JP2009031298A - Method and device for continuously positioning movable body by using wireless lan positioning in combination with gps positioning, and continuous positioning program for movable body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To propose a method and device for continuously positioning a movable body by using wireless LAN positioning in combination with GPS positioning for performing real-time processing and continuous positioning indoors and outdoors in positioning the movable body moving indoors and outdoors by using the GPS positioning in combination with the wireless LAN positioning, and to propose a continuous positioning program for the movable body. <P>SOLUTION: For calculating a result of uniting at a time point, only a result of the wireless LAN positioning before that, a result of the GPS positioning, and DOP obtained concomitantly to the GPS positioning, are used to make real-time processing possible. Further, a weighted average is employed using a weight with a definite theoretical basis instead of "a weighted average of the result of wireless LAN positioning and the result of GPS positioning". <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a positioning technique for a moving body, and more particularly, to a continuous positioning method and apparatus for a moving body that can seamlessly position the moving body when the moving body moves indoors and outdoors.

  Conventionally, GPS positioning is generally used as an effective positioning method mainly outdoors. GPS (Global Positioning System) is a positioning system using satellites, and the positioning methods are roughly classified into a single positioning method using only one GPS receiver and a relative positioning method using two or more. The relative positioning method includes a DGPS (Differential GPS) method and an interference positioning method. The DGPS system is a system in which two receivers are installed at a known coordinate point and an unknown point to obtain a measurement error at the known coordinate point, thereby improving the positioning error at the unknown point. High-sensitivity GPS is a kind of single positioning method, and can measure the same level as the normal single positioning method outdoors, and can measure to some extent, although positioning errors increase even indoors where normal GPS is not available. . The DGPS method often cannot be positioned as compared with the high-sensitivity GPS, but the accuracy is high. In many cases, the interference positioning method cannot perform positioning more than DGPS, but the accuracy is further higher.

  DOP (Dilution of precision) is an index for evaluating a positioning error, and is obtained simultaneously with a GPS positioning result. The GPS positioning error is estimated as the product of the pseudorange measurement error and the DOP. The value of DOP is always positive, and the larger the value, the greater the error.

  On the other hand, as a positioning method that is mainly effective indoors, there is a conventional wireless LAN positioning. In the wireless LAN positioning, the distance between a plurality of access points existing at coordinate known points and a moving body (terminal, for example, a PDA having a wireless LAN function) is calculated to obtain the position of the moving body.

  When applying the positioning technology of a moving body to pedestrian navigation, etc., it is important to enable continuous positioning indoors and outdoors.

  Therefore, it has been proposed to perform positioning continuously (seamlessly) regardless of indoor or outdoor by appropriately combining GPS positioning and wireless LAN positioning.

For example, pages 25-26 of the Annual Scientific Lecture Meeting of the Japan Photogrammetry Society (June 17-18, 2004) combine the results of wireless LAN positioning and GPS positioning to provide continuous positioning. As a method for realizing it, a fusion algorithm of a wireless LAN positioning result and a GPS positioning result has been proposed.
JP2002-14152 Annual Meeting of the Photogrammetric Society of Japan (June 17-18, 2004)

  Since the algorithm described in Non-Patent Document 1 described above also uses the result of future wireless LAN positioning and the result of GPS positioning for calculation of the fusion result at a certain time point, the fusion calculation cannot be performed in real time. It was a thing. Moreover, although the weighted average of the result of wireless LAN positioning and the result of GPS positioning is adopted, the theoretical basis of the weight is unclear.

  The present invention enables real-time processing when positioning a moving body that moves indoors and outdoors by using both GPS positioning and wireless LAN positioning. Wireless LAN positioning and GPS positioning capable of continuous positioning indoors and outdoors can be performed. It aims at proposing the continuous positioning method and apparatus of the moving body used together, and the continuous positioning program of the moving body.

  In order to achieve the above object, the invention proposed by the present invention is as follows.

The step of calculating the accuracy of the positioning result of the moving body at the current time obtained by the GPS receiver using the DOP value in the positioning result of the moving body at the current time obtained by the GPS receiver. When,
Using the positioning result at the current time of the mobile body obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the positioning results at the current and immediately preceding multiple times, the wireless LAN positioning Calculating the accuracy of the positioning result of the moving object at the current time obtained by the device;
Calculates the positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the intermediate value or average value of the positioning results at the current and immediately preceding multiple times. And steps to
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver is set as the weight of the positioning result of the moving object at the current time obtained by the GPS receiver,
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the calculated wireless LAN positioning device is an intermediate value or average of the positioning results of the moving object obtained by the calculated wireless LAN positioning device. As a value weight,
The positioning result of the moving body at the current time obtained by the GPS receiver and the intermediate value or the average value of the positioning results of the moving body obtained by the wireless LAN positioning device are averaged, and the average is obtained as the positioning result of the moving body at the present time. A method for continuously positioning a mobile body using both wireless LAN positioning and GPS positioning, comprising: generating positioning result information of the mobile body.

The step of calculating the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver using the DOP value in the positioning result of the moving object at the current time obtained by the GPS receiver. When,
Using the positioning result at the current time of the mobile body obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the positioning results at the current and immediately preceding multiple times, the wireless LAN positioning Calculating the accuracy of the positioning result of the moving object at the current time obtained by the device;
Calculating the accuracy when using the positioning result of the immediately preceding moving body as the current positioning result based on the accuracy of the positioning result of the immediately preceding moving body and a predetermined moving speed of the moving body;
Calculates the positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the intermediate value or average value of the positioning results at the current and immediately preceding multiple times. And steps to
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver is set as the weight of the positioning result of the moving object at the current time obtained by the GPS receiver,
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the calculated wireless LAN positioning device is an intermediate value or average of the positioning results of the moving object obtained by the calculated wireless LAN positioning device. Value weight,
The reciprocal of the square of accuracy when using the positioning result of the immediately preceding moving body as the current positioning result is used as the weight of the positioning result of the immediately preceding moving body,
The positioning result of the moving object at the current time obtained by the GPS receiver, the intermediate value or the average value of the positioning result of the moving object obtained by the wireless LAN positioning device, and the positioning result of the immediately preceding moving object are averaged, Generating the positioning result information of the mobile body using the average as the positioning result of the mobile body at the present time;
In order to generate positioning result information at the next time point, a method of continuously positioning a mobile body using both wireless LAN positioning and GPS positioning, including the step of calculating the accuracy of the current positioning result by (Equation 4) .

The invention according to claim 3 The average delay time in the positioning result information of the moving body generated as the positioning result of the current moving body is calculated, and in the positioning result information of the moving body generated as the positioning result of the current moving body, It is possible to perform positioning at the same level as the GPS receiver outdoors, and only the present and the average delay time obtained by a high-sensitivity GPS receiver using a method capable of positioning even indoors where the GPS receiver cannot be used. 3. The method according to claim 1, further comprising a step of adding the difference between the positioning results of the mobile body at the previous time point and generating positioning result information of the mobile body as the current positioning result of the mobile body. A continuous positioning method for a moving body using both wireless LAN positioning and GPS positioning.

  The continuous positioning method of the moving body using the wireless LAN positioning and the GPS positioning according to the present invention according to the above claims 1 to 3 includes a general-purpose computer such as a personal computer, a processing unit including a CPU of a dedicated computer, A mobile unit using both the following wireless LAN positioning and GPS positioning of the present invention realized by executing the processing operation corresponding to each step in the method of the present invention described above under the instruction of the computer program of the present invention. It is implemented by the continuous positioning device.

The invention according to claim 4 calculates the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver using the DOP value in the positioning result of the moving object at the current time obtained by the GPS receiver. A calculation means;
Using the positioning result at the current time of the mobile body obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the positioning results at the current and immediately preceding multiple times, the wireless LAN positioning Second calculating means for calculating the accuracy of the positioning result of the moving object at the current time obtained by the device;
Calculates the positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the intermediate value or average value of the positioning results at the current and immediately preceding multiple times. A third calculating means for
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver is set as the weight of the positioning result of the moving object at the current time obtained by the GPS receiver,
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the calculated wireless LAN positioning device is an intermediate value or average of the positioning results of the moving object obtained by the calculated wireless LAN positioning device. As a value weight,
The positioning result of the moving object at the current time obtained by the GPS receiver and the intermediate value or average value of the positioning result of the moving object obtained by the wireless LAN positioning device are averaged, and the average is the current positioning result of the moving object. A positioning device for continuous positioning of a moving body using both wireless LAN positioning and GPS positioning, comprising: positioning result information generating means for a thirteenth moving body that generates positioning result information of the moving body.

The invention according to claim 5 calculates the accuracy of the positioning result of the mobile object at the current time obtained by the GPS receiver, using the DOP value in the positioning result of the mobile object at the current time obtained by the GPS receiver. 14 calculation means,
Using the positioning result at the current time of the mobile body obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the positioning results at the current and immediately preceding multiple times, the wireless LAN positioning A fifteenth calculating means for calculating the accuracy of the positioning result of the moving object at the current time obtained by the apparatus;
Sixth calculation for calculating the accuracy when using the positioning result of the immediately preceding moving body as the current positioning result based on the accuracy of the positioning result of the immediately preceding moving body and the predetermined moving speed of the moving body Means,
Calculates the positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the intermediate value or average value of the positioning results at the current and immediately preceding multiple times. A seventh calculating means to:
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver is set as the weight of the positioning result of the moving object at the current time obtained by the GPS receiver,
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the calculated wireless LAN positioning device is an intermediate value or average of the positioning results of the moving object obtained by the calculated wireless LAN positioning device. Value weight,
The reciprocal of the square of accuracy when using the positioning result of the immediately preceding moving body as the current positioning result is used as the weight of the positioning result of the immediately preceding moving body,
The positioning result of the moving object at the current time obtained by the GPS receiver, the intermediate value or the average value of the positioning result of the moving object obtained by the wireless LAN positioning device, and the positioning result of the immediately preceding moving object are averaged, A positioning result information generating means for the fourteenth moving body that generates the positioning result information of the moving body as the average positioning result of the moving body;
In order to generate the positioning result information at the next time point, according to (Equation 5), an eighth calculation means for calculating the accuracy of the current positioning result is used. Continuous positioning device.

The invention according to claim 6 The average delay time in the positioning result information of the moving body generated as the positioning result of the current moving body is calculated, and in the positioning result information of the moving body generated as the positioning result of the current moving body, It is possible to perform positioning at the same level as the GPS receiver outdoors, and only the present and the average delay time obtained by a high-sensitivity GPS receiver using a method capable of positioning even indoors where the GPS receiver cannot be used. It further includes a fifteenth mobile unit positioning result information generating means for adding the difference between the positioning results of the mobile unit at the previous time point and generating the positioning result information of the mobile unit as the current mobile unit positioning result. 6. A continuous positioning apparatus for a moving body using both wireless LAN positioning and GPS positioning according to claim 4 or 5.

