained.

  Therefore, according to the third embodiment, it is easier to determine where the current position is on the route than in the second embodiment. Since the travel time can be calculated from the distance of each position and the standard travel speed, when there are a plurality of estimated next travel paths, the next detection estimated position N3 where no detection information was obtained as in the example of FIG. With regard to the route, the creation of a figure may be stopped after the movement time (30 seconds) has elapsed, or the created portion may be deleted.

Embodiment 4 FIG.
In the second embodiment, the past movement route and the next movement route are separately estimated and displayed. However, in the fourth embodiment, the process of performing the estimation display of the next movement route is performed. Later, when the terminal reaches the next detectable area and is detected, the next movement path that has been estimated and displayed until now is used as the past movement path for the new detection position. State.
FIG. 7 is a block diagram showing a functional configuration of a positioning information processing apparatus according to Embodiment 4 of the present invention. In the figure, the same reference numerals are given to the portions corresponding to FIG. 5 of the second embodiment, and the description thereof will be omitted in principle. In the fourth embodiment, the movement history estimation unit 103 and the direction estimation unit 104 of the second embodiment are not used. Further, in the fourth embodiment, the detection position matching means 130 is newly provided.
The detection position collating unit 130 collates the next detection estimated position calculated by the next detection position estimating unit 107 with the new detection position acquired by the position acquisition unit 101, and the next detection that matches the new detection position. When there is an estimated position, it is means for generating control data.

Next, the operation will be described.
When the next detection position estimation unit 107 receives the latest past detection position and the current detection position of the detection target terminal from the history reference unit 102 and the respective detection times, the next detection position estimation unit 107 sets the predetermined time set in the second embodiment. However, the next detection estimated position is immediately calculated. Subsequent processing of the next movement route estimation means 108, the direction estimation means 114, and the position display means 106 is the same as that of the second embodiment, and a figure in which a direction figure is added to the next movement path is displayed on the display. However, a corresponding next detection estimated position is combined with the next movement path graphic sent from the direction estimation means 114 to the position display means 106 and held while being displayed by the position display means 106.
When the detection target terminal eventually reaches the position detectable region corresponding to the next detection estimated position and is detected by the sensor, the position acquisition unit 109 acquires a new detection position from the detection information, and the position display unit 106 To display the new detection position. Further, the position acquisition unit 109 simultaneously gives a new detection position to the detection position collating unit 130. The detection position collating means 130 collates the next detection estimated position previously given from the next detection position estimating means 107 with the new detection position, and there is a next detection estimated position that matches the new detection position. In the case of a failure, control data to that effect is given to the position display means 106. In the position display means 106, only the graphic data of the next movement route to which the direction graphic to the next detection estimated position that coincides with the new detection position is added is superimposed on the map data displaying the new detection position and displayed. If there is a next movement route related to the next detection estimated position, the display is deleted. In this case, if the control data is data of the next detection estimated position that coincides with the new detection position, the position display means 106 will display the next movement path figure corresponding to the next detection estimated position that is held in the same way as that data. Only need to be selected and displayed.

  As described above, according to the fourth embodiment, when the next estimated detection position is displayed as a new detection position, the next movement path that has been estimated and displayed is displayed in the past with respect to the new detection position. Since the travel route can be displayed as it is, the route estimation process can be simplified as compared with the second embodiment.

Embodiment 5. FIG.
When the number of sensors, which is the application background of the positioning information processing apparatus of the present invention, is reduced, as described above, a position non-detectable area exists between the position detectable areas. The sensor is installed on the premises or in the town, but the passage is generally divided by buildings and walls. On the other hand, there may be a case where there is no obstacle or a relatively low space, for example, an open floor in a building. When sensors are installed on such an open floor, the sensors can be regularly arranged at regular intervals, which is effective in limiting the number of sensors. However, since the movement of people is more free than when there is a restricted passage, the position of the terminal (person) is displayed when the sensor on the route cannot be used for some reason and the detection information is missing. become unable. In the fifth embodiment, a processing method for estimating and displaying the current position of a terminal (person) in the vicinity of a sensor where detection information cannot be obtained will be described.
Here, it is assumed that a plurality of position-detectable areas are provided at regular intervals in the vertical and horizontal directions, for example, like a grid, by installing sensors. A person (terminal) moves at a standard walking speed (4 km / h), and a time required to move between sensors is a predetermined moving time (for example, 10 seconds).