  In a processing unit such as a CPU in a continuous positioning device for a mobile body using both wireless LAN positioning and GPS positioning according to the present invention according to claims 4 to 6 consisting of a general-purpose computer such as a personal computer or a dedicated computer, The computer program of the present invention for executing the processing operation corresponding to each step in the method of the present invention described above is as follows.

The invention according to claim 7
A first calculation function for calculating the accuracy of the positioning result of the mobile object at the current time obtained by the GPS receiver using the DOP value in the positioning result of the mobile object at the current time obtained by the GPS receiver;
Using the positioning result at the current time of the mobile body obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the positioning results at the current and immediately preceding multiple times, the wireless LAN positioning A second calculation function for calculating the accuracy of the positioning result of the moving object at the current time obtained by the device;
Calculates the positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the intermediate value or average value of the positioning results at the current and immediately preceding multiple times. And a third calculation function
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver is set as the weight of the positioning result of the moving object at the current time obtained by the GPS receiver,
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the calculated wireless LAN positioning device is an intermediate value or average of the positioning results of the moving object obtained by the calculated wireless LAN positioning device. As a value weight,
The positioning result of the moving object at the current time obtained by the GPS receiver and the intermediate value or average value of the positioning result of the moving object obtained by the wireless LAN positioning device are averaged, and the average is the current positioning result of the moving object. A mobile positioning program that uses both wireless LAN positioning and GPS positioning to realize a positioning result information generating function of a thirteenth moving body that generates positioning result information of the moving body.

The computer according to claim 8
A fourth calculation function for calculating the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver using the DOP value in the positioning result of the moving object at the current time obtained by the GPS receiver;
Using the positioning result at the current time of the mobile body obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the positioning results at the current and immediately preceding multiple times, the wireless LAN positioning A fifth calculation function for calculating the accuracy of the positioning result of the moving object at the current time obtained by the device;
Sixth calculation for calculating the accuracy when using the positioning result of the immediately preceding moving body as the current positioning result based on the accuracy of the positioning result of the immediately preceding moving body and the predetermined moving speed of the moving body Function and
Calculates the positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the intermediate value or average value of the positioning results at the current and immediately preceding multiple times. And a seventh calculation function
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver is set as the weight of the positioning result of the moving object at the current time obtained by the GPS receiver,
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the calculated wireless LAN positioning device is an intermediate value or average of the positioning results of the moving object obtained by the calculated wireless LAN positioning device. Value weight,
The reciprocal of the square of accuracy when using the positioning result of the immediately preceding moving body as the current positioning result is used as the weight of the positioning result of the immediately preceding moving body,
The positioning result of the moving object at the current time obtained by the GPS receiver, the intermediate value or the average value of the positioning result of the moving object obtained by the wireless LAN positioning device, and the positioning result of the immediately preceding moving object are averaged, A positioning result information generation function of the fourteenth mobile unit that generates the positioning result information of the mobile unit using the average as the positioning result of the current mobile unit;
In order to generate the positioning result information at the next time point, according to (Equation 6), the eighth calculation function for calculating the accuracy of the current positioning result and the wireless LAN positioning and the GPS positioning for realizing the positioning function are realized. Continuous positioning program.

The invention according to claim 9 Calculates the average delay time in the positioning result information of the moving body generated as the positioning result of the current moving body, and in the positioning result information of the moving body generated as the positioning result of the current moving body, The difference between the current position obtained by the high-sensitivity GPS receiver and the positioning result of the moving body at the time point before the average delay time is added, and the positioning result information of the moving body is generated as a positioning result of the moving body at the present time. The positioning result information generation function for fifteen mobile objects is further realized by a computer, and the continuous positioning program for a mobile object using both wireless LAN positioning and GPS positioning according to claim 7 or 8.

  The algorithm of the present invention uses only the result of previous wireless LAN positioning, the result of GPS positioning, and the DOP obtained accompanying GPS positioning for calculation of the fusion result at a certain point of time, and is used for real-time processing. Applicable. The inventions according to claims 1 to 9 of the present application are weights having a clear theoretical basis instead of the “weighted average of wireless LAN positioning results and GPS positioning results” employed in the above-described prior art. The weighted average using is used, and the reason is clear.

  As a result of applying the present invention to actual data, it was shown that the accuracy was higher than the algorithm presented at the Photogrammetric Society.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

  A continuous positioning system (apparatus) for a moving body using both wireless LAN positioning and GPS positioning according to the present invention is a mobile positioning continuous positioning method using both wireless LAN positioning and GPS positioning according to the present invention described below. The computer includes a general-purpose computer or a dedicated computer that performs a predetermined processing operation under the instruction of a computer program executed by the computer.

  The continuous positioning system 1 for a moving body using both wireless LAN positioning and GPS positioning according to the present invention is obtained by a GPS receiver acquired by an information acquisition unit including an interface unit that performs wired or wireless information communication with the outside. A first determination processing unit 101 is provided for determining variations in the positioning results of the moving object at one or a plurality of times obtained at present and immediately before.

  Hereinafter, a case where data is obtained every second for the GPS receiver and the wireless LAN positioning device will be described.

  In addition, an example is shown in which the previous three time points and the current GPS receiver positioning result are used to determine the variation in the positioning result of the GPS receiver.

  Further, in this embodiment and the following embodiments, an example in which the effective range of wireless LAN positioning is a rectangle parallel to the coordinate axis is shown.

  However, the present invention can be implemented in other forms.

  The mobile body continuous positioning system 1 of the present invention acquires the positioning result of the mobile body at the current time obtained by the GPS receiver by the information acquisition unit (step 1001).

  When the information acquisition unit acquires the current positioning result of the moving body obtained by the GPS receiver, the positioning result is associated with the positioning measurement time, and is stored in the continuous positioning system 1 of the moving body of the present invention including the computer. Is stored and accumulated in the unit. Here, the current number of positioning results of the mobile body obtained by the GPS receiver stored in the storage unit in association with the positioning measurement time can be set to a predetermined number. When a mobile continuous positioning system using both wireless LAN positioning and GPS positioning according to the present invention is incorporated in a device with limited resources such as a mobile phone, the number of cases stored in this way is set to a predetermined number. It becomes important.

  The past positioning results accumulated in this way are extracted from the storage unit and used as necessary. For example, it is used for processing for determining variations in positioning results of a moving object at one or a plurality of times obtained immediately before and by a GPS receiver.

  In addition, when the continuous positioning system 1 of the moving object of the present invention acquires the positioning result of the moving object at the current time of the moving object obtained by the wireless LAN positioning device by the information acquisition unit, the positioning result is obtained as the positioning measurement time. And stored in the storage unit of the continuous positioning system 1 of the moving body of the present invention, which is a computer. Also here, the number of positioning results of the moving object at the current time of the moving object obtained by the wireless LAN positioning device associated with the positioning measurement time and stored in the storage unit can be set to a predetermined number.

  The past positioning results accumulated in this way are extracted from the storage unit and used as necessary. For example, the current positioning result of the moving body obtained by the wireless LAN positioning device, the positioning result of the moving body at one time immediately before and immediately before, or the intermediate value of the positioning results of the moving body at a plurality of times immediately before and now, or It is used for processing to find the average value.

Here, the current time is t, and the positioning result of the moving body at the current time obtained by the GPS receiver is X _G (t) (coordinate is UTM coordinate system) (unit of length is m, unit of time is second) (The same applies to the following description in the present specification)), and the positioning results of the mobile body at three times t-1, t-2, and t-3 immediately before obtained by the GPS receiver are expressed as X _G (t− 1), X _G (t-2), X _G (t-3).

In the storage unit of the continuous positioning system 1 of the moving object of the present invention, the first determination processing unit 101 stores the positioning result of the moving object at one or a plurality of times immediately before and immediately after obtained by the GPS receiver. Referring in determining variations, it is stored data on the limits L _a variation predetermined.

  The continuous positioning system 1 for a moving body using both wireless LAN positioning and GPS positioning according to the present invention includes a first positioning result information generation processing unit 102.

As a result of the process (step 1002) of determining the variation in the positioning result of the moving body at one or a plurality of times obtained by the GPS receiver, which is performed by the GPS receiver, performed by the first determination processing unit 101, the GPS receiver When the variation in the positioning results at one or a plurality of times immediately before and at the time of the mobile object obtained by the above is within a predetermined range, the GPS positioning receiver generates the GPS receiver by the first positioning result information generation processing unit 102. The positioning result X _G (t) at the current time t obtained by the above is used as the current positioning result X _R (t) of the moving body to generate the positioning result information of the moving body (step 1003).

The process (step 1002) of determining the variation in the positioning result of the moving object at one or a plurality of times obtained by the GPS receiver, which is performed by the first determination processing unit 101, is performed according to this embodiment. As described above, when determining the variation in the positioning results of the moving object at the current and previous three times obtained by the GPS receiver, for example, a process for determining whether or not the following (Equation 7) is satisfied: As done.

As a result of the processing in step 1002, the variation in the positioning results at the current time and immediately before or at one or more times (in the case of this embodiment, the immediately preceding three times) of the mobile object obtained by the GPS receiver are both predetermined. If it is within a certain range, that is, if the above (Equation 7) is satisfied, the current position obtained by the GPS receiver as the positioning result information X _R (t) of the moving object indicating the positioning result of the moving object The process of outputting the positioning result X _G (t) at time t is performed by the first positioning result information generation processing unit 102 (step 1003).

  The continuous positioning system 1 of the mobile object according to the present invention includes a positioning result at the current time of the mobile object obtained by the wireless LAN positioning device, a positioning result at one time immediately before and the current time, or a plurality of current and immediately preceding time points. Is provided with a second determination processing unit 103 that determines whether or not the positioning result at the time is within a predetermined range.

  Therefore, the positioning result at the current time t of the mobile body obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time t-1, or the positioning results at the current and immediately preceding multiple times are previously stored. The second determination processing unit 103 performs processing (step 1004) for determining whether or not it is within a predetermined range.

  As for the determination result of the second determination processing unit 103, the positioning time, the positioning result, and the determination result (within or not within a predetermined range) are associated and stored in the storage unit.

In the storage unit of the continuous positioning system 1 of the moving body of the present invention, the positioning result at the current time of the moving body obtained by the wireless LAN positioning device by the second determination processing unit 103, or the current and previous time A predetermined range to be referred to when determining whether or not the positioning results at one time or the positioning results at a plurality of current and previous times are within a predetermined range, for example, the validity of the wireless LAN _{Data on} the lower limit of the x coordinate of the range: L _BX1 , the upper limit of the x coordinate: L _BX2 , the lower limit of the y coordinate: L _BY1 , the upper limit of the y coordinate: L _BY2 is stored.

The process performed by the second determination processing unit 103 to determine whether the positioning result of the moving object at the current time obtained by the wireless LAN positioning device is within a predetermined range (step 1004). For example, the positioning result of the moving body at the current time t obtained by the wireless LAN positioning device is X _L (t) = (x _L (t), y _L (t)) (two-dimensional vector in the UTM coordinate system). This is determined by whether or not the following condition (Equation 8) is satisfied.