FIG. 8 is a block diagram showing a functional configuration of a positioning information processing apparatus according to Embodiment 5 of the present invention. In the figure, the same reference numerals are given to the portions corresponding to FIG. 3 of the first embodiment, and the description thereof will be omitted in principle.
The history reference unit (second history reference unit) 112 stores detection information that could not be acquired from the position history storage unit 203 when the position acquisition unit 101 does not acquire the current detection position of the detection target terminal within a predetermined movement time. It is means for searching a plurality of past detection positions of a detection target terminal detected within a predetermined period that is twice the predetermined movement time from the scheduled acquisition time. The current position estimation unit 109 estimates a past movement route based on the plurality of past detection positions searched, and from the detection position of the last detection time on the movement route to the scheduled acquisition time of detection information that could not be acquired this time Is estimated with a straight line that is multiple times the distance traveled in a predetermined travel time in the direction in which the travel route extends, the tip of the travel route is calculated as the current estimated position of the detection target terminal, and route data is stored This is means for generating graphic data of the estimated movement route using the route configuration data of the unit 204. The direction estimation means (third direction estimation means) 124 estimates the direction of the tip of the movement route estimated by the current position estimation means 109 as the current traveling direction, and indicates the direction indicated in the movement route graphic data. It is a means for adding graphics.

Next, the operation will be described.
The processing of the position acquisition unit 101, the history reference unit 102, the movement history estimation unit 103, and the direction estimation unit 104 is almost the same as in the first embodiment. However, in the case of the fifth embodiment, since the map data provided with the route through which the person passes is not targeted, the movement history estimation means 103 does not use the map data for the estimation of the past movement route. In addition, when the current acquisition position is acquired, the position acquisition unit 101 passes the terminal ID and detection time to the history reference unit 112.
The history reference unit 112 checks whether or not the terminal ID of the detection target terminal and the detection time are input from the position acquisition unit 101 every predetermined movement time, and does not perform the subsequent processing if there is an input at the acquisition scheduled time. . On the other hand, when there is no input at the scheduled acquisition time, a predetermined time before the predetermined travel time from the scheduled acquisition time is obtained from the position history storage unit 203 based on the terminal ID of the detection target terminal and the scheduled acquisition time. A plurality of past detection positions of the detection target terminal detected within the period are searched. For example, if position data is recorded every 10 seconds within a predetermined period from 60 seconds before to 20 seconds ago, the past detection position and detection time data are sent to the current position estimation means 109.

Next, the operation will be described.
The current position estimating unit 109 first estimates past movement paths related to a plurality of past detected positions searched by the history reference unit 112. In the example shown in FIG. 9, a spline approximation line is drawn as a past movement path from a point sequence in which past detection positions having detection times between 60 seconds and 20 seconds before the scheduled acquisition time are plotted. Next, a plurality of distances that travel from the detection position at the final detection time on the estimated movement route to the scheduled acquisition time when the detection information could not be acquired this time according to the direction of the movement route and proceed to the predetermined movement time Estimate using a double line. In FIG. 9, a straight line d2 that is twice the distance d1 that travels a predetermined travel time as a travel route from the past detection position (final detection time) 20 seconds before to the acquisition scheduled time in the direction in which the spline approximate line extends is extended. . The extended straight line tip position is set as the current estimated position. In this case, since there are 20 seconds from 20 seconds before to the present (scheduled acquisition time), there is a current estimated position at a distance d2 that is twice as long as d1 from the position 20 seconds before.

As another processing example of the current position estimating unit 109, when there are only two past detection positions, 60 seconds before and 30 seconds before, the current position estimating unit 109 determines whether the position is 60 seconds before and 30 seconds before. Search for route 1 between. As the route 1, the route closest to the distance that a person walks in 30 seconds is selected. For example, as the route 1, the route closest to the distance that the person walks in 30 seconds is selected. Next, a travel distance of 30 seconds from the position 30 seconds before to the scheduled acquisition time is searched as a route 2. If a plurality of routes such as the route 3 or the route 4 can be considered in addition to the route 2, when the route 1 is connected at a position 30 seconds before, the route in which the directions of the two routes are the best is selected. When the route 2 is an appropriate route, the tip of the route 2 is set as the current estimated position.
When the current position estimating unit 109 estimates the moving route up to the scheduled acquisition time as described above, the current position estimating unit 109 generates graphic data of the estimated moving route using the route configuration data in the route data storage unit 204, and the direction estimating unit 114. Send to.

The direction estimation means 124 estimates the direction of the tip of the movement route estimated by the current position estimation means 109 as the current traveling direction, adds a direction figure representing the estimated direction to the figure data of the movement path, and adds the current estimated position. At the same time, it is sent to the position display means 106. The current estimated position is also given to the map selection means 105 at the same time. The map selection unit 105 extracts map data of a predetermined area including the current estimated position, for example, 100 meter square, from the map data storage unit 202 and sends it to the position display unit 106. In the position display means 106, the current estimated position, the estimated movement route up to the scheduled acquisition time, and the direction graphic data are superimposed and displayed on the display.
In addition, when the route 3, the route 4, etc. are estimated in addition to the route 2 described in the another example, these other routes may be displayed together.

  As described above, according to the fifth embodiment, when the sensor is installed so that the position of the same terminal can be detected every predetermined movement time, when the current position of the terminal cannot be detected during the predetermined movement time, Estimate the past travel route from the position detected in the past from the scheduled acquisition time of the detection information, estimate the travel route to the planned acquisition time based on this past travel route, The tip is estimated as the current position and displayed on the map. Therefore, in a space where a large number of sensors for position detection are not installed, it is possible to detect and continuously display the position of the terminal for which detection information could not be acquired.

Embodiment 6 FIG.
In each of the above embodiments, an example in which the positioning information processing apparatus of the present invention is applied to a positioning system having a combination of a movable terminal and a sensor that is fixedly arranged to detect the terminal has been described. In the sixth embodiment, an example in which the positioning information processing apparatus of the present invention is applied to a positioning system having a combination of a fixedly arranged marker and a movable terminal that detects the marker will be described.
FIG. 10 is an explanatory diagram showing a schematic configuration of a positioning system to which a positioning information processing apparatus according to Embodiment 6 of the present invention is applied.
In this positioning system, markers 80 are installed at intervals in the premises or in the city. When the person 10 holding the detection terminal 21 moves and enters the detectable region of the marker 80, the detection terminal 21 detects the marker 80. In this positioning system, when the marker 80 is a radio wave tag, the detection terminal 21 is equipped with a reader, and when the marker 80 is an infrared light emitter, the detection terminal 21 is equipped with an infrared light receiving element, and the marker 80 is a barcode. In this case, it is assumed that the detection terminal 21 is equipped with a barcode reader.
In this case, the data detected from the marker 80 is a marker ID for identifying the marker. The detection terminal 21 transmits the detected marker ID, its detection time, and its own terminal ID as detection information to a mobile phone or a wireless LAN access point 90. The access point 90 transmits the detection information received from the detection terminal 21 to the positioning information processing apparatus 100 via the network 70.

  In the positioning information processing apparatus 100, the detection position of the detection terminal 21, that is, the current state of the person who has the detection terminal 21 is processed by the same processing as described in each of the above embodiments based on the detection information given from the detection terminal 21. The position etc. are calculated, and the calculated position is displayed on the display. Therefore, the same effects as those described in the above embodiments can be obtained.

It is explanatory drawing which shows schematic structure of the positioning system to which the positioning information processing apparatus which concerns on this invention is applied. It is explanatory drawing showing the example of a display of the position processed by the positioning information processing apparatus of this invention. It is a block diagram which shows the function structure of the positioning information processing apparatus by Embodiment 1 of this invention. It is explanatory drawing showing the process example of the movement route by the movement history estimation means which concerns on Embodiment 1 of this invention. It is a block diagram which shows the function structure of the positioning information processing apparatus by Embodiment 2 and Embodiment 3 of this invention. It is explanatory drawing shown about the processing operation of the next movement route estimation means which concerns on Embodiment 3 of this invention. It is a block diagram which shows the function structure of the positioning information processing apparatus by Embodiment 4 of this invention. It is a block diagram which shows the function structure of the positioning information processing apparatus by Embodiment 5 of this invention. It is explanatory drawing which shows the example of the processing method of the present position estimation means which concerns on Embodiment 5 of this invention. It is explanatory drawing which shows schematic structure of the positioning system to which the positioning information processing apparatus which concerns on Embodiment 6 of this invention is applied.