  If this (Equation 8) is satisfied, it means that the positioning result of the moving body at the current time obtained by the wireless LAN positioning device is within a predetermined range.

In addition, a process of determining whether or not the positioning result at the current and immediately preceding time obtained by the wireless LAN positioning device is within a predetermined range, which is performed by the second determination processing unit 103 (step 1004). ) Is determined based on whether or not the condition of (Equation 8) is satisfied with respect to the positioning result of the moving body at the current time t obtained by the wireless LAN positioning device. As for the positioning result at one time, the positioning result of the moving body at one time t−1 immediately before obtained by the wireless LAN positioning device is expressed as X _L (t−1) = (x _L (t−1), y _L ( t-1)) (two-dimensional vector in the UTM coordinate system), and it is determined by whether or not the following (Equation 9) is satisfied.

  When (Equation 8) and (Equation 9) are satisfied, the positioning result of the moving body at the current time and the immediately preceding time obtained by the wireless LAN positioning device is within a predetermined range. become.

Further, a process of determining whether or not the positioning results at the current and immediately preceding times obtained by the wireless LAN positioning device are within a predetermined range, which is performed by the second determination processing unit 103 (step 1004). ) Is determined based on whether or not the condition of the above (Equation 8) is satisfied with respect to the positioning result of the moving body at the current time t obtained by the wireless LAN positioning device. As for the positioning results at the time, the plurality of times t−m (m = 1, immediately preceding) obtained by the wireless LAN positioning device are specifically assumed to be n immediately before (n is an integer of 2 or more). 2,..., N) is determined as X _L (tm) = (x _L (tm), y _L (tm)) (two-dimensional vector in the UTM coordinate system). 1 It is determined by whether or not the following condition (Equation 10) is satisfied for all integers m from n to n.

  If (Equation 10) is satisfied for (Equation 8) and all the integers m from 1 to n, the current and previous plural (in this example, n) times obtained by the wireless LAN positioning device are obtained. The positioning result is within a predetermined range.

  Whether “positioning results at the current time”, “positioning results at the current and previous time”, or “positioning results at the current and previous times” are within a predetermined range. Is determined in advance, and according to the instructions of the predetermined computer program, “positioning result at the current time”, “positioning result at the current and previous one time”, “ A process of determining whether any of “positioning results at a plurality of current and immediately preceding times” is within a predetermined range is performed.

  The continuous positioning system 1 for a moving body according to the present invention has previously obtained the positioning result of the moving body obtained by the wireless LAN positioning device obtained by the result of the determination process (step 1004) performed by the second determination processing unit 103 in advance. A third determination processing unit 104 is provided that compares a number within a predetermined range with a predetermined number (A).

  Therefore, the number obtained by the result of the determination process (step 1004) performed by the second determination processing unit 103 and the positioning result of the mobile object obtained by the wireless LAN positioning device is within a predetermined range in advance. The third determination processing unit 104 performs processing (step 1005) for comparison with a predetermined number (A).

  The determination result of the third determination processing unit 104 is stored in the storage unit.

  The positioning result of the mobile body obtained by the wireless LAN positioning device obtained by the result of the judgment processing (step 1004) performed by the second judgment processing unit 103 performed by the third judgment processing unit 104 is determined in advance. The process of comparing a number within a certain range with a predetermined number (A) is, for example, a determination process (step 1004) performed by the second determination processing unit 103 obtained by the wireless LAN positioning device. When the positioning result at the current time of the body is a process for determining whether or not it is within a predetermined range, the predetermined number (A) is set to 1, and the second determination processing unit The determination process (step 1004) performed by the mobile station 103 is performed on the positioning result at the current time and immediately before the moving object obtained by the wireless LAN positioning device. In the case of the process for determining whether or not it is within a predetermined range, the predetermined number (A) is 2, and the determination process (step 1004) performed by the second determination processing unit 103 is wireless. A process for determining whether or not a positioning result at a plurality of times (the number is an integer n of 2 or more) immediately before the moving body obtained by the LAN positioning device is within a predetermined range. In some cases, the predetermined number (A) can be set to n. In this case, all of the positioning results at the current time of the mobile body obtained by the wireless LAN positioning device, the positioning results at the current and immediately preceding times, or the positioning results at the current and immediately preceding multiple times are stored in advance. It is determined whether it is within a predetermined range.

  The continuous positioning system 1 for a moving body using both wireless LAN positioning and GPS positioning according to the present invention includes the determination result of the second determination processing unit 103, the time of positioning, and the positioning result stored in the storage unit. The result of the determination (within or not within a predetermined range) and the result of the determination process performed by the second determination processing unit 103 (step 1004) performed by the third determination processing unit 104 The number of mobile units obtained by the obtained wireless LAN positioning device is determined in advance with reference to the result of the process of comparing the number within a predetermined range with the predetermined number (A). Positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device recognized that the number within the range is greater than or equal to the predetermined number (A), or one of the current and immediately preceding Positioning results in the time, or, a wireless LAN positioning result average value calculating means 105 for calculating an intermediate value or average value of the positioning results in a plurality of time of the current and immediately preceding.

  Note that, here, the wireless LAN positioning result average value is calculated so that the intermediate value or the average value is calculated using only the positioning result at the time point when (Equation 8), (Equation 9) or (Equation 10) is satisfied. It is also possible to configure the calculation means 105.

  In addition, a second positioning result information generation processing unit 106 that generates the positioning result information of the mobile body as the current positioning result of the mobile body using the intermediate value or the average value calculated by the wireless LAN positioning result average value calculating means 105 as a positioning result. I have.

  By this wireless LAN positioning result average value calculation means 105 and the second positioning result information generation processing unit 106, there is any variation in the positioning results at one or a plurality of times immediately before and immediately before the moving body obtained by the GPS receiver. The positioning result at the current time of the mobile unit that is out of the predetermined range and obtained by the wireless LAN positioning device, or the positioning result at one time immediately before and at the present time, or at a plurality of times before and after the current time It is determined whether the positioning result is within a predetermined range, and the number within the predetermined range is equal to or greater than the predetermined number (A) The positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device that is recognized to be greater than or equal to the predetermined number (A), or And generating positioning result information of the moving body using the positioning result at one time immediately before or the intermediate value or the average value of the positioning results at the current and immediately preceding plural times as the positioning result of the current moving body (step) 1006) is performed.

For example, the determination process (step 1004) performed by the second determination processing unit 103 is the positioning result X _L (t) at the current time of the mobile body obtained by the wireless LAN positioning device, and the positioning result X (t -1) Performed for the positioning result X (t-2) two seconds ago, and is established in (Expression 8), m = 1 (Expression 10), and m = 2 (Expression 10) Only (Equation 8) and (Equation 10) with m = 2 are set, that is, only two of X _L (t) and X (t−2) are within a predetermined range. If the predetermined number (A) is 2, this is determined by the second determination processing unit 103, which is performed by the third determination processing unit 104 (step 1004). The positioning result of the moving body obtained by the wireless LAN positioning device obtained by the result of Since the number within the predetermined range is 2 and is equal to or greater than the predetermined number (A), the wireless LAN positioning result average value calculating means 105 can calculate (Equation 8), (Equation 9) or (Equation 10). ) When the intermediate value or the average value is calculated using only the positioning results at the time of satisfying (), the above (Equation 8) and m = 2 (Equation 10) are The average of X _L (t) and X _L (t−2), which have been established and the positioning results are recognized to be within a predetermined range, is calculated by averaging {X _L (t) + X _L (t−2)} / 2 or X _L (t) and X _L (t−2) intermediate value {X _L (t) + X _L (t−2)} / 2 is generated as positioning result information of the moving body at present. .

Further, when all of the above (Equation 8), m = 1 (Equation 10), and m = 2 (Equation 10) are satisfied, that is, X _L (t) and X _L (t− 1) and X _L (t−2) are within a predetermined range, and if the predetermined number (A) is 2, this is the third determination. The positioning result of the mobile body obtained by the wireless LAN positioning device obtained by the result of the judgment process (step 1004) performed by the second judgment processing unit 103 performed by the processing unit 104 is within a predetermined range. Since the number is 3 and is equal to or greater than the predetermined number (A), the above (Equation 8), m = 1 (Equation 10), and m = 2 (Equation 10) are established. and X positioning result was found to be within the scope that is predetermined in _{L (t)} , And _X L _(t-1), the X L (t-2) and are averaged to _{{X L (t) + X} L (t-1) + X L (t-2)} / 3, or they As an intermediate value, the following value is generated as positioning result information of the mobile object at the present time.

In the above description, X _L (t) = (x _L (t), y _L (t)), X _L (t−1) = (x _L (t−1), y _L (t−1)) , X _L (t−2) = (x _L (t−2), y _L (t−2)) is an intermediate value x _{m of} these vectors and an intermediate value y _{m of the} y component. Is a vector (x _m , y _m ). The intermediate value x _m of the x component is a value that is neither the maximum value nor the minimum value of x _L (t), x _L (t−1), and x _L (t−2), and the intermediate value y _m of the y component is , Y _L (t), y _L (t−1), and y _L (t−2) are values that are neither the maximum value nor the minimum value.

  A continuous positioning system 1 for a moving body using both wireless LAN positioning and GPS positioning according to the present invention includes a third positioning result information generation processing unit 107.

The current time of the moving object obtained by the wireless LAN positioning device, in which any variation in the positioning results at one or a plurality of times immediately before and at the time immediately preceding the moving object obtained by the GPS receiver is outside the predetermined range. Positioning result at, or positioning result at one time immediately before and at the present time, or positioning results at current time and immediately before multiple times are determined to be within a predetermined range. In the case where the number obtained becomes smaller than the predetermined number, the third positioning result information generation processing unit 107 calculates the positioning result X _R (t−1) of the immediately preceding moving body from the current moving body. The third positioning result information generation processing unit 107 performs processing for generating the positioning result information of the moving body as the positioning result X _R (t) (step 1007). .

  In addition, as explained above, the continuous positioning system 1 of the moving body using both the wireless LAN positioning and the GPS positioning of the present invention, and the continuous mobile body using the wireless LAN positioning and the GPS positioning according to the above. According to the positioning method, the result of the process (step 1002) performed by the first determination processing unit 101 for determining the variation in the positioning result of the moving object at one or a plurality of times at the present and immediately before obtained by the GPS receiver. This is a case where the above (Equation 7) does not hold and the variation in the positioning results at one or a plurality of times at the present and immediately before the moving object obtained by the GPS receiver is outside the predetermined range. Thus, the determination process (step 1004) performed by the second determination processing unit 103 is performed on the positioning result at the current time of the mobile body obtained by the wireless LAN positioning device. It is a process for determining whether or not it is within a predetermined range, and is obtained by the result of the determination process (step 1004) performed by the second determination process unit 103 performed by the third determination process unit 104. When the number (A) in which the positioning result of the mobile body obtained by the wireless LAN positioning device is within a predetermined range is 1, by the determination process (step 1004) performed by the second determination processing unit 103, If it is recognized that the positioning result at the current time of the mobile object obtained by the wireless LAN positioning device is within a predetermined range, the mobile object obtained by the wireless LAN positioning device by the wireless LAN positioning result average value calculation means 105 An intermediate value or an average value of the positioning results at the current time of the mobile station is calculated. Positioning results at time of standing is, the positioning result information of the movable body is what is generated as a positioning result of the moving object in the current.