Explanation of symbols

  10 persons, 20 terminals, 21 detection terminals, 60 sensors, 80 markers, 90 access points, 100 positioning information processing apparatus, 101 position acquisition means, 102, 112 history reference means, 103 movement history estimation means, 104, 114, 124 direction Estimation means, 105 Map selection means, 106 Position display means, 107 Next detection position estimation means, 108 Next movement path estimation means, 109 Current position estimation means, 130 Detection position collation means, 201 Position dictionary storage section, 202 Map data storage section , 203 Location history storage unit, 204 Route data storage unit.

Claims (14)

In a positioning information processing apparatus of a positioning system that detects a moving terminal by sensors installed at a plurality of predetermined positions in a premises or in a city and displays the position of the terminal on a map,
A position dictionary storage unit that stores in advance the position data of each installed sensor;
A map data storage unit for storing map data on the premises or in the city in advance;
A location history storage unit that records location history information for the detected terminal;
A route data storage unit that stores in advance route configuration data for representing the route through which the terminal passes in a figure;
Based on detection information from the sensor, position acquisition means for searching for the corresponding sensor position from the position dictionary storage unit and acquiring it as the current detection position of the detection target terminal;
Map selection means for selecting map data including the current detection position of the acquired detection target terminal from the map data storage unit;
Position display means for superimposing and displaying the current detection position of the detection target terminal on the selected map data;
History reference means for searching for the latest past detection position with respect to the current detection position of the detection target terminal from the position history storage unit;
Based on the selected map data, a past movement route connecting the current detection position of the detection target terminal and the latest past detection position is calculated, and the route configuration data of the route data storage unit is used to calculate A movement history estimation means for generating graphic data of a past movement route;
A direction estimation unit that estimates a direction of the past movement path as a traveling direction, and adds a direction graphic representing the estimated direction to the graphic data of the past movement path;
The position display means superimposes and displays the past movement path graphic data in which the direction graphic obtained by the direction estimation means is added to the map data displaying the current detection position. Information processing device. After a predetermined time after receiving the latest past detection position and the current detection position of the terminal to be detected from the history reference means, the sensor position next to the current detection position is searched from the position dictionary storage unit, and from among the sensor positions Next detection position estimation means for calculating the sensor position excluding the latest past detection position as the next detection estimated position of the detection target terminal;
Based on the map data including the current detection position, the next movement route of the detection target terminal connecting the current detection position and the next detection estimated position is estimated, and the route configuration data of the route data storage unit is used to Next-generation route estimation means for generating graphic data of the next route,
A second direction estimating means for estimating a direction of the next movement path as a traveling direction and adding a direction graphic representing the estimated direction to the graphic data of the next movement path;
The position display means superimposes and displays graphic data of a next movement route in which a direction graphic obtained by the direction estimation means is added to map data displaying the current detection position. Item 5. The positioning information processing apparatus according to item 1. In a positioning information processing apparatus of a positioning system that detects a moving terminal by sensors installed at a plurality of predetermined positions in a premises or in a city and displays the position of the terminal on a map,
A position dictionary storage unit that stores in advance the position data of each installed sensor;
A map data storage unit for storing map data on the premises or in the city in advance;
A location history storage unit that records location history information for the detected terminal;
A route data storage unit for preliminarily storing route configuration data for representing a route through which the terminal passes in a figure;
Based on detection information from the sensor, a position acquisition unit that searches for the corresponding sensor position from the position dictionary storage unit and acquires it as the current detection position of the detection target terminal;
Map selection means for selecting map data including the current detection position of the acquired detection target terminal from the map data storage unit;
Position display means for superimposing and displaying the current detection position of the detection target terminal on the selected map data;
History reference means for searching for the latest past detection position with respect to the current detection position of the detection target terminal from the position history storage unit;
After a predetermined time after receiving the latest past detection position and the current detection position of the detection target terminal from the history reference means, the sensor position next to the current detection position is searched from the position dictionary storage unit, A next detection position estimation means for calculating a sensor position excluding the latest past detection position from the detection target terminal as a next detection estimation position;