  A continuous positioning system 1 for a moving object using both wireless LAN positioning and GPS positioning according to the second embodiment of the present invention corresponds to the invention according to claim 2.

  The mobile LAN continuous positioning system using both the wireless LAN positioning and the GPS positioning of the present invention described with reference to FIGS. 1 and 2, and parts common to the continuous positioning method using the same reference numerals are used. The description is omitted.

A continuous positioning system 1 for a moving body using both wireless LAN positioning and GPS positioning according to the second embodiment of the present invention is a third positioning result information generation processing unit 107 in the system of the first embodiment described with reference to FIG. In place of the mobile object obtained by the wireless LAN positioning device, any variation in the positioning results at one or a plurality of times immediately before and immediately before the mobile object obtained by the GPS receiver is out of the predetermined range. It is determined in advance by determining whether the positioning result at the current time, the positioning result at the current and immediately preceding time, or the positioning results at the current and immediately preceding multiple times are within a predetermined range. If the number became within the range are is less than a predetermined number, as shown in FIG. 3 shown, positioning of the moving body results at time t-1 of the immediately preceding value X _{R (t-} ), A first addition processing unit 108 that performs a process of adding the moving amount of the moving body from the immediately preceding time point t-1 to the current t obtained by the high-sensitivity GPS receiver, and a value of the result of the addition process Is used as a fourth positioning result information generation processing unit 109 that performs a process of outputting as a positioning result of the moving object at the current time t.

According to the continuous positioning system 1 of the moving body using both the wireless LAN positioning and the GPS positioning according to the second embodiment, as shown in FIG. 4, one or a plurality of current and immediately preceding moving bodies obtained by the GPS receiver are used. The positioning result at the current time of the moving object obtained by the wireless LAN positioning device, or the positioning result at the current and immediately preceding time, when any variation in the positioning result at the time is outside the predetermined range Or if it is determined whether the positioning results at the current and immediately preceding multiple times are within a predetermined range and the number within the predetermined range is less than the predetermined number, by a single addition processing section 108, the positioning result of the value of the moving object at time t-1 of the immediately preceding X _{R (t-1),} the immediately preceding obtained by the high-sensitivity GPS receiver time t- Processing of adding the amount of movement of the moving body to the current t from is performed (step 4007) (Fig. 4). Then, the fourth positioning result information generation processing unit 109 outputs the value of the result of the addition processing as the positioning result X _R (t) of the moving object at the current time t (current moving object position). (Step 4008) ((FIG. 4).

Here, the process of adding the moving amount of the moving body from the time t-1 immediately before obtained by the high sensitivity GPS receiver to the current t performed by the first addition processing unit 108 is, for example, the following (number 11).

  A continuous positioning system 1 for a moving body using both wireless LAN positioning and GPS positioning according to the present invention described in this embodiment corresponds to the invention according to claim 3.

  The mobile LAN continuous positioning system using both the wireless LAN positioning and the GPS positioning according to the present invention described with reference to FIGS. 1 to 4, and parts common to the continuous positioning method thereby use common reference numerals. The description is omitted.

  The continuous positioning system 1 of the moving body of the present invention shown in FIG. 3 is the current time obtained by a high-sensitivity GPS receiver obtained by an information obtaining unit comprising an interface unit that performs wired or wireless information communication with the outside. Is provided with a first comparison processing unit 501 for comparing the positioning result of the moving body at the current time obtained by a GPS receiver other than the high-sensitivity GPS receiver (FIG. 5).

  Hereinafter, as in the first embodiment, a case where data is obtained every second for GPS receivers other than the high-sensitivity GPS receiver, the high-sensitivity GPS receiver, and the wireless LAN positioning device will be described. In addition, an example in which the effective range of wireless LAN positioning is a rectangle parallel to the coordinate axis is shown.

  The continuous positioning system 1 of the moving body of the present invention has the positioning result of the moving body at the current time obtained by the high-sensitivity GPS receiver, and the movement at the current time obtained by a GPS receiver other than the high-sensitivity GPS receiver. The body positioning result is acquired by the information acquisition unit (step 6001) (FIG. 6).

  When the information acquisition unit acquires the positioning result of the moving object at the current time obtained by the high-sensitivity GPS receiver and the positioning result of the moving object at the current time obtained by the GPS receiver other than the high-sensitivity GPS receiver, The positioning result is associated with the positioning measurement time, together with information for recognizing whether the positioning result is obtained by a high-sensitivity GPS receiver or a positioning result obtained by a GPS receiver other than the high-sensitivity GPS receiver, The information is stored and accumulated in the storage unit of the continuous positioning system 1 of the moving body of the present invention which is a computer. Here, the number of positioning results obtained by a GPS receiver other than the high-sensitivity GPS receiver and the positioning results obtained by the high-sensitivity GPS receiver stored in the storage unit can be set to a predetermined number. When a mobile continuous positioning system using both wireless LAN positioning and GPS positioning according to the present invention is incorporated in a device with limited resources such as a mobile phone, the number of cases stored in this way is set to a predetermined number. It becomes important.

  The past positioning results accumulated in this way are extracted from the storage unit and used as necessary. For example, it is used for processing to compare the positioning result of the moving body at the current time obtained by the high sensitivity GPS receiver and the positioning result of the moving body at the current time obtained by a GPS receiver other than the high sensitivity GPS receiver. Is done.

  Also in the third embodiment, as described in the first embodiment, the continuous positioning system 1 of the mobile body of the present invention provides information on the positioning result of the mobile body at the current time of the mobile body obtained by the wireless LAN positioning device. When acquired by the acquisition unit, the positioning result is associated with the positioning measurement time and stored and stored in the storage unit of the continuous positioning system 1 of the moving body of the present invention, which is a computer. Also here, the number of positioning results of the moving object at the current time of the moving object obtained by the wireless LAN positioning device associated with the positioning measurement time and stored in the storage unit can be set to a predetermined number.

  The past positioning results accumulated in this way are extracted from the storage unit and used as necessary. For example, the current positioning result of the moving body obtained by the wireless LAN positioning device, the positioning result of the moving body at one time immediately before and immediately before, or the intermediate value of the positioning results of the moving body at a plurality of times immediately before and now, or It is used for processing to find the average value.

Here, the current time is t, the positioning result of the moving body at the current time obtained by the high-sensitivity GPS receiver is X _H (t) (coordinate is UTM coordinate system), and GPS receivers other than the high-sensitivity GPS receiver are used. The result of positioning of the moving body at the current time t obtained by is displayed as X _G (t).

In the storage unit of the continuous positioning system 1 of the moving body of the present invention, the positioning result of the moving body at the current time obtained by the high sensitivity GPS receiver by the first comparison processing unit 501 and the high sensitivity GPS Data to be referred to when comparing the positioning result of the moving body at the current time obtained by a GPS receiver other than the receiver is stored. This data is used, for example, to determine whether or not the difference between the two is within the limit (L _C ).

Therefore, for example, the positioning result of the moving body at the current time obtained by the high-sensitivity GPS receiver performed by the first comparison processing unit 501 and the current obtained by a GPS receiver other than the high-sensitivity GPS receiver. The process (step 6002) for comparing the positioning result of the moving object at the time of (5) is performed as a process for determining whether or not the following (Equation 12) condition is satisfied.

  The continuous positioning system 1 for a moving body using both wireless LAN positioning and GPS positioning according to the present invention includes a fifth positioning result information generation processing unit 502.

The positioning result of the moving body at the current time obtained by the high-sensitivity GPS receiver and the movement at the current time obtained by a GPS receiver other than the high-sensitivity GPS receiver performed by the first comparison processing unit 501. As a result of the process of comparing the positioning result of the body (step 6002), the positioning result of the moving body at the current time obtained by the high-sensitivity GPS receiver and the current obtained by a GPS receiver other than the high-sensitivity GPS receiver If the difference from the positioning result of the moving object at the time is within a predetermined range, that is, if the above (Equation 12) is established, the fifth positioning result information generation processing unit 502 performs high sensitivity. positioning of the moving body results X _G a _(t) as the positioning of the moving body results X _R in the current (t) at the current time obtained by the GPS receiver than a GPS receiver Processing is performed to generate positioning result information of the moving object (step 6003).

  Also in the third embodiment, as in the first embodiment, the continuous positioning system 1 of the moving body of the present invention is the positioning result at the current time of the moving body obtained by the wireless LAN positioning device, or the current and immediately preceding one. A second determination processing unit 103 that determines whether positioning results at one time or positioning results at a plurality of times at the present and immediately before are within a predetermined range, and are obtained by a wireless LAN positioning device. Whether the positioning result of the mobile unit at the current time t, the positioning result at the current and previous one time t-1, or the positioning results at the current and previous plural times are within a predetermined range. A process (step 6004) for determining whether or not is performed by the second determination processing unit 103.

  As for the determination result of the second determination processing unit 103, the positioning time, the positioning result, and the determination result (within or not within a predetermined range) are associated and stored in the storage unit.

  Since the processing operation performed by the second determination processing unit 103 is the same as that described in the first embodiment, description thereof is omitted.

  Also in Example 3, as in Example 1, the continuous positioning system 1 of the moving body of the present invention was obtained by the result of the determination process (step 6004) performed by the second determination processing unit 103. A third determination processing unit 104 that compares the number of positioning results of the mobile body obtained by the wireless LAN positioning device within a predetermined range with a predetermined number (A); The number determined in advance by the number obtained by the result of the determination processing (step 6004) performed by the second determination processing unit 103 within the predetermined range of the positioning result of the mobile body obtained by the wireless LAN positioning device. The third determination processing unit 104 performs processing (step 6005) for comparison with (A). The determination result of the third determination processing unit 104 is stored in the storage unit.

  Since the processing operation performed by the third determination processing unit 104 is the same as that described in the first embodiment, description thereof is omitted.

  Also in the third embodiment, as in the first embodiment, the mobile continuous positioning system 1 of the present invention includes the wireless LAN positioning result average value calculation means 105 described in the first embodiment. This wireless LAN positioning result average value calculation means 105 calculates an intermediate value or an average value using only the positioning results at the time when the above (Equation 8), (Equation 9) or (Equation 10) is satisfied. The configuration is also possible as in the first embodiment.

  In addition, a second positioning result information generation processing unit 106 that generates the positioning result information of the mobile body as the current positioning result of the mobile body using the intermediate value or the average value calculated by the wireless LAN positioning result average value calculating means 105 as a positioning result. I have.

  By this wireless LAN positioning result average value calculation means 105 and second positioning result information generation processing unit 106, the positioning result of the moving body at the current time obtained by the high sensitivity GPS receiver and the GPS other than the high sensitivity GPS receiver. The difference between the positioning result of the moving object at the current time obtained by the receiver is outside the predetermined range, and the positioning result at the current time of the moving object obtained by the wireless LAN positioning device, or the present and immediately preceding The number of positioning results at one time or the number of positioning results at the current and immediately preceding multiple times within a predetermined range by determining whether the positioning results are within the predetermined range is determined in advance. A wireless LAN positioning device that is recognized as having a predetermined number (A) or more when the number is within a predetermined range. The positioning result at the current time of the moving object obtained by the above, the positioning result at the current and immediately preceding time, or the intermediate value or the average value of the positioning results at the current and immediately preceding plural times are used as the moving object at the present time. The step (step 6006) of generating the positioning result information of the moving body as the positioning result is performed.

  This processing operation is basically the same as that described in the first embodiment.

  Similarly to the first embodiment, the mobile continuous positioning system 1 using both the wireless LAN positioning and the GPS positioning according to the third embodiment also includes a third positioning result information generation processing unit 107.

Range in which the difference between the positioning result of the moving body at the current time obtained by the high sensitivity GPS receiver and the positioning result of the moving body at the current time obtained by a GPS receiver other than the high sensitivity GPS receiver is predetermined. The positioning result at the current time of the mobile object that is outside and obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the positioning results at the current and immediately preceding times are determined in advance. If the number within the predetermined range is smaller than the predetermined number, the third positioning result information generation processing unit 107 uses the third positioning result information generation processing unit 107 to determine whether it is within the predetermined range. The process of generating the positioning result information of the moving body using the positioning result X _R (t−1) of the moving body as the current positioning result X _R (t) of the moving body is the third positioning result. This is performed by the fruit information generation processing unit 107 (step 6007).

  A continuous positioning system 1 for a moving body using both wireless LAN positioning and GPS positioning according to the fourth embodiment of the present invention shown in FIGS. 7 and 8 corresponds to the invention according to claim 4, and corresponds to the third embodiment. The system of the second embodiment is related to the system of the first embodiment.

  The mobile LAN continuous positioning system using both the wireless LAN positioning and the GPS positioning of the present invention described with reference to FIGS. 1 to 6, and parts common to the continuous positioning method thereby use common reference numerals. The description is omitted.

Instead of using the third positioning result information generation processing unit 107 in the system of Example 3 described with reference to FIG. 5, the positioning result of the moving body at the current time obtained by the high sensitivity GPS receiver, The difference between the positioning result of the moving object at the current time obtained by a GPS receiver other than the high-sensitivity GPS receiver is outside the predetermined range, and the current time of the moving object obtained by the wireless LAN positioning device is Positioning results, or positioning results at one time immediately before and at the present time, or positioning results at a plurality of times immediately before and immediately before are within a predetermined range by determining whether they are within a predetermined range. since number, is less than the predetermined number, as shown in FIG. 7 illustrated, the positioning results of the mobile at time t-1 of the immediately preceding value X _{R (t-1),} high sensitivity G The first addition processing unit 108 that performs a process of adding the moving amount of the moving body from the previous time point t-1 to the current t obtained by the S receiver, and the value of the result of the addition process as the current time A fourth positioning result information generation processing unit 109 that performs a process of outputting the positioning result of the moving object at t is used.

  Since the processing operation of the system of the fourth embodiment is the same as the processing operation of the system of the second embodiment described above, description thereof is omitted.

    With reference to FIG. 9 and FIG. 10, a continuous positioning system 1 for a moving object using another wireless LAN positioning and GPS positioning of the present invention will be described. This continuous positioning system 1 corresponds to the invention according to claim 5. The mobile LAN continuous positioning system using both the wireless LAN positioning and the GPS positioning of the present invention described with reference to FIGS. 1 to 6, and parts common to the continuous positioning method thereby use common reference numerals. The description is omitted.

  Here, an example is shown in which HDOP, which is an index of the accuracy of the planar position, is used as DOP, and the effective range of wireless LAN positioning is a rectangle parallel to the coordinate axis.

  This continuous positioning system 1 for a moving body according to the present invention is a positioning of a moving body at a current time obtained by a GPS receiver, acquired by an information acquisition unit comprising an interface unit that performs wired or wireless information communication with the outside. A determination processing unit 901 is provided for determining whether or not the HDOP value in the result is within a predetermined range.

  In the following, similarly to the first embodiment, a case where data is obtained every second for the GPS receiver and the wireless LAN positioning device will be described. In addition, an example in which the effective range of wireless LAN positioning is a rectangle parallel to the coordinate axis is shown.

  The continuous positioning system 1 of the moving body of the present invention acquires the positioning result of the moving body at the current time obtained by the GPS receiver by the information acquisition unit (step 10001).

  The mobile unit positioning result at the current time obtained by the GPS receiver is associated with the positioning measurement time together with the HDOP value obtained at the same time. Is stored and accumulated. Here, the number of positioning results obtained by the GPS receiver stored in the storage unit can be set to a predetermined number.

  The past positioning results accumulated in this way are extracted from the storage unit and used as necessary. For example, it is used for the process of determining whether or not the HDOP value in the positioning result of the moving object at the current time obtained by the GPS receiver is within a predetermined range.

  Also in the fifth embodiment, as described in the first embodiment, the continuous positioning system 1 of the mobile body of the present invention provides information on the positioning result of the mobile body at the current time of the mobile body obtained by the wireless LAN positioning device. When acquired by the acquisition unit, the positioning result is associated with the positioning measurement time and stored and stored in the storage unit of the continuous positioning system 1 of the moving body of the present invention, which is a computer. Also here, the number of positioning results of the moving object at the current time of the moving object obtained by the wireless LAN positioning device associated with the positioning measurement time and stored in the storage unit can be set to a predetermined number.

  The past positioning results accumulated in this way are extracted from the storage unit and used as necessary. For example, the current positioning result of the moving body obtained by the wireless LAN positioning device, the positioning result of the moving body at one time immediately before and immediately before, or the intermediate value of the positioning results of the moving body at a plurality of times immediately before and now, or It is used for processing to find the average value.

Here, the current time is t, the positioning result of the moving object at the current time obtained by the GPS receiver is X _G (t) (coordinate is UTM coordinate system), and the moving object at the current time obtained by the GPS receiver is used. The value of HDOP in the positioning result is displayed as D (t).

In the storage unit of the mobile continuous positioning system 1 of the present invention, the HDOP value in the mobile unit positioning result at the current time obtained by the GPS receiver by the determination processing unit 901 is determined in advance. Stores data to be referred to when determining whether or not there is. This data is used, for example, to determine whether the value of HDOP is within a limit (L _D ) range.

Therefore, for example, the determination processing unit 901 determines whether the value of HDOP in the positioning result of the moving object at the current time obtained by the GPS receiver is within a predetermined range (step 10002) is as follows. This is performed as a process of determining whether or not the condition of (Equation 13) is satisfied.

Incidentally, it performed not when the positioning mode obtained by the GPS receiver, an embodiment changing the value of L _D is also possible for each positioning mode.

  The continuous positioning system 1 for a moving object using both wireless LAN positioning and GPS positioning according to the present invention includes a sixth positioning result information generation processing unit 902.

As a result of the process of determining whether the HDOP value in the positioning result of the moving object at the current time obtained by the GPS receiver is within a predetermined range by the determination processing unit 901 (step 10002), GPS reception If the value of HDOP in the positioning result of the moving object at the current time obtained by the machine is within a predetermined range, that is, if the above (Equation 13) holds, the sixth positioning result information generation The processing unit 902 generates a positioning result information of the moving body using the positioning result X _G (t) of the moving body at the current time obtained by the GPS receiver as the positioning result X _R (t) of the moving body at the current time. Performed (step 10003).

  Also in the fifth embodiment, as in the first embodiment, the continuous positioning system 1 of the moving body of the present invention is the positioning result at the current time of the moving body obtained by the wireless LAN positioning device, or the current and immediately preceding one. A second determination processing unit 103 that determines whether positioning results at one time or positioning results at a plurality of times at the present and immediately before are within a predetermined range, and are obtained by a wireless LAN positioning device. Whether the positioning result of the mobile unit at the current time t, the positioning result at the current and previous one time t-1, or the positioning results at the current and previous plural times are within a predetermined range. A process (step 10004) for determining whether or not is performed by the second determination processing unit 103.

  As for the determination result of the second determination processing unit 103, the positioning time, the positioning result, and the determination result (within or not within a predetermined range) are associated and stored in the storage unit.

  Since the processing operation performed by the second determination processing unit 103 is the same as that described in the first embodiment, description thereof is omitted.

  Also in the fifth embodiment, as in the first embodiment, the continuous positioning system 1 of the moving body of the present invention is obtained by the result of the determination process (step 10004) performed by the second determination processing unit 103. A third determination processing unit 104 that compares the number of positioning results of the mobile body obtained by the wireless LAN positioning device within a predetermined range with a predetermined number (A); The number determined in advance by the number obtained by the determination processing (step 10004) performed by the second determination processing unit 103 within the predetermined range of the positioning result of the mobile body obtained by the wireless LAN positioning device. A process for comparing with (A) (step 10005) is performed by the third determination processing unit 104. The determination result of the third determination processing unit 104 is stored in the storage unit.

  Since the processing operation performed by the third determination processing unit 104 is the same as that described in the first embodiment, description thereof is omitted.

  Also in the fifth embodiment, as in the first embodiment, the continuous positioning system 1 of the moving body of the present invention includes the wireless LAN positioning result average value calculation means 105 described in the first embodiment. This wireless LAN positioning result average value calculation means 105 calculates an intermediate value or an average value using only the positioning results at the time when the above (Equation 8), (Equation 9) or (Equation 10) is satisfied. The configuration is also possible as in the first embodiment.

  In addition, a second positioning result information generation processing unit 106 that generates the positioning result information of the mobile body as the current positioning result of the mobile body using the intermediate value or the average value calculated by the wireless LAN positioning result average value calculating means 105 as a positioning result. I have.

  By this wireless LAN positioning result average value calculation means 105 and second positioning result information generation processing unit 106, the value of HDOP in the positioning result of the moving body at the current time obtained by the GPS receiver is outside the predetermined range. Yes, and the positioning result at the current time of the mobile body obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the positioning results at the current and immediately preceding multiple times are predetermined. When the number within the predetermined range is determined by determining whether it is within the range or more than the predetermined number (A), the number within the predetermined range is determined in advance. The positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device recognized as being greater than or equal to the number (A), or the current and previous ones A step (step 10006) of generating positioning result information of the mobile body using the positioning result at the time of the current time, or the intermediate value or average value of the positioning results at the current time and the previous time as the positioning result of the mobile body at the present time. Is called.

  This processing operation is basically the same as that described in the first embodiment.

  The mobile continuous positioning system 1 using both wireless LAN positioning and GPS positioning according to the fifth embodiment also includes a third positioning result information generation processing unit 107 as in the first embodiment.