Based on the map data including the current detection position, the next movement path of the detection target terminal connecting the current detection position and the next detection estimated position is estimated, and the path configuration data in the path data storage unit is used. A next movement route estimation means for generating graphic data of the next movement route,
Direction estimation means for estimating a direction of the next movement path as a traveling direction and adding a direction graphic representing the estimated direction to the graphic data of the next movement path;
The position display means superimposes and displays the graphic data of the next movement route with the direction graphic obtained by the direction estimation means added to the map data displaying the current detection position. Information processing device.   The next movement route estimation means selects the route configuration data corresponding to the distance traveled by the detection target terminal at the standard movement speed from the route data storage unit at regular time intervals, and detects the current detection position along the estimated next movement route. 4. The positioning information processing apparatus according to claim 2, wherein graphic data that is sequentially connected so as to increase from the base point is generated. The next detection estimated position and the new detection position acquired by the position acquisition means are collated, and if there is a next detection estimated position that matches the new detection position, a detection position collation means for generating control data is provided. Prepared,
The position display means selects, based on the control data, graphic data of only the next movement path to which a direction graphic to the next detection estimated position that matches the new detection position is added, together with the new detection position 4. The positioning information processing apparatus according to claim 3, wherein the positioning information processing apparatus is displayed so as to be superimposed on the map data to be displayed. When the current detection position of the detection target terminal is not acquired at the predetermined movement time by the position acquisition unit, it is detected from the position history storage unit within a predetermined period that is twice the predetermined movement time from the detection information acquisition scheduled time. Second history reference means for searching a plurality of past detection positions of the detected target terminal;
Estimating a past movement route based on the plurality of past detected positions searched, from the detection position of the last detection time on the estimated past movement route to the acquisition time of detection information that could not be acquired this time A movement route is estimated in a direction in which the movement route extends and a straight line that is a multiple of the distance traveled for a predetermined movement time, the tip of the movement route is calculated as the current estimated position of the detection target terminal, and a route data storage unit Current position estimating means for generating graphic data of the estimated moving route using the route configuration data of
A third direction estimating means for estimating a direction of the estimated tip of the moving path as a current traveling direction and adding a direction graphic representing the estimated direction to the graphic data of the moving path;
The position display means superimposes and displays the graphic data of the next movement route in which the direction graphic obtained by the direction estimation means is added to the map data including the estimated current position of the detection target terminal. The positioning information processing apparatus according to claim 1. In a positioning information processing apparatus of a positioning system that detects a moving terminal by sensors installed at a plurality of predetermined equidistant positions in a premises or in a city and displays the position of the terminal on a map,
A position dictionary storage unit that stores in advance the position data of each installed sensor;
A map data storage unit for storing map data on the premises or in the city in advance;
A location history storage unit that records location history information for the detected terminal;
A route data storage unit that stores in advance route configuration data for representing the route through which the terminal passes in a figure;
Based on detection information from the sensor, position acquisition means for searching for the corresponding sensor position from the position dictionary storage unit and acquiring it as the current detection position of the detection target terminal;
Map selection means for selecting map data including the current detection position of the acquired detection target terminal from the map data storage unit;
Position display means for superimposing and displaying the current detection position of the detection target terminal on the selected map data;
When the current detection position of the detection target terminal is not acquired at a predetermined movement time by the position acquisition means, within a predetermined period that is twice the predetermined movement time from the estimated acquisition time of the detection information from the position history storage unit. A history reference means for searching a plurality of past detection positions of the detected detection target terminal;
Estimating a past movement route based on the plurality of past detected positions searched, from the detection position of the last detection time on the estimated past movement route to the acquisition time of detection information that could not be acquired this time The movement route is estimated with a straight line that is a multiple of the distance traveled in a predetermined movement time in the direction in which the movement route extends, the tip of the movement route is calculated as the current estimated position of the detection target terminal, and the route data storage Current position estimating means for generating graphic data of the estimated moving route using the route configuration data of a part;
Direction estimation means for estimating the direction of the estimated tip of the moving route as the current traveling direction, and adding a direction graphic representing the estimated direction to the graphic data of the moving route;