Positioning result at the current time of the mobile object obtained by the wireless LAN positioning device when the HDOP value in the positioning result of the mobile object at the current time obtained by the GPS receiver is outside the predetermined range Or, it is determined whether the positioning results at the current and previous one time, or the positioning results at the current and immediately preceding plural times are within a predetermined range, and are within the predetermined range. If the number is smaller than a predetermined number, the third positioning result information generation processing unit 107 causes the mobile unit positioning result X _R (t−1) immediately before to be determined as the current mobile unit positioning result X. The third positioning result information generation processing unit 107 performs processing for generating positioning result information of the mobile body as _R (t) (step 10007). .

  A continuous positioning system 1 for a moving body using both wireless LAN positioning and GPS positioning according to the sixth embodiment of the present invention shown in FIGS. 11 and 12 corresponds to the invention according to the sixth aspect. The system of the second embodiment is related to the system of the first embodiment.

  The mobile LAN continuous positioning system using both the wireless LAN positioning and the GPS positioning of the present invention described with reference to FIGS. 1 to 10, and parts common to the continuous positioning method thereby use common reference numerals. The description is omitted.

Instead of using the third positioning result information generation processing unit 107 in the system of the fifth embodiment described with reference to FIG. 9, the value of HDOP in the positioning result of the moving body at the current time obtained by the GPS receiver Is outside the predetermined range, and the positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device, or the positioning result at one time immediately before and the current time, or a plurality of times before and after the current time When it is determined whether the positioning result at is within a predetermined range and the number within the predetermined range is less than the predetermined number, as shown in FIG. the positioning result value X _R of the movable body in the -1 _(t-1), the movement of the moving body from the time t-1 of the immediately preceding obtained by the high-sensitivity GPS receiver to date t And a fourth positioning result information generation processing unit 109 that performs processing to output the value of the result of the addition processing as the positioning result of the moving object at the current time t. Are used.

  Since the processing operation of the system of the sixth embodiment is the same as the processing operation of the system of the second embodiment described above, description thereof is omitted.

  A continuous positioning system 1 for a moving body using both wireless LAN positioning and GPS positioning according to the present invention will be described with reference to FIGS. This system corresponds to the invention described in claim 7.

  The mobile LAN continuous positioning system using both the wireless LAN positioning and the GPS positioning of the present invention described with reference to FIGS. 1 to 12, and parts common to the continuous positioning method thereby use common reference numerals. The description is omitted.

  Here, an example is shown in which HDOP, which is an index of the accuracy of the planar position, is used as DOP, and the effective range of wireless LAN positioning is a rectangle parallel to the coordinate axis.

  This continuous positioning system 1 uses an HDOP value in a positioning result of a moving body at a current time obtained by a GPS receiver, which is obtained by an information obtaining unit composed of an interface unit that performs wired or wireless information communication with the outside. And a calculation processing unit 1301 for calculating the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver.

  Moreover, the positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device, the positioning result at the current time and immediately before the mobile unit obtained by the wireless LAN positioning device, or the positioning result obtained by the wireless LAN positioning device. A calculation processing unit 1302 is provided that calculates the accuracy of the positioning result of the moving body at the current time obtained by the wireless LAN positioning device using the positioning results at the plurality of times immediately before and after the moving body.

  Here, in calculating the accuracy of the positioning result of the moving object at the current time obtained by the wireless LAN positioning device, “the positioning result at the current time of the moving object obtained by the wireless LAN positioning device”, “the wireless LAN positioning device Which of the positioning results at one time immediately before and immediately before the moving body obtained by ”, and“ the positioning results at a plurality of times immediately before and immediately after the moving body obtained by the wireless LAN positioning device ”is used in advance. In accordance with the instructions of the predetermined computer program, the calculation processing unit 1302 obtains “the positioning result at the current time of the mobile body obtained by the wireless LAN positioning device”, “obtained by the wireless LAN positioning device. “Positioning result of the moving body at the current and previous one time”, “Moving obtained by the wireless LAN positioning device Using current and the previous positioning result at a plurality of time "either in the positioning result of the precision of the moving body is calculated at the current time obtained by the wireless LAN positioning device.

  Furthermore, the positioning result at the current time t of the mobile object obtained by the wireless LAN positioning device, the positioning result at the current and previous one time t-1, or the middle of the positioning results at the current and immediately preceding multiple times. A calculation processing unit 1303 for calculating a value or an average value is provided.

  Furthermore, the reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver, calculated by the calculation processing unit 1301, is the positioning of the moving object at the current time obtained by the GPS receiver. The wireless LAN calculated by the calculation processing unit 1303 is the weight of the result, and the reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the wireless LAN positioning device calculated by the calculation processing unit 1302 As the weight of the intermediate value or average value of the positioning results of the mobile body obtained by the positioning device, the positioning result of the mobile body at the current time obtained by the GPS receiver and the positioning result of the mobile body obtained by the wireless LAN positioning device A calculation processing unit 1304 that averages the intermediate value or the average value is provided.

  Hereinafter, a case where data is obtained every second for the GPS receiver and the wireless LAN positioning device will be described.

  In this embodiment and the following embodiments, an example in which the effective range of wireless LAN positioning is a rectangle parallel to the coordinate axis is shown.

  However, the present invention can be implemented in other forms.

  The mobile body continuous positioning system 1 of the present invention acquires the positioning result of the mobile body at the current time obtained by the GPS receiver by the information acquisition unit (step 14001).

  It is the same as that of Example 1 about memorize | storing the positioning result of the present mobile body obtained by the GPS receiver acquired in this way in a memory | storage part.

  The system 1 also obtains the positioning result of the moving object at the current time of the moving object obtained by the wireless LAN positioning device by the information acquisition unit and stores it in the storage unit as in the first embodiment. It is the same.

Here, the current time is displayed as t, and the positioning result of the moving body at the current time obtained by the GPS receiver is displayed as X _G (t) (coordinate is UTM coordinate system).

  The HDOP value in the positioning result of the moving object at the current time obtained by the GPS receiver is defined as D (t).

The calculation processing unit 1301 calculates the accuracy E _G (t) of the positioning result of the moving object at the current time obtained by the GPS receiver by using the following method, where t is the current time. (Step 14002).

That is, when the positioning of the moving body at the current time obtained by the GPS receiver is performed in the 3D positioning mode and the DGPS mode, E _G (t) = E _G1 × D (t), 3D positioning E _G (t) = E _G2 × D (t) when the mode is performed in the single positioning mode and E _G (t) = E _G3 when the mode is the two-dimensional positioning mode and the DGPS mode. × D (t) When the measurement is performed in the two-dimensional positioning mode and the single positioning mode, the accuracy E _G (t of the positioning result of the moving object is calculated by the following formula: E _G (t) = E _G4 × D (t) ) Is calculated. For example, E _G1 = 1.0, E _G2 = 1.5, E _G3 = 2.0, and E _G4 = 3.0. Of course, such a case is not performed, and the same calculation method of E _G (t) can be used in all cases.

  On the other hand, the accuracy calculation (step 14003) of the positioning result at the current time of the moving body obtained by the wireless LAN positioning device performed by the calculation processing unit 1302 is performed as follows.

The number obtained by the result of the determination process (step 1004) performed by the second determination processing unit 103 in the first embodiment, which is obtained by the wireless LAN positioning device, is within a predetermined range. k, the number of determinations performed in the determination process (step 1004) performed by the second determination processing unit 103 (k parameters; for example, 3 for the determination of the current and the previous two time points) is l, and the following ( The accuracy E _L (t) of the current wireless LAN positioning result is obtained from Equation 14).

The predetermined multipliers E _L1 and E _L2 in (Equation 14) can be stored in the storage unit of the system 1 of the present invention for the processing operation by the calculation processing unit 1302.

  A positioning result obtained by the calculation processing unit 1303 at the current time t of the mobile body obtained by the wireless LAN positioning device, or a positioning result at one time t−1 immediately before and immediately before, or a plurality of current and immediately preceding multiple times The process of calculating the intermediate value or average value of the positioning results at the time (step 14004) is performed as follows.

When the instruction of the computer program is to calculate an intermediate value or an average value of the positioning results at the current time t of the moving object obtained by the wireless LAN positioning device, it is determined by the wireless LAN positioning device. The positioning result X _L (t) at the current time of the obtained moving object is calculated as an intermediate value or an average value.

Alternatively, as determined in advance, the instruction of the computer program indicates the positioning result X _L (t) of the moving object obtained by the wireless LAN positioning device at the current time t and the positioning result at the immediately preceding time t−1. When calculating the intermediate value or average value of X _L (t−1), {X _L (t) + X _L (t−1)} / 2 is calculated as the intermediate value or average value.

Alternatively, as determined in advance, the instruction of the computer program indicates the positioning result X _L (t) of the mobile object obtained by the wireless LAN positioning device at the current time t and a plurality of immediately preceding times (for example, time t− 1 and an intermediate value or an average value of the positioning results X _L (t−1) and X _L (t−2) at time t−2) are calculated as {X _L (t) + X _L (t-1) + X _L (t-2)} / 3 is calculated as the intermediate value.

In the above description, X _L (t) = (x _L (t), y _L (t)), X _L (t−1) = (x _L (t−1), y _L (t−1)) , X _L (t−2) = (x _L (t−2), y _L (t−2)) is an intermediate value x _{m of} these vectors and an intermediate value y _{m of the} y component. Is a vector (x _m , y _m ). The intermediate value x _m of the x component is a value that is neither the maximum value nor the minimum value of x _L (t), x _L (t−1), and x _L (t−2), and the intermediate value y _m of the y component is , Y _L (t), y _L (t−1), and y _L (t−2) are values that are neither the maximum value nor the minimum value.

Next, the reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver calculated by the calculation processor 1301 performed by the calculation processor 1304 was obtained by the GPS receiver. The calculation processing unit 1303 is the weight of the positioning result of the moving body at the current time and the reciprocal of the square of the accuracy of the positioning result of the moving body at the current time obtained by the wireless LAN positioning device calculated by the calculation processing unit 1302. As a weight of the intermediate value or average value of the positioning results of the mobile body obtained by the wireless LAN positioning device calculated by the above, the positioning result of the mobile body at the current time obtained by the GPS receiver and the wireless LAN positioning device The process of averaging the intermediate value or average value of the positioning results of the mobile body (step 14005) is specifically according to the following (Equation 15). It takes place.

  The result of the calculation processing performed by the calculation processing unit 1304 in this way is output as the current positioning result of the moving body (step 14006).

  A continuous positioning system 1 for a moving body using both wireless LAN positioning and GPS positioning according to the present invention will be described with reference to FIGS. 15 and 16. This system corresponds to the invention described in claim 8.

  The mobile LAN continuous positioning system using both the wireless LAN positioning and the GPS positioning according to the present invention described with reference to FIGS. 1 to 14, and parts common to the continuous positioning method thereby use common reference numerals. The description is omitted.

  Here, an example is shown in which HDOP, which is an index of the accuracy of the planar position, is used as DOP, and the effective range of wireless LAN positioning is a rectangle parallel to the coordinate axis.

  Similar to the system of the seventh embodiment, the continuous positioning system 1 is a moving body at a current time obtained by a GPS receiver, which is obtained by an information acquisition unit including an interface unit that performs wired or wireless information communication with the outside. The calculation processing unit 1301 for calculating the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver using the HDOP value in the positioning result of the above, and the current time of the moving object obtained by the wireless LAN positioning device Positioning results at the current time and immediately before the mobile unit obtained by the wireless LAN positioning device, or positioning results at the current time and immediately before the mobile unit obtained by the wireless LAN positioning device. Calculation processing unit for calculating the accuracy of the positioning result of the moving object at the current time obtained by the wireless LAN positioning device And a 302.

  Also, a calculation process for calculating the accuracy when using the positioning result of the immediately preceding moving body as the current positioning result based on the accuracy of the positioning result of the immediately preceding moving body and a predetermined moving speed of the moving body. Part 1501.

  Furthermore, as in the system of the seventh embodiment, the positioning result at the current time t of the mobile body obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time t-1, or the current and immediately preceding time points. An intermediate value of positioning results at a plurality of times includes a calculation processing unit 1303 that calculates an average value.

  Furthermore, the reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver, calculated by the calculation processing unit 1301, is the positioning of the moving object at the current time obtained by the GPS receiver. The wireless LAN calculated by the calculation processing unit 1303 is the weight of the result, and the reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the wireless LAN positioning device calculated by the calculation processing unit 1302 The weight of the intermediate value or average value of the positioning results of the moving object obtained by the positioning device, and the reciprocal of the square of the accuracy when using the positioning result of the immediately preceding moving object as the current positioning result, As the weight of the positioning result, intermediate between the positioning result of the moving body at the current time obtained by the GPS receiver and the positioning result of the moving body obtained by the wireless LAN positioning device Or it has an average value, the average calculation processing unit 1502 for the positioning result of the immediately preceding moving body.

Furthermore, in order to generate positioning result information at the next time point, a calculation processing unit 1503 is provided that calculates the accuracy of the current positioning result by (Equation 16).

  The mobile body continuous positioning system 1 of the present invention acquires the positioning result of the mobile body at the current time obtained by the GPS receiver by the information acquisition unit (step 16001).

  It is the same as that of Example 1 about memorize | storing the positioning result of the present mobile body obtained by the GPS receiver acquired in this way in a memory | storage part.

  The system 1 also obtains the positioning result of the moving object at the current time of the moving object obtained by the wireless LAN positioning device by the information acquisition unit and stores it in the storage unit as in the first embodiment. It is the same.

Here, the current time is displayed as t, and the positioning result of the moving body at the current time obtained by the GPS receiver is displayed as X _G (t) (coordinate is UTM coordinate system).

  The HDOP value in the positioning result of the moving object at the current time obtained by the GPS receiver is defined as D (t).

Assuming that the current time is t, the calculation processing unit 1301 uses D (t) and, as described in the seventh embodiment, the accuracy E _G ( t) is calculated (step 16002).

  The accuracy calculation (step 16003) of the positioning result at the current time of the moving body obtained by the wireless LAN positioning device performed by the calculation processing unit 1302 is also performed as described in the seventh embodiment.

The accuracy E _S (t) when using the positioning result X _R (t−1) of the immediately preceding moving body, which is performed by the calculation processing unit 1501, as the current positioning result is used as the positioning result X _R ( The process of calculating based on the accuracy E _R (t−1) of t−1) and the predetermined moving speed v of the moving body (step 16004) is E _S (t) = E _R (t−1) ) + V.

  The processing (step 16005) in which the calculation processing unit 1303 calculates the average value of the intermediate values of the wireless LAN positioning results is performed as described in the seventh embodiment.

Next, the reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver calculated by the calculation processor 1301 performed by the calculation processor 1502 was obtained by the GPS receiver. The calculation processing unit 1303 is the weight of the positioning result of the moving body at the current time and the reciprocal of the square of the accuracy of the positioning result of the moving body at the current time obtained by the wireless LAN positioning device calculated by the calculation processing unit 1302. The weight of the intermediate value or the average value of the positioning results of the mobile body obtained by the wireless LAN positioning device calculated by the above, and the accuracy E _S (t) when using the positioning result of the immediately preceding mobile body as the current positioning result Using the reciprocal of the square as the weight of the positioning result of the immediately preceding moving body, the positioning result of the moving body at the current time obtained by the GPS receiver and the wireless LAN positioning device The average processing with the intermediate value or the average value of the measurement result of the mobile body and a positioning result of the immediately preceding moving body obtained by (step 16006) is specifically performed in the following equation (17).

  The result of the calculation process performed by the calculation processing unit 1502 is output as the current moving body positioning result (step 16007).

  Furthermore, the calculation processing unit 1503 calculates the accuracy of the current positioning result by the above (Equation 16) (step 16008), and this is used to generate positioning result information at the next time point.

  The system of this embodiment shown in FIGS. 17, 18, and 19 corresponds to the invention according to claim 9.

  The mobile LAN continuous positioning system using both the wireless LAN positioning and the GPS positioning according to the present invention described with reference to FIGS. 1 to 16, and parts common to the continuous positioning method thereby use common reference numerals. The description is omitted.

  The system of this embodiment shown in FIGS. 17, 18, and 19 calculates the average delay time in the positioning result information of the moving body generated as the positioning result of the moving body in the systems of the seventh and eighth embodiments. In the calculation processing unit 1701 and the positioning result information of the moving object generated as the current positioning result of the moving object, the positioning result of the moving object at the time point before the present and the average delay time obtained by the high sensitivity GPS receiver And a calculation processing unit 1702 for adding the difference.

  In the system of this embodiment, a GPS receiver other than the high-sensitivity GPS receiver, for example, a DGPS receiver is used as the GPS receiver.

Here, the calculation processing unit 1701 performs processing for calculating the average delay time in the positioning result information of the moving body generated as the current positioning result of the moving body (step 18006) (FIG. 18), (step 19007) (FIG. 19). ) Is specifically performed as the following (Equation 18).

Further, the positioning result information of the moving object generated as the current positioning result of the moving object performed by the calculation processing unit 1702 includes the positioning of the moving object at the time point before the present and the average delay time obtained by the high-sensitivity GPS receiver. The process of adding the difference between the results (step 18007) (FIG. 18), (step 19008) (FIG. 19) is specifically performed as in the following (Equation 19).

Here, assuming that a high-sensitivity GPS positioning result is obtained every second, an integer Δt ′ (t) closest to the average delay time Δt (t) is obtained, and Δt ′ (t) seconds before the current time. Although the example using the positioning result of the high-sensitivity GPS receiver is shown, the positioning result of the high-sensitivity GPS receiver at time t−Δt (t) is interpolated by interpolating the high-sensitivity GPS positioning result obtained every second. Can be estimated and used in place of X _H (t−Δt ′ (t)) in (Equation 19) above.

The result X _R ′ (t) of the calculation processing performed by the calculation processing unit 1702 is output as the current positioning result of the moving body (step 18008) (FIG. 18), (step 19909) (FIG. 19).

  The preferred embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to such embodiments, and various forms are possible within the technical scope grasped from the description of the claims. Can be changed.

An example of a system configuration outline of a mobile continuous positioning system using both wireless LAN positioning and GPS positioning as a reference example of the present invention in which a mobile continuous positioning method using both wireless LAN positioning and GPS positioning is implemented. Illustration to explain. The flowchart explaining an example of the continuous positioning method of the mobile body which used the wireless LAN positioning and GPS positioning as a reference example of the present invention using the continuous positioning system shown in FIG. An example of a system configuration outline of a mobile continuous positioning system using both wireless LAN positioning and GPS positioning as a reference example of the present invention in which a mobile continuous positioning method using both wireless LAN positioning and GPS positioning is implemented. Illustration to explain. FIG. 4 is a flowchart for explaining an example of a continuous positioning method for a moving object using both wireless LAN positioning and GPS positioning as a reference example of the present invention using the continuous positioning system shown in FIG. 3. An example of a system configuration outline of a mobile continuous positioning system using both wireless LAN positioning and GPS positioning as a reference example of the present invention in which a mobile continuous positioning method using both wireless LAN positioning and GPS positioning is implemented. Illustration to explain. FIG. 6 is a flowchart for explaining an example of a continuous positioning method for a moving object using both wireless LAN positioning and GPS positioning as a reference example of the present invention using the continuous positioning system illustrated in FIG. 5. An example of a system configuration outline of a mobile continuous positioning system using both wireless LAN positioning and GPS positioning as a reference example of the present invention in which a mobile continuous positioning method using both wireless LAN positioning and GPS positioning is implemented. Illustration to explain. FIG. 8 is a flowchart for explaining an example of a continuous positioning method for a moving object using both wireless LAN positioning and GPS positioning as a reference example of the present invention using the continuous positioning system illustrated in FIG. 7. An example of a system configuration outline of a mobile continuous positioning system using both wireless LAN positioning and GPS positioning as a reference example of the present invention in which a mobile continuous positioning method using both wireless LAN positioning and GPS positioning is implemented. Illustration to explain. FIG. 10 is a flowchart for explaining an example of a continuous positioning method for a moving object using both wireless LAN positioning and GPS positioning as a reference example of the present invention using the continuous positioning system shown in FIG. 9; An example of a system configuration outline of a mobile continuous positioning system using both wireless LAN positioning and GPS positioning as a reference example of the present invention in which a mobile continuous positioning method using both wireless LAN positioning and GPS positioning is implemented. Illustration to explain. FIG. 12 is a flowchart for explaining an example of a continuous positioning method for a moving object using both wireless LAN positioning and GPS positioning as a reference example of the present invention using the continuous positioning system illustrated in FIG. 11. A system configuration of a mobile continuous positioning system using both wireless LAN positioning and GPS positioning according to the present invention, wherein the mobile LAN continuous positioning method using both wireless LAN positioning and GPS positioning according to the present invention is implemented. The figure explaining an example of an outline | summary. The flowchart explaining an example of the continuous positioning method of the mobile body which used the wireless LAN positioning and GPS positioning of this invention of Claim 1 using the continuous positioning system shown in FIG. 3. System configuration of a mobile continuous positioning system using both wireless LAN positioning and GPS positioning according to the present invention, wherein the mobile LAN continuous positioning method using both wireless LAN positioning and GPS positioning according to the present invention is implemented. The figure explaining an example of an outline | summary. The flowchart explaining an example of the continuous positioning method of the mobile body which used the wireless LAN positioning and GPS positioning of this invention of Claim 2 using the continuous positioning system shown in FIG. 4. System configuration of a mobile continuous positioning system using both wireless LAN positioning and GPS positioning according to the present invention, wherein the mobile LAN continuous positioning method using both wireless LAN positioning and GPS positioning according to the present invention is implemented. The figure explaining an example of an outline | summary. The flowchart explaining an example of the continuous positioning method of the mobile body which used the wireless LAN positioning and GPS positioning of this invention of Claim 3 using the continuous positioning system shown in FIG. FIG. 18 is a flowchart for explaining another example of a continuous positioning method for a moving body using both the wireless LAN positioning and the GPS positioning according to the present invention according to claim 3 using the continuous positioning system shown in FIG. 17.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Continuous positioning system 101 of moving body which used both wireless LAN positioning and GPS positioning 1st determination processing part 102 1st positioning result information generation process part 103 2nd determination processing part 104 3rd determination processing part 105 Wireless LAN positioning result average value calculation means 106 Second positioning result information generation processing unit 107 Third positioning result information generation processing unit 901 Determination processing unit 902 Sixth positioning result information generation processing unit 108 First addition processing unit 109 Fourth positioning result information generation processing unit 1301 calculation processing unit 1302 calculation processing unit 1303 calculation processing unit 1304 calculation processing unit 1501 calculation processing unit 1502 calculation processing unit 1503 calculation processing unit 1701 calculation processing unit 1702 calculation processing unit