The position display means superimposes and displays graphic data of the next movement route in which the direction graphic obtained by the direction estimation means is added to map data including the estimated current position of the detection target terminal. A positioning information processing apparatus characterized by. In a positioning information processing apparatus of a positioning system that detects a marker installed at a plurality of predetermined positions on the premises or in a town and detects the position of the detection terminal on a map,
A position dictionary storage unit for storing in advance position data of each marker installed;
A map data storage unit for storing map data on the premises or in the city in advance;
A position history storage unit that records position history information for the detection terminal that has detected the marker;
A route data storage unit that preliminarily stores route configuration data for representing the path through which the detection terminal passes in a figure;
Based on detection information from the detection terminal, a position acquisition unit that searches for the corresponding marker position from the position dictionary storage unit and acquires it as the current detection position of the detection target terminal;
Map selection means for selecting map data including the current detection position of the acquired detection target terminal from the map data storage unit;
Position display means for superimposing and displaying the current detection position of the detection target terminal on the selected map data;
History reference means for searching for the latest past detection position with respect to the current detection position of the detection target terminal from the position history storage unit;
Based on the selected map data, a past movement route connecting the current detection position of the detection target terminal and the latest past detection position is calculated, and the route configuration data of the route data storage unit is used to calculate A movement history estimation means for generating graphic data of a past movement route;
A direction estimation unit that estimates a direction of the past movement path as a traveling direction, and adds a direction graphic representing the estimated direction to the graphic data of the past movement path;
The position display means superimposes and displays the past movement path graphic data in which the direction graphic obtained by the direction estimation means is added to the map data displaying the current detection position. Information processing device. After a predetermined time after receiving the latest past detection position and the current detection position of the detection target terminal from the history reference means, the marker position next to the current detection position is searched from the position dictionary storage unit, and from among the marker position, Next detection position estimation means for calculating the marker position excluding the latest past detection position as the next detection estimated position of the detection target terminal;
Based on the map data including the current detection position, the next movement route of the detection target terminal connecting the current detection position and the next detection estimated position is estimated, and the route configuration data of the route data storage unit is used to Next-generation route estimation means for generating graphic data of the next route,
A second direction estimating means for estimating a direction of the next movement path as a traveling direction and adding a direction graphic representing the estimated direction to the graphic data of the next movement path;
The position display means superimposes and displays graphic data of a next movement route in which a direction graphic obtained by the direction estimation means is added to map data displaying the current detection position. Item 9. The positioning information processing apparatus according to Item 8. In a positioning information processing apparatus of a positioning system that detects a marker installed at a plurality of predetermined positions on the premises or in a town and detects the position of the detection terminal on a map,
A position dictionary storage unit for storing in advance position data of each marker installed;
A map data storage unit for storing map data on the premises or in the city in advance;
A position history storage unit that records position history information for the detection terminal that has detected the marker;
A route data storage unit that stores in advance route configuration data for representing the route through which the terminal passes in a figure;
Based on detection information from the detection terminal, a position acquisition unit that searches for the corresponding marker position from the position dictionary storage unit and acquires it as the current detection position of the detection target terminal;
Map selection means for selecting map data including the current detection position of the acquired detection target terminal from the map data storage unit;
History reference means for searching for the latest past detection position with respect to the current detection position of the detection target terminal from the position history storage unit;
Position display means for superimposing and displaying the current detection position of the detection target terminal on the selected map data;
After a predetermined time after receiving the latest past detection position and current detection position of the detection target terminal from the history reference means, the marker position next to the current detection position is searched from the position dictionary storage unit, A next detection position estimation means for calculating a marker position excluding the most recent past detection position from the detection target terminal as a next detection estimation position;
Based on the map data including the current position, the next movement route of the detection target terminal connecting the current detection position and the next detection estimated position is estimated, and the route configuration data in the route data storage unit is used to Next-generation route estimation means for generating graphic data of the next route,
Direction estimation means for estimating a direction of the next movement path as a traveling direction and adding a direction graphic representing the estimated direction to the graphic data of the next movement path;