Claims (9)

Calculating the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver using the DOP value in the positioning result of the moving object at the current time obtained by the GPS receiver;
Using the positioning result at the current time of the mobile body obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the positioning results at the current and immediately preceding multiple times, the wireless LAN positioning Calculating the accuracy of the positioning result of the moving object at the current time obtained by the device;
Calculates the positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the intermediate value or average value of the positioning results at the current and immediately preceding multiple times. And steps to
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver is set as the weight of the positioning result of the moving object at the current time obtained by the GPS receiver,
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the calculated wireless LAN positioning device is an intermediate value or average of the positioning results of the moving object obtained by the calculated wireless LAN positioning device. As a value weight,
The positioning result of the moving object at the current time obtained by the GPS receiver and the intermediate value or average value of the positioning result of the moving object obtained by the wireless LAN positioning device are averaged, and the average is the current positioning result of the moving object. A method for continuously positioning a mobile body using both wireless LAN positioning and GPS positioning, comprising: generating positioning result information of the mobile body. Calculating the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver using the DOP value in the positioning result of the moving object at the current time obtained by the GPS receiver;
Using the positioning result at the current time of the mobile body obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the positioning results at the current and immediately preceding multiple times, the wireless LAN positioning Calculating the accuracy of the positioning result of the moving object at the current time obtained by the device;
Calculating the accuracy when using the positioning result of the immediately preceding moving body as the current positioning result based on the accuracy of the positioning result of the immediately preceding moving body and a predetermined moving speed of the moving body;
Calculates the positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the intermediate value or average value of the positioning results at the current and immediately preceding multiple times. And steps to
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver is set as the weight of the positioning result of the moving object at the current time obtained by the GPS receiver,
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the calculated wireless LAN positioning device is an intermediate value or average of the positioning results of the moving object obtained by the calculated wireless LAN positioning device. Value weight,
The reciprocal of the square of accuracy when using the positioning result of the immediately preceding moving body as the current positioning result is used as the weight of the positioning result of the immediately preceding moving body,
The positioning result of the moving object at the current time obtained by the GPS receiver, the intermediate value or the average value of the positioning result of the moving object obtained by the wireless LAN positioning device, and the positioning result of the immediately preceding moving object are averaged, Generating the positioning result information of the mobile body using the average as the positioning result of the mobile body at the present time;
In order to generate positioning result information at the next time point, a method for continuously positioning a mobile body using both wireless LAN positioning and GPS positioning, including the step of calculating the accuracy of the current positioning result according to (Equation 1) .

The average delay time in the positioning result information of the moving body generated as the current positioning result of the moving body is calculated, and the GPS positioning information received outdoors as the positioning result information of the moving body generated as the positioning result of the moving body is received outdoors. it is possible to perform the same degree of positioning and machine, at the time earlier by the current and the average delay time obtained by the high-sensitivity GPS receiver that by the positioning of possible schemes even indoors where the unavailable GPS receiver The wireless LAN positioning according to claim 1, further comprising a step of adding the difference between the positioning results of the mobile body and generating positioning result information of the mobile body as a current positioning result of the mobile body. A continuous positioning method for a moving object in combination with GPS positioning. First calculating means for calculating the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver using the DOP value in the positioning result of the moving object at the current time obtained by the GPS receiver;
Using the positioning result at the current time of the mobile body obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the positioning results at the current and immediately preceding multiple times, the wireless LAN positioning Second calculating means for calculating the accuracy of the positioning result of the moving object at the current time obtained by the device;
Calculates the positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the intermediate value or average value of the positioning results at the current and immediately preceding multiple times. A third calculating means for
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver is set as the weight of the positioning result of the moving object at the current time obtained by the GPS receiver,
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the calculated wireless LAN positioning device is an intermediate value or average of the positioning results of the moving object obtained by the calculated wireless LAN positioning device. As a value weight,
The positioning result of the moving object at the current time obtained by the GPS receiver and the intermediate value or average value of the positioning result of the moving object obtained by the wireless LAN positioning device are averaged, and the average is the current positioning result of the moving object. A positioning device for continuous positioning of a moving body using both wireless LAN positioning and GPS positioning, comprising: positioning result information generating means for a thirteenth moving body that generates positioning result information of the moving body. A fourteenth calculating means for calculating the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver using the DOP value in the positioning result of the moving object at the current time obtained by the GPS receiver; ,
Using the positioning result at the current time of the mobile body obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the positioning results at the current and immediately preceding multiple times, the wireless LAN positioning A fifteenth calculating means for calculating the accuracy of the positioning result of the moving object at the current time obtained by the apparatus;
Sixth calculation for calculating the accuracy when using the positioning result of the immediately preceding moving body as the current positioning result based on the accuracy of the positioning result of the immediately preceding moving body and the predetermined moving speed of the moving body Means,
Calculates the positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the intermediate value or average value of the positioning results at the current and immediately preceding multiple times. A seventh calculating means to:
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver is set as the weight of the positioning result of the moving object at the current time obtained by the GPS receiver,
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the calculated wireless LAN positioning device is an intermediate value or average of the positioning results of the moving object obtained by the calculated wireless LAN positioning device. Value weight,
The reciprocal of the square of accuracy when using the positioning result of the immediately preceding moving body as the current positioning result is used as the weight of the positioning result of the immediately preceding moving body,
The positioning result of the moving object at the current time obtained by the GPS receiver, the intermediate value or the average value of the positioning result of the moving object obtained by the wireless LAN positioning device, and the positioning result of the immediately preceding moving object are averaged, A positioning result information generating means for the fourteenth moving body that generates the positioning result information of the moving body as the average positioning result of the moving body;
In order to generate the positioning result information at the next time point, according to (Equation 2), an eighth calculation means for calculating the accuracy of the current positioning result is used. Continuous positioning device.

  The average delay time in the positioning result information of the moving body generated as the current positioning result of the moving body is calculated, and the GPS positioning information received outdoors as the positioning result information of the moving body generated as the positioning result of the moving body is received outdoors. A mobile unit that can perform positioning at the same level as a mobile station and that is obtained by a high-sensitivity GPS receiver using a method capable of positioning even indoors where the GPS receiver cannot be used, and a point in time before the average delay time. 15. A fifteenth mobile unit positioning result information generating means for adding the positioning result difference of the mobile unit and generating the mobile unit positioning result information as the current mobile unit positioning result is further included. A continuous positioning device for a moving body using both the wireless LAN positioning described in 4 or 5 and GPS positioning. On the computer,
A first calculation function for calculating the accuracy of the positioning result of the mobile object at the current time obtained by the GPS receiver using the DOP value in the positioning result of the mobile object at the current time obtained by the GPS receiver;
Using the positioning result at the current time of the mobile body obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the positioning results at the current and immediately preceding multiple times, the wireless LAN positioning A second calculation function for calculating the accuracy of the positioning result of the moving object at the current time obtained by the device;
Calculates the positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the intermediate value or average value of the positioning results at the current and immediately preceding multiple times. And a third calculation function
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver is set as the weight of the positioning result of the moving object at the current time obtained by the GPS receiver,
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the calculated wireless LAN positioning device is an intermediate value or average of the positioning results of the moving object obtained by the calculated wireless LAN positioning device. As a value weight,
The positioning result of the moving object at the current time obtained by the GPS receiver and the intermediate value or average value of the positioning result of the moving object obtained by the wireless LAN positioning device are averaged, and the average is the current positioning result of the moving object. A mobile positioning program that uses both wireless LAN positioning and GPS positioning to realize a positioning result information generating function of a thirteenth moving body that generates positioning result information of the moving body. On the computer,
A fourth calculation function for calculating the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver using the DOP value in the positioning result of the moving object at the current time obtained by the GPS receiver;
Using the positioning result at the current time of the mobile body obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the positioning results at the current and immediately preceding multiple times, the wireless LAN positioning A fifth calculation function for calculating the accuracy of the positioning result of the moving object at the current time obtained by the device;
Sixth calculation for calculating the accuracy when using the positioning result of the immediately preceding moving body as the current positioning result based on the accuracy of the positioning result of the immediately preceding moving body and the predetermined moving speed of the moving body Function and
Calculates the positioning result at the current time of the mobile unit obtained by the wireless LAN positioning device, the positioning result at the current and immediately preceding time, or the intermediate value or average value of the positioning results at the current and immediately preceding multiple times. And a seventh calculation function
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the GPS receiver is set as the weight of the positioning result of the moving object at the current time obtained by the GPS receiver,
The reciprocal of the square of the accuracy of the positioning result of the moving object at the current time obtained by the calculated wireless LAN positioning device is an intermediate value or average of the positioning results of the moving object obtained by the calculated wireless LAN positioning device. Value weight,
The reciprocal of the square of accuracy when using the positioning result of the immediately preceding moving body as the current positioning result is used as the weight of the positioning result of the immediately preceding moving body,
The positioning result of the moving object at the current time obtained by the GPS receiver, the intermediate value or average value of the positioning result of the moving object obtained by the wireless LAN positioning device, and the positioning result of the immediately preceding moving object are averaged, A positioning result information generation function of the fourteenth mobile unit that generates the positioning result information of the mobile unit using the average as the positioning result of the current mobile unit;
In order to generate the positioning result information at the next time point, according to (Equation 3), the eighth calculation function for calculating the accuracy of the current positioning result and the wireless LAN positioning that combines the GPS positioning and the GPS positioning are realized. Continuous positioning program.

  The average delay time in the positioning result information of the moving body generated as the current positioning result of the moving body is calculated, and the GPS positioning reception information generated as the current positioning result of the moving body is received outdoors by the GPS reception. A mobile object that can perform positioning at the same level as a mobile phone and that is obtained by a high-sensitivity GPS receiver using a method capable of positioning even indoors where the GPS receiver cannot be used, and a point in time before the average delay time. The computer is further implemented with a positioning result information generation function of the fifteenth mobile unit that generates the positioning result information of the mobile unit as a current mobile unit positioning result. A continuous positioning program for a moving object using both the wireless LAN positioning and the GPS positioning according to claim 7 or 8.

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