The position display means superimposes and displays the graphic data of the next movement route with the direction graphic obtained by the direction estimation means added to the map data displaying the current detection position. Information processing device.   The next movement route estimation means selects the route configuration data corresponding to the distance traveled by the detection target terminal at the standard movement speed from the route data storage unit at regular time intervals, and detects the current detection position along the estimated next movement route. The positioning information processing apparatus according to claim 9 or 10, wherein graphic data that is sequentially connected so as to increase with respect to the base point is generated. The next detection estimated position and the new detection position acquired by the position acquisition means are collated, and if there is a next detection estimated position that matches the new detection position, a detection position collation means for generating control data is provided. Prepared,
The position display means selects, based on the control data, graphic data of only the next movement path to which a direction graphic to the next detection estimated position that matches the new detection position is added, together with the new detection position The positioning information processing apparatus according to claim 10, wherein the positioning information processing apparatus is superimposed on the map data to be displayed. When the current detection position of the detection target terminal is not acquired at the predetermined movement time by the position acquisition unit, it is detected from the position history storage unit within a predetermined period that is twice the predetermined movement time from the detection information acquisition scheduled time. Second history reference means for searching a plurality of past detection positions of the detected target terminal;
Estimating a past movement route based on the plurality of past detected positions searched, from the detection position of the last detection time on the estimated past movement route to the acquisition time of detection information that could not be acquired this time A movement route is estimated in a direction in which the movement route extends and a straight line that is a multiple of the distance traveled for a predetermined movement time, the tip of the movement route is calculated as the current estimated position of the detection target terminal, and a route data storage unit Current position estimating means for generating graphic data of the estimated moving route using the route configuration data of
A third direction estimating means for estimating a direction of the estimated tip of the moving path as a current traveling direction and adding a direction graphic representing the estimated direction to the graphic data of the moving path;
The position display means superimposes and displays the graphic data of the next movement route in which the direction graphic obtained by the direction estimation means is added to the map data including the estimated current position of the detection target terminal. The positioning information processing apparatus according to claim 8, wherein: In a positioning information processing apparatus of a positioning system that detects a marker installed at a plurality of predetermined equidistant positions in a premises or in a town and detects the position of the detection terminal on a map,
A position dictionary storage unit for storing in advance position data of each marker installed;
A map data storage unit for storing map data on the premises or in the city in advance;
A position history storage unit that records position history information for the detection terminal that has detected the marker;
A route data storage unit that preliminarily stores route configuration data for representing the path through which the detection terminal passes in a figure;
Based on detection information from the detection terminal, a position acquisition unit that searches for the corresponding marker position from the position dictionary storage unit and acquires it as the current detection position of the detection target terminal;
Map selection means for selecting map data including the current detection position of the acquired detection target terminal from the map data storage unit;
Position display means for superimposing and displaying the current detection position of the detection target terminal on the selected map data;
When the current detection position of the detection target terminal is not acquired at a predetermined movement time by the position acquisition means, within a predetermined period that is twice the predetermined movement time from the estimated acquisition time of the detection information from the position history storage unit. A history reference means for searching a plurality of past detection positions of the detected detection target terminal;
Estimating a past movement route based on the plurality of past detected positions searched, from the detection position of the last detection time on the estimated past movement route to the acquisition time of detection information that could not be acquired this time The movement route is estimated with a straight line that is a multiple of the distance traveled in a predetermined movement time in the direction in which the movement route extends, the tip of the movement route is calculated as the current estimated position of the detection target terminal, and the route data storage Current position estimating means for generating graphic data of the estimated moving route using the route configuration data of a part;
Direction estimation means for estimating the direction of the estimated tip of the moving route as the current traveling direction, and adding a direction graphic representing the estimated direction to the graphic data of the moving route;
The position display means superimposes and displays graphic data of the next movement route in which the direction graphic obtained by the direction estimation means is added to map data including the estimated current position of the detection target terminal. A positioning information processing apparatus characterized by.

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